public override Contact GenerateContact(RigidBody2D rb, float dt)
{
//Profiler says this method takes up a lot of processing time (AKA, it's run quite often)
if (rb as CircleBody != null)
{
CircleBody c = rb as CircleBody;
Vector2 normal = rb.Pos - this.Pos;
float normLen = normal.Length();
float dist = normLen - (this.radius + c.radius);
normal /= normLen;
Vector2 pa = this.Pos + normal * this.radius;
Vector2 pb = rb.Pos - normal * c.radius;
return new Contact(normal, dist, this, rb, pa, pb);
}
else if (rb as LineBody != null)
{
LineBody pb = rb as LineBody;
return pb.GenerateContact(this, dt);
}
else if (rb as AABBBody != null)
{
AABBBody b = rb as AABBBody;
Vector2 closestPt = Intersection.ClosestPointAABBPt(this.Pos, b);
Vector2 normal = closestPt - this.Pos;
float normLen = normal.Length();
normal /= normLen;
return new Contact(normal, normLen - this.Radius, this, b, this.Pos + (normal * this.Radius), closestPt);
}
else
{
throw new NotImplementedException();
}
}
public BallBehavior(TextBlock scoreText)
: base("BallBehavior")
{
body = null;
this.scoreText = scoreText;
score = 0;
}
public void AddRigidBody(RigidBody2D rb)
{
if (rb as LineBody != null)
{
lines.Add(rb);
}
else
{
bodies.Add(rb);
}
}
public Contact(Vector2 normal, float d, RigidBody2D a, RigidBody2D b, Vector2 pointA, Vector2 pointB)
{
Normal = normal;
Dist = d;
A = a;
B = b;
this.pointA = pointA;
this.pointB = pointB;
//I = (1+e)*N*(Vr • N) / (1/Ma + 1/Mb)
//Impulse = (Vector2.Dot(b.Vel - a.Vel, normal) / (a.InvMass + b.InvMass));
Impulse = 0;
}
public override Contact GenerateContact(RigidBody2D rb, float dt)
{
if (rb as CircleBody != null)
{
CircleBody c = rb as CircleBody;
float dist = DistanceToPoint(c.Pos) - c.Radius;
Vector2 pointOnPlane = c.Pos - (normal * (dist+c.Radius));
Vector2 pointOnBall = c.Pos - (normal * c.Radius);
return new Contact(normal, dist, this, rb, pointOnPlane, pointOnBall);
}
else if (rb as LineBody != null)
{
return new Contact();
}
else
{
throw new NotImplementedException();
}
}
public override void SetPrefab(Constraint2DPrefab instance, RigidBody2D value)
{
instance.OtherBody = value;
}
public override void _Ready()
{
Target = GetNode <RigidBody2D>(TargetPath);
}
static void Main(string[] args)
{
// Initialize mass properties
MassProperties massProp = new MassProperties(1, 1);
Guid structureMassId = Guid.NewGuid();
massProp.SetMass(structureMassId, 4280); // kg, structure weight without fuel
SimpleGravity gravity = new SimpleGravity(new Vector2D(0, -1.62)); // m/s^2
// Initialize lander
Vector2D initalPosition = new Vector2D(0, 3000);
Vector2D initialVelocity = new Vector2D(0, -20);
double initialOrientation = Util.DegToRad(45);
RigidBody2D lander = new RigidBody2D(massProp, initalPosition, initialVelocity, initialOrientation, 0);
lander.Gravity = gravity;
// Initialize fuel tanks
FuelTank rcsTank = new FuelTank(massProp, 633);
FuelTank mainTank = new FuelTank(massProp, 10334);
// Initialize engines
Vector2D engineMountPoint = new Vector2D(0, -4); // m
double orientation = Util.DegToRad(-90);
double maxThrust = 45040; // N
double fuelUsage = 13; // kg/s, guess
Thruster mainEngine = new Thruster(massProp, lander, mainTank, engineMountPoint, orientation, maxThrust, fuelUsage, true);
// Thrusters
List <Vector2D> rcsMountPoints = new List <Vector2D>()
{
new Vector2D(-5, 0), new Vector2D(-5, 0), new Vector2D(5, 0), new Vector2D(5, 0)
};
List <double> rcsOrientations = new List <double>()
{
90, -90, 90, -90
};
List <Thruster> rcsThrusters = new List <Thruster>();
double rcsMaxThrust = 1760;
double rcsFuelUsage = 15; // kg/s
for (int i = 0; i < 4; i++)
{
rcsThrusters.Add(new Thruster(massProp, lander, rcsTank, rcsMountPoints[i], rcsOrientations[i], rcsMaxThrust, rcsFuelUsage, false));
}
// Flight control
LanderFlightControl flightControl = new LanderFlightControl(lander, mainEngine, rcsThrusters);
// logging
Logger log = new Logger(5);
log.MainEngine = mainEngine;
log.RigidBody = lander;
// Initialize scheduler
EqualScheduler scheduler = new EqualScheduler(40); //hz
scheduler.Add(flightControl, 0);
scheduler.Add(mainEngine, 10);
for (int i = 0; i < 4; i++)
{
scheduler.Add(rcsThrusters[i], 20 + i);
}
scheduler.Add(lander, 40);
scheduler.Add(log, 50);
// run sim
scheduler.Run(TimeSpan.FromSeconds(125));
log.WriteCSV("simdata_" + DateTime.Now.ToString("yyyyMMddTHHmmss") + ".csv");
}
// Start is called before the first frame update
void Start()
{
rb2d = GetComponent <RigidBody2D>();
invoke("GoBall", 2);
}
void CreateScene()
{
scene = new Scene();
scene.CreateComponent <Octree>();
scene.CreateComponent <DebugRenderer>();
// Create camera node
CameraNode = scene.CreateChild("Camera");
// Set camera's position
CameraNode.Position = (new Vector3(0.0f, 0.0f, -10.0f));
Camera camera = CameraNode.CreateComponent <Camera>();
camera.Orthographic = true;
var graphics = Graphics;
camera.OrthoSize = (float)graphics.Height * PixelSize;
camera.Zoom = 1.2f * Math.Min((float)graphics.Width / 1280.0f, (float)graphics.Height / 800.0f); // Set zoom according to user's resolution to ensure full visibility (initial zoom (1.2) is set for full visibility at 1280x800 resolution)
// Create 2D physics world component
scene.CreateComponent <PhysicsWorld2D>();
var cache = ResourceCache;
Sprite2D boxSprite = cache.GetSprite2D("Urho2D/Box.png");
Sprite2D ballSprite = cache.GetSprite2D("Urho2D/Ball.png");
// Create ground.
Node groundNode = scene.CreateChild("Ground");
groundNode.Position = (new Vector3(0.0f, -3.0f, 0.0f));
groundNode.Scale = new Vector3(200.0f, 1.0f, 0.0f);
// Create 2D rigid body for gound
/*RigidBody2D groundBody = */
groundNode.CreateComponent <RigidBody2D>();
StaticSprite2D groundSprite = groundNode.CreateComponent <StaticSprite2D>();
groundSprite.Sprite = boxSprite;
// Create box collider for ground
CollisionBox2D groundShape = groundNode.CreateComponent <CollisionBox2D>();
// Set box size
groundShape.Size = new Vector2(0.32f, 0.32f);
// Set friction
groundShape.Friction = 0.5f;
for (uint i = 0; i < NumObjects; ++i)
{
Node node = scene.CreateChild("RigidBody");
node.Position = (new Vector3(NextRandom(-0.1f, 0.1f), 5.0f + i * 0.4f, 0.0f));
// Create rigid body
RigidBody2D body = node.CreateComponent <RigidBody2D>();
body.BodyType = BodyType2D.Dynamic;
StaticSprite2D staticSprite = node.CreateComponent <StaticSprite2D>();
if (i % 2 == 0)
{
staticSprite.Sprite = boxSprite;
// Create box
CollisionBox2D box = node.CreateComponent <CollisionBox2D>();
// Set size
box.Size = new Vector2(0.32f, 0.32f);
// Set density
box.Density = 1.0f;
// Set friction
box.Friction = 0.5f;
// Set restitution
box.Restitution = 0.1f;
}
else
{
staticSprite.Sprite = ballSprite;
// Create circle
CollisionCircle2D circle = node.CreateComponent <CollisionCircle2D>();
// Set radius
circle.Radius = 0.16f;
// Set density
circle.Density = 1.0f;
// Set friction.
circle.Friction = 0.5f;
// Set restitution
circle.Restitution = 0.1f;
}
}
}
void CreateScene()
{
scene = new Scene();
scene.CreateComponent <Octree>();
scene.CreateComponent <DebugRenderer>();
PhysicsWorld2D physicsWorld = scene.CreateComponent <PhysicsWorld2D>(); // Create 2D physics world component
physicsWorld.DrawJoint = true; // Display the joints (Note that DrawDebugGeometry() must be set to true to acually draw the joints)
drawDebug = true; // Set DrawDebugGeometry() to true
// Create camera
CameraNode = scene.CreateChild("Camera");
// Set camera's position
CameraNode.Position = (new Vector3(0.0f, 0.0f, 0.0f)); // Note that Z setting is discarded; use camera.zoom instead (see MoveCamera() below for example)
camera = CameraNode.CreateComponent <Camera>();
camera.Orthographic = true;
var graphics = GetSubsystem <Graphics>();
camera.OrthoSize = (float)graphics.Height * PixelSize;
camera.Zoom = 1.2f * Math.Min((float)graphics.Width / 1280.0f, (float)graphics.Height / 800.0f); // Set zoom according to user's resolution to ensure full visibility (initial zoom (1.2) is set for full visibility at 1280x800 resolution)
// Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
Viewport viewport = new Viewport(scene, camera);
Renderer renderer = GetSubsystem <Renderer>();
renderer.SetViewport(0, viewport);
Zone zone = renderer.DefaultZone;
zone.FogColor = (new Color(0.1f, 0.1f, 0.1f)); // Set background color for the scene
// Create 4x3 grid
for (uint i = 0; i < 5; ++i)
{
Node edgeNode = scene.CreateChild("VerticalEdge");
RigidBody2D edgeBody = edgeNode.CreateComponent <RigidBody2D>();
if (dummyBody == null)
{
dummyBody = edgeBody; // Mark first edge as dummy body (used by mouse pick)
}
CollisionEdge2D edgeShape = edgeNode.CreateComponent <CollisionEdge2D>();
edgeShape.SetVertices(new Vector2(i * 2.5f - 5.0f, -3.0f), new Vector2(i * 2.5f - 5.0f, 3.0f));
edgeShape.Friction = 0.5f; // Set friction
}
for (uint j = 0; j < 4; ++j)
{
Node edgeNode = scene.CreateChild("HorizontalEdge");
/*RigidBody2D edgeBody = */
edgeNode.CreateComponent <RigidBody2D>();
CollisionEdge2D edgeShape = edgeNode.CreateComponent <CollisionEdge2D>();
edgeShape.SetVertices(new Vector2(-5.0f, j * 2.0f - 3.0f), new Vector2(5.0f, j * 2.0f - 3.0f));
edgeShape.Friction = 0.5f; // Set friction
}
var cache = GetSubsystem <ResourceCache>();
// Create a box (will be cloned later)
Node box = scene.CreateChild("Box");
box.Position = (new Vector3(0.8f, -2.0f, 0.0f));
StaticSprite2D boxSprite = box.CreateComponent <StaticSprite2D>();
boxSprite.Sprite = cache.Get <Sprite2D>("Urho2D/Box.png");
RigidBody2D boxBody = box.CreateComponent <RigidBody2D>();
boxBody.BodyType = BodyType2D.BT_DYNAMIC;
boxBody.LinearDamping = 0.0f;
boxBody.AngularDamping = 0.0f;
CollisionBox2D shape = box.CreateComponent <CollisionBox2D>(); // Create box shape
shape.Size = new Vector2(0.32f, 0.32f); // Set size
shape.Density = 1.0f; // Set shape density (kilograms per meter squared)
shape.Friction = 0.5f; // Set friction
shape.Restitution = 0.1f; // Set restitution (slight bounce)
// Create a ball (will be cloned later)
Node ball = scene.CreateChild("Ball");
ball.Position = (new Vector3(1.8f, -2.0f, 0.0f));
StaticSprite2D ballSprite = ball.CreateComponent <StaticSprite2D>();
ballSprite.Sprite = cache.Get <Sprite2D>("Urho2D/Ball.png");
RigidBody2D ballBody = ball.CreateComponent <RigidBody2D>();
ballBody.BodyType = BodyType2D.BT_DYNAMIC;
ballBody.LinearDamping = 0.0f;
ballBody.AngularDamping = 0.0f;
CollisionCircle2D ballShape = ball.CreateComponent <CollisionCircle2D>(); // Create circle shape
ballShape.Radius = 0.16f; // Set radius
ballShape.Density = 1.0f; // Set shape density (kilograms per meter squared)
ballShape.Friction = 0.5f; // Set friction
ballShape.Restitution = 0.6f; // Set restitution: make it bounce
// Create a polygon
Node polygon = scene.CreateChild("Polygon");
polygon.Position = (new Vector3(1.6f, -2.0f, 0.0f));
polygon.SetScale(0.7f);
StaticSprite2D polygonSprite = polygon.CreateComponent <StaticSprite2D>();
polygonSprite.Sprite = cache.Get <Sprite2D>("Urho2D/Aster.png");
RigidBody2D polygonBody = polygon.CreateComponent <RigidBody2D>();
polygonBody.BodyType = BodyType2D.BT_DYNAMIC;
CollisionPolygon2D polygonShape = polygon.CreateComponent <CollisionPolygon2D>();
polygonShape.VertexCount = 6; // Set number of vertices (mandatory when using SetVertex())
polygonShape.SetVertex(0, new Vector2(-0.8f, -0.3f));
polygonShape.SetVertex(1, new Vector2(0.5f, -0.8f));
polygonShape.SetVertex(2, new Vector2(0.8f, -0.3f));
polygonShape.SetVertex(3, new Vector2(0.8f, 0.5f));
polygonShape.SetVertex(4, new Vector2(0.5f, 0.9f));
polygonShape.SetVertex(5, new Vector2(-0.5f, 0.7f));
polygonShape.Density = 1.0f; // Set shape density (kilograms per meter squared)
polygonShape.Friction = 0.3f; // Set friction
polygonShape.Restitution = 0.0f; // Set restitution (no bounce)
// Create a ConstraintDistance2D
CreateFlag("ConstraintDistance2D", -4.97f, 3.0f); // Display Text3D flag
Node boxDistanceNode = box.Clone(CreateMode.REPLICATED);
Node ballDistanceNode = ball.Clone(CreateMode.REPLICATED);
RigidBody2D ballDistanceBody = ballDistanceNode.GetComponent <RigidBody2D>();
boxDistanceNode.Position = (new Vector3(-4.5f, 2.0f, 0.0f));
ballDistanceNode.Position = (new Vector3(-3.0f, 2.0f, 0.0f));
ConstraintDistance2D constraintDistance = boxDistanceNode.CreateComponent <ConstraintDistance2D>(); // Apply ConstraintDistance2D to box
constraintDistance.OtherBody = ballDistanceBody; // Constrain ball to box
constraintDistance.OwnerBodyAnchor = boxDistanceNode.Position2D;
constraintDistance.OtherBodyAnchor = ballDistanceNode.Position2D;
// Make the constraint soft (comment to make it rigid, which is its basic behavior)
constraintDistance.FrequencyHz = 4.0f;
constraintDistance.DampingRatio = 0.5f;
// Create a ConstraintFriction2D ********** Not functional. From Box2d samples it seems that 2 anchors are required, Urho2D only provides 1, needs investigation ***********
CreateFlag("ConstraintFriction2D", 0.03f, 1.0f); // Display Text3D flag
Node boxFrictionNode = box.Clone(CreateMode.REPLICATED);
Node ballFrictionNode = ball.Clone(CreateMode.REPLICATED);
boxFrictionNode.Position = (new Vector3(0.5f, 0.0f, 0.0f));
ballFrictionNode.Position = (new Vector3(1.5f, 0.0f, 0.0f));
ConstraintFriction2D constraintFriction = boxFrictionNode.CreateComponent <ConstraintFriction2D>(); // Apply ConstraintDistance2D to box
constraintFriction.OtherBody = ballFrictionNode.GetComponent <RigidBody2D>(); // Constraint ball to box
// Create a ConstraintGear2D
CreateFlag("ConstraintGear2D", -4.97f, -1.0f); // Display Text3D flag
Node baseNode = box.Clone(CreateMode.REPLICATED);
RigidBody2D tempBody = baseNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.BT_STATIC;
baseNode.Position = (new Vector3(-3.7f, -2.5f, 0.0f));
Node ball1Node = ball.Clone(CreateMode.REPLICATED);
ball1Node.Position = (new Vector3(-4.5f, -2.0f, 0.0f));
RigidBody2D ball1Body = ball1Node.GetComponent <RigidBody2D>();
Node ball2Node = ball.Clone(CreateMode.REPLICATED);
ball2Node.Position = (new Vector3(-3.0f, -2.0f, 0.0f));
RigidBody2D ball2Body = ball2Node.GetComponent <RigidBody2D>();
ConstraintRevolute2D gear1 = baseNode.CreateComponent <ConstraintRevolute2D>(); // Apply constraint to baseBox
gear1.OtherBody = ball1Body; // Constrain ball1 to baseBox
gear1.Anchor = ball1Node.Position2D;
ConstraintRevolute2D gear2 = baseNode.CreateComponent <ConstraintRevolute2D>(); // Apply constraint to baseBox
gear2.OtherBody = ball2Body; // Constrain ball2 to baseBox
gear2.Anchor = ball2Node.Position2D;
ConstraintGear2D constraintGear = ball1Node.CreateComponent <ConstraintGear2D>(); // Apply constraint to ball1
constraintGear.OtherBody = ball2Body; // Constrain ball2 to ball1
constraintGear.OwnerConstraint = gear1;
constraintGear.OtherConstraint = gear2;
constraintGear.Ratio = 1.0f;
ball1Body.ApplyAngularImpulse(0.015f, true); // Animate
// Create a vehicle from a compound of 2 ConstraintWheel2Ds
CreateFlag("ConstraintWheel2Ds compound", -2.45f, -1.0f); // Display Text3D flag
Node car = box.Clone(CreateMode.REPLICATED);
car.Scale = new Vector3(4.0f, 1.0f, 0.0f);
car.Position = (new Vector3(-1.2f, -2.3f, 0.0f));
StaticSprite2D tempSprite = car.GetComponent <StaticSprite2D>(); // Get car Sprite in order to draw it on top
tempSprite.OrderInLayer = 0; // Draw car on top of the wheels (set to -1 to draw below)
Node ball1WheelNode = ball.Clone(CreateMode.REPLICATED);
ball1WheelNode.Position = (new Vector3(-1.6f, -2.5f, 0.0f));
Node ball2WheelNode = ball.Clone(CreateMode.REPLICATED);
ball2WheelNode.Position = (new Vector3(-0.8f, -2.5f, 0.0f));
ConstraintWheel2D wheel1 = car.CreateComponent <ConstraintWheel2D>();
wheel1.OtherBody = ball1WheelNode.GetComponent <RigidBody2D>();
wheel1.Anchor = ball1WheelNode.Position2D;
wheel1.Axis = new Vector2(0.0f, 1.0f);
wheel1.MaxMotorTorque = 20.0f;
wheel1.FrequencyHz = 4.0f;
wheel1.DampingRatio = 0.4f;
ConstraintWheel2D wheel2 = car.CreateComponent <ConstraintWheel2D>();
wheel2.OtherBody = ball2WheelNode.GetComponent <RigidBody2D>();
wheel2.Anchor = ball2WheelNode.Position2D;
wheel2.Axis = new Vector2(0.0f, 1.0f);
wheel2.MaxMotorTorque = 10.0f;
wheel2.FrequencyHz = 4.0f;
wheel2.DampingRatio = 0.4f;
// ConstraintMotor2D
CreateFlag("ConstraintMotor2D", 2.53f, -1.0f); // Display Text3D flag
Node boxMotorNode = box.Clone(CreateMode.REPLICATED);
tempBody = boxMotorNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.BT_STATIC;
Node ballMotorNode = ball.Clone(CreateMode.REPLICATED);
boxMotorNode.Position = (new Vector3(3.8f, -2.1f, 0.0f));
ballMotorNode.Position = (new Vector3(3.8f, -1.5f, 0.0f));
ConstraintMotor2D constraintMotor = boxMotorNode.CreateComponent <ConstraintMotor2D>();
constraintMotor.OtherBody = ballMotorNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintMotor.LinearOffset = new Vector2(0.0f, 0.8f); // Set ballNode position relative to boxNode position = (0,0)
constraintMotor.AngularOffset = 0.1f;
constraintMotor.MaxForce = 5.0f;
constraintMotor.MaxTorque = 10.0f;
constraintMotor.CorrectionFactor = 1.0f;
constraintMotor.CollideConnected = true; // doesn't work
// ConstraintMouse2D is demonstrated in HandleMouseButtonDown() function. It is used to "grasp" the sprites with the mouse.
CreateFlag("ConstraintMouse2D", 0.03f, -1.0f); // Display Text3D flag
// Create a ConstraintPrismatic2D
CreateFlag("ConstraintPrismatic2D", 2.53f, 3.0f); // Display Text3D flag
Node boxPrismaticNode = box.Clone(CreateMode.REPLICATED);
tempBody = boxPrismaticNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.BT_STATIC;
Node ballPrismaticNode = ball.Clone(CreateMode.REPLICATED);
boxPrismaticNode.Position = new Vector3(3.3f, 2.5f, 0.0f);
ballPrismaticNode.Position = new Vector3(4.3f, 2.0f, 0.0f);
ConstraintPrismatic2D constraintPrismatic = boxPrismaticNode.CreateComponent <ConstraintPrismatic2D>();
constraintPrismatic.OtherBody = ballPrismaticNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintPrismatic.Axis = new Vector2(1.0f, 1.0f); // Slide from [0,0] to [1,1]
constraintPrismatic.Anchor = new Vector2(4.0f, 2.0f);
constraintPrismatic.LowerTranslation = -1.0f;
constraintPrismatic.UpperTranslation = 0.5f;
constraintPrismatic.EnableLimit = true;
constraintPrismatic.MaxMotorForce = 1.0f;
constraintPrismatic.MotorSpeed = 0.0f;
// ConstraintPulley2D
CreateFlag("ConstraintPulley2D", 0.03f, 3.0f); // Display Text3D flag
Node boxPulleyNode = box.Clone(CreateMode.REPLICATED);
Node ballPulleyNode = ball.Clone(CreateMode.REPLICATED);
boxPulleyNode.Position = (new Vector3(0.5f, 2.0f, 0.0f));
ballPulleyNode.Position = (new Vector3(2.0f, 2.0f, 0.0f));
ConstraintPulley2D constraintPulley = boxPulleyNode.CreateComponent <ConstraintPulley2D>(); // Apply constraint to box
constraintPulley.OtherBody = ballPulleyNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintPulley.OwnerBodyAnchor = boxPulleyNode.Position2D;
constraintPulley.OtherBodyAnchor = ballPulleyNode.Position2D;
constraintPulley.OwnerBodyGroundAnchor = boxPulleyNode.Position2D + new Vector2(0.0f, 1.0f);
constraintPulley.OtherBodyGroundAnchor = ballPulleyNode.Position2D + new Vector2(0.0f, 1.0f);
constraintPulley.Ratio = 1.0f; // Weight ratio between ownerBody and otherBody
// Create a ConstraintRevolute2D
CreateFlag("ConstraintRevolute2D", -2.45f, 3.0f); // Display Text3D flag
Node boxRevoluteNode = box.Clone(CreateMode.REPLICATED);
tempBody = boxRevoluteNode.GetComponent <RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.BT_STATIC;
Node ballRevoluteNode = ball.Clone(CreateMode.REPLICATED);
boxRevoluteNode.Position = (new Vector3(-2.0f, 1.5f, 0.0f));
ballRevoluteNode.Position = (new Vector3(-1.0f, 2.0f, 0.0f));
ConstraintRevolute2D constraintRevolute = boxRevoluteNode.CreateComponent <ConstraintRevolute2D>(); // Apply constraint to box
constraintRevolute.OtherBody = ballRevoluteNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintRevolute.Anchor = new Vector2(-1.0f, 1.5f);
constraintRevolute.LowerAngle = -1.0f; // In radians
constraintRevolute.UpperAngle = 0.5f; // In radians
constraintRevolute.EnableLimit = true;
constraintRevolute.MaxMotorTorque = 10.0f;
constraintRevolute.MotorSpeed = 0.0f;
constraintRevolute.EnableMotor = true;
// Create a ConstraintRope2D
CreateFlag("ConstraintRope2D", -4.97f, 1.0f); // Display Text3D flag
Node boxRopeNode = box.Clone(CreateMode.REPLICATED);
tempBody = boxRopeNode.GetComponent <RigidBody2D>();
tempBody.BodyType = BodyType2D.BT_STATIC;
Node ballRopeNode = ball.Clone(CreateMode.REPLICATED);
boxRopeNode.Position = (new Vector3(-3.7f, 0.7f, 0.0f));
ballRopeNode.Position = (new Vector3(-4.5f, 0.0f, 0.0f));
ConstraintRope2D constraintRope = boxRopeNode.CreateComponent <ConstraintRope2D>();
constraintRope.OtherBody = ballRopeNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintRope.OwnerBodyAnchor = new Vector2(0.0f, -0.5f); // Offset from box (OwnerBody) : the rope is rigid from OwnerBody center to this ownerBodyAnchor
constraintRope.MaxLength = 0.9f; // Rope length
constraintRope.CollideConnected = true;
// Create a ConstraintWeld2D
CreateFlag("ConstraintWeld2D", -2.45f, 1.0f); // Display Text3D flag
Node boxWeldNode = box.Clone(CreateMode.REPLICATED);
Node ballWeldNode = ball.Clone(CreateMode.REPLICATED);
boxWeldNode.Position = (new Vector3(-0.5f, 0.0f, 0.0f));
ballWeldNode.Position = (new Vector3(-2.0f, 0.0f, 0.0f));
ConstraintWeld2D constraintWeld = boxWeldNode.CreateComponent <ConstraintWeld2D>();
constraintWeld.OtherBody = ballWeldNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintWeld.Anchor = boxWeldNode.Position2D;
constraintWeld.FrequencyHz = 4.0f;
constraintWeld.DampingRatio = 0.5f;
// Create a ConstraintWheel2D
CreateFlag("ConstraintWheel2D", 2.53f, 1.0f); // Display Text3D flag
Node boxWheelNode = box.Clone(CreateMode.REPLICATED);
Node ballWheelNode = ball.Clone(CreateMode.REPLICATED);
boxWheelNode.Position = (new Vector3(3.8f, 0.0f, 0.0f));
ballWheelNode.Position = (new Vector3(3.8f, 0.9f, 0.0f));
ConstraintWheel2D constraintWheel = boxWheelNode.CreateComponent <ConstraintWheel2D>();
constraintWheel.OtherBody = ballWheelNode.GetComponent <RigidBody2D>(); // Constrain ball to box
constraintWheel.Anchor = ballWheelNode.Position2D;
constraintWheel.Axis = new Vector2(0.0f, 1.0f);
constraintWheel.EnableMotor = true;
constraintWheel.MaxMotorTorque = 1.0f;
constraintWheel.MotorSpeed = 0.0f;
constraintWheel.FrequencyHz = 4.0f;
constraintWheel.DampingRatio = 0.5f;
constraintWheel.CollideConnected = true; // doesn't work
}
public void BodyEntered(RigidBody2D body2D)
{
EmitSignal(nameof(GoalReached));
}
public Wheel(RigidBody2D rigidBody, ConstraintWheel2D constraint, ParticleEmitter2D particleEmitter, float particlesDistance)
{
_rigidBody = rigidBody; _constraint = constraint; _particleEmitter = particleEmitter; _particlesDistance = particlesDistance;
}
public ComputerPaddleBehavior(RigidBody2D ballbody)
: base()
{
this.ballbody = ballbody;
}
void CreateScene()
{
scene = new Scene();
scene.CreateComponent <Octree>();
scene.CreateComponent <DebugRenderer>();
// Create camera node
CameraNode = scene.CreateChild("Camera");
// Set camera's position
CameraNode.Position = new Vector3(0.0f, 5.0f, -10.0f);
Camera camera = CameraNode.CreateComponent <Camera>();
camera.Orthographic = true;
var graphics = Graphics;
camera.OrthoSize = graphics.Height * 0.05f;
camera.Zoom = 1.5f * Math.Min(graphics.Width / 1280.0f, graphics.Height / 800.0f); // Set zoom according to user's resolution to ensure full visibility (initial zoom (1.5) is set for full visibility at 1280x800 resolution)
// Create 2D physics world component
PhysicsWorld2D physicsWorld = scene.CreateComponent <PhysicsWorld2D>();
physicsWorld.DrawJoint = (true);
// Create ground
Node groundNode = scene.CreateChild("Ground");
// Create 2D rigid body for gound
RigidBody2D groundBody = groundNode.CreateComponent <RigidBody2D>();
// Create edge collider for ground
CollisionEdge2D groundShape = groundNode.CreateComponent <CollisionEdge2D>();
groundShape.SetVertices(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
const float y = 15.0f;
RigidBody2D prevBody = groundBody;
for (uint i = 0; i < NumObjects; ++i)
{
Node node = scene.CreateChild("RigidBody");
// Create rigid body
RigidBody2D body = node.CreateComponent <RigidBody2D>();
body.BodyType = BodyType2D.Dynamic;
// Create box
CollisionBox2D box = node.CreateComponent <CollisionBox2D>();
// Set friction
box.Friction = 0.2f;
// Set mask bits.
box.MaskBits = 0xFFFF & ~0x0002;
if (i == NumObjects - 1)
{
node.Position = new Vector3(1.0f * i, y, 0.0f);
body.AngularDamping = 0.4f;
box.SetSize(3.0f, 3.0f);
box.Density = 100.0f;
box.CategoryBits = 0x0002;
}
else
{
node.Position = new Vector3(0.5f + 1.0f * i, y, 0.0f);
box.SetSize(1.0f, 0.25f);
box.Density = 20.0f;
box.CategoryBits = 0x0001;
}
ConstraintRevolute2D joint = node.CreateComponent <ConstraintRevolute2D>();
joint.OtherBody = prevBody;
joint.Anchor = new Vector2(i, y);
joint.CollideConnected = false;
prevBody = body;
}
ConstraintRope2D constraintRope = groundNode.CreateComponent <ConstraintRope2D>();
constraintRope.OtherBody = prevBody;
constraintRope.OwnerBodyAnchor = new Vector2(0.0f, y);
constraintRope.MaxLength = NumObjects - 1.0f + 0.01f;
}
public ProximityBehaviour(RigidBody2D target, int ticks, int near, int far) : base(target, ticks)
{
this.near = near;
this.far = far;
}
// Called when the node enters the scene tree for the first time.
public override void _Ready()
{
parentRigidBody = GetParent <RigidBody2D>();
}
// Start is called before the first frame update
void Start()
{
rb = GetCompnonent <RigidBody2D>();
}
public Behaviour(RigidBody2D target, int ticks)
{
this.target = target;
this.ticks = ticks;
}
public override void SetUrho(Constraint2D instance, RigidBody2D value)
{
instance.OtherBody = value;
}
// Use this for initialization
void Start()
{
rb = GetComponent <Rigidbody2D> ();
}
public Constraint2D(RigidBody2D bodyA, RigidBody2D bodyB)
{
BodyA = bodyA;
BodyB = bodyB;
}
// Start is called before the first frame update
void Start()
{
_rigidBody2D = GetComponent <RigidBody2D>();
}
public DistanceConstraint(RigidBody2D bodyA, RigidBody2D bodyB, float dist)
: base(bodyA, bodyB)
{
distance = dist;
}
/// <summary>
/// Update method
/// </summary>
/// <param name="gameTime">game time</param>
protected override void Update(TimeSpan gameTime)
{
this.input = WaveServices.Input;
KeyboardState currentKeyboardState = this.input.KeyboardState;
if (currentKeyboardState.IsConnected)
{
if (currentKeyboardState.IsKeyPressed(Keys.O) &&
this.lastKeyboardState.IsKeyReleased(Keys.O))
{
this.RenderManager.DebugLines = !this.RenderManager.DebugLines;
}
this.lastKeyboardState = currentKeyboardState;
}
if (this.input.TouchPanelState.IsConnected)
{
this.touchState = this.input.TouchPanelState;
if (this.touchState.Count > 0 && this.mouseJoint == null)
{
this.TouchPosition = this.touchState[0].Position;
this.vsm.ToVirtualPosition(ref this.TouchPosition);
foreach (Entity entity in this.Owner.Scene.EntityManager.FindAllByTag("Draggable"))
{
Collider2D collider = entity.FindComponent <Collider2D>(false);
if (collider != null)
{
if (collider.Contain(TouchPosition))
{
RigidBody2D rigidBody = entity.FindComponent <RigidBody2D>();
if (rigidBody != null)
{
if (rigidBody.PhysicBodyType == WaveEngine.Common.Physics2D.RigidBodyType2D.Dynamic)
{
this.ConnectedEntity = entity;
//Create Joint
this.mouseJoint = new MouseJoint2D()
{
Target = this.TouchPosition,
//MaxForce = 100,
//DampingRatio = 0.5f,
//FrequencyHz = 2000,
};
this.ConnectedEntity.AddComponent(mouseJoint);
break;
}
}
}
}
}
}
if (this.touchState.Count == 0 && this.mouseJoint != null)
{
if (!this.ConnectedEntity.IsDisposed)
{
this.ConnectedEntity.RemoveComponent(this.mouseJoint);
}
this.mouseJoint = null;
}
if (this.mouseJoint != null)
{
this.TouchPosition = this.touchState[0].Position;
this.vsm.ToVirtualPosition(ref this.TouchPosition);
this.mouseJoint.Target = this.TouchPosition;
}
}
}
private void ResetEye()
{
RigidBody2D body = eye.FindComponent <RigidBody2D>();
body.ResetPosition(initPosition + EyePosition);
}
/// <summary>
/// Update Method
/// </summary>
/// <param name="gameTime">Current Game Time</param>
protected override void Update(TimeSpan gameTime)
{
this.input = WaveServices.Input;
if (this.input.TouchPanelState.IsConnected)
{
this.touchState = this.input.TouchPanelState;
// Checks Mouse Left Button Click and anyone entity linked
if (this.touchState.Count > 0 && this.mouseJoint == null)
{
// Udpates Mouse Position
this.touchPosition = this.touchState[0].Position;
foreach (Entity entity in this.Scene.EntityManager.FindAllByTag("Draggable"))
{
Collider2D collider = entity.FindComponent <Collider2D>(false);
if (collider != null)
{
// Collider Test
if (collider.Contain(touchPosition))
{
RigidBody2D rigidBody = entity.FindComponent <RigidBody2D>();
if (rigidBody != null)
{
// Forbiden Mouse Joint of Kinematic Bodies
if (rigidBody.PhysicBodyType == PhysicBodyType.Dynamic)
{
this.connectedEntity = entity;
// Create Mouse Joint
this.mouseJoint = new FixedMouseJoint2D(this.touchPosition);
this.connectedEntity.FindComponent <JointMap2D>().AddJoint("mouseJoint", this.mouseJoint);
// We can break after collider test when true, but we'll miss overlapped entities if Physic entity is
// under a non Physic entity. We are breaking here just for sample.
break;
}
}
}
}
}
}
// Checks Mouse Left Button Release
if (this.touchState.Count == 0 && this.mouseJoint != null)
{
if (!this.connectedEntity.IsDisposed)
{
// Remove Fixed Joint
this.connectedEntity.FindComponent <JointMap2D>().RemoveJoint("mouseJoint");
}
this.mouseJoint = null;
}
// If joint exists then update joint anchor position
if (this.mouseJoint != null)
{
this.touchPosition = this.touchState[0].Position;
this.mouseJoint.WorldAnchor = this.touchPosition;
}
}
}
public Constraint(RigidBody2D bodyA, RigidBody2D bodyB)
{
BodyA = bodyA;
BodyB = bodyB;
}
public override bool TryParsePrefab(string text, out RigidBody2D value)
{
throw new System.NotImplementedException();
}
/// <summary>
/// Creates the ball.
/// </summary>
private void CreateBall()
{
int index = WaveServices.Random.NextBool() ? 1 : 0;
string textureName = ballTextures[index];
this.ball = new Entity("ball" + ball_instances++)
{
Tag = "ball"
}
.AddComponent(new Transform2D()
{
Origin = Vector2.Center,
X = WaveServices.Random.Next(400, 900),
Y = WaveServices.Random.Next(370, 580),
DrawOrder = 0.4f,
})
.AddComponent(new CircleCollider2D())
.AddComponent(new Sprite(textureName)
{
//TintColor = Color.Yellow,
})
.AddComponent(new BallBehavior())
.AddComponent(new RigidBody2D()
{
PhysicBodyType = PhysicBodyType.Static,
CollisionCategories = Physic2DCategory.Cat2,
CollidesWith = Physic2DCategory.None,
Restitution = 0.6f,
})
.AddComponent(new SpriteRenderer(DefaultLayers.Alpha));
this.gamePlayScene.EntityManager.Add(this.ball);
this.ballTransform = this.ball.FindComponent<Transform2D>();
this.rigidBodyBall = this.ball.FindComponent<RigidBody2D>();
this.ballSprite = this.ball.FindComponent<Sprite>();
// Collision
this.rigidBodyBall.OnPhysic2DCollision += (s, o) =>
{
if (o.Body2DB.Owner.Tag == "Border")
{
this.gamePlayScene.EntityManager.Remove(o.Body2DA.Owner);
}
};
// Start Position
this.startTransform.X = this.ballTransform.X;
this.startTransform.Y = this.ballTransform.Y;
}
public RigidBody2DAgent(RigidBody2D _body)
{
Body = _body;
_body.GetTree().Connect("physics_frame", this, "_OnSceneTreeFrame");
}
// Start is called before the first frame update
void Start()
{
rb2d = GetComponent <RigidBody2D>();
}
void CreateScene()
{
scene = new Scene();
scene.CreateComponent<Octree>();
scene.CreateComponent<DebugRenderer>();
PhysicsWorld2D physicsWorld = scene.CreateComponent<PhysicsWorld2D>(); // Create 2D physics world component
physicsWorld.DrawJoint=true; // Display the joints (Note that DrawDebugGeometry() must be set to true to acually draw the joints)
drawDebug = true; // Set DrawDebugGeometry() to true
// Create camera
CameraNode = scene.CreateChild("Camera");
// Set camera's position
CameraNode.Position = (new Vector3(0.0f, 0.0f, 0.0f)); // Note that Z setting is discarded; use camera.zoom instead (see MoveCamera() below for example)
camera = CameraNode.CreateComponent<Camera>();
camera.Orthographic = true;
var graphics = Graphics;
camera.OrthoSize=(float)graphics.Height * PixelSize;
camera.Zoom=1.2f * Math.Min((float)graphics.Width / 1280.0f, (float)graphics.Height / 800.0f); // Set zoom according to user's resolution to ensure full visibility (initial zoom (1.2) is set for full visibility at 1280x800 resolution)
// Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
Viewport viewport=new Viewport(Context, scene, camera, null);
Renderer renderer = Renderer;
renderer.SetViewport(0, viewport);
Zone zone = renderer.DefaultZone;
zone.FogColor = (new Color(0.1f, 0.1f, 0.1f)); // Set background color for the scene
// Create 4x3 grid
for (uint i = 0; i < 5; ++i)
{
Node edgeNode = scene.CreateChild("VerticalEdge");
RigidBody2D edgeBody = edgeNode.CreateComponent<RigidBody2D>();
if (dummyBody == null)
dummyBody = edgeBody; // Mark first edge as dummy body (used by mouse pick)
CollisionEdge2D edgeShape = edgeNode.CreateComponent<CollisionEdge2D>();
edgeShape.SetVertices(new Vector2(i * 2.5f - 5.0f, -3.0f), new Vector2(i * 2.5f - 5.0f, 3.0f));
edgeShape.Friction=0.5f; // Set friction
}
for (uint j = 0; j < 4; ++j)
{
Node edgeNode = scene.CreateChild("HorizontalEdge");
/*RigidBody2D edgeBody = */
edgeNode.CreateComponent<RigidBody2D>();
CollisionEdge2D edgeShape = edgeNode.CreateComponent<CollisionEdge2D>();
edgeShape.SetVertices(new Vector2(-5.0f, j * 2.0f - 3.0f), new Vector2(5.0f, j * 2.0f - 3.0f));
edgeShape.Friction=0.5f; // Set friction
}
var cache = ResourceCache;
// Create a box (will be cloned later)
Node box = scene.CreateChild("Box");
box.Position = (new Vector3(0.8f, -2.0f, 0.0f));
StaticSprite2D boxSprite = box.CreateComponent<StaticSprite2D>();
boxSprite.Sprite=cache.GetSprite2D("Urho2D/Box.png");
RigidBody2D boxBody = box.CreateComponent<RigidBody2D>();
boxBody.BodyType= BodyType2D.Dynamic;
boxBody.LinearDamping=0.0f;
boxBody.AngularDamping=0.0f;
CollisionBox2D shape = box.CreateComponent<CollisionBox2D>(); // Create box shape
shape.Size=new Vector2(0.32f, 0.32f); // Set size
shape.Density=1.0f; // Set shape density (kilograms per meter squared)
shape.Friction=0.5f; // Set friction
shape.Restitution=0.1f; // Set restitution (slight bounce)
// Create a ball (will be cloned later)
Node ball = scene.CreateChild("Ball");
ball.Position = (new Vector3(1.8f, -2.0f, 0.0f));
StaticSprite2D ballSprite = ball.CreateComponent<StaticSprite2D>();
ballSprite.Sprite=cache.GetSprite2D("Urho2D/Ball.png");
RigidBody2D ballBody = ball.CreateComponent<RigidBody2D>();
ballBody.BodyType= BodyType2D.Dynamic;
ballBody.LinearDamping=0.0f;
ballBody.AngularDamping=0.0f;
CollisionCircle2D ballShape = ball.CreateComponent<CollisionCircle2D>(); // Create circle shape
ballShape.Radius=0.16f; // Set radius
ballShape.Density=1.0f; // Set shape density (kilograms per meter squared)
ballShape.Friction=0.5f; // Set friction
ballShape.Restitution=0.6f; // Set restitution: make it bounce
// Create a polygon
Node polygon = scene.CreateChild("Polygon");
polygon.Position = (new Vector3(1.6f, -2.0f, 0.0f));
polygon.SetScale(0.7f);
StaticSprite2D polygonSprite = polygon.CreateComponent<StaticSprite2D>();
polygonSprite.Sprite=cache.GetSprite2D("Urho2D/Aster.png");
RigidBody2D polygonBody = polygon.CreateComponent<RigidBody2D>();
polygonBody.BodyType= BodyType2D.Dynamic;
CollisionPolygon2D polygonShape = polygon.CreateComponent<CollisionPolygon2D>();
polygonShape.VertexCount=6; // Set number of vertices (mandatory when using SetVertex())
polygonShape.SetVertex(0, new Vector2(-0.8f, -0.3f));
polygonShape.SetVertex(1, new Vector2(0.5f, -0.8f));
polygonShape.SetVertex(2, new Vector2(0.8f, -0.3f));
polygonShape.SetVertex(3, new Vector2(0.8f, 0.5f));
polygonShape.SetVertex(4, new Vector2(0.5f, 0.9f));
polygonShape.SetVertex(5, new Vector2(-0.5f, 0.7f));
polygonShape.Density=1.0f; // Set shape density (kilograms per meter squared)
polygonShape.Friction=0.3f; // Set friction
polygonShape.Restitution=0.0f; // Set restitution (no bounce)
// Create a ConstraintDistance2D
CreateFlag("ConstraintDistance2D", -4.97f, 3.0f); // Display Text3D flag
Node boxDistanceNode = box.Clone(CreateMode.Replicated);
Node ballDistanceNode = ball.Clone(CreateMode.Replicated);
RigidBody2D ballDistanceBody = ballDistanceNode.GetComponent<RigidBody2D>();
boxDistanceNode.Position = (new Vector3(-4.5f, 2.0f, 0.0f));
ballDistanceNode.Position = (new Vector3(-3.0f, 2.0f, 0.0f));
ConstraintDistance2D constraintDistance = boxDistanceNode.CreateComponent<ConstraintDistance2D>(); // Apply ConstraintDistance2D to box
constraintDistance.OtherBody=ballDistanceBody; // Constrain ball to box
constraintDistance.OwnerBodyAnchor=boxDistanceNode.Position2D;
constraintDistance.OtherBodyAnchor=ballDistanceNode.Position2D;
// Make the constraint soft (comment to make it rigid, which is its basic behavior)
constraintDistance.FrequencyHz=4.0f;
constraintDistance.DampingRatio=0.5f;
// Create a ConstraintFriction2D ********** Not functional. From Box2d samples it seems that 2 anchors are required, Urho2D only provides 1, needs investigation ***********
CreateFlag("ConstraintFriction2D", 0.03f, 1.0f); // Display Text3D flag
Node boxFrictionNode = box.Clone(CreateMode.Replicated);
Node ballFrictionNode = ball.Clone(CreateMode.Replicated);
boxFrictionNode.Position = (new Vector3(0.5f, 0.0f, 0.0f));
ballFrictionNode.Position = (new Vector3(1.5f, 0.0f, 0.0f));
ConstraintFriction2D constraintFriction = boxFrictionNode.CreateComponent<ConstraintFriction2D>(); // Apply ConstraintDistance2D to box
constraintFriction.OtherBody=ballFrictionNode.GetComponent<RigidBody2D>(); // Constraint ball to box
// Create a ConstraintGear2D
CreateFlag("ConstraintGear2D", -4.97f, -1.0f); // Display Text3D flag
Node baseNode = box.Clone(CreateMode.Replicated);
RigidBody2D tempBody = baseNode.GetComponent<RigidBody2D>(); // Get body to make it static
tempBody.BodyType= BodyType2D.Static;
baseNode.Position = (new Vector3(-3.7f, -2.5f, 0.0f));
Node ball1Node = ball.Clone(CreateMode.Replicated);
ball1Node.Position = (new Vector3(-4.5f, -2.0f, 0.0f));
RigidBody2D ball1Body = ball1Node.GetComponent<RigidBody2D>();
Node ball2Node = ball.Clone(CreateMode.Replicated);
ball2Node.Position = (new Vector3(-3.0f, -2.0f, 0.0f));
RigidBody2D ball2Body = ball2Node.GetComponent<RigidBody2D>();
ConstraintRevolute2D gear1 = baseNode.CreateComponent<ConstraintRevolute2D>(); // Apply constraint to baseBox
gear1.OtherBody=ball1Body; // Constrain ball1 to baseBox
gear1.Anchor=ball1Node.Position2D;
ConstraintRevolute2D gear2 = baseNode.CreateComponent<ConstraintRevolute2D>(); // Apply constraint to baseBox
gear2.OtherBody=ball2Body; // Constrain ball2 to baseBox
gear2.Anchor=ball2Node.Position2D;
ConstraintGear2D constraintGear = ball1Node.CreateComponent<ConstraintGear2D>(); // Apply constraint to ball1
constraintGear.OtherBody=ball2Body; // Constrain ball2 to ball1
constraintGear.OwnerConstraint=gear1;
constraintGear.OtherConstraint=gear2;
constraintGear.Ratio=1.0f;
ball1Body.ApplyAngularImpulse(0.015f, true); // Animate
// Create a vehicle from a compound of 2 ConstraintWheel2Ds
CreateFlag("ConstraintWheel2Ds compound", -2.45f, -1.0f); // Display Text3D flag
Node car = box.Clone(CreateMode.Replicated);
car.Scale=new Vector3(4.0f, 1.0f, 0.0f);
car.Position = (new Vector3(-1.2f, -2.3f, 0.0f));
StaticSprite2D tempSprite = car.GetComponent<StaticSprite2D>(); // Get car Sprite in order to draw it on top
tempSprite.OrderInLayer=0; // Draw car on top of the wheels (set to -1 to draw below)
Node ball1WheelNode = ball.Clone(CreateMode.Replicated);
ball1WheelNode.Position = (new Vector3(-1.6f, -2.5f, 0.0f));
Node ball2WheelNode = ball.Clone(CreateMode.Replicated);
ball2WheelNode.Position = (new Vector3(-0.8f, -2.5f, 0.0f));
ConstraintWheel2D wheel1 = car.CreateComponent<ConstraintWheel2D>();
wheel1.OtherBody=ball1WheelNode.GetComponent<RigidBody2D>();
wheel1.Anchor=ball1WheelNode.Position2D;
wheel1.Axis=new Vector2(0.0f, 1.0f);
wheel1.MaxMotorTorque=20.0f;
wheel1.FrequencyHz=4.0f;
wheel1.DampingRatio=0.4f;
ConstraintWheel2D wheel2 = car.CreateComponent<ConstraintWheel2D>();
wheel2.OtherBody=ball2WheelNode.GetComponent<RigidBody2D>();
wheel2.Anchor=ball2WheelNode.Position2D;
wheel2.Axis=new Vector2(0.0f, 1.0f);
wheel2.MaxMotorTorque=10.0f;
wheel2.FrequencyHz=4.0f;
wheel2.DampingRatio=0.4f;
// ConstraintMotor2D
CreateFlag("ConstraintMotor2D", 2.53f, -1.0f); // Display Text3D flag
Node boxMotorNode = box.Clone(CreateMode.Replicated);
tempBody = boxMotorNode.GetComponent<RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.Static;
Node ballMotorNode = ball.Clone(CreateMode.Replicated);
boxMotorNode.Position = (new Vector3(3.8f, -2.1f, 0.0f));
ballMotorNode.Position = (new Vector3(3.8f, -1.5f, 0.0f));
ConstraintMotor2D constraintMotor = boxMotorNode.CreateComponent<ConstraintMotor2D>();
constraintMotor.OtherBody=ballMotorNode.GetComponent<RigidBody2D>(); // Constrain ball to box
constraintMotor.LinearOffset=new Vector2(0.0f, 0.8f); // Set ballNode position relative to boxNode position = (0,0)
constraintMotor.AngularOffset=0.1f;
constraintMotor.MaxForce=5.0f;
constraintMotor.MaxTorque=10.0f;
constraintMotor.CorrectionFactor=1.0f;
constraintMotor.CollideConnected=true; // doesn't work
// ConstraintMouse2D is demonstrated in HandleMouseButtonDown() function. It is used to "grasp" the sprites with the mouse.
CreateFlag("ConstraintMouse2D", 0.03f, -1.0f); // Display Text3D flag
// Create a ConstraintPrismatic2D
CreateFlag("ConstraintPrismatic2D", 2.53f, 3.0f); // Display Text3D flag
Node boxPrismaticNode = box.Clone(CreateMode.Replicated);
tempBody = boxPrismaticNode.GetComponent<RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.Static;
Node ballPrismaticNode = ball.Clone(CreateMode.Replicated);
boxPrismaticNode.Position = new Vector3(3.3f, 2.5f, 0.0f);
ballPrismaticNode.Position = new Vector3(4.3f, 2.0f, 0.0f);
ConstraintPrismatic2D constraintPrismatic = boxPrismaticNode.CreateComponent<ConstraintPrismatic2D>();
constraintPrismatic.OtherBody=ballPrismaticNode.GetComponent<RigidBody2D>(); // Constrain ball to box
constraintPrismatic.Axis=new Vector2(1.0f, 1.0f); // Slide from [0,0] to [1,1]
constraintPrismatic.Anchor=new Vector2(4.0f, 2.0f);
constraintPrismatic.LowerTranslation=-1.0f;
constraintPrismatic.UpperTranslation=0.5f;
constraintPrismatic.EnableLimit=true;
constraintPrismatic.MaxMotorForce=1.0f;
constraintPrismatic.MotorSpeed=0.0f;
// ConstraintPulley2D
CreateFlag("ConstraintPulley2D", 0.03f, 3.0f); // Display Text3D flag
Node boxPulleyNode = box.Clone(CreateMode.Replicated);
Node ballPulleyNode = ball.Clone(CreateMode.Replicated);
boxPulleyNode.Position = (new Vector3(0.5f, 2.0f, 0.0f));
ballPulleyNode.Position = (new Vector3(2.0f, 2.0f, 0.0f));
ConstraintPulley2D constraintPulley = boxPulleyNode.CreateComponent<ConstraintPulley2D>(); // Apply constraint to box
constraintPulley.OtherBody=ballPulleyNode.GetComponent<RigidBody2D>(); // Constrain ball to box
constraintPulley.OwnerBodyAnchor=boxPulleyNode.Position2D;
constraintPulley.OtherBodyAnchor=ballPulleyNode.Position2D;
constraintPulley.OwnerBodyGroundAnchor=boxPulleyNode.Position2D + new Vector2(0.0f, 1.0f);
constraintPulley.OtherBodyGroundAnchor=ballPulleyNode.Position2D + new Vector2(0.0f, 1.0f);
constraintPulley.Ratio=1.0f; // Weight ratio between ownerBody and otherBody
// Create a ConstraintRevolute2D
CreateFlag("ConstraintRevolute2D", -2.45f, 3.0f); // Display Text3D flag
Node boxRevoluteNode = box.Clone(CreateMode.Replicated);
tempBody = boxRevoluteNode.GetComponent<RigidBody2D>(); // Get body to make it static
tempBody.BodyType = BodyType2D.Static;
Node ballRevoluteNode = ball.Clone(CreateMode.Replicated);
boxRevoluteNode.Position = (new Vector3(-2.0f, 1.5f, 0.0f));
ballRevoluteNode.Position = (new Vector3(-1.0f, 2.0f, 0.0f));
ConstraintRevolute2D constraintRevolute = boxRevoluteNode.CreateComponent<ConstraintRevolute2D>(); // Apply constraint to box
constraintRevolute.OtherBody=ballRevoluteNode.GetComponent<RigidBody2D>(); // Constrain ball to box
constraintRevolute.Anchor=new Vector2(-1.0f, 1.5f);
constraintRevolute.LowerAngle=-1.0f; // In radians
constraintRevolute.UpperAngle=0.5f; // In radians
constraintRevolute.EnableLimit=true;
constraintRevolute.MaxMotorTorque=10.0f;
constraintRevolute.MotorSpeed=0.0f;
constraintRevolute.EnableMotor=true;
// Create a ConstraintRope2D
CreateFlag("ConstraintRope2D", -4.97f, 1.0f); // Display Text3D flag
Node boxRopeNode = box.Clone(CreateMode.Replicated);
tempBody = boxRopeNode.GetComponent<RigidBody2D>();
tempBody.BodyType = BodyType2D.Static;
Node ballRopeNode = ball.Clone(CreateMode.Replicated);
boxRopeNode.Position = (new Vector3(-3.7f, 0.7f, 0.0f));
ballRopeNode.Position = (new Vector3(-4.5f, 0.0f, 0.0f));
ConstraintRope2D constraintRope = boxRopeNode.CreateComponent<ConstraintRope2D>();
constraintRope.OtherBody=ballRopeNode.GetComponent<RigidBody2D>(); // Constrain ball to box
constraintRope.OwnerBodyAnchor=new Vector2(0.0f, -0.5f); // Offset from box (OwnerBody) : the rope is rigid from OwnerBody center to this ownerBodyAnchor
constraintRope.MaxLength=0.9f; // Rope length
constraintRope.CollideConnected=true;
// Create a ConstraintWeld2D
CreateFlag("ConstraintWeld2D", -2.45f, 1.0f); // Display Text3D flag
Node boxWeldNode = box.Clone(CreateMode.Replicated);
Node ballWeldNode = ball.Clone(CreateMode.Replicated);
boxWeldNode.Position = (new Vector3(-0.5f, 0.0f, 0.0f));
ballWeldNode.Position = (new Vector3(-2.0f, 0.0f, 0.0f));
ConstraintWeld2D constraintWeld = boxWeldNode.CreateComponent<ConstraintWeld2D>();
constraintWeld.OtherBody=ballWeldNode.GetComponent<RigidBody2D>(); // Constrain ball to box
constraintWeld.Anchor=boxWeldNode.Position2D;
constraintWeld.FrequencyHz=4.0f;
constraintWeld.DampingRatio=0.5f;
// Create a ConstraintWheel2D
CreateFlag("ConstraintWheel2D", 2.53f, 1.0f); // Display Text3D flag
Node boxWheelNode = box.Clone(CreateMode.Replicated);
Node ballWheelNode = ball.Clone(CreateMode.Replicated);
boxWheelNode.Position = (new Vector3(3.8f, 0.0f, 0.0f));
ballWheelNode.Position = (new Vector3(3.8f, 0.9f, 0.0f));
ConstraintWheel2D constraintWheel = boxWheelNode.CreateComponent<ConstraintWheel2D>();
constraintWheel.OtherBody=ballWheelNode.GetComponent<RigidBody2D>(); // Constrain ball to box
constraintWheel.Anchor=ballWheelNode.Position2D;
constraintWheel.Axis=new Vector2(0.0f, 1.0f);
constraintWheel.EnableMotor=true;
constraintWheel.MaxMotorTorque=1.0f;
constraintWheel.MotorSpeed=0.0f;
constraintWheel.FrequencyHz=4.0f;
constraintWheel.DampingRatio=0.5f;
constraintWheel.CollideConnected=true; // doesn't work
}
void Awake()
{
rb = GetComponent <RigidBody2D>();
}
public PaddleBehavior()
: base("PaddleBehavior")
{
body = null;
transf = null;
}
private void Jump()
{
RigidBody2D.AddForce(Vector2.up * 400);
}
