public Robot(float px, float py, float scale, float power)
{
// legs
legLA = new Leg(px, py, -1, scale, 2, unchecked((int) 0xFF444444), unchecked((int) 0xFF222222));
legRA = new Leg(px, py, 1, scale, 2, 0x444444, 0x222222);
legLB = new Leg(px, py, -1, scale, 2, 0x666666, 0x444444);
legRB = new Leg(px, py, 1, scale, 2, 0x666666, 0x444444);
legLC = new Leg(px, py, -1, scale, 2, 0x888888, 0x666666);
legRC = new Leg(px, py, 1, scale, 2, 0x888888, 0x666666);
// body
body = new Body(legLA.Fix, legRA.Fix, (int) (30 * scale), 2, 0x336699);
// motor
motor = new Motor(body.Center, 8 * scale, 0x336699);
// connect the body to the legs
SpringConstraint connLA = new SpringConstraint(body.Left, legLA.Fix, 1);
SpringConstraint connRA = new SpringConstraint(body.Right, legRA.Fix, 1);
SpringConstraint connLB = new SpringConstraint(body.Left, legLB.Fix, 1);
SpringConstraint connRB = new SpringConstraint(body.Right, legRB.Fix, 1);
SpringConstraint connLC = new SpringConstraint(body.Left, legLC.Fix, 1);
SpringConstraint connRC = new SpringConstraint(body.Right, legRC.Fix, 1);
// connect the legs to the motor
legLA.Cam.Position = motor.RimA.Position;
legRA.Cam.Position = motor.RimA.Position;
SpringConstraint connLAA = new SpringConstraint(legLA.Cam, motor.RimA, 1);
SpringConstraint connRAA = new SpringConstraint(legRA.Cam, motor.RimA, 1);
legLB.Cam.Position = motor.RimB.Position;
legRB.Cam.Position = motor.RimB.Position;
SpringConstraint connLBB = new SpringConstraint(legLB.Cam, motor.RimB, 1);
SpringConstraint connRBB = new SpringConstraint(legRB.Cam, motor.RimB, 1);
legLC.Cam.Position = motor.RimC.Position;
legRC.Cam.Position = motor.RimC.Position;
SpringConstraint connLCC = new SpringConstraint(legLC.Cam, motor.RimC, 1);
SpringConstraint connRCC = new SpringConstraint(legRC.Cam, motor.RimC, 1);
connLAA.SetLine(2, 0x999999);
connRAA.SetLine(2, 0x999999);
connLBB.SetLine(2, 0x999999);
connRBB.SetLine(2, 0x999999);
connLCC.SetLine(2, 0x999999);
connRCC.SetLine(2, 0x999999);
// add to the engine
this.Composites.Add(legLA);
this.Composites.Add(legRA);
this.Composites.Add(legLB);
this.Composites.Add(legRB);
this.Composites.Add(legLC);
this.Composites.Add(legRC);
this.Composites.Add(body);
this.Composites.Add(motor);
this.Constraints.Add(connLA);
this.Constraints.Add(connRA);
this.Constraints.Add(connLB);
this.Constraints.Add(connRB);
this.Constraints.Add(connLC);
this.Constraints.Add(connRC);
this.Constraints.Add(connLAA);
this.Constraints.Add(connRAA);
this.Constraints.Add(connLBB);
this.Constraints.Add(connRBB);
this.Constraints.Add(connLCC);
this.Constraints.Add(connRCC);
direction = -1;
powerLevel = power;
powered = true;
legsVisible = true;
}
public Body(
AbstractParticle left,
AbstractParticle right,
int height,
float lineWeight,
int lineColor)
{
float cpx = (right.PX + left.PX) / 2;
float cpy = right.PY;
rgt = new CircleParticle(right.PX, right.PY, 1);
rgt.SetStyle(3, lineColor, lineColor);
lft = new CircleParticle(left.PX, left.PY, 1);
lft.SetStyle(3, lineColor, lineColor);
ctr = new CircleParticle(cpx, cpy, 1);
ctr.Visible = false;
top = new CircleParticle(cpx, cpy - height / 2, 1);
top.Visible = false;
bot = new CircleParticle(cpx, cpy + height / 2, 1);
bot.Visible = false;
// outer constraints
SpringConstraint tr = new SpringConstraint(top, rgt, 1);
tr.Visible = false;
SpringConstraint rb = new SpringConstraint(rgt, bot, 1);
rb.Visible = false;
SpringConstraint bl = new SpringConstraint(bot, lft, 1);
bl.Visible = false;
SpringConstraint lt = new SpringConstraint(lft, top, 1);
lt.Visible = false;
// inner constrainst
SpringConstraint ct = new SpringConstraint(top, this.Center, 1);
ct.Visible = false;
SpringConstraint cr = new SpringConstraint(rgt, this.Center, 1);
cr.SetLine(lineWeight, lineColor);
SpringConstraint cb = new SpringConstraint(bot, this.Center, 1);
cb.Visible = false;
SpringConstraint cl = new SpringConstraint(lft, this.Center, 1);
cl.SetLine(lineWeight, lineColor);
ctr.Collidable = false;
top.Collidable = false;
rgt.Collidable = false;
bot.Collidable = false;
lft.Collidable = false;
this.Particles.Add(ctr);
this.Particles.Add(top);
this.Particles.Add(rgt);
this.Particles.Add(bot);
this.Particles.Add(lft);
this.Constraints.Add(tr);
this.Constraints.Add(rb);
this.Constraints.Add(bl);
this.Constraints.Add(lt);
this.Constraints.Add(ct);
this.Constraints.Add(cr);
this.Constraints.Add(cb);
this.Constraints.Add(cl);
}
