GetPosition() public méthode

Get the world body origin position.
public GetPosition ( ) : System.Vector2
Résultat System.Vector2
        public TheoJansen()
        {
            _offset.Set(0.0f, 8.0f);
            _motorSpeed = 2.0f;
            _motorOn = true;
            Vec2 pivot = new Vec2(0.0f, 0.8f);

            // Ground
            {
                BodyDef bd = new BodyDef();
                Body ground = _world.CreateBody(bd);

                PolygonShape shape = new PolygonShape();
                shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(50.0f, 0.0f));
                ground.CreateFixture(shape, 0);

                shape.SetAsEdge(new Vec2(-50.0f, 0.0f), new Vec2(-50.0f, 10.0f));
                ground.CreateFixture(shape, 0);

                shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(50.0f, 10.0f));
                ground.CreateFixture(shape, 0);
            }

            // Balls
            for (int i = 0; i < 40; ++i)
            {
                CircleShape shape = new CircleShape();
                shape._radius = 0.25f;

                BodyDef bd = new BodyDef();
                bd.Position.Set(-40.0f + 2.0f * i, 0.5f);

                Body body = _world.CreateBody(bd);
                body.CreateFixture(shape, 1.0f);
            }

            // Chassis
            {
                PolygonShape shape = new PolygonShape();
                shape.SetAsBox(2.5f, 1.0f);

                FixtureDef sd = new FixtureDef();
                sd.Density = 1.0f;
                sd.Shape = shape;
                sd.Filter.GroupIndex = -1;
                BodyDef bd = new BodyDef();
                bd.Position = pivot + _offset;
                _chassis = _world.CreateBody(bd);
                _chassis.CreateFixture(sd);
            }

            {
                CircleShape shape = new CircleShape();
                shape._radius = 1.6f;

                FixtureDef sd = new FixtureDef();
                sd.Density = 1.0f;
                sd.Shape = shape;
                sd.Filter.GroupIndex = -1;
                BodyDef bd = new BodyDef();
                bd.Position = pivot + _offset;
                _wheel = _world.CreateBody(bd);
                _wheel.CreateFixture(sd);
            }

            {
                RevoluteJointDef jd = new RevoluteJointDef();
                jd.Initialize(_wheel, _chassis, pivot + _offset);
                jd.CollideConnected = false;
                jd.MotorSpeed = _motorSpeed;
                jd.MaxMotorTorque = 400.0f;
                jd.EnableMotor = _motorOn;
                _motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
            }

            Vec2 wheelAnchor;

            wheelAnchor = pivot + new Vec2(0.0f, -0.8f);

            CreateLeg(-1.0f, wheelAnchor);
            CreateLeg(1.0f, wheelAnchor);

            _wheel.SetTransform(_wheel.GetPosition(), 120.0f * Box2DX.Common.Settings.PI / 180.0f);
            CreateLeg(-1.0f, wheelAnchor);
            CreateLeg(1.0f, wheelAnchor);

            _wheel.SetTransform(_wheel.GetPosition(), -120.0f * Box2DX.Common.Settings.PI / 180.0f);
            CreateLeg(-1.0f, wheelAnchor);
            CreateLeg(1.0f, wheelAnchor);
        }
 private Vec2 CalcPoleEndPos(Body poleBody)
 {
     // Determine position of top of pole relative to its center of mass.
     float angle = poleBody.GetAngle();
     Vec2 polePosTopRelative = new Vec2(__ArmLength * (float)-SysMath.Sin(angle), __ArmLength * (float)SysMath.Cos(angle));
     return poleBody.GetPosition() + (polePosTopRelative * 0.5f);
 }
Exemple #3
0
        void killWheelOrthogonalVelocity(Body hull, Body wheel)
        {
            var p_hull = hull.GetPosition();
            var p_wheel = wheel.GetPosition();
            var velocity = wheel.GetLinearVelocityFromLocalPoint(Vec2.Zero);

            var vec1 = wheel.GetXForm().R.Col1;
            var projection = Vec2.Dot(velocity, vec1);
            vec1 *= projection;

            var k = vec1.Length() / 0.001f; // превышение боковой скорости 1 мм / с
            if (k < 0.1f) k = 0.1f; if (k > 10f) k = 10f;
            float force = -k * 3000; //warning - mn

            vec1.Normalize();

            hull.ApplyForce(force * vec1, p_wheel);
        }