Esempio n. 1
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        ///// <summary>
        ///// Creates the fixed revolute joint.
        ///// </summary>
        ///// <param name="world">The world.</param>
        ///// <param name="body">The body.</param>
        ///// <param name="bodyAnchor">The body anchor.</param>
        ///// <param name="worldAnchor">The world anchor.</param>
        ///// <returns></returns>
        //public static FixedRevoluteJoint CreateFixedRevoluteJoint(World world, Body body, Vector2 bodyAnchor,
        //                                                          Vector2 worldAnchor)
        //{
        //    FixedRevoluteJoint fixedRevoluteJoint = new FixedRevoluteJoint(body, bodyAnchor, worldAnchor);
        //    world.AddJoint(fixedRevoluteJoint);
        //    return fixedRevoluteJoint;
        //}

        #endregion

        #region Weld Joint

        /// <summary>
        /// Creates a weld joint
        /// </summary>
        /// <param name="bodyA"></param>
        /// <param name="bodyB"></param>
        /// <param name="worldAnchor">World space coordinates of weld joint</param>
        /// <returns></returns>
        public static FSWeldJoint CreateWeldJoint(FSBody bodyA, FSBody bodyB, FVector2 worldAnchor)
        {
            FSWeldJoint joint = new FSWeldJoint(bodyA, bodyB, bodyA.GetLocalPoint(worldAnchor),
                                                bodyB.GetLocalPoint(worldAnchor));

            return(joint);
        }
Esempio n. 2
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        /// <summary>
        /// Creates a revolute joint.
        /// </summary>
        /// <param name="bodyA"></param>
        /// <param name="bodyB"></param>
        /// <param name="localAnchorB">The anchor of bodyB in local coordinates</param>
        /// <returns></returns>
        public static FSRevoluteJoint CreateRevoluteJoint(FSBody bodyA, FSBody bodyB, FVector2 localAnchorB)
        {
            FVector2        localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localAnchorB));
            FSRevoluteJoint joint        = new FSRevoluteJoint(bodyA, bodyB, localanchorA, localAnchorB);

            return(joint);
        }
Esempio n. 3
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        /// <summary>
        /// Creates a prsimatic joint
        /// </summary>
        /// <param name="bodyA"></param>
        /// <param name="bodyB"></param>
        /// <param name="localanchorB"></param>
        /// <param name="axis"></param>
        /// <returns></returns>
        public static FSPrismaticJoint CreatePrismaticJoint(FSBody bodyA, FSBody bodyB, FVector2 localanchorB, FVector2 axis)
        {
            FVector2         localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
            FSPrismaticJoint joint        = new FSPrismaticJoint(bodyA, bodyB, localanchorA, localanchorB, axis);

            return(joint);
        }
Esempio n. 4
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 public FSWheelJoint(FSBody bA, FSBody bB, FVector2 anchor, FVector2 axis)
     : base(bA, bB)
 {
     JointType     = JointType.Wheel;
     LocalAnchorA  = bA.GetLocalPoint(anchor);
     LocalAnchorB  = bB.GetLocalPoint(anchor);
     m_localXAxisA = bA.GetLocalVector(axis);
     m_localYAxisA = MathUtils.Cross(1.0f, m_localXAxisA);
 }
Esempio n. 5
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 public FSWheelJoint(FSBody bA, FSBody bB, FVector2 anchor, FVector2 axis)
     : base(bA, bB)
 {
     JointType = JointType.Wheel;
     LocalAnchorA = bA.GetLocalPoint(anchor);
     LocalAnchorB = bB.GetLocalPoint(anchor);
     m_localXAxisA = bA.GetLocalVector(axis);
     m_localYAxisA = MathUtils.Cross(1.0f, m_localXAxisA);
 }
Esempio n. 6
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        /// <summary>
        /// Initialize the bodies and world anchor.
        /// </summary>
        /// <param name="bodyA">The first body.</param>
        /// <param name="bodyB">The second body.</param>
        /// <param name="worldAnchor">The world coordinate anchor.</param>
        public FSRevoluteJoint(FSBody bodyA, FSBody bodyB, FVector2 worldAnchor)
            : base(bodyA, bodyB)
        {
            JointType = JointType.Revolute;

            // Changed to local coordinates.
            LocalAnchorA = bodyA.GetLocalPoint(worldAnchor);
            LocalAnchorB = bodyB.GetLocalPoint(worldAnchor);

            ReferenceAngle = BodyB.Rotation - BodyA.Rotation;

            _impulse = FVector3.Zero;

            _limitState = LimitState.Inactive;
        }
Esempio n. 7
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        /// <summary>
        /// Initialize the bodies and world anchor.
        /// </summary>
        /// <param name="bodyA">The first body.</param>
        /// <param name="bodyB">The second body.</param>
        /// <param name="worldAnchor">The world coordinate anchor.</param>
        public FSRevoluteJoint(FSBody bodyA, FSBody bodyB, FVector2 worldAnchor)
            : base(bodyA, bodyB)
        {
            JointType = JointType.Revolute;

            // Changed to local coordinates.
            LocalAnchorA = bodyA.GetLocalPoint(worldAnchor);
            LocalAnchorB = bodyB.GetLocalPoint(worldAnchor);

            ReferenceAngle = BodyB.Rotation - BodyA.Rotation;

            _impulse = FVector3.Zero;

            _limitState = LimitState.Inactive;
        }
Esempio n. 8
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        public override void Start()
        {
            base.Start();

            CircleShape     circ;
            PolygonShape    box;
            FSFixture       fixture;
            FSRevoluteJoint joint;

            // Add 2 ragdolls along the top
            for (int i = 0; i < 2; i++)
            {
                float startX = 70f + Random.value * 20f + 480f * (float)i;
                float startY = (20f + Random.value * 50f) * -1f;

                // Head
                FSBody head = new FSBody(FSWorldComponent.PhysicsWorld);
                circ                = new CircleShape(12.5f / physScale, 1f);
                fixture             = new FSFixture(head, circ);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.3f;
                head.Position       = new FVector2(startX / physScale, startY / physScale);
                head.ApplyLinearImpulse(new FVector2(Random.value * 100f - 50f, Random.value * 100f - 50f), head.Position);
                head.BodyType = BodyType.Dynamic;

                // Torso 1
                FSBody torso1 = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(15f / physScale, 10f / physScale);
                fixture             = new FSFixture(torso1, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                torso1.Position     = new FVector2(startX / physScale, (startY - 28f) / physScale);
                torso1.BodyType     = BodyType.Dynamic;

                // Torso 2
                FSBody torso2 = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(15f / physScale, 10f / physScale);
                fixture             = new FSFixture(torso2, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                torso2.Position     = new FVector2(startX / physScale, (startY - 43f) / physScale);
                torso2.BodyType     = BodyType.Dynamic;

                // Torso 3
                FSBody torso3 = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(15f / physScale, 10f / physScale);
                fixture             = new FSFixture(torso3, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                torso3.Position     = new FVector2(startX / physScale, (startY - 58f) / physScale);
                torso3.BodyType     = BodyType.Dynamic;

                // UpperArm
                // L
                FSBody upperArmL = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(18f / physScale, 6.5f / physScale);
                fixture             = new FSFixture(upperArmL, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                upperArmL.Position  = new FVector2((startX - 30f) / physScale, (startY - 20f) / physScale);
                upperArmL.BodyType  = BodyType.Dynamic;
                // R
                FSBody upperArmR = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(18f / physScale, 6.5f / physScale);
                fixture             = new FSFixture(upperArmR, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                upperArmR.Position  = new FVector2((startX + 30f) / physScale, (startY - 20f) / physScale);
                upperArmR.BodyType  = BodyType.Dynamic;

                // LowerArm
                // L
                FSBody lowerArmL = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(17f / physScale, 6f / physScale);
                fixture             = new FSFixture(lowerArmL, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                lowerArmL.Position  = new FVector2((startX - 57f) / physScale, (startY - 20f) / physScale);
                lowerArmL.BodyType  = BodyType.Dynamic;
                // R
                FSBody lowerArmR = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(17f / physScale, 6f / physScale);
                fixture             = new FSFixture(lowerArmR, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                lowerArmR.Position  = new FVector2((startX + 57f) / physScale, (startY - 20f) / physScale);
                lowerArmR.BodyType  = BodyType.Dynamic;

                // UpperLeg
                // L
                FSBody upperLegL = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(7.5f / physScale, 22f / physScale);
                fixture             = new FSFixture(upperLegL, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                upperLegL.Position  = new FVector2((startX - 8f) / physScale, (startY - 85f) / physScale);
                upperLegL.BodyType  = BodyType.Dynamic;
                // R
                FSBody upperLegR = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(7.5f / physScale, 22f / physScale);
                fixture             = new FSFixture(upperLegR, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                upperLegR.Position  = new FVector2((startX + 8f) / physScale, (startY - 85f) / physScale);
                upperLegR.BodyType  = BodyType.Dynamic;

                // LowerLeg
                // L
                FSBody lowerLegL = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(7.5f / physScale, 22f / physScale);
                fixture             = new FSFixture(lowerLegL, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                lowerLegL.Position  = new FVector2((startX - 8f) / physScale, (startY - 120f) / physScale);
                lowerLegL.BodyType  = BodyType.Dynamic;
                // R
                FSBody lowerLegR = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox(7.5f / physScale, 22f / physScale);
                fixture             = new FSFixture(lowerLegR, box);
                fixture.Friction    = 0.4f;
                fixture.Restitution = 0.1f;
                lowerLegR.Position  = new FVector2((startX + 8f) / physScale, (startY - 120f) / physScale);
                lowerLegR.BodyType  = BodyType.Dynamic;

                // JOINTS

                // Head to shoulders
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, head, head.GetLocalPoint(new FVector2(startX / physScale, (startY - 15f) / physScale)));
                joint.LowerLimit       = -40f * Mathf.Deg2Rad;
                joint.UpperLimit       = 40f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;

                // Upper arm to shoulders
                // L
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, upperArmL, upperArmL.GetLocalPoint(new FVector2((startX - 18f) / physScale, (startY - 20f) / physScale)));
                joint.LowerLimit       = -85f * Mathf.Deg2Rad;
                joint.UpperLimit       = 130f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;
                // R
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, upperArmR, upperArmR.GetLocalPoint(new FVector2((startX + 18f) / physScale, (startY - 20f) / physScale)));
                joint.LowerLimit       = -130f * Mathf.Deg2Rad;
                joint.UpperLimit       = 85f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;

                // Lower arm to upper arm
                // L
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperArmL, lowerArmL, lowerArmL.GetLocalPoint(new FVector2((startX - 45f) / physScale, (startY - 20f) / physScale)));
                joint.LowerLimit       = -130f * Mathf.Deg2Rad;
                joint.UpperLimit       = 10f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;
                // R
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperArmR, lowerArmR, lowerArmR.GetLocalPoint(new FVector2((startX + 45f) / physScale, (startY - 20f) / physScale)));
                joint.LowerLimit       = -10f * Mathf.Deg2Rad;
                joint.UpperLimit       = 130f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;

                // Shoulders/stomach
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso1, torso2, torso2.GetLocalPoint(new FVector2((startX + 0f) / physScale, (startY - 35f) / physScale)));
                joint.LowerLimit       = -15f * Mathf.Deg2Rad;
                joint.UpperLimit       = 15f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;
                // Stomach/hips
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso2, torso3, torso3.GetLocalPoint(new FVector2((startX + 0f) / physScale, (startY - 50f) / physScale)));
                joint.LowerLimit       = -15f * Mathf.Deg2Rad;
                joint.UpperLimit       = 15f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;

                // Torso to upper leg
                // L
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso3, upperLegL, upperLegL.GetLocalPoint(new FVector2((startX - 8f) / physScale, (startY - 72f) / physScale)));
                joint.LowerLimit       = -25f * Mathf.Deg2Rad;
                joint.UpperLimit       = 45f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;
                // R
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, torso3, upperLegR, upperLegR.GetLocalPoint(new FVector2((startX + 8f) / physScale, (startY - 72f) / physScale)));
                joint.LowerLimit       = -45f * Mathf.Deg2Rad;
                joint.UpperLimit       = 25f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;

                // Upper leg to lower leg
                // L
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperLegL, lowerLegL, lowerLegL.GetLocalPoint(new FVector2((startX - 8f) / physScale, (startY - 105f) / physScale)));
                joint.LowerLimit       = -25f * Mathf.Deg2Rad;
                joint.UpperLimit       = 115f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;
                // R
                joint                  = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, upperLegR, lowerLegR, lowerLegR.GetLocalPoint(new FVector2((startX + 8f) / physScale, (startY - 105f) / physScale)));
                joint.LowerLimit       = -115f * Mathf.Deg2Rad;
                joint.UpperLimit       = 25f * Mathf.Deg2Rad;
                joint.LimitEnabled     = true;
                joint.CollideConnected = false;
            }

            // Add stairs on the left, these are static bodies so set the type accordingly
            for (int j = 1; j <= 10; j++)
            {
                FSBody body = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox((10f * (float)j) / physScale, 10f / physScale);
                fixture       = new FSFixture(body, box);
                body.Position = new FVector2((10f * (float)j) / physScale, ((150f + 20f * (float)j) / physScale) * -1f);
            }
            // Add stairs on the right
            for (int k = 1; k <= 10; k++)
            {
                FSBody body = new FSBody(FSWorldComponent.PhysicsWorld);
                box = new PolygonShape(1f);
                box.SetAsBox((10f * (float)k) / physScale, 10f / physScale);
                fixture       = new FSFixture(body, box);
                body.Position = new FVector2((640f - 10f * (float)k) / physScale, ((150f + 20f * (float)k) / physScale) * -1f);
            }

            FSBody ground = new FSBody(FSWorldComponent.PhysicsWorld);

            box = new PolygonShape(1f);
            box.SetAsBox(30f / physScale, 40f / physScale);
            fixture         = new FSFixture(ground, box);
            ground.Position = new FVector2(320f / physScale, (320f / physScale) * -1f);
        }
Esempio n. 9
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        private void CreateLeg(float s, FVector2 wheelAnchor)
        {
            FVector2 p1, p2, p3, p4, p5, p6;

            p1 = new FVector2((162f * s) / tScale, -183f / tScale);
            p2 = new FVector2((216f * s) / tScale, -36f / tScale);
            p3 = new FVector2((129f * s) / tScale, -57f / tScale);
            p4 = new FVector2((093f * s) / tScale, 24f / tScale);
            p5 = new FVector2((180f * s) / tScale, 45f / tScale);
            p6 = new FVector2((075f * s) / tScale, 111f / tScale);

            FSBody body1;
            FSBody body2;

            body1          = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, m_offset);
            body1.BodyType = BodyType.Dynamic;
            body2          = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(p4, m_offset));
            body2.BodyType = BodyType.Dynamic;

            FSFixture b1fix;
            FSFixture b2fix;

            List <Vertices> vl1 = new List <Vertices>();
            List <Vertices> vl2 = new List <Vertices>();

            vl1.Add(new Vertices());
            vl2.Add(new Vertices());

            if (s > 0f)
            {
                vl1[0].Add(p1);
                vl1[0].Add(p2);
                vl1[0].Add(p3);
                vl2[0].Add(FVector2.Zero);
                vl2[0].Add(FVector2.Subtract(p5, p4));
                vl2[0].Add(FVector2.Subtract(p6, p4));
            }
            else
            {
                vl1[0].Add(p1);
                vl1[0].Add(p3);
                vl1[0].Add(p2);
                vl2[0].Add(FVector2.Zero);
                vl2[0].Add(FVector2.Subtract(p6, p4));
                vl2[0].Add(FVector2.Subtract(p5, p4));
            }

            b1fix = FixtureFactory.AttachCompoundPolygon(vl1, 1f, body1)[0];
            b2fix = FixtureFactory.AttachCompoundPolygon(vl2, 1f, body2)[0];
            b1fix.CollisionCategories = Category.Cat10;
            b1fix.CollidesWith        = Category.Cat1;
            b2fix.CollisionCategories = Category.Cat10;
            b2fix.CollidesWith        = Category.Cat1;

            body1.AngularDamping = 10f;
            body2.AngularDamping = 10f;

            FSDistanceJoint dj;
            float           dampingRatio = 0.5f;
            float           freqHz       = 10f;

            // Using a soft distance constraint can reduce some jitter.
            // It also makes the structure seem a bit more fluid by
            // acting like a suspension system.

            dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body1, body2, body1.GetLocalPoint(FVector2.Add(p2, m_offset)), body2.GetLocalPoint(FVector2.Add(p5, m_offset)));
            dj.DampingRatio = dampingRatio;
            dj.Frequency    = freqHz;

            dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body1, body2, body1.GetLocalPoint(FVector2.Add(p3, m_offset)), body2.GetLocalPoint(FVector2.Add(p4, m_offset)));
            dj.DampingRatio = dampingRatio;
            dj.Frequency    = freqHz;

            dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body1, m_wheel, body1.GetLocalPoint(FVector2.Add(p3, m_offset)), m_wheel.GetLocalPoint(FVector2.Add(wheelAnchor, m_offset)));
            dj.DampingRatio = dampingRatio;
            dj.Frequency    = freqHz;

            dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body2, m_wheel, body2.GetLocalPoint(FVector2.Add(p6, m_offset)), m_wheel.GetLocalPoint(FVector2.Add(wheelAnchor, m_offset)));
            dj.DampingRatio = dampingRatio;
            dj.Frequency    = freqHz;

            JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, body2, m_chassis, m_chassis.GetLocalPoint(FVector2.Add(p4, m_offset)));
        }