public override void Load()
{
// Ground body
Body ground;
{
ground = Physics.NewBody(m_world);
// outline
Physics.NewFixture(ground,
Physics.NewChainShape(true, new Vector2[]
{
new Vector2(0.0f, -2.0f),
new Vector2(8.0f, 6.0f),
new Vector2(8.0f, 20.0f),
new Vector2(-8.0f, 20.0f),
new Vector2(-8.0f, 6.0f),
}), 0);
}
// Flippers
{
var p1 = new Vector2(-2.0f, 0.0f);
var p2 = new Vector2(2.0f, 0.0f);
Body leftFlipper = Physics.NewBody(m_world, p1.X, p1.Y, BodyType.Dynamic);
Body rightFlipper = Physics.NewBody(m_world, p2.X, p2.Y, BodyType.Dynamic);
var box = Physics.NewRectangleShape(1.75f * 2, 0.1f * 2);
Physics.NewFixture(leftFlipper, box, 1.0f);
Physics.NewFixture(rightFlipper, box, 1.0f);
lrj = Physics.NewRevoluteJoint(ground, leftFlipper, p1);
lrj.SetMotorSpeed(0);
lrj.SetMotorEnabled(true);
lrj.SetLimitsEnabled(true);
lrj.SetMaxMotorTorque(1000.0f);
lrj.SetLimits(-30.0f * Mathf.PI / 180.0f, 5.0f * Mathf.PI / 180.0f);
rrj = Physics.NewRevoluteJoint(ground, rightFlipper, p2);
rrj.SetMotorSpeed(0);
rrj.SetMotorEnabled(true);
rrj.SetLimitsEnabled(true);
rrj.SetMaxMotorTorque(1000.0f);
rrj.SetLimits(-5.0f * Mathf.PI / 180.0f, 30.0f * Mathf.PI / 180.0f);
}
// Circle character
{
var body = Physics.NewBody(m_world, 1.0f, 15.0f, BodyType.Dynamic);
body.SetBullet(true);
Physics.NewFixture(body, Physics.NewCircleShape(0.2f), 1.0f);
}
}
public Ragdoll(World world, Vector2 position)
{
// Physics
// Head
_head = world.CreateCircle(0.75f, 10f);
_head.BodyType = BodyType.Dynamic;
_head.AngularDamping = LimbAngularDamping;
_head.Mass = 2f;
_head.Position = position;
// Torso
_upperBody = world.CreateCapsule(0.5f, 0.75f, LegDensity);
_upperBody.BodyType = BodyType.Dynamic;
_upperBody.Mass = 1f;
_upperBody.SetTransform(position + new Vector2(0f, -1.75f), -MathHelper.Pi / 2f);
_middleBody = world.CreateCapsule(0.5f, 0.75f, LegDensity);
_middleBody.BodyType = BodyType.Dynamic;
_middleBody.Mass = 1f;
_middleBody.SetTransform(position + new Vector2(0f, -3f), -MathHelper.Pi / 2f);
_lowerBody = world.CreateCapsule(0.5f, 0.75f, LegDensity);
_lowerBody.BodyType = BodyType.Dynamic;
_lowerBody.Mass = 1f;
_lowerBody.SetTransform(position + new Vector2(0f, -4.25f), -MathHelper.Pi / 2f);
// Left Arm
_lowerLeftArm = world.CreateCapsule(1f, 0.45f, ArmDensity);
_lowerLeftArm.BodyType = BodyType.Dynamic;
_lowerLeftArm.AngularDamping = LimbAngularDamping;
_lowerLeftArm.Mass = 2f;
_lowerLeftArm.Rotation = -1.4f;
_lowerLeftArm.Position = position + new Vector2(-4f, -2.2f);
_upperLeftArm = world.CreateCapsule(1f, 0.45f, ArmDensity);
_upperLeftArm.BodyType = BodyType.Dynamic;
_upperLeftArm.AngularDamping = LimbAngularDamping;
_upperLeftArm.Mass = 2f;
_upperLeftArm.Rotation = -1.4f;
_upperLeftArm.Position = position + new Vector2(-2f, -1.8f);
// Right Arm
_lowerRightArm = world.CreateCapsule(1f, 0.45f, ArmDensity);
_lowerRightArm.BodyType = BodyType.Dynamic;
_lowerRightArm.AngularDamping = LimbAngularDamping;
_lowerRightArm.Mass = 2f;
_lowerRightArm.Rotation = 1.4f;
_lowerRightArm.Position = position + new Vector2(4f, -2.2f);
_upperRightArm = world.CreateCapsule(1f, 0.45f, ArmDensity);
_upperRightArm.BodyType = BodyType.Dynamic;
_upperRightArm.AngularDamping = LimbAngularDamping;
_upperRightArm.Mass = 2f;
_upperRightArm.Rotation = 1.4f;
_upperRightArm.Position = position + new Vector2(2f, -1.8f);
// Left Leg
_lowerLeftLeg = world.CreateCapsule(1f, 0.5f, LegDensity);
_lowerLeftLeg.BodyType = BodyType.Dynamic;
_lowerLeftLeg.AngularDamping = LimbAngularDamping;
_lowerLeftLeg.Mass = 2f;
_lowerLeftLeg.Position = position + new Vector2(-0.6f, -8f);
_upperLeftLeg = world.CreateCapsule(1f, 0.5f, LegDensity);
_upperLeftLeg.BodyType = BodyType.Dynamic;
_upperLeftLeg.AngularDamping = LimbAngularDamping;
_upperLeftLeg.Mass = 2f;
_upperLeftLeg.Position = position + new Vector2(-0.6f, -6f);
// Right Leg
_lowerRightLeg = world.CreateCapsule(1f, 0.5f, LegDensity);
_lowerRightLeg.BodyType = BodyType.Dynamic;
_lowerRightLeg.AngularDamping = LimbAngularDamping;
_lowerRightLeg.Mass = 2f;
_lowerRightLeg.Position = position + new Vector2(0.6f, -8f);
_upperRightLeg = world.CreateCapsule(1f, 0.5f, LegDensity);
_upperRightLeg.BodyType = BodyType.Dynamic;
_upperRightLeg.AngularDamping = LimbAngularDamping;
_upperRightLeg.Mass = 2f;
_upperRightLeg.Position = position + new Vector2(0.6f, -6f);
// head -> upper body
DistanceJoint jointHeadBody = new DistanceJoint(_head, _upperBody, new Vector2(0f, -1f), new Vector2(-0.75f, 0f));
jointHeadBody.CollideConnected = true;
jointHeadBody.DampingRatio = DampingRatio;
jointHeadBody.Frequency = Frequency;
jointHeadBody.Length = 0.025f;
world.Add(jointHeadBody);
// lowerLeftArm -> upperLeftArm
DistanceJoint jointLeftArm = new DistanceJoint(_lowerLeftArm, _upperLeftArm, new Vector2(0f, 1f), new Vector2(0f, -1f));
jointLeftArm.CollideConnected = true;
jointLeftArm.DampingRatio = DampingRatio;
jointLeftArm.Frequency = Frequency;
jointLeftArm.Length = 0.02f;
world.Add(jointLeftArm);
// upperLeftArm -> upper body
DistanceJoint jointLeftArmBody = new DistanceJoint(_upperLeftArm, _upperBody, new Vector2(0f, 1f), new Vector2(-0.15f, -1f));
jointLeftArmBody.DampingRatio = DampingRatio;
jointLeftArmBody.Frequency = Frequency;
jointLeftArmBody.Length = 0.02f;
world.Add(jointLeftArmBody);
// lowerRightArm -> upperRightArm
DistanceJoint jointRightArm = new DistanceJoint(_lowerRightArm, _upperRightArm, new Vector2(0f, 1f), new Vector2(0f, -1f));
jointRightArm.CollideConnected = true;
jointRightArm.DampingRatio = DampingRatio;
jointRightArm.Frequency = Frequency;
jointRightArm.Length = 0.02f;
world.Add(jointRightArm);
// upperRightArm -> upper body
DistanceJoint jointRightArmBody = new DistanceJoint(_upperRightArm, _upperBody, new Vector2(0f, 1f), new Vector2(-0.15f, 1f));
jointRightArmBody.DampingRatio = DampingRatio;
jointRightArmBody.Frequency = 25;
jointRightArmBody.Length = 0.02f;
world.Add(jointRightArmBody);
// lowerLeftLeg -> upperLeftLeg
DistanceJoint jointLeftLeg = new DistanceJoint(_lowerLeftLeg, _upperLeftLeg, new Vector2(0f, 1.1f), new Vector2(0f, -1f));
jointLeftLeg.CollideConnected = true;
jointLeftLeg.DampingRatio = DampingRatio;
jointLeftLeg.Frequency = Frequency;
jointLeftLeg.Length = 0.05f;
world.Add(jointLeftLeg);
// upperLeftLeg -> lower body
DistanceJoint jointLeftLegBody = new DistanceJoint(_upperLeftLeg, _lowerBody, new Vector2(0f, 1.1f), new Vector2(0.7f, -0.8f));
jointLeftLegBody.CollideConnected = true;
jointLeftLegBody.DampingRatio = DampingRatio;
jointLeftLegBody.Frequency = Frequency;
jointLeftLegBody.Length = 0.02f;
world.Add(jointLeftLegBody);
// lowerRightleg -> upperRightleg
DistanceJoint jointRightLeg = new DistanceJoint(_lowerRightLeg, _upperRightLeg, new Vector2(0f, 1.1f), new Vector2(0f, -1f));
jointRightLeg.CollideConnected = true;
jointRightLeg.DampingRatio = DampingRatio;
jointRightLeg.Frequency = Frequency;
jointRightLeg.Length = 0.05f;
world.Add(jointRightLeg);
// upperRightleg -> lower body
DistanceJoint jointRightLegBody = new DistanceJoint(_upperRightLeg, _lowerBody, new Vector2(0f, 1.1f), new Vector2(0.7f, 0.8f));
jointRightLegBody.CollideConnected = true;
jointRightLegBody.DampingRatio = DampingRatio;
jointRightLegBody.Frequency = Frequency;
jointRightLegBody.Length = 0.02f;
world.Add(jointRightLegBody);
// upper body -> middle body
RevoluteJoint jointUpperTorso = new RevoluteJoint(_upperBody, _middleBody, _upperBody.Position + new Vector2(0f, -0.625f), true);
jointUpperTorso.LimitEnabled = true;
jointUpperTorso.SetLimits(MathHelper.Pi / 16f, -MathHelper.Pi / 16f);
world.Add(jointUpperTorso);
// middle body -> lower body
RevoluteJoint jointLowerTorso = new RevoluteJoint(_middleBody, _lowerBody, _middleBody.Position + new Vector2(0f, -0.625f), true);
jointLowerTorso.LimitEnabled = true;
jointLowerTorso.SetLimits(MathHelper.Pi / 8f, -MathHelper.Pi / 8f);
world.Add(jointLowerTorso);
// GFX
_face = new Sprite(ContentWrapper.CircleTexture(0.75f, "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Grey, 1f, 24f));
_torso = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateRoundedRectangle(1.5f, 2f, 0.75f, 0.75f, 2), "Stripe", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 2.0f, 24f));
_upperLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateCapsule(1.9f, 0.45f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f, 24f));
_lowerLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateCapsule(2f, 0.5f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f, 24f));
}
public void Update(int ranking_, float steeringValue_ = 0, bool braking_ = false)
{
// Updates the vehicle
// ================
foreach (Tyre t in m_vehicleTyres)
{
t.UpdateTyre(ranking_, steeringValue_, braking_);
t.UpdateFriction();
}
foreach (Tyre t in m_vehicleTyres)
{
t.UpdateDrive();
if (t.IsPowered())
{
if (t.GetBody().LinearVelocity.Length() > 3.0f)
{
GraphicsHandler.StartFireTrail(t.GetPositionDisplay());
}
else if (t.GetBody().LinearVelocity.Length() > 2.0f)
{
GraphicsHandler.StartDriveTrail(t.GetPositionDisplay());
}
else if (t.GetBody().LinearVelocity.Length() > 0.0f)
{
GraphicsHandler.StartBrakeTrail(t.GetPositionDisplay());
}
else if (t.GetBody().LinearVelocity.Length() < 0.0f)
{
GraphicsHandler.StartBrakeTrail(t.GetPositionDisplay());
}
}
float lockAngle = Util.DegreesToRadians(20);
float turnSpeedPerSec = Util.DegreesToRadians(320);
float turnPerTimeStep = turnSpeedPerSec / 60;
float desiredAngle = steeringValue_ * lockAngle;
float angleNow = m_frontLeftJoint.JointAngle;
float angleToTurn = desiredAngle - angleNow;
angleToTurn = FarseerPhysics.Common.MathUtils.Clamp(angleToTurn, -turnPerTimeStep, turnPerTimeStep);
float newAngle = angleNow + angleToTurn;
if (desiredAngle > 0.25)
{
GraphicsHandler.StartSkidMarks(t.GetPositionDisplay());
}
m_frontLeftJoint.SetLimits(newAngle, newAngle);
m_frontRightJoint.SetLimits(newAngle, newAngle);
t.UpdateSprites();
// AUDIO
if (!braking_)
{
carbrake.Stop(); //ADDED
go.Play(); // ADDED
}
else
{
go.Stop(); //ADDED
carbrake.Play(); // ADDED
}
}
Debug.AddText("Body position D: " + FarseerPhysics.ConvertUnits.ToDisplayUnits(m_vehicleBody.GetPosition()).ToString(), new Vector2(10, 300));
Debug.AddText("Body position S: " + m_vehicleBody.GetPosition().ToString(), new Vector2(10, 320));
Debug.AddText("FL position D: " + FarseerPhysics.ConvertUnits.ToDisplayUnits(m_vehicleTyres[0].GetPosition()).ToString(), new Vector2(10, 360));
Debug.AddText("FL position S: " + m_vehicleTyres[0].GetPosition().ToString(), new Vector2(10, 380));
Debug.AddText("FL rotation: " + Util.RadiansToDegrees(m_frontLeftJoint.JointAngle).ToString(), new Vector2(10, 400));
Debug.AddText("FR position D: " + FarseerPhysics.ConvertUnits.ToDisplayUnits(m_vehicleTyres[1].GetPosition()).ToString(), new Vector2(10, 420));
Debug.AddText("FR position S: " + m_vehicleTyres[1].GetPosition().ToString(), new Vector2(10, 440));
Debug.AddText("FR rotation: " + Util.RadiansToDegrees(m_frontRightJoint.JointAngle).ToString(), new Vector2(10, 460));
m_vehicleBody.UpdateSprites();
}
public Ragdoll(World world, Vector2 position)
{
// Physics
// Head
_head = BodyFactory.CreateCircle(world, 0.75f, 10f);
_head.BodyType = BodyType.Dynamic;
_head.AngularDamping = LimbAngularDamping;
_head.Mass = 2f;
_head.Position = position;
// Torso
_upperBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_upperBody.BodyType = BodyType.Dynamic;
_upperBody.Mass = 1f;
_upperBody.SetTransform(position + new Vector2(0f, 1.75f), MathHelper.Pi / 2f);
_middleBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_middleBody.BodyType = BodyType.Dynamic;
_middleBody.Mass = 1f;
_middleBody.SetTransform(position + new Vector2(0f, 3f), MathHelper.Pi / 2f);
_lowerBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_lowerBody.BodyType = BodyType.Dynamic;
_lowerBody.Mass = 1f;
_lowerBody.SetTransform(position + new Vector2(0f, 4.25f), MathHelper.Pi / 2f);
// Left Arm
_lowerLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerLeftArm.BodyType = BodyType.Dynamic;
_lowerLeftArm.AngularDamping = LimbAngularDamping;
_lowerLeftArm.Mass = 2f;
_lowerLeftArm.Rotation = 1.4f;
_lowerLeftArm.Position = position + new Vector2(-4f, 2.2f);
_upperLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperLeftArm.BodyType = BodyType.Dynamic;
_upperLeftArm.AngularDamping = LimbAngularDamping;
_upperLeftArm.Mass = 2f;
_upperLeftArm.Rotation = 1.4f;
_upperLeftArm.Position = position + new Vector2(-2f, 1.8f);
// Right Arm
_lowerRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerRightArm.BodyType = BodyType.Dynamic;
_lowerRightArm.AngularDamping = LimbAngularDamping;
_lowerRightArm.Mass = 2f;
_lowerRightArm.Rotation = -1.4f;
_lowerRightArm.Position = position + new Vector2(4f, 2.2f);
_upperRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperRightArm.BodyType = BodyType.Dynamic;
_upperRightArm.AngularDamping = LimbAngularDamping;
_upperRightArm.Mass = 2f;
_upperRightArm.Rotation = -1.4f;
_upperRightArm.Position = position + new Vector2(2f, 1.8f);
// Left Leg
_lowerLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerLeftLeg.BodyType = BodyType.Dynamic;
_lowerLeftLeg.AngularDamping = LimbAngularDamping;
_lowerLeftLeg.Mass = 2f;
_lowerLeftLeg.Position = position + new Vector2(-0.6f, 8f);
_upperLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperLeftLeg.BodyType = BodyType.Dynamic;
_upperLeftLeg.AngularDamping = LimbAngularDamping;
_upperLeftLeg.Mass = 2f;
_upperLeftLeg.Position = position + new Vector2(-0.6f, 6f);
// Right Leg
_lowerRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerRightLeg.BodyType = BodyType.Dynamic;
_lowerRightLeg.AngularDamping = LimbAngularDamping;
_lowerRightLeg.Mass = 2f;
_lowerRightLeg.Position = position + new Vector2(0.6f, 8f);
_upperRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperRightLeg.BodyType = BodyType.Dynamic;
_upperRightLeg.AngularDamping = LimbAngularDamping;
_upperRightLeg.Mass = 2f;
_upperRightLeg.Position = position + new Vector2(0.6f, 6f);
// head -> upper body
DistanceJoint jointHeadBody = new DistanceJoint(_head, _upperBody, new Vector2(0f, 1f), new Vector2(-0.75f, 0f));
jointHeadBody.CollideConnected = true;
jointHeadBody.DampingRatio = DampingRatio;
jointHeadBody.Frequency = Frequency;
jointHeadBody.Length = 0.025f;
world.AddJoint(jointHeadBody);
// lowerLeftArm -> upperLeftArm
DistanceJoint jointLeftArm = new DistanceJoint(_lowerLeftArm, _upperLeftArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
jointLeftArm.CollideConnected = true;
jointLeftArm.DampingRatio = DampingRatio;
jointLeftArm.Frequency = Frequency;
jointLeftArm.Length = 0.02f;
world.AddJoint(jointLeftArm);
// upperLeftArm -> upper body
DistanceJoint jointLeftArmBody = new DistanceJoint(_upperLeftArm, _upperBody, new Vector2(0f, -1f), new Vector2(-0.15f, 1f));
jointLeftArmBody.DampingRatio = DampingRatio;
jointLeftArmBody.Frequency = Frequency;
jointLeftArmBody.Length = 0.02f;
world.AddJoint(jointLeftArmBody);
// lowerRightArm -> upperRightArm
DistanceJoint jointRightArm = new DistanceJoint(_lowerRightArm, _upperRightArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
jointRightArm.CollideConnected = true;
jointRightArm.DampingRatio = DampingRatio;
jointRightArm.Frequency = Frequency;
jointRightArm.Length = 0.02f;
world.AddJoint(jointRightArm);
// upperRightArm -> upper body
DistanceJoint jointRightArmBody = new DistanceJoint(_upperRightArm, _upperBody, new Vector2(0f, -1f), new Vector2(-0.15f, -1f));
jointRightArmBody.DampingRatio = DampingRatio;
jointRightArmBody.Frequency = 25;
jointRightArmBody.Length = 0.02f;
world.AddJoint(jointRightArmBody);
// lowerLeftLeg -> upperLeftLeg
DistanceJoint jointLeftLeg = new DistanceJoint(_lowerLeftLeg, _upperLeftLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
jointLeftLeg.CollideConnected = true;
jointLeftLeg.DampingRatio = DampingRatio;
jointLeftLeg.Frequency = Frequency;
jointLeftLeg.Length = 0.05f;
world.AddJoint(jointLeftLeg);
// upperLeftLeg -> lower body
DistanceJoint jointLeftLegBody = new DistanceJoint(_upperLeftLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, 0.8f));
jointLeftLegBody.CollideConnected = true;
jointLeftLegBody.DampingRatio = DampingRatio;
jointLeftLegBody.Frequency = Frequency;
jointLeftLegBody.Length = 0.02f;
world.AddJoint(jointLeftLegBody);
// lowerRightleg -> upperRightleg
DistanceJoint jointRightLeg = new DistanceJoint(_lowerRightLeg, _upperRightLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
jointRightLeg.CollideConnected = true;
jointRightLeg.DampingRatio = DampingRatio;
jointRightLeg.Frequency = Frequency;
jointRightLeg.Length = 0.05f;
world.AddJoint(jointRightLeg);
// upperRightleg -> lower body
DistanceJoint jointRightLegBody = new DistanceJoint(_upperRightLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, -0.8f));
jointRightLegBody.CollideConnected = true;
jointRightLegBody.DampingRatio = DampingRatio;
jointRightLegBody.Frequency = Frequency;
jointRightLegBody.Length = 0.02f;
world.AddJoint(jointRightLegBody);
// upper body -> middle body
RevoluteJoint jointUpperTorso = new RevoluteJoint(_upperBody, _middleBody, _upperBody.Position + new Vector2(0f, 0.625f), true);
jointUpperTorso.LimitEnabled = true;
jointUpperTorso.SetLimits(-MathHelper.Pi / 16f, MathHelper.Pi / 16f);
world.AddJoint(jointUpperTorso);
// middle body -> lower body
RevoluteJoint jointLowerTorso = new RevoluteJoint(_middleBody, _lowerBody, _middleBody.Position + new Vector2(0f, 0.625f), true);
jointLowerTorso.LimitEnabled = true;
jointLowerTorso.SetLimits(-MathHelper.Pi / 8f, MathHelper.Pi / 8f);
world.AddJoint(jointLowerTorso);
}
public Ragdoll(World world, Vector2 position)
{
// Physics
// Head
_head = BodyFactory.CreateCircle(world, 0.75f, 10f);
_head.BodyType = BodyType.Dynamic;
_head.AngularDamping = LimbAngularDamping;
_head.Mass = 2f;
_head.Position = position;
// Torso
Body = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
Body.BodyType = BodyType.Dynamic;
Body.Mass = 1f;
Body.SetTransform(position + new Vector2(0f, 1.75f), MathHelper.Pi / 2f);
_middleBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_middleBody.BodyType = BodyType.Dynamic;
_middleBody.Mass = 1f;
_middleBody.SetTransform(position + new Vector2(0f, 3f), MathHelper.Pi / 2f);
_lowerBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_lowerBody.BodyType = BodyType.Dynamic;
_lowerBody.Mass = 1f;
_lowerBody.SetTransform(position + new Vector2(0f, 4.25f), MathHelper.Pi / 2f);
// Left Arm
_lowerLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerLeftArm.BodyType = BodyType.Dynamic;
_lowerLeftArm.AngularDamping = LimbAngularDamping;
_lowerLeftArm.Mass = 2f;
_lowerLeftArm.Rotation = 1.4f;
_lowerLeftArm.Position = position + new Vector2(-4f, 2.2f);
_upperLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperLeftArm.BodyType = BodyType.Dynamic;
_upperLeftArm.AngularDamping = LimbAngularDamping;
_upperLeftArm.Mass = 2f;
_upperLeftArm.Rotation = 1.4f;
_upperLeftArm.Position = position + new Vector2(-2f, 1.8f);
// Right Arm
_lowerRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerRightArm.BodyType = BodyType.Dynamic;
_lowerRightArm.AngularDamping = LimbAngularDamping;
_lowerRightArm.Mass = 2f;
_lowerRightArm.Rotation = -1.4f;
_lowerRightArm.Position = position + new Vector2(4f, 2.2f);
_upperRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperRightArm.BodyType = BodyType.Dynamic;
_upperRightArm.AngularDamping = LimbAngularDamping;
_upperRightArm.Mass = 2f;
_upperRightArm.Rotation = -1.4f;
_upperRightArm.Position = position + new Vector2(2f, 1.8f);
// Left Leg
_lowerLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerLeftLeg.BodyType = BodyType.Dynamic;
_lowerLeftLeg.AngularDamping = LimbAngularDamping;
_lowerLeftLeg.Mass = 2f;
_lowerLeftLeg.Position = position + new Vector2(-0.6f, 8f);
_upperLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperLeftLeg.BodyType = BodyType.Dynamic;
_upperLeftLeg.AngularDamping = LimbAngularDamping;
_upperLeftLeg.Mass = 2f;
_upperLeftLeg.Position = position + new Vector2(-0.6f, 6f);
// Right Leg
_lowerRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerRightLeg.BodyType = BodyType.Dynamic;
_lowerRightLeg.AngularDamping = LimbAngularDamping;
_lowerRightLeg.Mass = 2f;
_lowerRightLeg.Position = position + new Vector2(0.6f, 8f);
_upperRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperRightLeg.BodyType = BodyType.Dynamic;
_upperRightLeg.AngularDamping = LimbAngularDamping;
_upperRightLeg.Mass = 2f;
_upperRightLeg.Position = position + new Vector2(0.6f, 6f);
// head -> upper body
DistanceJoint jointHeadBody = new DistanceJoint(_head, Body, new Vector2(0f, 1f), new Vector2(-0.75f, 0f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointHeadBody.BodyA, jointHeadBody.BodyB, out var stiffness, out var damping);
jointHeadBody.CollideConnected = true;
jointHeadBody.Damping = damping;
jointHeadBody.Stiffness = stiffness;
jointHeadBody.Length = 0.025f;
world.AddJoint(jointHeadBody);
// lowerLeftArm -> upperLeftArm
DistanceJoint jointLeftArm = new DistanceJoint(_lowerLeftArm, _upperLeftArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftArm.BodyA, jointLeftArm.BodyB, out stiffness, out damping);
jointLeftArm.CollideConnected = true;
jointLeftArm.Damping = damping;
jointLeftArm.Stiffness = stiffness;
jointLeftArm.Length = 0.02f;
world.AddJoint(jointLeftArm);
// upperLeftArm -> upper body
DistanceJoint jointLeftArmBody = new DistanceJoint(_upperLeftArm, Body, new Vector2(0f, -1f), new Vector2(-0.15f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftArmBody.BodyA, jointLeftArmBody.BodyB, out stiffness, out damping);
jointLeftArmBody.Damping = damping;
jointLeftArmBody.Stiffness = stiffness;
jointLeftArmBody.Length = 0.02f;
world.AddJoint(jointLeftArmBody);
// lowerRightArm -> upperRightArm
DistanceJoint jointRightArm = new DistanceJoint(_lowerRightArm, _upperRightArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightArm.BodyA, jointRightArm.BodyB, out stiffness, out damping);
jointRightArm.CollideConnected = true;
jointRightArm.Damping = damping;
jointRightArm.Stiffness = stiffness;
jointRightArm.Length = 0.02f;
world.AddJoint(jointRightArm);
// upperRightArm -> upper body
DistanceJoint jointRightArmBody = new DistanceJoint(_upperRightArm, Body, new Vector2(0f, -1f), new Vector2(-0.15f, -1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightArmBody.BodyA, jointRightArmBody.BodyB, out stiffness, out damping);
jointRightArmBody.Damping = damping;
jointRightArmBody.Stiffness = stiffness;
jointRightArmBody.Length = 0.02f;
world.AddJoint(jointRightArmBody);
// lowerLeftLeg -> upperLeftLeg
DistanceJoint jointLeftLeg = new DistanceJoint(_lowerLeftLeg, _upperLeftLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftLeg.BodyA, jointLeftLeg.BodyB, out stiffness, out damping);
jointLeftLeg.CollideConnected = true;
jointLeftLeg.Damping = damping;
jointLeftLeg.Stiffness = stiffness;
jointLeftLeg.Length = 0.05f;
world.AddJoint(jointLeftLeg);
// upperLeftLeg -> lower body
DistanceJoint jointLeftLegBody = new DistanceJoint(_upperLeftLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, 0.8f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointLeftLegBody.BodyA, jointLeftLegBody.BodyB, out stiffness, out damping);
jointLeftLegBody.CollideConnected = true;
jointLeftLegBody.Damping = damping;
jointLeftLegBody.Stiffness = stiffness;
jointLeftLegBody.Length = 0.02f;
world.AddJoint(jointLeftLegBody);
// lowerRightleg -> upperRightleg
DistanceJoint jointRightLeg = new DistanceJoint(_lowerRightLeg, _upperRightLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightLeg.BodyA, jointRightLeg.BodyB, out stiffness, out damping);
jointRightLeg.CollideConnected = true;
jointRightLeg.Damping = damping;
jointRightLeg.Stiffness = stiffness;
jointRightLeg.Length = 0.05f;
world.AddJoint(jointRightLeg);
// upperRightleg -> lower body
DistanceJoint jointRightLegBody = new DistanceJoint(_upperRightLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, -0.8f));
JointHelper.LinearStiffness(Frequency, DampingRatio, jointRightLegBody.BodyA, jointRightLegBody.BodyB, out stiffness, out damping);
jointRightLegBody.CollideConnected = true;
jointRightLegBody.Damping = damping;
jointRightLegBody.Stiffness = stiffness;
jointRightLegBody.Length = 0.02f;
world.AddJoint(jointRightLegBody);
// upper body -> middle body
RevoluteJoint jointUpperTorso = new RevoluteJoint(Body, _middleBody, Body.Position + new Vector2(0f, 0.625f), true);
jointUpperTorso.LimitEnabled = true;
jointUpperTorso.SetLimits(-MathHelper.Pi / 16f, MathHelper.Pi / 16f);
world.AddJoint(jointUpperTorso);
// middle body -> lower body
RevoluteJoint jointLowerTorso = new RevoluteJoint(_middleBody, _lowerBody, _middleBody.Position + new Vector2(0f, 0.625f), true);
jointLowerTorso.LimitEnabled = true;
jointLowerTorso.SetLimits(-MathHelper.Pi / 8f, MathHelper.Pi / 8f);
world.AddJoint(jointLowerTorso);
// GFX
_face = new Sprite(Managers.TextureManager.CircleTexture(0.75f, "Square", Colors.Gold, Colors.Orange, Colors.Grey, 1f));
_torso = new Sprite(Managers.TextureManager.PolygonTexture(PolygonUtils.CreateRoundedRectangle(1.5f, 2f, 0.75f, 0.75f, 2), "Stripe", Colors.Gold, Colors.Orange, Colors.Black, 2.0f));
_upperLimb = new Sprite(Managers.TextureManager.PolygonTexture(PolygonUtils.CreateCapsule(1.9f, 0.45f, 16), "Square", Colors.Gold, Colors.Orange, Colors.Black, 1f));
_lowerLimb = new Sprite(Managers.TextureManager.PolygonTexture(PolygonUtils.CreateCapsule(2f, 0.5f, 16), "Square", Colors.Gold, Colors.Orange, Colors.Black, 1f));
}