public PolyCollision()
{
{
_polygonA.SetAsBox(0.2f, 0.4f);
_transformA.Set(new Vector2(0.0f, 0.0f), 0.0f);
}
{
_polygonB.SetAsBox(0.5f, 0.5f);
_positionB.Set(19.345284f, 1.5632932f);
_angleB = 1.9160721f;
_transformB.Set(_positionB, _angleB);
}
}
protected override void Create()
{
{
_polygonA.SetAsBox(0.2f, 0.4f);
_transformA.Set(new Vector2(0.0f, 0.0f), 0.0f);
}
{
_polygonB.SetAsBox(0.5f, 0.5f);
_positionB.Set(19.345284f, 1.5632932f);
_angleB = 1.9160721f;
_transformB.Set(_positionB, _angleB);
}
}
protected override void Create()
{
{
_transformA.SetIdentity();
_transformA.Position.Set(0.0f, -0.2f);
_polygonA.SetAsBox(10.0f, 0.2f);
}
{
_positionB.Set(12.017401f, 0.13678508f);
_angleB = -0.0109265f;
_transformB.Set(_positionB, _angleB);
_polygonB.SetAsBox(2.0f, 0.1f);
}
}
public DistanceTest()
{
{
_transformA.SetIdentity();
_transformA.Position.Set(0.0f, -0.2f);
_polygonA.SetAsBox(10.0f, 0.2f);
}
{
_positionB.Set(12.017401f, 0.13678508f);
_angleB = -0.0109265f;
_transformB.Set(_positionB, _angleB);
_polygonB.SetAsBox(2.0f, 0.1f);
}
}
private void MoveAABB(ref AABB aabb)
{
Vector2 d;
d.X = RandomFloat(-0.5f, 0.5f);
d.Y = RandomFloat(-0.5f, 0.5f);
//d.X = 2.0f;
//d.Y = 0.0f;
aabb.LowerBound += d;
aabb.UpperBound += d;
var c0 = 0.5f * (aabb.LowerBound + aabb.UpperBound);
var min = new Vector2();
min.Set(-_worldExtent, 0.0f);
var max = new Vector2();
max.Set(_worldExtent, 2.0f * _worldExtent);
var c = Vector2.Clamp(c0, min, max);
aabb.LowerBound += c - c0;
aabb.UpperBound += c - c0;
}
public TheoJansen()
{
_offset.Set(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
var pivot = new Vector2(0.0f, 0.8f);
// Ground
{
var bd = new BodyDef();
var ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (var i = 0; i < 40; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.25f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-40.0f + 2.0f * i, 0.5f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
var shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
var sd = new FixtureDef();
sd.Density = 1.0f;
sd.Shape = shape;
sd.Filter.GroupIndex = -1;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = pivot + _offset;
_chassis = World.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
var shape = new CircleShape();
shape.Radius = 1.6f;
var sd = new FixtureDef();
sd.Density = 1.0f;
sd.Shape = shape;
sd.Filter.GroupIndex = -1;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = pivot + _offset;
_wheel = World.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
var 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);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Math.PI / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
