/// <summary>
/// Attaches the bodies with revolute joints.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="bodies">The bodies.</param>
/// <param name="localAnchorA">The local anchor A.</param>
/// <param name="localAnchorB">The local anchor B.</param>
/// <param name="connectFirstAndLast">if set to <c>true</c> [connect first and last].</param>
/// <param name="collideConnected">if set to <c>true</c> [collide connected].</param>
public static List <FSRevoluteJoint> AttachBodiesWithRevoluteJoint(FSWorld world, List <FSBody> bodies,
FVector2 localAnchorA,
FVector2 localAnchorB, bool connectFirstAndLast,
bool collideConnected)
{
List <FSRevoluteJoint> joints = new List <FSRevoluteJoint>(bodies.Count + 1);
for (int i = 1; i < bodies.Count; i++)
{
FSRevoluteJoint joint = new FSRevoluteJoint(bodies[i], bodies[i - 1], localAnchorA, localAnchorB);
joint.CollideConnected = collideConnected;
world.AddJoint(joint);
joints.Add(joint);
}
if (connectFirstAndLast)
{
FSRevoluteJoint lastjoint = new FSRevoluteJoint(bodies[0], bodies[bodies.Count - 1], localAnchorA,
localAnchorB);
lastjoint.CollideConnected = collideConnected;
world.AddJoint(lastjoint);
joints.Add(lastjoint);
}
return(joints);
}
/// <summary>
/// Creates a revolute joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <returns></returns>
public static FSRevoluteJoint CreateRevoluteJoint(FSWorld world, FSBody bodyA, FSBody bodyB, FVector2 anchor)
{
FSRevoluteJoint joint = CreateRevoluteJoint(bodyA, bodyB, anchor);
world.AddJoint(joint);
return(joint);
}
/// <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);
}
public override void InitJoint()
{
base.InitJoint();
//
Vector3 p0 = BodyB.transform.TransformPoint(new Vector3(LocalAnchorB.x, LocalAnchorB.y, -5f));
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, BodyA.PhysicsBody, BodyB.PhysicsBody, BodyB.PhysicsBody.GetLocalPoint(FSHelper.Vector3ToFVector2(p0)));
joint.CollideConnected = CollideConnected;
joint.LowerLimit = LowerLimit * Mathf.Deg2Rad;
joint.UpperLimit = UpperLimit * Mathf.Deg2Rad;
joint.LimitEnabled = LimitEnabled;
joint.MaxMotorTorque = MaxMotorTorque;
joint.MotorSpeed = MotorSpeed;
joint.MotorEnabled = MotorEnabled;
}
public override void Start()
{
base.Start();
FSBody body;
tScale = physScale * 2f;
// St position in world space
m_offset = new FVector2(180f / physScale, -200f / physScale);
m_motorSpeed = 2f;
m_motorOn = true;
FVector2 pivot = new FVector2(0f, 24f / tScale);
for (int i = 0; i < 50; i++)
{
body = BodyFactory.CreateCircle(FSWorldComponent.PhysicsWorld, 3.75f / physScale, 1f, new FVector2((Random.value * 620f + 10f) / physScale, -340f / physScale));
body.BodyType = BodyType.Dynamic;
}
// chassis
{
m_chassis = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_chassis.BodyType = BodyType.Dynamic;
FSFixture m_chassis_f = FixtureFactory.AttachRectangle(150f / tScale, 60f / tScale, 1f, FVector2.Zero, m_chassis);
//m_chassis_f.CollisionGroup = -1;
m_chassis_f.CollisionCategories = Category.Cat10;
m_chassis_f.CollidesWith = Category.Cat1;
}
// wheel
{
m_wheel = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_wheel.BodyType = BodyType.Dynamic;
FSFixture m_wheel_f = FixtureFactory.AttachCircle(48f / tScale, 1f, m_wheel);
//m_wheel_f.CollisionGroup = -1;
m_wheel_f.CollisionCategories = Category.Cat10;
m_wheel_f.CollidesWith = Category.Cat1;
}
// glue chassis & wheel
{
m_motorJoint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, m_wheel, m_chassis, FVector2.Zero);
m_motorJoint.MotorSpeed = m_motorSpeed;
m_motorJoint.MaxMotorTorque = 400f;
m_motorJoint.CollideConnected = false;
m_motorJoint.MotorEnabled = m_motorOn;
}
FVector2 wheelAnchor;
wheelAnchor = new FVector2(0f, -24f / tScale) + pivot;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = 120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = -120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
}
