public static MotorJoint CreateMotorJoint(this Body body, Body bodyB, bool useWorldCoordinates = false)
{
return(JointFactory.CreateMotorJoint(body.World, body, bodyB, useWorldCoordinates));
}
/// <summary>
/// Updates the state of the game. This method checks the GameScreen.IsActive
/// property, so the game will stop updating when the pause menu is active,
/// or if you tab away to a different application.
/// </summary>
public override void Update(GameTime gameTime, bool otherScreenHasFocus,
bool coveredByOtherScreen)
{
base.Update(gameTime, otherScreenHasFocus, false);
// Gradually fade in or out depending on whether we are covered by the pause screen.
if (coveredByOtherScreen)
{
pauseAlpha = Math.Min(pauseAlpha + 1f / 32, 1);
}
else
{
pauseAlpha = Math.Max(pauseAlpha - 1f / 32, 0);
}
if (IsActive)
{
mouse = Mouse.GetState();
// bloom
bloom.Visible = true;
bloom.Settings = BloomSettings.PresetSettings[bloomSettingsIndex];
// update entites
playerBody.update(gameTime);
foreach (Pickupable pickupable in pickuables)
{
if (pickupable.getSetIsTouchingPlayer && playerBody.getSetWantsToPickUp && !playerBody.getSetHasPickedUp)
{
// joints.Add ( JointFactory.CreateRevoluteJoint(world,playerBody.playerBody,
// pickupable.getBody, new Vector2(0,0)));
Joints.Add(JointFactory.CreateDistanceJoint(world, playerBody.playerBody, pickupable.getBody, new Vector2(0, 0), new Vector2(0, 0)));
playerBody.getSetWantsToPickUp = false;
pickupable.getSetIsAttachedToPlayer = true;
playerBody.getSetHasPickedUp = true;
}
if (Joints.Count > 0 && playerBody.getSetWantsTodrop && playerBody.getSetHasPickedUp && pickupable.getSetIsAttachedToPlayer)
{
// for some reason the on seperation dosn't work when removing a joint. So we force the pickupable to not touching the player
world.RemoveJoint(Joints[0]);
Joints.RemoveAt(0);
playerBody.getSetHasPickedUp = false;
pickupable.getSetIsAttachedToPlayer = false;
pickupable.getSetIsTouchingPlayer = false;
}
}
if (playerBody.isAlive == false)
{
bloom.Visible = false;
world.Clear();
this.ExitScreen();
LoadingScreen.Load(ScreenManager, false, PlayerIndex.One, new DeadScreen(0));
}
//game script
if (GreenTestStarted == false)
{
Timer += gameTime.ElapsedGameTime.Milliseconds;
}
if (Timer > timerForGreenTest && GreenTestStarted == false && MediaPlayer.State == MediaState.Stopped)
{
Timer = 0;
GreenTestStarted = true;
UI.setSub = "Welcome my name is Vivi. Move to and touch the red square to continue.";
Squares.Add(new Square(content.Load <Texture2D>("Squares/redSquare"), new Vector2(800, 100), true, world));
// MediaPlayer.Play(Welcome);
WelcomeSFXInstance.Play();
}
if (GreenTestStarted == true && GreenTestComplete == false)
{
if (Squares[0].isTouching)
{
GreenTestComplete = true;
BlueTestStarted = true;
UI.setSub = "Wonderful, now fire your laser at the blue square.";
// MediaPlayer.Play(Blue);
if (WelcomeSFXInstance.State == SoundState.Stopped)
{
WelcomeSFXInstance.Stop();
BlueSFX.Play();
}
Squares.Add(new Square(content.Load <Texture2D>("Squares/blueSquare"), new Vector2(100, 500), true, world));
playerBody.getSetLaserStatus = true;
world.RemoveBody(Squares[0].squareBody);
Squares.RemoveAt(0);
}
}
if (BlueTestStarted && BlueTestComplete == false)
{
if (Squares[0].isTouchingLaser)
{
BlueTestComplete = true;
world.RemoveBody(Squares[0].squareBody);
Squares.RemoveAt(0);
UI.setSub = "Excellent, now pick up and move the pink square into the pink area.";
// MediaPlayer.Play(Pink);
PinkSFX.Play();
pickuables.Add(new Pickupable(content.Load <Texture2D>("Squares/pinkSquare"), new Vector2(10, 50), world));
Areas.Add(new Area(content.Load <Texture2D>("pinkArea"), new Vector2(800, 500), 1.57f, world));
Timer = 0;
}
}
if (BlueTestComplete && GreenTestComplete)
{
PinkTestStarted = true;
if (PinkTestCompleted == false)
{
if (Areas[0].getIsPickUpTouching && playerBody.getSetHasPickedUp == false)
{
PinkTestCompleted = true;
pickuables.RemoveAt(0);
Areas.RemoveAt(0);
}
}
}
// need to add bool for sound fx here.
if (PinkTestCompleted && UI.Acitve == false && countDownStated == false)
{
if (questionsSpoken == false)
{
UI.setSub = "You are confirmed operational. Remember only blue, red and pink neon is safe to touch. Questions?";
QuestionsSFX.Play();
questionsSpoken = true;
}
Timer += gameTime.ElapsedGameTime.Milliseconds;
if (Timer > 2500)
{
UI.Acitve = true;
playerBody.getSetChoicePoint = true;
countDownStated = true;
Timer = 0;
}
}
if (BlueTestComplete && GreenTestComplete && PinkTestCompleted && pressedOk == false)
{
if (playerBody.choiceValue == 2 && questionOneAsked == false)
{
UI.setSub = "You are designated as an Operational Perpetuating Organism. Or Opo.";
UI.setTextA = "Ok, let's go!";
OpoSFXInstance.Play();
questionOneAsked = true;
}
else if (playerBody.choiceValue == 3 && questionTwoAsked == false)
{
UI.setSub = "You are in the System.";
UI.setTextA = "Ok, let's go!";
SystemSFXInstance.Play();
questionTwoAsked = true;
}
else if (playerBody.choiceValue == 1)
{
pressedOk = true;
UI.Acitve = false;
UI.setSub = "Loading progress tracker.";
Timer = 0;
iniProgressSFXInstance.Play();
}
}
if (pressedOk && progressLoaded == false)
{
Timer += gameTime.ElapsedGameTime.Milliseconds;
if (iniProgressSFXInstance.State != SoundState.Playing && sayThree == false)
{
UI.setSub = "Three...";
ThreeSFXInstance.Play();
sayThree = true;
}
if (ThreeSFXInstance.State != SoundState.Playing && sayTwo == false)
{
UI.setSub = "Two...";
TwoSFXInstance.Play();
sayTwo = true;
}
if (TwoSFXInstance.State != SoundState.Playing && sayOne == false)
{
UI.setSub = "One...";
OneSFXInstance.Play();
sayOne = true;
}
if (OneSFXInstance.State != SoundState.Playing)
{
UI.setSub = "Progress module loaded.";
progressLoadedSFXInstance.Play();
playerBody.getSetDrawScore = true;
progressLoaded = true;
Timer = 0;
}
}
if (progressLoaded)
{
Timer += gameTime.ElapsedGameTime.Milliseconds;
if (Timer > 2000 && Timer < 4000 && EntryPointSFXInstance.State != SoundState.Playing)
{
UI.setSub = "Loading courpution entry point.";
EntryPointSFXInstance.Play();
}
if (Timer > 4000 && Timer < 6000 && ThreeSFXInstance.State != SoundState.Playing)
{
UI.setSub = "Three...";
ThreeSFXInstance.Play();
}
if (Timer > 6000 && Timer < 8000 && TwoSFXInstance.State != SoundState.Playing)
{
UI.setSub = "Two...";
TwoSFXInstance.Play();
}
if (Timer > 8000 && Timer < 10000 && OneSFXInstance.State != SoundState.Playing)
{
UI.setSub = "One...";
OneSFXInstance.Play();
}
if (Timer > 10000)
{
bloom.Visible = false;
ExitScreen();
LoadingScreen.Load(ScreenManager, true, PlayerIndex.One, new ChapterOne());
}
}
// limts on the cam.
cam2D.MaxRotation = 0.001f;
cam2D.MinRotation = -0.001f;
cam2D.MaxPosition = new Vector2(((playerBody.playerBody.Position.X) * 64 + 1), ((playerBody.playerBody.Position.Y) * 64) + 1);
cam2D.MinPosition = new Vector2(((playerBody.playerBody.Position.X) * 64) + 2, ((playerBody.playerBody.Position.Y) * 64) + 1);
cam2D.Update(gameTime);
world.Step((float)gameTime.ElapsedGameTime.TotalMilliseconds * 0.001f);
}
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, -10f);
HasCursor = false;
EnableCameraControl = true;
HasVirtualStick = true;
// terrain
_ground = World.CreateBody();
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, 5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, 0.25f));
terrain.Add(new Vector2(30f, 1f));
terrain.Add(new Vector2(35f, 4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, -1f));
terrain.Add(new Vector2(55f, -2f));
terrain.Add(new Vector2(60f, -2f));
terrain.Add(new Vector2(65f, -1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, 0.3f));
terrain.Add(new Vector2(80f, 1.5f));
terrain.Add(new Vector2(85f, 3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, -0.5f));
terrain.Add(new Vector2(100f, -1f));
terrain.Add(new Vector2(105f, -2f));
terrain.Add(new Vector2(110f, -2.5f));
terrain.Add(new Vector2(115f, -1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, -10f));
terrain.Add(new Vector2(201f, -10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, 5f));
terrain.Add(new Vector2(250f, -10f));
terrain.Add(new Vector2(270f, -10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, 5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
_ground.CreateEdge(terrain[i], terrain[i + 1]);
}
_ground.SetFriction(0.6f);
}
// teeter board
{
_board = World.CreateBody();
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(PolygonTools.CreateRectangle(20.0f / 2f, 0.5f / 2f), 1);
_teeter =
new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Pavement, Color.LightGray, 1.2f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * MathHelper.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * MathHelper.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
_board.ApplyAngularImpulse(100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(1.0f, 0.125f), 1f);
_bridge = new Sprite(ScreenManager.Assets.TextureFromShape(shape, MaterialType.Dots, Color.SandyBrown, 1f));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.5f), 1f);
_box = new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Squares, Color.SaddleBrown, 2f));
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 2.5f);
body.CreateFixture(box);
_boxes.Add(body);
}
// car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, -0.08f));
vertices.Add(new Vector2(-2.375f, 0.46f));
vertices.Add(new Vector2(-0.58f, 0.92f));
vertices.Add(new Vector2(0.46f, 0.92f));
vertices.Add(new Vector2(2.5f, 0.17f));
vertices.Add(new Vector2(2.5f, -0.205f));
vertices.Add(new Vector2(2.3f, -0.33f));
vertices.Add(new Vector2(-2.25f, -0.35f));
PolygonShape chassis = new PolygonShape(vertices, 2);
CircleShape wheelShape = new CircleShape(0.5f, 0.8f);
_car = World.CreateBody();
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheelBack = World.CreateBody();
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, 0.78f);
_wheelBack.CreateFixture(wheelShape);
_wheelBack.SetFriction(0.9f);
wheelShape.Density = 1;
_wheelFront = World.CreateBody();
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, 0.8f);
_wheelFront.CreateFixture(wheelShape);
Vector2 axis = new Vector2(0.0f, 1.2f);
_springBack = new WheelJoint(_car, _wheelBack, _wheelBack.Position, axis, true);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
_springBack.Frequency = 4.0f;
_springBack.DampingRatio = 0.7f;
World.Add(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis, true);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
_springFront.Frequency = 4.0f;
_springFront.DampingRatio = 0.7f;
World.Add(_springFront);
_carBody = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/car"), AssetCreator.CalculateOrigin(_car, 24f));
_wheel = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
public Weapon(SPRWorld sprWorld, Bot bot, Vector2 relativePosition, float relativeRotation, String textureName, Vector2 scale, WeaponType weaponType, float health, float power)
{
m_SPRWorld = sprWorld;
m_Time = 0;
this.m_owner = bot;
this.m_firing = false;
this.m_reloadTime = weaponType == WeaponType.melee ? 0 : .2f;
this.m_reloading = 0;
this.weaponType = weaponType;
this.m_power = power;
m_Position = relativePosition;
m_Rotation = relativeRotation;
m_Texture = TextureStatic.Get(textureName);
m_Scale = scale;
this.m_health = health;
Vertices v = SPRWorld.computedSpritePolygons[textureName];
// Simplify the object until it has few enough verticies.
while (v.Count > Physics.Settings.MaxPolygonVertices) // Infinite loop potential?
{
v = SimplifyTools.DouglasPeuckerSimplify(v, 2); // Where 2 is a completely arbitrary number?
}
v.Scale(ref scale);
//v.Translate(ref relativePosition);
v.Rotate(relativeRotation);
Fixture f = FixtureFactory.CreatePolygon(v, 1f, bot.Body, relativePosition);
m_Fixture = f;
f.Friction = 0.5f;
f.Restitution = 0f;
f.UserData = this;
if (this.weaponType == WeaponType.melee)
{
Body tempBody = BodyFactory.CreateBody(m_SPRWorld.World);
tempBody.BodyType = BodyType.Dynamic;
Vertices v2 = SPRWorld.computedSpritePolygons["Axe"];
// Simplify the object until it has few enough verticies.
while (v2.Count > Physics.Settings.MaxPolygonVertices) // Infinite loop potential?
{
v2 = SimplifyTools.DouglasPeuckerSimplify(v2, 2); // Where 2 is a completely arbitrary number?
}
Fixture f2 = FixtureFactory.CreatePolygon(SPRWorld.computedSpritePolygons[textureName], 0.1f, tempBody);
f2.Friction = 0.5f;
f2.Restitution = 0f;
tempBody.SetTransform(this.GetAbsPosition(), this.GetAbsRotation());
Projectile justFired = new Projectile(m_SPRWorld, tempBody, TextureStatic.Get("Axe"), new Vector2(0, 0), this.GetRelRotation(), 5, Settings.MetersPerPixel * 80, 80 * Settings.MetersPerPixel, m_power, m_health);
f2.UserData = justFired;
f2.OnCollision += Projectile.OnMeleeHit;
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(m_SPRWorld.World, this.m_owner.Body, tempBody, Vector2.Zero);
joint.MaxMotorTorque = 160;
joint.LimitEnabled = true;
joint.MotorEnabled = true;
joint.LowerLimit = -(float)Math.PI / 4f;
joint.UpperLimit = (float)Math.PI / 4f;
m_AxeJoint = joint;
m_SPRWorld.AddEntity(justFired);
}
}
protected override Joint CreateJoint(Body bodyA, Body bodyB)
{
return(bodyA != null && bodyB != null?JointFactory.CreateRevoluteJoint(Scene.PhysicsWorld, bodyA, bodyB, Vector2.Zero) : null);
}
private BodyTypesTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
ground.AddFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 3.0f);
_attachment = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.5f, 2.0f);
_attachment.AddFixture(shape);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-4.0f, 5.0f);
_platform = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * MathConstants.Pi);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
_platform.AddFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.MaxMotorTorque = 50.0f;
rjd.EnableMotor = true;
JointFactory.CreateFromDef(World, rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = true;
JointFactory.CreateFromDef(World, pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 8.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(2.0f);
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
body.AddFixture(fd);
}
}
private RevoluteJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
//fd.Filter.Category = 2;
ground.AddFixture(fd);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 1.0f;
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.25f, 3.0f, new Vector2(0.0f, 3.0f), 0.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-10.0f, 20.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, new Vector2(-10.0f, 20.5f));
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = _enableMotor;
jd.LowerAngle = -0.25f * MathConstants.Pi;
jd.UpperAngle = 0.5f * MathConstants.Pi;
jd.EnableLimit = _enableLimit;
_joint1 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
{
CircleShape circle_shape = new CircleShape(5.0f);
circle_shape.Radius = 2.0f;
BodyDef circle_bd = new BodyDef();
circle_bd.Type = BodyType.Dynamic;
circle_bd.Position = new Vector2(5.0f, 30.0f);
FixtureDef fd = new FixtureDef();
fd.Filter.CategoryMask = Category.Cat1;
fd.Shape = circle_shape;
_ball = BodyFactory.CreateFromDef(World, circle_bd);
_ball.AddFixture(fd);
PolygonShape polygon_shape = new PolygonShape(2.0f);
polygon_shape.SetAsBox(10.0f, 0.5f, new Vector2(-10.0f, 0.0f), 0.0f);
BodyDef polygon_bd = new BodyDef();
polygon_bd.Position = new Vector2(20.0f, 10.0f);
polygon_bd.Type = BodyType.Dynamic;
polygon_bd.IsBullet = true;
Body polygon_body = BodyFactory.CreateFromDef(World, polygon_bd);
polygon_body.AddFixture(polygon_shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, polygon_body, new Vector2(19.0f, 10.0f));
jd.LowerAngle = -0.25f * MathConstants.Pi;
jd.UpperAngle = 0.0f * MathConstants.Pi;
jd.EnableLimit = true;
jd.EnableMotor = true;
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10000.0f;
_joint2 = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
}
public static GearJoint CreateGearJoint(this Body body, Body bodyB, Joint jointA, Joint jointB, float ratio)
{
return(JointFactory.CreateGearJoint(body.World, body, bodyB, jointA, jointB, ratio));
}
public static FixedMouseJoint CreateFixedMouseJoint(this Body body, Vector2 worldAnchor)
{
return(JointFactory.CreateFixedMouseJoint(body.World, body, FSConvert.DisplayToSim * worldAnchor));
}
public static AngleJoint CreateAngleJoint(this Body body, Body bodyB)
{
return(JointFactory.CreateAngleJoint(body.World, body, bodyB));
}
public static FrictionJoint CreateFrictionJoint(this Body body, Body bodyB, Vector2 anchor,
bool useWorldCoordinates = false)
{
return(JointFactory.CreateFrictionJoint(body.World, body, bodyB, FSConvert.DisplayToSim * anchor,
useWorldCoordinates));
}
public static PrismaticJoint CreatePrismaticJoint(this Body body, Body bodyB, Vector2 anchor, Vector2 axis,
bool useWorldCoordinates = false)
{
return(JointFactory.CreatePrismaticJoint(body.World, body, bodyB, FSConvert.DisplayToSim * anchor, axis,
useWorldCoordinates));
}
public static RevoluteJoint CreateRevoluteJoint(this Body body, Body bodyB, Vector2 anchor)
{
return(JointFactory.CreateRevoluteJoint(body.World, body, bodyB, FSConvert.DisplayToSim * anchor));
}
public static RevoluteJoint CreateRevoluteJoint(this Body body, Body bodyB, Vector2 anchorA, Vector2 anchorB,
bool useWorldCoordinates = false)
{
return(JointFactory.CreateRevoluteJoint(body.World, body, bodyB, FSConvert.DisplayToSim * anchorA,
FSConvert.DisplayToSim * anchorB, useWorldCoordinates));
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.AddFixture(shape);
shape.SetTwoSided(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.AddFixture(shape);
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.AddFixture(shape);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(1.0f);
shape.Radius = 0.25f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Filter.Group = -1;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = pivot + _offset;
_chassis = BodyFactory.CreateFromDef(World, bd);
_chassis.AddFixture(sd);
}
{
CircleShape shape = new CircleShape(1.0f);
shape.Radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Filter.Group = -1;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = pivot + _offset;
_wheel = BodyFactory.CreateFromDef(World, bd);
_wheel.AddFixture(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)JointFactory.CreateFromDef(World, jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, 120.0f * MathConstants.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, -120.0f * MathConstants.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
// I N I T
protected override void Initialize()
{
spriteBatch = new SpriteBatch(GraphicsDevice);
pixel = new Rectangle(382, 0, 1, 1);
gras1 = new Rectangle(12, 144, 45, 92);
gras2 = new Rectangle(76, 144, 45, 92);
gras3 = new Rectangle(138, 144, 45, 92);
BigGrass = new Rectangle(0, 0, 380, 122);
world = new World(new Vector2(0f, 9.8f)); // world physics sim (provide gravity direction)
collider_body = BodyFactory.CreateCircle(world, con.ToSimUnits(8.0f), 1.0f);
collider_body.Position = con.ToSimUnits(400, 10);
collider_body.BodyType = BodyType.Dynamic; // moves
collider_body.Mass = 0.4f;
collider_body.Restitution = 0.2f; // bounciness
collider_body.Friction = 0.4f; // grip
collider_body.CollisionCategories = Category.Cat1; collider_body.CollidesWith = Category.All;
collider_body.FixedRotation = false;
// attach collider_body to mouse:
mouse_joint = JointFactory.CreateFixedMouseJoint(world, collider_body, collider_body.Position);
mouse_joint.MaxForce = 500.0f;
#region 大きな 草
// <image url="..\..\Images\grass.png" bgcolor="0" /> ookina kusa
#endregion
big_grass_body = BodyFactory.CreateRectangle(world, con.ToSimUnits(BigGrass.Width * 0.88f), con.ToSimUnits(BigGrass.Height * 0.6f), 1.0f);
big_grass_body.Position = con.ToSimUnits(300f + BigGrass.Width / 2f - 10, 600 + BigGrass.Height / 2f);
big_grass_body.BodyType = BodyType.Static;
big_grass_body.Restitution = 0.2f; // bounciness
big_grass_body.Friction = 0.8f; // surface grip
big_grass_body.Mass = 1.0f;
big_grass_body.CollisionCategories = Category.Cat2;
big_grass_body.CollidesWith = Category.Cat1;
// DYNAMIC GRASS (BOTTOM PART):
gras_bod1 = BodyFactory.CreateRectangle(world, con.ToSimUnits(gras1.Width * 0.5f), con.ToSimUnits(gras1.Height * 0.4f), 1.0f);
gras_bod1.Position = con.ToSimUnits(360, 600 - gras1.Height * 0.2f); // use mid of rect (0.4/2)
gras_bod1.BodyType = BodyType.Dynamic;
gras_bod1.Mass = 0.2f;
gras_bod1.Restitution = 0.2f;
gras_bod1.Friction = 0.2f;
gras_bod1.IgnoreGravity = true;
gras_bod1.CollisionCategories = Category.Cat3; gras_bod1.CollidesWith = Category.Cat1;
float DAMP = 0.23f, HZ = 17.0f;
gras_joint1 = JointFactory.CreateWeldJoint(world, big_grass_body, gras_bod1,
con.ToSimUnits(new Vector2(360, 600)), con.ToSimUnits(new Vector2(360, 600)), true);
gras_joint1.CollideConnected = false;
gras_joint1.FrequencyHz = HZ;
gras_joint1.DampingRatio = DAMP;
gras_bod2 = BodyFactory.CreateRectangle(world, con.ToSimUnits(gras1.Width * 0.5f), con.ToSimUnits(gras1.Height * 0.4f), 1.0f);
gras_bod2.Position = con.ToSimUnits(360, 600 - gras1.Height * 0.6);
gras_bod2.BodyType = BodyType.Dynamic;
gras_bod2.Mass = 0.2f;
gras_bod1.Restitution = 0.2f;
gras_bod2.Friction = 0.2f;
gras_bod2.IgnoreGravity = true;
gras_bod2.CollisionCategories = Category.Cat3; gras_bod1.CollidesWith = Category.Cat1;
gras_joint2 = JointFactory.CreateWeldJoint(world, gras_bod1, gras_bod2,
con.ToSimUnits(new Vector2(360, 600 - gras1.Height * 0.4f)), con.ToSimUnits(new Vector2(360, 600 - gras1.Height * 0.4f)), true);
gras_joint2.CollideConnected = false;
gras_joint2.FrequencyHz = HZ;
gras_joint2.DampingRatio = DAMP;
base.Initialize();
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef(), fd2 = new FixtureDef();
fd1.Filter.Group = -1;
fd2.Filter.Group = -1;
PolygonShape poly1 = new PolygonShape(1.0f), poly2 = new PolygonShape(1.0f);
if (s > 0.0f)
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Vertices = vertices;
}
else
{
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Vertices = vertices;
}
fd1.Shape = poly1;
fd2.Shape = poly2;
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.Type = BodyType.Dynamic;
bd2.Type = BodyType.Dynamic;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = BodyFactory.CreateFromDef(World, bd1);
Body body2 = BodyFactory.CreateFromDef(World, bd2);
body1.AddFixture(fd1);
body2.AddFixture(fd2);
{
DistanceJointDef jd = new DistanceJointDef();
// 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.
float dampingRatio = 0.5f;
float frequencyHz = 10.0f;
jd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
jd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(body2, _chassis, p4 + _offset);
JointFactory.CreateFromDef(World, jd);
}
}
public Spiderweb(World world, Body ground, Vector2 position, float radius, int rings, int sides)
{
_world = world;
_radius = radius;
const float breakpoint = 100f;
List <List <Body> > ringBodys = new List <List <Body> >(rings);
for (int i = 1; i < rings; ++i)
{
Vertices vertices = PolygonTools.CreateCircle(i * 2.9f, sides);
List <Body> bodies = new List <Body>(sides);
//Create the first goo
Body prev = world.CreateCircle(radius, 0.2f, vertices[0]);
prev.FixedRotation = true;
prev.Position += position;
prev.BodyType = BodyType.Dynamic;
bodies.Add(prev);
//Connect the first goo to the next
for (int j = 1; j < vertices.Count; ++j)
{
Body bod = world.CreateCircle(radius, 0.2f, vertices[j]);
bod.FixedRotation = true;
bod.BodyType = BodyType.Dynamic;
bod.Position += position;
DistanceJoint dj = JointFactory.CreateDistanceJoint(world, prev, bod, Vector2.Zero, Vector2.Zero);
dj.Frequency = 4.0f;
dj.DampingRatio = 0.5f;
dj.Breakpoint = breakpoint;
prev = bod;
bodies.Add(bod);
}
//Connect the first and the last goo
DistanceJoint djEnd = JointFactory.CreateDistanceJoint(world, bodies[0], bodies[bodies.Count - 1], Vector2.Zero, Vector2.Zero);
djEnd.Frequency = 4.0f;
djEnd.DampingRatio = 0.5f;
djEnd.Breakpoint = breakpoint;
ringBodys.Add(bodies);
}
//Create an outer ring
Vertices lastRing = PolygonTools.CreateCircle(rings * 2.9f, sides);
lastRing.Translate(ref position);
List <Body> lastRingBodies = ringBodys[ringBodys.Count - 1];
//Fix each of the body of the outer ring
for (int j = 0; j < lastRingBodies.Count; ++j)
{
lastRingBodies[j].BodyType = BodyType.Static;
}
//Interconnect the rings
for (int i = 1; i < ringBodys.Count; i++)
{
List <Body> prev = ringBodys[i - 1];
List <Body> current = ringBodys[i];
for (int j = 0; j < prev.Count; j++)
{
Body prevFixture = prev[j];
Body currentFixture = current[j];
DistanceJoint dj = JointFactory.CreateDistanceJoint(world, prevFixture, currentFixture, Vector2.Zero, Vector2.Zero);
dj.Frequency = 4.0f;
dj.DampingRatio = 0.5f;
}
}
}
private BridgeTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * _count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
JointFactory.CreateFromDef(World, jd);
}
for (int i = 0; i < 2; ++i)
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
PolygonShape shape = new PolygonShape(vertices, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
private SerializationTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20, 0), new Vector2(20, 0));
//Friction and distance joint
{
Body bodyA = BodyFactory.CreateCircle(World, 1, 1.5f, new Vector2(10, 25));
bodyA.BodyType = BodyType.Dynamic;
Body bodyB = BodyFactory.CreateRectangle(World, 1, 1, 1, new Vector2(-1, 25));
bodyB.BodyType = BodyType.Dynamic;
FrictionJoint frictionJoint = JointFactory.CreateFrictionJoint(World, bodyB, ground, Vector2.Zero);
frictionJoint.CollideConnected = true;
frictionJoint.MaxForce = 100;
JointFactory.CreateDistanceJoint(World, bodyA, bodyB);
}
//Wheel joint
{
Vertices vertices = new Vertices(6);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
Body carBody = BodyFactory.CreatePolygon(World, vertices, 1, new Vector2(0, 1));
carBody.BodyType = BodyType.Dynamic;
Body wheel1 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(-1.0f, 0.35f));
wheel1.BodyType = BodyType.Dynamic;
wheel1.Friction = 0.9f;
Body wheel2 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(1.0f, 0.4f));
wheel2.BodyType = BodyType.Dynamic;
wheel2.Friction = 0.9f;
Vector2 axis = new Vector2(0.0f, 1.0f);
WheelJoint spring1 = JointFactory.CreateWheelJoint(World, carBody, wheel1, axis);
spring1.MotorSpeed = 0.0f;
spring1.MaxMotorTorque = 20.0f;
spring1.MotorEnabled = true;
spring1.Frequency = 4;
spring1.DampingRatio = 0.7f;
WheelJoint spring2 = JointFactory.CreateWheelJoint(World, carBody, wheel2, axis);
spring2.MotorSpeed = 0.0f;
spring2.MaxMotorTorque = 10.0f;
spring2.MotorEnabled = false;
spring2.Frequency = 4;
spring2.DampingRatio = 0.7f;
}
//Prismatic joint
{
Body body = BodyFactory.CreateRectangle(World, 2, 2, 5, new Vector2(-10.0f, 10.0f));
body.BodyType = BodyType.Dynamic;
body.Rotation = 0.5f * Settings.Pi;
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
PrismaticJoint joint = JointFactory.CreatePrismaticJoint(World, ground, body, Vector2.Zero, axis);
joint.MotorSpeed = 5.0f;
joint.MaxMotorForce = 1000.0f;
joint.MotorEnabled = true;
joint.LowerLimit = -10.0f;
joint.UpperLimit = 20.0f;
joint.LimitEnabled = true;
}
// Pulley joint
{
Body body1 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(-10.0f, 16.0f));
body1.BodyType = BodyType.Dynamic;
Body body2 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(10.0f, 16.0f));
body2.BodyType = BodyType.Dynamic;
Vector2 anchor1 = new Vector2(-10.0f, 16.0f + 2.0f);
Vector2 anchor2 = new Vector2(10.0f, 16.0f + 2.0f);
Vector2 worldAnchor1 = new Vector2(-10.0f, 16.0f + 2.0f + 12.0f);
Vector2 worldAnchor2 = new Vector2(10.0f, 16.0f + 2.0f + 12.0f);
JointFactory.CreatePulleyJoint(World, body1, body2, anchor1, anchor2, worldAnchor1, worldAnchor2, 1.5f, true);
}
//Revolute joint
{
Body ball = BodyFactory.CreateCircle(World, 3.0f, 5.0f, new Vector2(5.0f, 30.0f));
ball.BodyType = BodyType.Dynamic;
Body polygonBody = BodyFactory.CreateRectangle(World, 20, 0.4f, 2, new Vector2(10, 10));
polygonBody.BodyType = BodyType.Dynamic;
polygonBody.IsBullet = true;
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(World, ground, polygonBody, new Vector2(10, 0));
joint.LowerLimit = -0.25f * Settings.Pi;
joint.UpperLimit = 0.0f * Settings.Pi;
joint.LimitEnabled = true;
}
//Weld joint
{
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.125f), 20);
Body prevBody = ground;
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(0.5f, 0);
if (i == 0)
{
anchor = new Vector2(-15f, 5);
}
JointFactory.CreateWeldJoint(World, prevBody, body, anchor, new Vector2(-0.5f, 0));
prevBody = body;
}
}
//Rope joint
{
LinkFactory.CreateChain(World, new Vector2(-10, 10), new Vector2(-20, 10), 0.1f, 0.5f, 10, 0.1f, true);
}
//Angle joint
{
Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
fA.Rotation = (float)(Math.PI / 3);
Body fB = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(5, 4));
fB.BodyType = BodyType.Dynamic;
AngleJoint joint = new AngleJoint(fA, fB);
joint.TargetAngle = (float)Math.PI / 2;
World.AddJoint(joint);
}
//Motor joint
{
Body body = BodyFactory.CreateRectangle(World, 4, 1, 2, new Vector2(0, 35));
body.BodyType = BodyType.Dynamic;
body.Friction = 0.6f;
MotorJoint motorJoint = JointFactory.CreateMotorJoint(World, ground, body);
motorJoint.MaxForce = 1000.0f;
motorJoint.MaxTorque = 1000.0f;
motorJoint.LinearOffset = new Vector2(0, 35);
motorJoint.AngularOffset = (float)(Math.PI / 3f);
}
}
private CarTest()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground = World.CreateEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
{
float[] hs = new[] { 0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f };
float x = 20.0f, y1 = 0.0f;
const float dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
ground.CreateEdge(new Vector2(x, y1), new Vector2(x + dx, y2));
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
ground.CreateEdge(new Vector2(x, y1), new Vector2(x + dx, y2));
y1 = y2;
x += dx;
}
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
x += 80.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
x += 40.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f));
x += 20.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
x += 40.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x, 20.0f));
ground.SetFriction(0.6f);
}
// Teeter
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(1);
box.Vertices = PolygonTools.CreateRectangle(10.0f, 0.25f);
body.CreateFixture(box);
RevoluteJoint jd = JointFactory.CreateRevoluteJoint(World, ground, body, Vector2.Zero);
jd.LowerLimit = -8.0f * MathHelper.Pi / 180.0f;
jd.UpperLimit = 8.0f * MathHelper.Pi / 180.0f;
jd.LimitEnabled = true;
body.ApplyAngularImpulse(100.0f);
}
//Bridge
{
const int N = 20;
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(1.0f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161.0f + 2.0f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
Vector2 anchor = new Vector2(-1, 0);
JointFactory.CreateRevoluteJoint(World, prevBody, body, anchor);
prevBody = body;
}
Vector2 anchor2 = new Vector2(1.0f, 0);
JointFactory.CreateRevoluteJoint(World, ground, prevBody, anchor2);
}
// Boxes
{
PolygonShape box = new PolygonShape(0.5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 0.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 1.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 2.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 3.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 4.5f);
body.CreateFixture(box);
}
// Car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
PolygonShape chassis = new PolygonShape(vertices, 1);
CircleShape circle = new CircleShape(0.4f, 1);
_car = World.CreateBody();
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheel1 = World.CreateBody();
_wheel1.BodyType = BodyType.Dynamic;
_wheel1.Position = new Vector2(-1.0f, 0.35f);
_wheel1.CreateFixture(circle);
_wheel1.SetFriction(0.9f);
_wheel2 = World.CreateBody();
_wheel2.BodyType = BodyType.Dynamic;
_wheel2.Position = new Vector2(1.0f, 0.4f);
_wheel2.CreateFixture(circle);
_wheel2.SetFriction(0.9f);
Vector2 axis = new Vector2(0.0f, 1.0f);
_spring1 = new WheelJoint(_car, _wheel1, _wheel1.Position, axis, true);
_spring1.MotorSpeed = 0.0f;
_spring1.MaxMotorTorque = 20.0f;
_spring1.MotorEnabled = true;
_spring1.Frequency = _hz;
_spring1.DampingRatio = _zeta;
World.Add(_spring1);
_spring2 = new WheelJoint(_car, _wheel2, _wheel2.Position, axis, true);
_spring2.MotorSpeed = 0.0f;
_spring2.MaxMotorTorque = 10.0f;
_spring2.MotorEnabled = false;
_spring2.Frequency = _hz;
_spring2.DampingRatio = _zeta;
World.Add(_spring2);
}
}
public Rope(Item item, XElement element)
: base(item, element)
{
string spritePath = element.GetAttributeString("sprite", "");
if (spritePath == "")
{
DebugConsole.ThrowError("Sprite " + spritePath + " in " + element + " not found!");
}
float length = ConvertUnits.ToSimUnits(element.GetAttributeFloat("length", 200.0f));
pullForce = element.GetAttributeFloat("pullforce", 10.0f);
projectileAnchor = Vector2.Zero;
projectileAnchor.X = element.GetAttributeFloat("projectileanchorx", 0.0f);
projectileAnchor.Y = element.GetAttributeFloat("projectileanchory", 0.0f);
projectileAnchor = ConvertUnits.ToSimUnits(projectileAnchor);
characterUsable = element.GetAttributeBool("characterusable", false);
sprite = new Sprite(spritePath, new Vector2(0.5f, 0.5f));
sectionLength = ConvertUnits.ToSimUnits(sprite.size.X);
Path ropePath = new Path();
ropePath.Add(item.body.SimPosition);
ropePath.Add(item.body.SimPosition + new Vector2(length, 0.0f));
ropePath.Closed = false;
Vertices box = PolygonTools.CreateRectangle(sectionLength, 0.05f);
PolygonShape shape = new PolygonShape(box, 5);
List <Body> ropeList = PathManager.EvenlyDistributeShapesAlongPath(GameMain.World, ropePath, shape, BodyType.Dynamic, (int)(length / sectionLength));
ropeBodies = new PhysicsBody[ropeList.Count];
for (int i = 0; i < ropeBodies.Length; i++)
{
ropeList[i].Mass = 0.01f;
ropeList[i].Enabled = false;
//only collide with the map
ropeList[i].CollisionCategories = Physics.CollisionItem;
ropeList[i].CollidesWith = Physics.CollisionWall;
//ropeBodies[i] = new PhysicsBody(ropeList[i]);
}
List <RevoluteJoint> joints = PathManager.AttachBodiesWithRevoluteJoint(GameMain.World, ropeList,
new Vector2(-sectionLength / 2, 0.0f), new Vector2(sectionLength / 2, 0.0f), false, false);
ropeJoints = new RevoluteJoint[joints.Count + 1];
//ropeJoints[0] = JointFactory.CreateRevoluteJoint(Game1.world, item.body, ropeList[0], new Vector2(0f, -0.0f));
for (int i = 0; i < joints.Count; i++)
{
var distanceJoint = JointFactory.CreateDistanceJoint(GameMain.World, ropeList[i], ropeList[i + 1]);
distanceJoint.Length = sectionLength;
distanceJoint.DampingRatio = 1.0f;
ropeJoints[i] = joints[i];
}
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0, 9.82f);
_border = new Border(World, this, ScreenManager.GraphicsDevice.Viewport);
/* Bridge */
//We make a path using 2 points.
Path bridgePath = new Path();
bridgePath.Add(new Vector2(-15, 5));
bridgePath.Add(new Vector2(15, 5));
bridgePath.Closed = false;
Vertices box = PolygonTools.CreateRectangle(0.125f, 0.5f);
PolygonShape shape = new PolygonShape(box, 20);
_bridgeBodies = PathManager.EvenlyDistributeShapesAlongPath(World, bridgePath, shape,
BodyType.Dynamic, 29);
_bridgeBox =
new Sprite(ScreenManager.Assets.TextureFromShape(shape, MaterialType.Dots, Color.SandyBrown, 1f));
//Attach the first and last fixtures to the world
JointFactory.CreateFixedRevoluteJoint(World, _bridgeBodies[0], new Vector2(0f, -0.5f),
_bridgeBodies[0].Position);
JointFactory.CreateFixedRevoluteJoint(World, _bridgeBodies[_bridgeBodies.Count - 1], new Vector2(0, 0.5f),
_bridgeBodies[_bridgeBodies.Count - 1].Position);
PathManager.AttachBodiesWithRevoluteJoint(World, _bridgeBodies, new Vector2(0f, -0.5f),
new Vector2(0f, 0.5f),
false, true);
/* Soft body */
//We make a rectangular path.
Path rectanglePath = new Path();
rectanglePath.Add(new Vector2(-6, -11));
rectanglePath.Add(new Vector2(-6, 1));
rectanglePath.Add(new Vector2(6, 1));
rectanglePath.Add(new Vector2(6, -11));
rectanglePath.Closed = true;
//Creating two shapes. A circle to form the circle and a rectangle to stabilize the soft body.
List <Shape> shapes = new List <Shape>(2);
shapes.Add(new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.5f, new Vector2(-0.1f, 0f), 0f), 1f));
shapes.Add(new CircleShape(0.5f, 1f));
//We distribute the shapes in the rectangular path.
_softBodies = PathManager.EvenlyDistributeShapesAlongPath(World, rectanglePath, shapes,
BodyType.Dynamic, 30);
_softBodyBox =
new Sprite(ScreenManager.Assets.TextureFromShape(shapes[0], MaterialType.Blank, Color.Silver * 0.8f, 1f));
_softBodyBox.Origin += new Vector2(ConvertUnits.ToDisplayUnits(0.1f), 0f);
_softBodyCircle =
new Sprite(ScreenManager.Assets.TextureFromShape(shapes[1], MaterialType.Waves, Color.Silver, 1f));
//Attach the bodies together with revolute joints. The rectangular form will converge to a circular form.
PathManager.AttachBodiesWithRevoluteJoint(World, _softBodies, new Vector2(0f, -0.5f), new Vector2(0f, 0.5f),
true, true);
}
private CantileverTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
{
PolygonShape shape = new PolygonShape(20);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
float frequencyHz = 5.0f;
float dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-14.0f + 2.0f * i, 15.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
JointHelper.AngularStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-4.5f + 1.0f * i, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.5f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
WeldJointDef jd = new WeldJointDef();
float frequencyHz = 8.0f;
float dampingRatio = 0.7f;
Body prevBody = ground;
for (int i = 0; i < _count; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(5.5f + 1.0f * i, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
JointHelper.AngularStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
JointFactory.CreateFromDef(World, jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
PolygonShape shape = new PolygonShape(vertices, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
protected override Joint CreateJoint(Body bodyA, Body bodyB)
{
return(bodyA != null?JointFactory.CreateFixedAngleJoint(Scene.PhysicsWorld, bodyA) : null);
}
protected override Joint CreateJoint(World world, Body bodyA, Body bodyB)
{
return(bodyA != null && bodyB != null?JointFactory.CreateWeldJoint(world, bodyA, bodyB, Vector2.Zero) : null);
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, -10f);
HasCursor = false;
EnableCameraControl = true;
_hzFront = 8.5f;
_hzBack = 5.0f;
_zeta = 0.85f;
_maxSpeed = 50.0f;
// terrain
_ground = World.CreateBody();
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, 5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, 0.25f));
terrain.Add(new Vector2(30f, 1f));
terrain.Add(new Vector2(35f, 4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, -1f));
terrain.Add(new Vector2(55f, -2f));
terrain.Add(new Vector2(60f, -2f));
terrain.Add(new Vector2(65f, -1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, 0.3f));
terrain.Add(new Vector2(80f, 1.5f));
terrain.Add(new Vector2(85f, 3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, -0.5f));
terrain.Add(new Vector2(100f, -1f));
terrain.Add(new Vector2(105f, -2f));
terrain.Add(new Vector2(110f, -2.5f));
terrain.Add(new Vector2(115f, -1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, -10f));
terrain.Add(new Vector2(201f, -10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, 5f));
terrain.Add(new Vector2(250f, -10f));
terrain.Add(new Vector2(270f, -10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, 5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
var gfixture = _ground.CreateEdge(terrain[i], terrain[i + 1]);
gfixture.Friction = 0.6f;
}
}
// teeter board
{
_board = World.CreateBody();
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonTools.CreateRectangle(20.0f / 2f, 0.5f / 2f);
_teeter = new Sprite(ContentWrapper.TextureFromShape(box, "Stripe", ContentWrapper.Gold, ContentWrapper.Black, ContentWrapper.Black, 1f, 24f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * MathHelper.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * MathHelper.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
_board.ApplyAngularImpulse(100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(1f);
shape.Vertices = PolygonTools.CreateRectangle(1.0f, 0.125f);
_bridge = new Sprite(ContentWrapper.TextureFromShape(shape, ContentWrapper.Gold, ContentWrapper.Black, 24f));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
_box = new Sprite(ContentWrapper.TextureFromShape(box, "Square", ContentWrapper.Sky, ContentWrapper.Sunset, ContentWrapper.Black, 1f, 24f));
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 2.5f);
body.CreateFixture(box);
_boxes.Add(body);
}
// car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, -0.08f));
vertices.Add(new Vector2(-2.375f, 0.46f));
vertices.Add(new Vector2(-0.58f, 0.92f));
vertices.Add(new Vector2(0.46f, 0.92f));
vertices.Add(new Vector2(2.5f, 0.17f));
vertices.Add(new Vector2(2.5f, -0.205f));
vertices.Add(new Vector2(2.3f, -0.33f));
vertices.Add(new Vector2(-2.25f, -0.35f));
PolygonShape chassis = new PolygonShape(vertices, 2f);
_car = World.CreateBody();
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheelBack = World.CreateBody();
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, 0.78f);
Fixture fix = _wheelBack.CreateFixture(new CircleShape(0.5f, 0.8f));
fix.Friction = 0.9f;
_wheelFront = World.CreateBody();
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, 0.8f);
_wheelFront.CreateFixture(new CircleShape(0.5f, 1f));
Vector2 axis = new Vector2(0.0f, 1.2f);
_springBack = new WheelJoint(_car, _wheelBack, _wheelBack.Position, axis, true);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
_springBack.Frequency = _hzBack;
_springBack.DampingRatio = _zeta;
World.Add(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis, true);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
_springFront.Frequency = _hzFront;
_springFront.DampingRatio = _zeta;
World.Add(_springFront);
// GFX
_carBody = new Sprite(ContentWrapper.GetTexture("Car"), ContentWrapper.CalculateOrigin(_car, 24f));
_wheel = new Sprite(ContentWrapper.GetTexture("Wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
protected override Joint CreateJoint(World world, Body bodyA, Body bodyB)
{
return(bodyA != null && bodyB != null?JointFactory.CreateAngleJoint(world, bodyA, bodyB) : null);
}
protected override Joint CreateJoint(Body bodyA, Body bodyB)
{
return(bodyA != null && bodyB != null?JointFactory.CreatePrismaticJoint(Scene.PhysicsWorld, bodyA, bodyB, Vector2.Zero, Vector2.UnitX) : null);
}
protected override Joint CreateJoint(Body bodyA, Body bodyB)
{
return(bodyA != null?JointFactory.CreateFixedDistanceJoint(Scene.PhysicsWorld, bodyA, Vector2.Zero, Vector2.Zero) : null);
}
