void motor_preSolve(cpConstraint motor, cpSpace space)
{
float dt = space.GetCurrentTimeStep();
float target_x = CCMouse.Instance.Position.x;
paint = new shape
{
point1 = new cpVect(target_x, -1000.0f),
point2 = new cpVect(target_x, 1000.0f),
};
float max_v = 500.0f;
float target_v = cp.cpfclamp(cp.bias_coef(0.5f, dt / 1.2f) * (target_x - balance_body.GetPosition().x) / dt, -max_v, max_v);
float error_v = (target_v - balance_body.GetVelocity().x);
float target_sin = 3.0e-3f * cp.bias_coef(0.1f, dt) * error_v / dt;
float max_sin = cp.cpfsin(0.6f);
balance_sin = cp.cpfclamp(balance_sin - 6.0e-5f * cp.bias_coef(0.2f, dt) * error_v / dt, -max_sin, max_sin);
float target_a = (float)Math.Asin(cp.cpfclamp(-target_sin + balance_sin, -max_sin, max_sin));
float angular_diff = (float)Math.Asin(cpVect.cpvcross(balance_body.GetRotation(), cpVect.cpvforangle(target_a)));
float target_w = cp.bias_coef(0.1f, dt / 0.4f) * (angular_diff) / dt;
float max_rate = 50.0f;
float rate = cp.cpfclamp(wheel_body.GetAngularVelocity() + balance_body.GetAngularVelocity() - target_w, -max_rate, max_rate);
motor.SetRate(cp.cpfclamp(rate, -max_rate, max_rate));
motor.SetMaxForce(8.0e4f);
}
public override void Update(float dt)
{
base.Update(dt);
float coef = (2.0f + ChipmunkDemoKeyboard.y) / 3.0f;
float rate = ChipmunkDemoKeyboard.x * 10.0f * coef;
motor.SetRate(rate);
motor.SetMaxForce(rate != 0 ? 100000.0f : 0.0f);
space.Step(dt);
}
public void StickySeparate(cpArbiter arb, object data)
{
cpConstraint joint = (cpConstraint)arb.GetUserData();
if (joint != null)
{
// The joint won't be removed until the step is done.
// Need to disable it so that it won't apply itself.
// Setting the force to 0 will do just that
joint.SetMaxForce(0.0f);
space.AddPostStepCallback((s1, o1, o2) =>
PostStepRemoveJoint(o1, o2), joint, null
);
// Perform the removal in a post-step() callback.
// NULL out the reference to the joint.
// Not required, but it's a good practice.
arb.SetUserData(null);
}
}
public override void Update(float dt)
{
base.Update(dt);
float coef = (2.0f + ChipmunkDemoKeyboard.y) / 3.0f;
float rate = ChipmunkDemoKeyboard.x * 30.0f * coef;
motor.SetRate(rate);
motor.SetMaxForce(rate > 0 ? 1000000.0f : 0.0f);
space.Step(dt);
for (int i = 0; i < numBalls; i++)
{
cpBody ball = balls[i];
cpVect pos = ball.GetPosition();
if (pos.x > 320.0f)
{
ball.SetVelocity(cpVect.Zero);
ball.SetPosition(new cpVect(-224.0f, 200.0f));
}
}
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Use the mouse to drive the tank, it will follow the cursor.");
//Position = new CCPoint(240, 170);
space.SetIterations(10);
space.SetSleepTimeThreshold(0.5f);
cpBody staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0));
shape.SetElasticity(1);
shape.SetFriction(1);
shape.SetFilter(NOT_GRABBABLE_FILTER);
for (int i = 0; i < 50; i++)
{
cpBody body = add_box(20, 1);
cpConstraint pivot = space.AddConstraint(new cpPivotJoint(staticBody, body, cpVect.Zero, cpVect.Zero));
pivot.SetMaxBias(0); // disable joint correction
pivot.SetMaxForce(1000); // emulate linear friction
cpConstraint gear = space.AddConstraint(new cpGearJoint(staticBody, body, 0, 1));
gear.SetMaxBias(0); // disable joint correction
gear.SetMaxForce(5000); // emulate linear friction
}
// We joint the tank to the control body and control the tank indirectly by modifying the control body.
tankControlBody = space.AddBody(cpBody.NewKinematic());
tankBody = add_box(30, 10);
cpConstraint pivot2 = space.AddConstraint(new cpPivotJoint(tankControlBody, tankBody, cpVect.Zero, cpVect.Zero));
pivot2.SetMaxBias(0); // disable joint correction
pivot2.SetMaxForce(10000); // emulate linear friction
cpConstraint gears = space.AddConstraint(new cpGearJoint(tankControlBody, tankBody, 0, 1));
gears.SetErrorBias(0); // attempt to fully correct the joint each step
gears.SetMaxBias(1.2f); // but limit it's angular correction rate
gears.SetMaxForce(5000); // emulate angular friction
Schedule();
}
public override void OnEnter()
{
base.OnEnter();
space.SetIterations(30);
space.SetGravity(new cpVect(0, -100));
space.SetSleepTimeThreshold(0.5f);
cpBody body, staticBody = space.GetStaticBody();
cpShape shape;
// Create segments around the edge of the screen.
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(-320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(320, -240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, 240), new cpVect(320, 240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
float mass = 1;
float width = 20;
float height = 30;
float spacing = width * 0.3f;
// Add lots of boxes.
for (int i = 0; i < CHAIN_COUNT; i++)
{
cpBody prev = null;
for (int j = 0; j < LINK_COUNT; j++)
{
cpVect pos = new cpVect(40 * (i - (CHAIN_COUNT - 1) / 2.0f), 240 - (j + 0.5f) * height - (j + 1) * spacing);
body = space.AddBody(new cpBody(mass, cp.MomentForBox(mass, width, height)));
body.SetPosition(pos);
shape = space.AddShape(new cpSegmentShape(body, new cpVect(0, (height - width) / 2.0f), new cpVect(0, (width - height) / 2.0f), width / 2.0f));
shape.SetFriction(0.8f);
float breakingForce = 80000;
cpConstraint constraint = null;
if (prev == null)
{
constraint = space.AddConstraint(new cpSlideJoint(body, staticBody, new cpVect(0, height / 2), new cpVect(pos.x, 240), 0, spacing));
}
else
{
constraint = space.AddConstraint(new cpSlideJoint(body, prev, new cpVect(0, height / 2), new cpVect(0, -height / 2), 0, spacing));
}
constraint.SetMaxForce(breakingForce);
constraint.SetPostSolveFunc(s => BreakableJointPostSolve(constraint));
constraint.SetCollideBodies(false);
//cpConstraintSetPostSolveFunc(constraint, BreakableJointPostSolve);
prev = body;
}
}
float radius = 15.0f;
body = space.AddBody(new cpBody(10.0f, cp.MomentForCircle(10.0f, 0.0f, radius, cpVect.Zero)));
body.SetPosition(new cpVect(0, -240 + radius + 5));
body.SetVelocity(new cpVect(0, 300));
shape = space.AddShape(new cpCircleShape(body, radius, cpVect.Zero));
shape.SetElasticity(0.0f);
shape.SetFriction(0.9f);;
Schedule();
}
public override void OnEnter()
{
base.OnEnter();
SetSubTitle("Control the crane by moving the mouse. Right click to release.");
space.SetIterations(30);
space.SetGravity(new cpVect(0, -100));
space.SetDamping(0.8f);
cpBody staticBody = space.GetStaticBody();
cpShape shape;
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-320, -240), new cpVect(320, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
// Add a body for the dolly.
dollyBody = space.AddBody(new cpBody(10, cp.Infinity));
dollyBody.SetPosition(new cpVect(0, 100));
// Add a block so you can see it.
space.AddShape(cpPolyShape.BoxShape(dollyBody, 30, 30, 0.0f));
// Add a groove joint for it to move back and forth on.
space.AddConstraint(new cpGrooveJoint(staticBody, dollyBody, new cpVect(-250, 100), new cpVect(250, 100), cpVect.Zero));
// Add a pivot joint to act as a servo motor controlling it's position
// By updating the anchor points of the pivot joint, you can move the dolly.
dollyServo = space.AddConstraint(new cpPivotJoint(staticBody, dollyBody, dollyBody.GetPosition()));
// Max force the dolly servo can generate.
dollyServo.SetMaxForce(10000);
// Max speed of the dolly servo
dollyServo.SetMaxBias(100);
// You can also change the error bias to control how it slows down.
dollyServo.SetErrorBias(0.2f);
// Add the crane hook.
cpBody hookBody = space.AddBody(new cpBody(1, cp.Infinity));
hookBody.SetPosition(new cpVect(0, 50));
// Add a sensor shape for it. This will be used to figure out when the hook touches a box.
shape = space.AddShape(new cpCircleShape(hookBody, 10, cpVect.Zero));
shape.SetSensor(true);// cpTrue);
shape.SetCollisionType(((int)COLLISION_TYPES.HOOK_SENSOR));
// Add a slide joint to act as a winch motor
// By updating the max length of the joint you can make it pull up the load.
winchServo = space.AddConstraint(new cpSlideJoint(dollyBody, hookBody, cpVect.Zero, cpVect.Zero, 0, cp.Infinity));
// Max force the dolly servo can generate.
winchServo.SetMaxForce(30000);
// Max speed of the dolly servo
winchServo.SetMaxBias(60);
// TODO: cleanup
// Finally a box to play with
cpBody boxBody = space.AddBody(new cpBody(30, cp.MomentForBox(30, 50, 50)));
boxBody.SetPosition(new cpVect(200, -200));
// Add a block so you can see it.
shape = space.AddShape(cpPolyShape.BoxShape(boxBody, 50, 50, 0));
shape.SetFriction(0.7f);
shape.SetCollisionType(((int)COLLISION_TYPES.CRATE));
var handler = space.AddCollisionHandler(
(int)COLLISION_TYPES.HOOK_SENSOR,
(int)COLLISION_TYPES.CRATE);
handler.beginFunc = HookCrate;
Schedule();
}
