public override void OnEnter()
{
base.OnEnter();
SetSubTitle("This unicycle is completely driven and balanced by a single cpSimpleMotor.\nMove the mouse to make the unicycle follow it.");
space.SetIterations(30);
space.SetGravity(new cpVect(0, -500));
{
cpShape shape = null;
cpBody staticBody = space.GetStaticBody();
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-3200, -240), new cpVect(3200, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(0, -200), new cpVect(240, -240), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
shape = space.AddShape(new cpSegmentShape(staticBody, new cpVect(-240, -240), new cpVect(0, -200), 0.0f));
shape.SetElasticity(1.0f);
shape.SetFriction(1.0f);
shape.SetFilter(NOT_GRABBABLE_FILTER);
}
{
float radius = 20.0f;
float mass = 1.0f;
float moment = cp.MomentForCircle(mass, 0.0f, radius, cpVect.Zero);
wheel_body = space.AddBody(new cpBody(mass, moment));
wheel_body.SetPosition(new cpVect(0.0f, -160.0f + radius));
cpShape shape = space.AddShape(new cpCircleShape(wheel_body, radius, cpVect.Zero));
shape.SetFriction(0.7f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
}
{
float cog_offset = 30.0f;
cpBB bb1 = new cpBB(-5.0f, 0.0f - cog_offset, 5.0f, cog_offset * 1.2f - cog_offset);
cpBB bb2 = new cpBB(-25.0f, bb1.t, 25.0f, bb1.t + 10.0f);
float mass = 3.0f;
float moment = cp.MomentForBox2(mass, bb1) + cp.MomentForBox2(mass, bb2);
balance_body = space.AddBody(new cpBody(mass, moment));
balance_body.SetPosition(new cpVect(0.0f, wheel_body.GetPosition().y + cog_offset));
cpShape shape = null;
shape = space.AddShape(cpPolyShape.BoxShape2(balance_body, bb1, 0.0f));
shape.SetFriction(1.0f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
shape = space.AddShape(cpPolyShape.BoxShape2(balance_body, bb2, 0.0f));
shape.SetFriction(1.0f);
shape.SetFilter(new cpShapeFilter(1, cp.ALL_CATEGORIES, cp.ALL_CATEGORIES));
}
cpVect anchorA = balance_body.WorldToLocal(wheel_body.GetPosition());
cpVect groove_a = cpVect.cpvadd(anchorA, new cpVect(0.0f, 30.0f));
cpVect groove_b = cpVect.cpvadd(anchorA, new cpVect(0.0f, -10.0f));
space.AddConstraint(new cpGrooveJoint(balance_body, wheel_body, groove_a, groove_b, cpVect.Zero));
space.AddConstraint(new cpDampedSpring(balance_body, wheel_body, anchorA, cpVect.Zero, 0.0f, 6.0e2f, 30.0f));
motor = space.AddConstraint(new cpSimpleMotor(wheel_body, balance_body, 0.0f));
motor.SetPreSolveFunc((s) => motor_preSolve(motor, s));
{
float width = 100.0f;
float height = 20.0f;
float mass = 3.0f;
cpBody boxBody = space.AddBody(new cpBody(mass, cp.MomentForBox(mass, width, height)));
boxBody.SetPosition(new cpVect(200, -100));
cpShape shape = space.AddShape(cpPolyShape.BoxShape(boxBody, width, height, 0.0f));
shape.SetFriction(0.7f);
}
Schedule();
}
