public Biped(World w, Vec2 position)
{
_world = w;
BipedDef def = new BipedDef();
BodyDef bd = new BodyDef();
// create body parts
bd = def.LFootDef;
bd.Position += position;
LFoot = w.CreateBody(bd);
LFoot.CreateShape(def.LFootPoly);
LFoot.SetMassFromShapes();
bd = def.RFootDef;
bd.Position += position;
RFoot = w.CreateBody(bd);
RFoot.CreateShape(def.RFootPoly);
RFoot.SetMassFromShapes();
bd = def.LCalfDef;
bd.Position += position;
LCalf = w.CreateBody(bd);
LCalf.CreateShape(def.LCalfPoly);
LCalf.SetMassFromShapes();
bd = def.RCalfDef;
bd.Position += position;
RCalf = w.CreateBody(bd);
RCalf.CreateShape(def.RCalfPoly);
RCalf.SetMassFromShapes();
bd = def.LThighDef;
bd.Position += position;
LThigh = w.CreateBody(bd);
LThigh.CreateShape(def.LThighPoly);
LThigh.SetMassFromShapes();
bd = def.RThighDef;
bd.Position += position;
RThigh = w.CreateBody(bd);
RThigh.CreateShape(def.RThighPoly);
RThigh.SetMassFromShapes();
bd = def.PelvisDef0;
bd.Position += position;
Pelvis = w.CreateBody(bd);
Pelvis.CreateShape(def.PelvisPoly);
Pelvis.SetMassFromShapes();
bd = def.PelvisDef;
bd.Position += position;
Stomach = w.CreateBody(bd);
Stomach.CreateShape(def.StomachPoly);
Stomach.SetMassFromShapes();
bd = def.ChestDef;
bd.Position += position;
Chest = w.CreateBody(bd);
Chest.CreateShape(def.ChestPoly);
Chest.SetMassFromShapes();
bd = def.NeckDef;
bd.Position += position;
Neck = w.CreateBody(bd);
Neck.CreateShape(def.NeckPoly);
Neck.SetMassFromShapes();
bd = def.HeadDef;
bd.Position += position;
Head = w.CreateBody(bd);
Head.CreateShape(def.HeadCirc);
Head.SetMassFromShapes();
bd = def.LUpperArmDef;
bd.Position += position;
LUpperArm = w.CreateBody(bd);
LUpperArm.CreateShape(def.LUpperArmPoly);
LUpperArm.SetMassFromShapes();
bd = def.RUpperArmDef;
bd.Position += position;
RUpperArm = w.CreateBody(bd);
RUpperArm.CreateShape(def.RUpperArmPoly);
RUpperArm.SetMassFromShapes();
bd = def.LForearmDef;
bd.Position += position;
LForearm = w.CreateBody(bd);
LForearm.CreateShape(def.LForearmPoly);
LForearm.SetMassFromShapes();
bd = def.RForearmDef;
bd.Position += position;
RForearm = w.CreateBody(bd);
RForearm.CreateShape(def.RForearmPoly);
RForearm.SetMassFromShapes();
bd = def.LHandDef;
bd.Position += position;
LHand = w.CreateBody(bd);
LHand.CreateShape(def.LHandPoly);
LHand.SetMassFromShapes();
bd = def.RHandDef;
bd.Position += position;
RHand = w.CreateBody(bd);
RHand.CreateShape(def.RHandPoly);
RHand.SetMassFromShapes();
// link body parts
def.LAnkleDef.Body1 = LFoot;
def.LAnkleDef.Body2 = LCalf;
def.RAnkleDef.Body1 = RFoot;
def.RAnkleDef.Body2 = RCalf;
def.LKneeDef.Body1 = LCalf;
def.LKneeDef.Body2 = LThigh;
def.RKneeDef.Body1 = RCalf;
def.RKneeDef.Body2 = RThigh;
def.LHipDef.Body1 = LThigh;
def.LHipDef.Body2 = Pelvis;
def.RHipDef.Body1 = RThigh;
def.RHipDef.Body2 = Pelvis;
def.LowerAbsDef.Body1 = Pelvis;
def.LowerAbsDef.Body2 = Stomach;
def.UpperAbsDef.Body1 = Stomach;
def.UpperAbsDef.Body2 = Chest;
def.LowerNeckDef.Body1 = Chest;
def.LowerNeckDef.Body2 = Neck;
def.UpperNeckDef.Body1 = Chest;
def.UpperNeckDef.Body2 = Head;
def.LShoulderDef.Body1 = Chest;
def.LShoulderDef.Body2 = LUpperArm;
def.RShoulderDef.Body1 = Chest;
def.RShoulderDef.Body2 = RUpperArm;
def.LElbowDef.Body1 = LForearm;
def.LElbowDef.Body2 = LUpperArm;
def.RElbowDef.Body1 = RForearm;
def.RElbowDef.Body2 = RUpperArm;
def.LWristDef.Body1 = LHand;
def.LWristDef.Body2 = LForearm;
def.RWristDef.Body1 = RHand;
def.RWristDef.Body2 = RForearm;
// create joints
LAnkle = (RevoluteJoint)w.CreateJoint(def.LAnkleDef);
RAnkle = (RevoluteJoint)w.CreateJoint(def.RAnkleDef);
LKnee = (RevoluteJoint)w.CreateJoint(def.LKneeDef);
RKnee = (RevoluteJoint)w.CreateJoint(def.RKneeDef);
LHip = (RevoluteJoint)w.CreateJoint(def.LHipDef);
RHip = (RevoluteJoint)w.CreateJoint(def.RHipDef);
LowerAbs = (RevoluteJoint)w.CreateJoint(def.LowerAbsDef);
UpperAbs = (RevoluteJoint)w.CreateJoint(def.UpperAbsDef);
LowerNeck = (RevoluteJoint)w.CreateJoint(def.LowerNeckDef);
UpperNeck = (RevoluteJoint)w.CreateJoint(def.UpperNeckDef);
LShoulder = (RevoluteJoint)w.CreateJoint(def.LShoulderDef);
RShoulder = (RevoluteJoint)w.CreateJoint(def.RShoulderDef);
LElbow = (RevoluteJoint)w.CreateJoint(def.LElbowDef);
RElbow = (RevoluteJoint)w.CreateJoint(def.RElbowDef);
LWrist = (RevoluteJoint)w.CreateJoint(def.LWristDef);
RWrist = (RevoluteJoint)w.CreateJoint(def.RWristDef);
}