private WheelJointTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 2.0f);
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 7.0f);
body.CreateFixture(shape);
Vector2 axis = new Vector2(-1000.0f, -2.0f);
axis.Normalize();
WheelJoint jd = new WheelJoint(ground, body, new Vector2(0, 8.5f), axis);
jd.MotorSpeed = 1.0f;
jd.MaxMotorTorque = 1000.0f;
jd.MotorEnabled = true;
jd.SpringFrequencyHz = 1.0f;
jd.SpringDampingRatio = 0.2f;
World.AddJoint(jd);
PolygonShape shape2 = new PolygonShape(1);
shape2.Vertices = PolygonTools.CreateRectangle(0.5f, 2.0f);
Body body2 = BodyFactory.CreatePolygon(World, shape2.Vertices, 0.5f);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, 7.0f);
}
}
public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
{
WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);
world.Add(joint);
return(joint);
}
public void Deserialize(World world, Stream stream)
{
world.Clear();
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
throw new Exception();
foreach (XMLFragmentElement main in root.Elements)
{
if (main.Name.ToLower() == "gravity")
{
world.Gravity = ReadVector(main);
}
}
foreach (XMLFragmentElement shapeElement in root.Elements)
{
if (shapeElement.Name.ToLower() == "shapes")
{
foreach (XMLFragmentElement n in shapeElement.Elements)
{
if (n.Name.ToLower() != "shape")
throw new Exception();
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true);
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "radius":
shape.Radius = float.Parse(sn.Value);
break;
case "position":
shape.Position = ReadVector(sn);
break;
default:
throw new Exception();
}
}
_shapes.Add(shape);
}
break;
case ShapeType.Polygon:
{
PolygonShape shape = new PolygonShape();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List<Vector2> verts = new List<Vector2>();
foreach (XMLFragmentElement vert in sn.Elements)
verts.Add(ReadVector(vert));
shape.Vertices = new Vertices(verts);
}
break;
case "centroid":
shape.MassData.Centroid = ReadVector(sn);
break;
}
}
_shapes.Add(shape);
}
break;
case ShapeType.Edge:
{
EdgeShape shape = new EdgeShape();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "hasvertex0":
shape.HasVertex0 = bool.Parse(sn.Value);
break;
case "hasvertex3":
shape.HasVertex0 = bool.Parse(sn.Value);
break;
case "vertex0":
shape.Vertex0 = ReadVector(sn);
break;
case "vertex1":
shape.Vertex1 = ReadVector(sn);
break;
case "vertex2":
shape.Vertex2 = ReadVector(sn);
break;
case "vertex3":
shape.Vertex3 = ReadVector(sn);
break;
default:
throw new Exception();
}
}
_shapes.Add(shape);
}
break;
}
}
}
}
foreach (XMLFragmentElement fixtureElement in root.Elements)
{
if (fixtureElement.Name.ToLower() == "fixtures")
{
foreach (XMLFragmentElement n in fixtureElement.Elements)
{
Fixture fixture = new Fixture();
if (n.Name.ToLower() != "fixture")
throw new Exception();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "shape":
fixture.Shape = _shapes[int.Parse(sn.Value)];
break;
case "density":
fixture.Shape.Density = float.Parse(sn.Value);
break;
case "filterdata":
foreach (XMLFragmentElement ssn in sn.Elements)
{
switch (ssn.Name.ToLower())
{
case "categorybits":
fixture._collisionCategories = (Category)int.Parse(ssn.Value);
break;
case "maskbits":
fixture._collidesWith = (Category)int.Parse(ssn.Value);
break;
case "groupindex":
fixture._collisionGroup = short.Parse(ssn.Value);
break;
}
}
break;
case "friction":
fixture.Friction = float.Parse(sn.Value);
break;
case "issensor":
fixture.IsSensor = bool.Parse(sn.Value);
break;
case "restitution":
fixture.Restitution = float.Parse(sn.Value);
break;
case "userdata":
fixture.UserData = ReadSimpleType(sn, null, false);
break;
}
}
_fixtures.Add(fixture);
}
}
}
foreach (XMLFragmentElement bodyElement in root.Elements)
{
if (bodyElement.Name.ToLower() == "bodies")
{
foreach (XMLFragmentElement n in bodyElement.Elements)
{
Body body = new Body(world);
if (n.Name.ToLower() != "body")
throw new Exception();
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true);
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "active":
if (bool.Parse(sn.Value))
body.Flags |= BodyFlags.Enabled;
else
body.Flags &= ~BodyFlags.Enabled;
break;
case "allowsleep":
body.SleepingAllowed = bool.Parse(sn.Value);
break;
case "angle":
{
Vector2 position = body.Position;
body.SetTransformIgnoreContacts(ref position, float.Parse(sn.Value));
}
break;
case "angulardamping":
body.AngularDamping = float.Parse(sn.Value);
break;
case "angularvelocity":
body.AngularVelocity = float.Parse(sn.Value);
break;
case "awake":
body.Awake = bool.Parse(sn.Value);
break;
case "bullet":
body.IsBullet = bool.Parse(sn.Value);
break;
case "fixedrotation":
body.FixedRotation = bool.Parse(sn.Value);
break;
case "lineardamping":
body.LinearDamping = float.Parse(sn.Value);
break;
case "linearvelocity":
body.LinearVelocity = ReadVector(sn);
break;
case "position":
{
float rotation = body.Rotation;
Vector2 position = ReadVector(sn);
body.SetTransformIgnoreContacts(ref position, rotation);
}
break;
case "userdata":
body.UserData = ReadSimpleType(sn, null, false);
break;
case "fixtures":
{
foreach (XMLFragmentElement v in sn.Elements)
{
Fixture blueprint = _fixtures[int.Parse(v.Value)];
Fixture f = new Fixture(body, blueprint.Shape);
f.Restitution = blueprint.Restitution;
f.UserData = blueprint.UserData;
f.Friction = blueprint.Friction;
f.CollidesWith = blueprint.CollidesWith;
f.CollisionCategories = blueprint.CollisionCategories;
f.CollisionGroup = blueprint.CollisionGroup;
f.IsSensor = blueprint.IsSensor;
}
break;
}
}
}
_bodies.Add(body);
}
}
}
foreach (XMLFragmentElement jointElement in root.Elements)
{
if (jointElement.Name.ToLower() == "joints")
{
foreach (XMLFragmentElement n in jointElement.Elements)
{
Joint joint;
if (n.Name.ToLower() != "joint")
throw new Exception();
JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true);
int bodyAIndex = -1, bodyBIndex = -1;
bool collideConnected = false;
object userData = null;
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "bodya":
bodyAIndex = int.Parse(sn.Value);
break;
case "bodyb":
bodyBIndex = int.Parse(sn.Value);
break;
case "collideconnected":
collideConnected = bool.Parse(sn.Value);
break;
case "userdata":
userData = ReadSimpleType(sn, null, false);
break;
}
}
Body bodyA = _bodies[bodyAIndex];
Body bodyB = _bodies[bodyBIndex];
switch (type)
{
case JointType.Distance:
joint = new DistanceJoint();
break;
case JointType.Friction:
joint = new FrictionJoint();
break;
case JointType.Wheel:
joint = new WheelJoint();
break;
case JointType.Prismatic:
joint = new PrismaticJoint();
break;
case JointType.Pulley:
joint = new PulleyJoint();
break;
case JointType.Revolute:
joint = new RevoluteJoint();
break;
case JointType.Weld:
joint = new WeldJoint();
break;
case JointType.Rope:
joint = new RopeJoint();
break;
//case JointType.Angle: //TODO
// joint = new AngleJoint();
// break;
//case JointType.Slider:
// joint = new SliderJoint();
// break;
case JointType.Gear:
throw new Exception("GearJoint is not supported.");
default:
throw new Exception("Invalid or unsupported joint.");
}
joint.CollideConnected = collideConnected;
joint.UserData = userData;
joint.BodyA = bodyA;
joint.BodyB = bodyB;
_joints.Add(joint);
world.AddJoint(joint);
foreach (XMLFragmentElement sn in n.Elements)
{
// check for specific nodes
switch (type)
{
case JointType.Distance:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((DistanceJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((DistanceJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "length":
((DistanceJoint)joint).Length = float.Parse(sn.Value);
break;
case "localanchora":
((DistanceJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((DistanceJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Friction:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((FrictionJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((FrictionJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxforce":
((FrictionJoint)joint).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((FrictionJoint)joint).MaxTorque = float.Parse(sn.Value);
break;
}
}
break;
//case JointType.Wheel:
// {
// switch (sn.Name.ToLower())
// {
// case "enablemotor":
// ((WheelJoint)joint).MotorEnabled = bool.Parse(sn.Value);
// break;
// case "localanchora":
// ((WheelJoint)joint).LocalAnchorA = ReadVector(sn);
// break;
// case "localanchorb":
// ((WheelJoint)joint).LocalAnchorB = ReadVector(sn);
// break;
// case "motorspeed":
// ((WheelJoint)joint).MotorSpeed = float.Parse(sn.Value);
// break;
// case "dampingratio":
// ((WheelJoint)joint).DampingRatio = float.Parse(sn.Value);
// break;
// case "maxmotortorque":
// ((WheelJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
// break;
// case "frequencyhz":
// ((WheelJoint)joint).Frequency = float.Parse(sn.Value);
// break;
// case "localxaxis":
// ((WheelJoint)joint).LocalXAxis = ReadVector(sn);
// break;
// }
// }
// break;
case JointType.Prismatic:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((PrismaticJoint)joint).LimitEnabled = bool.Parse(sn.Value);
break;
case "enablemotor":
((PrismaticJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((PrismaticJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PrismaticJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "local1axis1":
((PrismaticJoint)joint).LocalXAxisA = ReadVector(sn);
break;
case "maxmotorforce":
((PrismaticJoint)joint).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((PrismaticJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((PrismaticJoint)joint).LowerLimit = float.Parse(sn.Value);
break;
case "uppertranslation":
((PrismaticJoint)joint).UpperLimit = float.Parse(sn.Value);
break;
case "referenceangle":
((PrismaticJoint)joint).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
//case JointType.Pulley:
// {
// switch (sn.Name.ToLower())
// {
// case "groundanchora":
// ((PulleyJoint)joint).GroundAnchorA = ReadVector(sn);
// break;
// case "groundanchorb":
// ((PulleyJoint)joint).GroundAnchorB = ReadVector(sn);
// break;
// case "lengtha":
// ((PulleyJoint)joint).LengthA = float.Parse(sn.Value);
// break;
// case "lengthb":
// ((PulleyJoint)joint).LengthB = float.Parse(sn.Value);
// break;
// case "localanchora":
// ((PulleyJoint)joint).LocalAnchorA = ReadVector(sn);
// break;
// case "localanchorb":
// ((PulleyJoint)joint).LocalAnchorB = ReadVector(sn);
// break;
// case "maxlengtha":
// ((PulleyJoint)joint).MaxLengthA = float.Parse(sn.Value);
// break;
// case "maxlengthb":
// ((PulleyJoint)joint).MaxLengthB = float.Parse(sn.Value);
// break;
// case "ratio":
// ((PulleyJoint)joint).Ratio = float.Parse(sn.Value);
// break;
// }
// }
// break;
case JointType.Revolute:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((RevoluteJoint)joint).LimitEnabled = bool.Parse(sn.Value);
break;
case "enablemotor":
((RevoluteJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((RevoluteJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RevoluteJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxmotortorque":
((RevoluteJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "motorspeed":
((RevoluteJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "lowerangle":
((RevoluteJoint)joint).LowerLimit = float.Parse(sn.Value);
break;
case "upperangle":
((RevoluteJoint)joint).UpperLimit = float.Parse(sn.Value);
break;
case "referenceangle":
((RevoluteJoint)joint).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Weld:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((WeldJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WeldJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Rope:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((RopeJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RopeJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxlength":
((RopeJoint)joint).MaxLength = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Gear:
throw new Exception("Gear joint is unsupported");
//case JointType.Angle: //TODO
// {
// switch (sn.Name.ToLower())
// {
// case "biasfactor":
// ((AngleJoint)joint).BiasFactor = float.Parse(sn.Value);
// break;
// case "maximpulse":
// ((AngleJoint)joint).MaxImpulse = float.Parse(sn.Value);
// break;
// case "softness":
// ((AngleJoint)joint).Softness = float.Parse(sn.Value);
// break;
// case "targetangle":
// ((AngleJoint)joint).TargetAngle = float.Parse(sn.Value);
// break;
// }
// }
// break;
//case JointType.Slider:
// {
// switch (sn.Name.ToLower())
// {
// case "dampingratio":
// ((SliderJoint)joint).DampingRatio = float.Parse(sn.Value);
// break;
// case "frequencyhz":
// ((SliderJoint)joint).Frequency = float.Parse(sn.Value);
// break;
// case "maxlength":
// ((SliderJoint)joint).MaxLength = float.Parse(sn.Value);
// break;
// case "minlength":
// ((SliderJoint)joint).MinLength = float.Parse(sn.Value);
// break;
// case "localanchora":
// ((SliderJoint)joint).LocalAnchorA = ReadVector(sn);
// break;
// case "localanchorb":
// ((SliderJoint)joint).LocalAnchorB = ReadVector(sn);
// break;
// }
// }
// break;
}
}
}
}
}
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 10f);
HasCursor = false;
EnableCameraControl = true;
HasVirtualStick = true;
#if WINDOWS_PHONE
_scale = 2f / 3f;
#else
_scale = 1f;
#endif
// terrain
_ground = new Body(World);
{
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)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], _ground);
}
_ground.Friction = 0.6f;
}
// teeter board
{
_board = new Body(World);
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, -1.0f);
PolygonShape box = new PolygonShape(PolygonTools.CreateRectangle(10, 0.25f), 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 * Settings.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * Settings.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 = new Body(World);
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 = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
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 = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, -1.0f);
_car.CreateFixture(chassis);
_wheelBack = new Body(World);
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, -0.78f);
_wheelBack.CreateFixture(wheelShape);
_wheelBack.Friction = 0.9f;
wheelShape.Density = 1;
_wheelFront = new Body(World);
_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.AddJoint(_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.AddJoint(_springFront);
_carBody = new Sprite(ScreenManager.Content.Load<Texture2D>("Samples/car"), AssetCreator.CalculateOrigin(_car) / _scale);
_wheel = new Sprite(ScreenManager.Content.Load<Texture2D>("Samples/wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
private CarTest()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground = new Body(World);
{
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(shape);
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];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 80.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f), ground);
x += 20.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);
x += 40.0f;
FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x, 20.0f), ground);
ground.Friction = 0.6f;
}
// Teeter
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(1);
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box);
RevoluteJoint jd = JointFactory.CreateRevoluteJoint(ground, body, Vector2.Zero);
jd.LowerLimit = -8.0f * Settings.Pi / 180.0f;
jd.UpperLimit = 8.0f * Settings.Pi / 180.0f;
jd.LimitEnabled = true;
World.AddJoint(jd);
body.ApplyAngularImpulse(100.0f);
}
//Bridge
{
const int N = 20;
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(1.0f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
Body body = new Body(World);
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.SetAsBox(0.5f, 0.5f);
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 0.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 1.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 2.5f);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 3.5f);
body.CreateFixture(box);
body = new Body(World);
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 = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheel1 = new Body(World);
_wheel1.BodyType = BodyType.Dynamic;
_wheel1.Position = new Vector2(-1.0f, 0.35f);
Fixture fix = _wheel1.CreateFixture(circle);
fix.Friction = 0.9f;
_wheel2 = new Body(World);
_wheel2.BodyType = BodyType.Dynamic;
_wheel2.Position = new Vector2(1.0f, 0.4f);
_wheel2.CreateFixture(circle);
Vector2 axis = new Vector2(0.0f, 1.0f);
_spring1 = new WheelJoint(_car, _wheel1, _wheel1.Position, axis);
_spring1.MotorSpeed = 0.0f;
_spring1.MaxMotorTorque = 20.0f;
_spring1.MotorEnabled = true;
_spring1.Frequency = _hz;
_spring1.DampingRatio = _zeta;
World.AddJoint(_spring1);
_spring2 = new WheelJoint(_car, _wheel2, _wheel2.Position, axis);
_spring2.MotorSpeed = 0.0f;
_spring2.MaxMotorTorque = 10.0f;
_spring2.MotorEnabled = false;
_spring2.Frequency = _hz;
_spring2.DampingRatio = _zeta;
World.AddJoint(_spring2);
}
}
public override Joint createJoint()
{
var joint = new WheelJoint( bodyA, bodyB, anchor * FSConvert.displayToSim, axis );
joint.collideConnected = collideConnected;
joint.axis = axis;
joint.motorEnabled = motorEnabled;
joint.motorSpeed = motorSpeed;
joint.maxMotorTorque = maxMotorTorque;
joint.frequency = frequency;
joint.dampingRatio = dampingRatio;
return joint;
}
public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
{
WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);
world.AddJoint(joint);
return joint;
}
//public static FixedPrismaticJoint CreateFixedPrismaticJoint(World world, Body body, Vector2 worldAnchor,
// Vector2 axis)
//{
// FixedPrismaticJoint joint = new FixedPrismaticJoint(body, worldAnchor, axis);
// world.AddJoint(joint);
// return joint;
//}
#endregion
#region Wheel Joint
/// <summary>
/// Creates a Wheel Joint and adds it to the world
/// </summary>
public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 anchorB, Vector2 axis)
{
WheelJoint joint = new WheelJoint(bodyA, bodyB, anchorB, axis);
world.AddJoint(joint);
return joint;
}
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 = new Body(World);
{
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)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], _ground);
}
_ground.Friction = 0.6f;
}
// teeter board
{
_board = new Body(World);
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, -1.0f);
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonTools.CreateRectangle(10.0f, 0.25f);
_teeter = new Sprite(ContentWrapper.TextureFromShape(box, "Stripe", ContentWrapper.Gold, ContentWrapper.Black, ContentWrapper.Black, 1f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * Settings.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * Settings.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));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = new Body(World);
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));
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
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 = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, -1.0f);
_car.CreateFixture(chassis);
_wheelBack = new Body(World);
_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 = new Body(World);
_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.AddJoint(_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.AddJoint(_springFront);
// GFX
_carBody = new Sprite(ContentWrapper.GetTexture("Car"), ContentWrapper.CalculateOrigin(_car));
_wheel = new Sprite(ContentWrapper.GetTexture("Wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
/// <summary>
/// Creates a Wheel Joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static WheelJoint CreateWheelJoint(Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis)
{
WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis);
return joint;
}
