public AngleJoint CreateAngleJoint(PhysicsSimulator physicsSimulator, Body body1, Body body2, float softness,
float biasFactor)
{
AngleJoint angleJoint = CreateAngleJoint(body1, body2, softness, biasFactor);
physicsSimulator.Add(angleJoint);
return(angleJoint);
}
public AngleJoint CreateAngleJoint(Body body1, Body body2, float softness, float biasFactor)
{
AngleJoint angleJoint = new AngleJoint(body1, body2);
angleJoint.Softness = softness;
angleJoint.BiasFactor = biasFactor;
return(angleJoint);
}
public SpringPhysicsObject(World world, PhysicsObject physObA, PhysicsObject physObB, Vector2 relativeJointPosition, float springSoftness, float springBiasFactor)
: base(world, physObA, physObB, relativeJointPosition)
{
springJoint = JointFactory.CreateAngleJoint(world, physObA.fixture.Body, physObB.fixture.Body);
springJoint.TargetAngle = 0;
springJoint.Softness = springSoftness;
springJoint.BiasFactor = springBiasFactor;
}
/// <summary>
/// Creates an angle joint.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="bodyA">The first body.</param>
/// <param name="bodyB">The second body.</param>
public static AngleJoint CreateAngleJoint(World world, Body bodyA, Body bodyB)
{
AngleJoint angleJoint = new AngleJoint(bodyA, bodyB);
world.AddJoint(angleJoint);
return(angleJoint);
}
private Vector2 _upperLegSize = new Vector2(3, 0.5f); //x=width, y=height
public Spider(World world, Vector2 position)
{
//Load bodies
Body circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
circle.BodyType = BodyType.Dynamic;
//Left upper leg
Body leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X / 2, 0));
leftUpper.BodyType = BodyType.Dynamic;
//Left lower leg
Body leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) -
new Vector2(_lowerLegSize.X / 2, 0));
leftLower.BodyType = BodyType.Dynamic;
//Right upper leg
Body rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X / 2, 0));
rightUpper.BodyType = BodyType.Dynamic;
//Right lower leg
Body rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) +
new Vector2(_lowerLegSize.X / 2, 0));
rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, circle, leftUpper, new Vector2(SpiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle, leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, circle, rightUpper, new Vector2(-SpiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle, rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, leftUpper, leftLower, new Vector2(_upperLegSize.X / 2, 0));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, leftUpper, leftLower);
_leftKneeAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, rightUpper, rightLower,
-new Vector2(_upperLegSize.X / 2, 0));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, rightUpper, rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
}
public override PhysicsJoint CreateAngleJoint(PhysicsBody bodyA, PhysicsBody bodyB,
float targetAngle)
{
AngleJoint farseerJoint = JointFactory.CreateAngleJoint(world, ((FarseerBody)bodyA).Body,
((FarseerBody)bodyB).Body);
farseerJoint.TargetAngle = targetAngle;
return(new FarseerJoint(farseerJoint, bodyA, bodyB));
}
public override Joint createJoint()
{
var joint = new AngleJoint(bodyA, bodyB);
joint.collideConnected = collideConnected;
joint.maxImpulse = maxImpulse;
joint.biasFactor = biasFactor;
joint.softness = softness;
return(joint);
}
public override Joint CreateJoint()
{
var joint = new AngleJoint(BodyA, BodyB);
joint.CollideConnected = CollideConnected;
joint.MaxImpulse = MaxImpulse;
joint.BiasFactor = BiasFactor;
joint.Softness = Softness;
return(joint);
}
private void AddChainCommandExecute(object parameter)
{
Will.Instance.Purge();
Will.Instance.RunPauseWilling(false);
var startPoint = new Vector2D(300, 800);
double angle = MathHelper.ToRadians(15.0f);
double boxlength = 50;
double spacing = 2;
double anchorLength = 30;
double anchorGap = (boxlength / 2) + spacing + (anchorLength / 2);
var chainId = Guid.NewGuid();
var chain = WillHelper.BuildChain(startPoint, boxlength, 3, 1200, spacing, 600, chainId);
var point2 = new Vector2D(chain[chain.Count - 1].State.Position.Linear.X + anchorGap, startPoint.Y);
var end2 = WillHelper.AddCircle(anchorLength / 2, 6, double.PositiveInfinity, new ALVector2D(0, point2), chainId);
end2.IgnoresGravity = true;
var joint2 = new HingeJoint(chain[chain.Count - 1], end2, point2, new Lifespan())
{
DistanceTolerance = 20
};
var joint21 = new AngleJoint(chain[chain.Count - 1], end2, new Lifespan())
{
Angle = angle
};
var point1 = new Vector2D(chain[0].State.Position.Linear.X - anchorGap, startPoint.Y);
var end1 = WillHelper.AddCircle(anchorLength / 2, 6, double.PositiveInfinity, new ALVector2D(0, point1), chainId);
chain.Add(end1);
chain.Add(end2);
end1.IgnoresGravity = true;
var joint1 = new HingeJoint(chain[0], end1, point1, new Lifespan())
{
DistanceTolerance = 20
};
var joint11 = new AngleJoint(end1, chain[0], new Lifespan())
{
Angle = angle
};
Will.Instance.AddJoint(joint1); Will.Instance.AddJoint(joint11);
Will.Instance.AddJoint(joint2); Will.Instance.AddJoint(joint21);
Representation.Instance.RegisterModel(chainId, chain);
Will.Instance.RunPauseWilling(true);
}
public JumpySpider(World world, Vector2 position)
{
// Body
_circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
// Left upper leg
_leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
// Left lower leg
_leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X, 0f) - new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
// Right upper leg
_rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
// Right lower leg
_rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X, 0f) + new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
//GFX
_torso = new Sprite(ContentWrapper.CircleTexture(SpiderBodyRadius, "Square", ContentWrapper.Grey, ContentWrapper.Gold, ContentWrapper.Black, 1f));
_upperLeg = new Sprite(ContentWrapper.TextureFromShape(_leftUpper.FixtureList[0].Shape, ContentWrapper.Grey, ContentWrapper.Black));
_lowerLeg = new Sprite(ContentWrapper.TextureFromShape(_leftLower.FixtureList[0].Shape, ContentWrapper.Gold, ContentWrapper.Black));
_flexed = false;
_timer = 0f;
_leftShoulderAngleJoint.TargetAngle = ShoulderRelaxed;
_leftKneeAngleJoint.TargetAngle = KneeRelaxed;
_rightShoulderAngleJoint.TargetAngle = -ShoulderRelaxed;
_rightKneeAngleJoint.TargetAngle = -KneeRelaxed;
}
public override Joint CreateJoint()
{
AngleJoint joint = new AngleJoint(BodyA, BodyB)
{
CollideConnected = CollideConnected,
MaxImpulse = MaxImpulse,
BiasFactor = BiasFactor,
Softness = Softness
};
return(joint);
}
/// <summary>
/// Connects the figure's body parts
/// </summary>
/// <param name="world">The physics world to add the joints to</param>
private void ConnectBody(World world)
{
upright = JointFactory.CreateAngleJoint(world, torso, gyro);
upright.MaxImpulse = maxImpulse;
upright.TargetAngle = 0.0f;
upright.CollideConnected = false;
r_neck = JointFactory.CreateRevoluteJoint(world, head, torso, -Vector2.UnitY * 20 * MainGame.PIXEL_TO_METER);
neck = JointFactory.CreateAngleJoint(world, head, torso);
neck.CollideConnected = false;
neck.MaxImpulse = maxImpulse;
r_leftShoulder = JointFactory.CreateRevoluteJoint(world, leftUpperArm, torso, -Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
leftShoulder = JointFactory.CreateAngleJoint(world, leftUpperArm, torso);
leftShoulder.CollideConnected = false;
leftShoulder.MaxImpulse = maxImpulse;
r_rightShoulder = JointFactory.CreateRevoluteJoint(world, rightUpperArm, torso, -Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
rightShoulder = JointFactory.CreateAngleJoint(world, rightUpperArm, torso);
rightShoulder.CollideConnected = false;
rightShoulder.MaxImpulse = maxImpulse;
r_leftElbow = JointFactory.CreateRevoluteJoint(world, leftLowerArm, leftUpperArm, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
leftElbow = JointFactory.CreateAngleJoint(world, leftLowerArm, leftUpperArm);
leftElbow.CollideConnected = false;
leftElbow.MaxImpulse = maxImpulse;
r_rightElbow = JointFactory.CreateRevoluteJoint(world, rightLowerArm, rightUpperArm, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
rightElbow = JointFactory.CreateAngleJoint(world, rightLowerArm, rightUpperArm);
rightElbow.CollideConnected = false;
rightElbow.MaxImpulse = maxImpulse;
r_leftHip = JointFactory.CreateRevoluteJoint(world, leftUpperLeg, torso, Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
leftHip = JointFactory.CreateAngleJoint(world, leftUpperLeg, torso);
leftHip.CollideConnected = false;
leftHip.MaxImpulse = maxImpulse;
r_rightHip = JointFactory.CreateRevoluteJoint(world, rightUpperLeg, torso, Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
rightHip = JointFactory.CreateAngleJoint(world, rightUpperLeg, torso);
rightHip.CollideConnected = false;
rightHip.MaxImpulse = maxImpulse;
r_leftKnee = JointFactory.CreateRevoluteJoint(world, leftLowerLeg, leftUpperLeg, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
leftKnee = JointFactory.CreateAngleJoint(world, leftUpperLeg, leftLowerLeg);
leftKnee.CollideConnected = false;
leftKnee.MaxImpulse = maxImpulse;
r_rightKnee = JointFactory.CreateRevoluteJoint(world, rightLowerLeg, rightUpperLeg, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
rightKnee = JointFactory.CreateAngleJoint(world, rightUpperLeg, rightLowerLeg);
rightKnee.CollideConnected = false;
rightKnee.MaxImpulse = maxImpulse;
}
public JumpySpider(World world, Vector2 position)
{
flexTime = (float)(random.NextDouble() * 5000 + 2000);
relaxTime = (float)(random.NextDouble() * 5000 + 2000);
// Body
_circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
// Left upper leg
_leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
// Left lower leg
_leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X, 0f) - new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
// Right upper leg
_rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
// Right lower leg
_rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X, 0f) + new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
_flexed = false;
_timer = 0f;
_leftShoulderAngleJoint.TargetAngle = ShoulderRelaxed;
_leftKneeAngleJoint.TargetAngle = KneeRelaxed;
_rightShoulderAngleJoint.TargetAngle = -ShoulderRelaxed;
_rightKneeAngleJoint.TargetAngle = -KneeRelaxed;
}
public static Tuple <HingeJoint, AngleJoint> ConnectWith(this BaseModelBody parentBody, BaseModelBody childBody, Vector2D hingeLocation)
{
var hinge = new HingeJoint(parentBody, childBody, hingeLocation, new Lifespan())
{
DistanceTolerance = 50,
Softness = 10000.1
};
var angle = new AngleJoint(parentBody, childBody, new Lifespan())
{
Softness = -0.00000001, BiasFactor = 0.3
};
return(new Tuple <HingeJoint, AngleJoint>(hinge, angle));
}
internal override void UpdateJoint()
{
base.UpdateJoint();
if (this.joint == null)
{
return;
}
AngleJoint j = this.joint as AngleJoint;
j.TargetAngle = this.angle;
j.BiasFactor = this.biasFactor;
j.Softness = this.softness;
j.MaxImpulse = this.maxImpulse < 0.0f ? float.MaxValue : PhysicsConvert.ToPhysicalUnit(this.maxImpulse);
}
public Spider(World world, ScreenManager screenManager, Vector2 position)
{
_batch = screenManager.SpriteBatch;
//Load bodies
_circle = world.CreateCircle(SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
//Left upper leg
_leftUpper = world.CreateRectangle(_upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
//Left lower leg
_leftLower = world.CreateRectangle(_lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X, 0f) - new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
//Right upper leg
_rightUpper = world.CreateRectangle(_upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
//Right lower leg
_rightLower = world.CreateRectangle(_lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X, 0f) + new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
//GFX
AssetCreator creator = screenManager.Assets;
_torso = new Sprite(creator.CircleTexture(SpiderBodyRadius, MaterialType.Waves, Color.Gray, 1f, 24f));
_upperLeg = new Sprite(creator.TextureFromShape(_leftUpper.FixtureList[0].Shape, MaterialType.Blank, Color.DimGray, 1f));
_lowerLeg = new Sprite(creator.TextureFromShape(_leftLower.FixtureList[0].Shape, MaterialType.Blank, Color.DarkSlateGray, 1f));
}
/// <summary>
/// Sends the stick figure to its default pose
/// </summary>
public void Stand()
{
Crouching = false;
upright.TargetAngle = 0.0f;
walkStage = 0;
leftHip.TargetAngle = 3 * MathHelper.PiOver4;
leftKnee.TargetAngle = -5 * MathHelper.PiOver4;
rightHip.TargetAngle = -3 * MathHelper.PiOver4;
rightKnee.TargetAngle = -3 * MathHelper.PiOver4;
leftLowerLeg.Friction = 0f;
rightLowerLeg.Friction = 0f;
AngleJoint[] checkThese = new AngleJoint[] { leftHip, leftKnee, rightHip, rightKnee };
if (JointsAreInPosition(checkThese))
{
leftLowerLeg.Friction = 100f;
rightLowerLeg.Friction = 100f;
}
}
public InteractiveAngleJoint(float angle1, float angle2, float angle3, float angle4, float angleMin,
float angleMax, float softness, Vector2 anchor, Body body1, Body body2)
{
this.angle1 = angle1;
this.angle2 = angle2;
this.angle3 = angle3;
this.angle4 = angle4;
this.angleMin = angleMin;
this.angleMax = angleMax;
this.softness = softness;
this.body1 = body1;
this.body2 = body2;
this.anchor = anchor;
revoluteJoint = new RevoluteJoint(body1, body2, anchor);
revoluteJoint.Softness = softness;
angleJoint = new AngleJoint(body1, body2);
circularInterpolator = new CircularInterpolator(angle1, angle2, angle3, angle4, angleMin, angleMax);
}
private void AddCore(Guid geneApplicationId, BaseGeneViewModel gene)
{
var core = (CoreGeneViewModel)gene;
var model = core.GetModelDuplicate();
model.Id = geneApplicationId;
var coreBody = WillHelper.CreateCoreBody(model, geneApplicationId);
var nodes = WillHelper.BuildNodeSlots(coreBody, geneApplicationId);
coreBody.Children = nodes;
var corePos = coreBody.State.Position;
var joints = new List <Joint>();
foreach (var node in nodes)
{
var hinge = new HingeJoint(coreBody, node, (2 * node.State.Position.Linear + 8 * corePos.Linear) * 0.1f, new Lifespan())
{
DistanceTolerance = 10,
Softness = 100.0
};
var angle = new AngleJoint(coreBody, node, new Lifespan())
{
Softness = 0.0001, BiasFactor = 0.2f
};
joints.Add(hinge);
joints.Add(angle);
}
Will.Instance.AddModelBodies(new List <BaseModelBody> {
coreBody
}.Concat(nodes).ToList());
Will.Instance.AddJoints(joints);
}
private AngleJointTest()
{
World.CreateEdge(new Vector2(-40, 0), new Vector2(40, 0));
Body fA = World.CreateRectangle(4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
Body fB = World.CreateRectangle(4, 4, 1, new Vector2(5, 4));
fB.BodyType = BodyType.Dynamic;
AngleJoint joint = new AngleJoint(fA, fB);
joint.TargetAngle = (float)Math.PI / 2;
World.Add(joint);
//Keep a body at a fixed angle without a joint
Body fC = World.CreateRectangle(4, 4, 1, new Vector2(10, 4));
fC.BodyType = BodyType.Dynamic;
fC.Rotation = (float)(Math.PI / 3);
fC.FixedRotation = true; // Or set the Inertia to float.MaxValue
}
private AngleJointTest()
{
BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
Body fB = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(5, 4));
fB.BodyType = BodyType.Dynamic;
AngleJoint joint = new AngleJoint(fA, fB);
joint.TargetAngle = MathConstants.Pi / 2;
World.AddJoint(joint);
//Keep a body at a fixed angle without a joint
Body fC = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(10, 4));
fC.BodyType = BodyType.Dynamic;
fC.Rotation = MathConstants.Pi / 3;
fC.FixedRotation = true; // Or set the Inertia to float.MaxValue
}
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(PolygonUtils.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 void AddSlot(BaseGeneViewModel gene)
{
Will.Instance.RunPauseWilling(false);
var slotGene = (NodeGeneViewModel)gene;
var boneBody = Will.Instance.Bodies.RandomOrDefault <BoneBody>(b => b.Model.ChildSlots.Any(s => s.IsOccupied == false));
if (boneBody == null)
{
Will.Instance.RunPauseWilling(true);
return;
}
var parPos = boneBody.State.Position;
var randSlot = boneBody.Model.ChildSlots.Where(s => s.IsOccupied == false).RandomOrDefault();
var slot = slotGene.GetModelDuplicate();
slot.Direction = randSlot.Direction;
slot.DistanceFromCenter = randSlot.DistanceFromCenter;
slot.Orientation = randSlot.Orientation;
randSlot.IsOccupied = true;
var slotBody = WillHelper.CreateConnectionSlotBody(slot, boneBody.ModelId);
var slotXAngle = slot.Direction + parPos.Angular;
var slotCenter = Vector2D.Rotate(slotXAngle, new Vector2D(slot.DistanceFromCenter, 0.0f));
var slotPos = new ALVector2D(slot.Orientation + slotXAngle, slotCenter + parPos.Linear);
slotBody.State.Position = slotPos;
slotBody.ApplyPosition();
slotBody.Parent = boneBody;
boneBody.Children.Add(slotBody);
var joints = new List <Joint>();
var nodePos = slotBody.State.Position;
var hinge = new HingeJoint(boneBody, slotBody, (slot.Size * nodePos.Linear + boneBody.Model.Length * parPos.Linear) * (1 / (slot.Size + boneBody.Model.Length)), new Lifespan())
{
DistanceTolerance = 50,
Softness = 10.1
};
var angle = new AngleJoint(boneBody, slotBody, new Lifespan())
{
Softness = 0.00001
};
joints.Add(hinge);
joints.Add(angle);
Will.Instance.AddBody(slotBody);
Will.Instance.AddJoints(joints);
Will.Instance.RunPauseWilling(true);
}
public void Load(Demo demo, PhysicsSimulator physicsSimulator)
{
//Load bodies
_spiderBody = BodyFactory.Instance.CreateCircleBody(physicsSimulator, _spiderBodyRadius, 1);
_spiderBody.Position = _position;
_spiderBody.IsStatic = false;
demo.AddCircleToCanvas(_spiderBody, _spiderBodyRadius);
_leftUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y,
1);
_leftUpperLegBody.Position = _spiderBody.Position - new Vector2(_spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X / 2, 0);
demo.AddRectangleToCanvas(_leftUpperLegBody, Colors.White, new Vector2(_upperLegSize.X, _upperLegSize.Y));
_leftLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y,
1);
_leftLowerLegBody.Position = _spiderBody.Position - new Vector2(_spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) - new Vector2(_lowerLegSize.X / 2, 0);
demo.AddRectangleToCanvas(_leftLowerLegBody, Colors.Red, new Vector2(_lowerLegSize.X, _lowerLegSize.Y));
_rightUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y, 1);
_rightUpperLegBody.Position = _spiderBody.Position + new Vector2(_spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X / 2, 0);
demo.AddRectangleToCanvas(_rightUpperLegBody, Colors.White, new Vector2(_upperLegSize.X, _upperLegSize.Y));
_rightLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y, 1);
_rightLowerLegBody.Position = _spiderBody.Position + new Vector2(_spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) + new Vector2(_lowerLegSize.X / 2, 0);
demo.AddRectangleToCanvas(_rightLowerLegBody, Colors.Red, new Vector2(_lowerLegSize.X, _lowerLegSize.Y));
//load geometries
_spiderGeom = GeomFactory.Instance.CreateCircleGeom(physicsSimulator, _spiderBody, _spiderBodyRadius, 14);
_leftUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_leftLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_rightUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_rightLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_spiderGeom.CollisionGroup = _collisionGroup;
_leftUpperLegGeom.CollisionGroup = _collisionGroup;
_leftLowerLegGeom.CollisionGroup = _collisionGroup;
_rightUpperLegGeom.CollisionGroup = _collisionGroup;
_rightLowerLegGeom.CollisionGroup = _collisionGroup;
//load joints
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _spiderBody,
_leftUpperLegBody,
_spiderBody.Position -
new Vector2(_spiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _spiderBody,
_leftUpperLegBody);
_leftShoulderAngleJoint.TargetAngle = -.4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _spiderBody,
_rightUpperLegBody,
_spiderBody.Position +
new Vector2(_spiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _spiderBody,
_rightUpperLegBody);
_rightShoulderAngleJoint.TargetAngle = .4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody,
_spiderBody.Position -
new Vector2(_spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0));
_leftKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody);
_leftKneeAngleJoint.TargetAngle = -_kneeTargetAngle;
_leftKneeAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody,
_spiderBody.Position +
new Vector2(_spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0));
_rightKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody);
_rightKneeAngleJoint.TargetAngle = _kneeTargetAngle;
_rightKneeAngleJoint.MaxImpulse = 300;
}
public void Load(GraphicsDevice graphicsDevice, PhysicsSimulator physicsSimulator)
{
_spiderTexture = DrawingHelper.CreateCircleTexture(graphicsDevice, spiderBodyRadius, Color.White,
Color.Black);
_spiderOrigin = new Vector2(_spiderTexture.Width / 2f, _spiderTexture.Height / 2f);
_upperLegTexture = DrawingHelper.CreateRectangleTexture(graphicsDevice, (int)_upperLegSize.X,
(int)_upperLegSize.Y, Color.White, Color.Black);
_upperLegOrigin = new Vector2(_upperLegTexture.Width / 2f, _upperLegTexture.Height / 2f);
_lowerLegTexture = DrawingHelper.CreateRectangleTexture(graphicsDevice, (int)_lowerLegSize.X,
(int)_lowerLegSize.Y, Color.Red, Color.Black);
_lowerLegOrigin = new Vector2(_lowerLegTexture.Width / 2f, _lowerLegTexture.Height / 2f);
//Load bodies
_spiderBody = BodyFactory.Instance.CreateCircleBody(physicsSimulator, spiderBodyRadius, 1);
_spiderBody.Position = _position;
_spiderBody.IsStatic = false;
_leftUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y,
1);
_leftUpperLegBody.Position = _spiderBody.Position - new Vector2(spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X / 2, 0);
_leftLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y,
1);
_leftLowerLegBody.Position = _spiderBody.Position - new Vector2(spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) - new Vector2(_lowerLegSize.X / 2, 0);
_rightUpperLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _upperLegSize.X,
_upperLegSize.Y, 1);
_rightUpperLegBody.Position = _spiderBody.Position + new Vector2(spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X / 2, 0);
_rightLowerLegBody = BodyFactory.Instance.CreateRectangleBody(physicsSimulator, _lowerLegSize.X,
_lowerLegSize.Y, 1);
_rightLowerLegBody.Position = _spiderBody.Position + new Vector2(spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) + new Vector2(_lowerLegSize.X / 2, 0);
//load geometries
_spiderGeom = GeomFactory.Instance.CreateCircleGeom(physicsSimulator, _spiderBody, spiderBodyRadius, 14);
_leftUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_leftLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _leftLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_rightUpperLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightUpperLegBody,
_upperLegSize.X, _upperLegSize.Y);
_rightLowerLegGeom = GeomFactory.Instance.CreateRectangleGeom(physicsSimulator, _rightLowerLegBody,
_lowerLegSize.X, _lowerLegSize.Y);
_spiderGeom.CollisionGroup = _collisionGroup;
_leftUpperLegGeom.CollisionGroup = _collisionGroup;
_leftLowerLegGeom.CollisionGroup = _collisionGroup;
_rightUpperLegGeom.CollisionGroup = _collisionGroup;
_rightLowerLegGeom.CollisionGroup = _collisionGroup;
//load joints
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _spiderBody,
_leftUpperLegBody,
_spiderBody.Position -
new Vector2(spiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _spiderBody,
_leftUpperLegBody);
_leftShoulderAngleJoint.TargetAngle = -.4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _spiderBody,
_rightUpperLegBody,
_spiderBody.Position +
new Vector2(spiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _spiderBody,
_rightUpperLegBody);
_rightShoulderAngleJoint.TargetAngle = .4f;
_leftShoulderAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody,
_spiderBody.Position -
new Vector2(spiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0));
_leftKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _leftUpperLegBody,
_leftLowerLegBody);
_leftKneeAngleJoint.TargetAngle = -_kneeTargetAngle;
_leftKneeAngleJoint.MaxImpulse = 300;
JointFactory.Instance.CreateRevoluteJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody,
_spiderBody.Position +
new Vector2(spiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0));
_rightKneeAngleJoint = JointFactory.Instance.CreateAngleJoint(physicsSimulator, _rightUpperLegBody,
_rightLowerLegBody);
_rightKneeAngleJoint.TargetAngle = _kneeTargetAngle;
_rightKneeAngleJoint.MaxImpulse = 300;
}
public AngleJoint CreateAngleJoint(Body body1, Body body2)
{
AngleJoint angleJoint = new AngleJoint(body1, body2);
return(angleJoint);
}
private static void Deserialize(World world, Stream stream)
{
List <Body> bodies = new List <Body>();
List <Fixture> fixtures = new List <Fixture>();
List <Joint> joints = new List <Joint>();
List <Shape> shapes = new List <Shape>();
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
{
throw new Exception();
}
//Read gravity
foreach (XMLFragmentElement element in root.Elements)
{
if (element.Name.ToLower() == "gravity")
{
world.Gravity = ReadVector(element);
break;
}
}
//Read shapes
foreach (XMLFragmentElement shapeElement in root.Elements)
{
if (shapeElement.Name.ToLower() == "shapes")
{
foreach (XMLFragmentElement element in shapeElement.Elements)
{
if (element.Name.ToLower() != "shape")
{
throw new Exception();
}
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), element.Attributes[0].Value, true);
float density = float.Parse(element.Attributes[1].Value);
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.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();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
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();
shape._density = density;
foreach (XMLFragmentElement sn in element.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;
case ShapeType.Chain:
{
ChainShape shape = new ChainShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
foreach (XMLFragmentElement vert in sn.Elements)
{
verts.Add(ReadVector(vert));
}
shape.Vertices = new Vertices(verts);
}
break;
case "nextvertex":
shape.NextVertex = ReadVector(sn);
break;
case "prevvertex":
shape.PrevVertex = ReadVector(sn);
break;
default:
throw new Exception();
}
}
shapes.Add(shape);
}
break;
}
}
}
}
//Read fixtures
foreach (XMLFragmentElement fixtureElement in root.Elements)
{
if (fixtureElement.Name.ToLower() == "fixtures")
{
foreach (XMLFragmentElement element in fixtureElement.Elements)
{
Fixture fixture = new Fixture();
if (element.Name.ToLower() != "fixture")
{
throw new Exception();
}
fixture.FixtureId = int.Parse(element.Attributes[0].Value);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
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;
case "CollisionIgnores":
string[] split = ssn.Value.Split('|');
foreach (string s in split)
{
fixture._collisionIgnores.Add(int.Parse(s));
}
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);
}
}
}
//Read bodies
foreach (XMLFragmentElement bodyElement in root.Elements)
{
if (bodyElement.Name.ToLower() == "bodies")
{
foreach (XMLFragmentElement element in bodyElement.Elements)
{
Body body = new Body(world);
if (element.Name.ToLower() != "body")
{
throw new Exception();
}
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), element.Attributes[0].Value, true);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "active":
bool enabled = bool.Parse(sn.Value);
if (enabled)
{
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 "bindings":
{
foreach (XMLFragmentElement pair in sn.Elements)
{
Fixture fix = fixtures[int.Parse(pair.Attributes[0].Value)];
fix.Shape = shapes[int.Parse(pair.Attributes[1].Value)].Clone();
fix.CloneOnto(body);
}
break;
}
}
}
bodies.Add(body);
}
}
}
//Read joints
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.FixedMouse:
// joint = new FixedMouseJoint();
// break;
//case JointType.FixedRevolute:
// break;
//case JointType.FixedDistance:
// break;
//case JointType.FixedLine:
// break;
//case JointType.FixedPrismatic:
// break;
//case JointType.FixedAngle:
// break;
//case JointType.FixedFriction:
// break;
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:
joint = new AngleJoint();
break;
case JointType.Motor:
joint = new MotorJoint();
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 "axis":
((WheelJoint)joint).Axis = 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 "axis":
((PrismaticJoint)joint).Axis = 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 "worldanchora":
((PulleyJoint)joint).WorldAnchorA = ReadVector(sn);
break;
case "worldanchorb":
((PulleyJoint)joint).WorldAnchorB = 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 "ratio":
((PulleyJoint)joint).Ratio = float.Parse(sn.Value);
break;
case "constant":
((PulleyJoint)joint).Constant = 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:
{
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.Motor:
switch (sn.Name.ToLower())
{
case "angularoffset":
((MotorJoint)joint).AngularOffset = float.Parse(sn.Value);
break;
case "linearoffset":
((MotorJoint)joint).LinearOffset = ReadVector(sn);
break;
case "maxforce":
((MotorJoint)joint).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((MotorJoint)joint).MaxTorque = float.Parse(sn.Value);
break;
case "correctionfactor":
((MotorJoint)joint).CorrectionFactor = float.Parse(sn.Value);
break;
}
break;
}
}
}
}
}
world.ProcessChanges();
}
public static InterconnectionBody TryAddInterconnectionBody(this InterconnectionModel model, int maxTryCount)
{
var allSlots = Will.Instance.Bodies.OfType <ConnectionSlotBody>().Where(s => s.Model.IsOccupied == false).ToList();
while (allSlots.Count > 0 && --maxTryCount > 0)
{
var randSlot = allSlots.RandomOrDefault <ConnectionSlotBody>();
var begPos = randSlot.State.Position;
var alignedSlot = allSlots.Where(s => !s.Parent.Equals(randSlot.Parent)).FirstOrDefault(s =>
{
var angle = MathHelper.WrapClamp(s.State.Position.Angular + MathHelper.Pi, 0.0f, MathHelper.TwoPi);
var diff = Math.Abs(angle - begPos.Angular);
var dist = (begPos.Linear - s.State.Position.Linear).Magnitude;
return(diff <= model.MaxMissAlign && dist <= model.MaxDistance);
});
if (alignedSlot == null)
{
continue;
}
//Aligned slots pair found. Let's build a connection between
randSlot.Model.IsOccupied = true;
alignedSlot.Model.IsOccupied = true;
var endPos = alignedSlot.State.Position;
var centerPos = (begPos.Linear + endPos.Linear) * 0.5;
var begToCenter = centerPos - begPos.Linear;
var connPos = new ALVector2D(begToCenter.Angle, centerPos);
var rectBody = CreateRectangle(1, begToCenter.Magnitude * 1.8, 0.00001, connPos);
var connBody = rectBody.CopyAsInterconnection(randSlot.ModelId);
connBody.IsCollidable = false;
connBody.BegSlot = randSlot;
connBody.EndSlot = alignedSlot;
Will.Instance.RunPauseWilling(false);
Will.Instance.AddBody(connBody);
//randSlot.State.Position = new ALVector2D((begToCenter.Angle+begPos.Angular)*0.5, begPos.Linear);
//alignedSlot.State.Position = new ALVector2D(((-begToCenter).Angle+endPos.Angular)*0.5, endPos.Linear);
randSlot.State.Position = new ALVector2D(begToCenter.Angle, begPos.Linear);
alignedSlot.State.Position = new ALVector2D((-begToCenter).Angle, endPos.Linear);
var begJoint = new HingeJoint(randSlot, connBody, (2 * centerPos + 8 * begPos.Linear) * 0.1f, new Lifespan())
{
DistanceTolerance = model.MaxDistance * 0.5,
Softness = 10
};
var begAngle = new AngleJoint(randSlot, connBody, new Lifespan())
{
Softness = 0.0001, BiasFactor = 0.2f
};
var endJoint = new HingeJoint(connBody, alignedSlot, (2 * centerPos + 8 * endPos.Linear) * 0.1f, new Lifespan())
{
DistanceTolerance = model.MaxDistance * 0.5,
Softness = 10
};
var endAngle = new AngleJoint(connBody, alignedSlot, new Lifespan())
{
Softness = 0.0001, BiasFactor = 0.2f
};
Will.Instance.AddJoint(begJoint);
Will.Instance.AddJoint(begAngle);
Will.Instance.AddJoint(endAngle);
Will.Instance.RunPauseWilling(true);
return(connBody);
}
// Sorry :( Aligned pair not found. Please, try again later.
return(null);
}
private Vector2 _upperLegSize = new Vector2(3, 0.5f); //x=width, y=height
public Spider(World world, Vector2 position)
{
DebugMaterial matHead = new DebugMaterial(MaterialType.Face)
{
Color = Color.ForestGreen,
Scale = 2f
};
DebugMaterial matBody = new DebugMaterial(MaterialType.Blank)
{
Color = Color.YellowGreen
};
DebugMaterial matLeg = new DebugMaterial(MaterialType.Blank)
{
Color = Color.DarkGreen
};
//Load bodies
Fixture circle = FixtureFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position, matHead);
circle.Body.BodyType = BodyType.Dynamic;
//Left upper leg
Fixture leftUpper = FixtureFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Body.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X / 2, 0), matBody);
leftUpper.Body.BodyType = BodyType.Dynamic;
//Left lower leg
Fixture leftLower = FixtureFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Body.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) -
new Vector2(_lowerLegSize.X / 2, 0), matLeg);
leftLower.Body.BodyType = BodyType.Dynamic;
//Right upper leg
Fixture rightUpper = FixtureFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Body.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X / 2, 0), matBody);
rightUpper.Body.BodyType = BodyType.Dynamic;
//Right lower leg
Fixture rightLower = FixtureFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Body.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) +
new Vector2(_lowerLegSize.X / 2, 0), matLeg);
rightLower.Body.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, circle.Body, leftUpper.Body, new Vector2(SpiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle.Body, leftUpper.Body);
_leftShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, circle.Body, rightUpper.Body, new Vector2(-SpiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle.Body, rightUpper.Body);
_rightShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, leftUpper.Body, leftLower.Body, new Vector2(_upperLegSize.X / 2, 0));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, leftUpper.Body, leftLower.Body);
_leftKneeAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, rightUpper.Body, rightLower.Body,
-new Vector2(_upperLegSize.X / 2, 0));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, rightUpper.Body, rightLower.Body);
_rightKneeAngleJoint.MaxImpulse = 3;
}
public static DisposeCallback CreateTank(DemoOpenInfo info, Vector2D position, List <Body> result)
{
Lifespan avatarLifespan = new Lifespan();
IShape shape = ShapeFactory.CreateSprite(Cache <SurfacePolygons> .GetItem("tank.png"), 4, 18, 2);
ObjectIgnorer ignorer = new ObjectIgnorer();
Body tankBody = new Body(new PhysicsState(new ALVector2D(0, 0, 0)),
shape,
300,//new MassInfo(40, Scalar.PositiveInfinity),
new Coefficients(0, 1),
avatarLifespan);
result.Add(tankBody);
tankBody.State.Position.Linear += position;
tankBody.ApplyPosition();
tankBody.CollisionIgnorer = ignorer;
BodyGraphic graphic = CreateGraphic(tankBody);
graphic.ZOrder = 2;
info.Scene.AddGraphic(graphic);
Scalar wheelSize = 18;
Scalar wheelSpacing = -9;
Scalar lenghtPercent = .84f;
Matrix2x3 ident = Matrix2x3.Identity;
BoundingRectangle rect;
shape.CalcBoundingRectangle(ref ident, out rect);
Scalar y = (rect.Max.Y + 4);
Body lastWheel = null;
BoundingPolygon polygon = new BoundingPolygon(shape.Vertexes);
Ray ray2 = new Ray(new Vector2D(rect.Max.X, y), -Vector2D.YAxis);
Scalar y3 = y - polygon.Intersects(ray2);
Vector2D avatarBarrelOffset = new Vector2D(rect.Max.X + 10, y3);
CircleShape wheelShape = ShapeFactory.CreateColoredCircle(wheelSize, 30);
Scalar force = 0;
for (Scalar x = rect.Min.X + wheelSize; x < (rect.Max.X - wheelSize) * lenghtPercent; x += (wheelSize * 2 + wheelSpacing))
{
Ray ray = new Ray(new Vector2D(x, y), -Vector2D.YAxis);
Scalar y2 = y - polygon.Intersects(ray);
Vector2D offset = new Vector2D(x, y2);
Body wheel = new Body(
new PhysicsState(new ALVector2D(0, offset + position)),
wheelShape,
10,
new Coefficients(0, 3),// coefficients.Duplicate(),
avatarLifespan);
result.Add(wheel);
wheel.CollisionIgnorer = ignorer;
wheel.AngularDamping = .9f;
wheel.Updated += delegate(object sender, UpdatedEventArgs e)
{
wheel.State.ForceAccumulator.Angular += force;
};
info.Scene.AddGraphic(CreateGraphic(wheel));
HingeJoint joint = new HingeJoint(tankBody, wheel, offset + position, avatarLifespan);
joint.Softness = .1f;
info.Scene.Engine.AddJoint(joint);
if (lastWheel != null)
{
AngleJoint joint2 = new AngleJoint(lastWheel, wheel, avatarLifespan);
info.Scene.Engine.AddJoint(joint2);
}
lastWheel = wheel;
}
CircleShape weaponShape = ShapeFactory.CreateColoredCircle(5, 8);
//now begins the abuse of anominous delegates (BIG TIME)
EventHandler <KeyboardEventArgs> keyDownHandler = delegate(object sender, KeyboardEventArgs e)
{
switch (e.Key)
{
case Key.LeftArrow:
force = -1500000;
break;
case Key.RightArrow:
force = 1500000;
break;
case Key.Space:
Scalar velocity = 2000;
Matrix2x3 toWorld = tankBody.Matrices.ToWorld;
Matrix2x2 toWorldNormal = tankBody.Matrices.ToWorldNormal;
// Matrix2D mat = avatarBodies[0].Matrices.ToWorld;
Vector2D direction = toWorldNormal * Vector2D.XAxis;
PhysicsState state = new PhysicsState();
state.Position.Linear = toWorld * (avatarBarrelOffset);
state.Velocity.Linear = velocity * direction + tankBody.State.Velocity.Linear;
Body weapon = new Body(state,
weaponShape,
5,
new Coefficients(1, 1),
new Lifespan(10));
//weapon.CollisionIgnorer = tankBody.CollisionIgnorer;
weapon.Collided += delegate(object sender2, CollisionEventArgs e2)
{
if (!weapon.Lifetime.IsExpired)
{
weapon.Lifetime.IsExpired = true;
AddParticles(info, weapon.State.Position.Linear, weapon.State.Velocity.Linear * .5f, 50);
}
};
// weapon.Collided += weapon_Collided;
tankBody.State.Velocity.Linear -= (velocity * weapon.Mass.Mass * tankBody.Mass.MassInv) * direction;
info.Scene.AddGraphic(CreateGraphic(weapon));
break;
}
};
EventHandler <KeyboardEventArgs> keyUpHandler = delegate(object sender, KeyboardEventArgs e)
{
switch (e.Key)
{
case Key.LeftArrow:
force = 0;
break;
case Key.RightArrow:
force = 0;
break;
}
};
Events.KeyboardDown += keyDownHandler;
Events.KeyboardUp += keyUpHandler;
return(delegate()
{
Events.KeyboardDown -= keyDownHandler;
Events.KeyboardUp -= keyUpHandler;
});
}
