void Start()
{
if (connectedBody == null)
{
return;
}
var jointDef = new DistanceJointDef();
jointDef.CollideConnected = collideConnected;
if (fixedLength)
{
jointDef.Body1 = GetComponent <Box2DBody>();
jointDef.Body2 = connectedBody;
jointDef.LocalAnchor1 = transform.InverseTransformPoint(anchor);
jointDef.LocalAnchor2 = connectedBody.transform.InverseTransformPoint(connectedAnchor);
jointDef.Length = length;
}
else
{
jointDef.Initialize(GetComponent <Box2DBody>(), connectedBody, anchor, connectedAnchor);
}
jointDef.FrequencyHz = frequencyHz;
jointDef.DampingRatio = dampingRatio;
var world = Box2DWorld.Instance();
joint = (DistanceJoint)world.CreateJoint(jointDef);
}
// Use this for initialization
protected override IntPtr Init()
{
DistanceJointDef jd = new DistanceJointDef(other.body, body.body);
jd.Initialize(other.body, body.body, anchor1, anchor2);
jd.frequencyHz = frequencyHz;
jd.dampingRatio = dampingRatio;
return(API.CreateDistanceJoint(B2DWorld.instance.world, jd));
}
/// <summary>
/// Initializes a new instance of the <see cref="DistanceJoint" /> class
/// </summary>
/// <param name="def">The def</param>
public DistanceJoint(DistanceJointDef def) : base(def)
{
localAnchorA = def.LocalAnchorA;
localAnchorB = def.LocalAnchorB;
length = MathUtils.Max(def.Length, Settings.LinearSlop);
minLength = MathUtils.Max(def.MinLength, Settings.LinearSlop);
maxLength = MathUtils.Max(def.MaxLength, minLength);
stiffness = def.Stiffness;
damping = def.Damping;
}
public void CreateDistanceJoint(Body bodyA, Body bodyB)
{
var jd = new DistanceJointDef();
jd.bodyA = bodyA;
jd.bodyB = bodyB;
jd.collideConnected = true;
jd.stiffness = 1000f;
jd.localAnchorA = new Vector2(0, 0.01f);
jd.length = 0.5f;
b2DWorld.CreateJoint(jd);
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <returns></returns>
public DistanceJoint joinBodies_Distance(Body b1, Body b2)
{
Vector2 pos1 = b1.GetWorldCenter();
Vector2 pos2 = b2.GetWorldCenter();
DistanceJointDef djd = new DistanceJointDef();
djd.Initialize(b1, b2, pos1, pos2);
djd.collideConnected = false;
DistanceJoint dj = physicsWorld.CreateJoint(djd) as DistanceJoint;
return(dj);
}
// Связь основанная на дистанции жесткость которой можно регулировать
public Joint AddDistanceJoint(Body b1, Body b2, float x1, float y1, float x2, float y2,
bool collideConnected = true, float hz = 1f)
{
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(b1, b2, new Vec2(x1, y1), new Vec2(x2, y2));
jd.CollideConnected = collideConnected;
jd.FrequencyHz = hz;
Joint joint = world.CreateJoint(jd);
return(joint);
}
public Joint AddDistanceJoint(Body b1, Body b2, float x1, float y1, float x2, float y2, float length,
bool collideConnected = true, float hz = 1f)
{
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(b1, b2, new Vec2(x1 / metric, y1 / metric), new Vec2(x2 / metric, y2 / metric));
jd.FrequencyHz = 0.3f;
jd.CollideConnected = collideConnected;
jd.FrequencyHz = hz;
jd.Length = length;
Joint joint = world.CreateJoint(jd);
return(joint);
}
public Joint JointDistance(RigidBody body, float x1, float y1, float x2, float y2, bool isCollide, float hz, float length, float dampingRatio = 0)
{
var p1 = GetBody().GetPosition() + new Vec2(x1 / PhysicsController.metric, y1 / PhysicsController.metric);
var p2 = body.GetBody().GetPosition() +
new Vec2(x2 / PhysicsController.metric, y2 / PhysicsController.metric);
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(GetBody(), body.GetBody(), p1, p2);
jd.FrequencyHz = hz;
jd.CollideConnected = isCollide;
jd.Length = length;
jd.DampingRatio = dampingRatio;
Joint joint = Physics.GetWorld().CreateJoint(jd);
return(joint);
}
public void ApplyAttribtues(DistanceJointDef j)
{
j.collideConnected = collideConnected;
if (length != 1.0f)
{
j.length = length;
}
if (frequencyHz != 0.0f)
{
j.frequencyHz = frequencyHz;
}
if (dampingRatio != 0.0f)
{
j.dampingRatio = dampingRatio;
}
}
private DistanceJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.AngularDamping = 0.1f;
bd.Position = new Vector2(0.0f, 5.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.5f, 0.5f);
body.AddFixture(shape);
_hertz = 1.0f;
_dampingRatio = 0.7f;
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(ground, body, new Vector2(0.0f, 15.0f), bd.Position);
jd.CollideConnected = true;
_length = jd.Length;
_minLength = _length;
_maxLength = _length;
JointHelper.LinearStiffness(_hertz, _dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joint = (DistanceJoint)JointFactory.CreateFromDef(World, jd);
}
}
private void LoadAsteroid(Vector2 positon)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
//bd.angularVelocity = -2.0f;
bd.position = positon;
Body asteroid = world.CreateBody(bd);
CircleShape pShape = new CircleShape();
pShape._radius = GameContent.asteroid[0].Width / 2;
FixtureDef fd = new FixtureDef();
fd.shape = pShape;
fd.density = 0.05f;
fd.friction = 0.3f;
asteroid.CreateFixture(fd);
DistanceJointDef jd = new DistanceJointDef();
jd.bodyA = ground;
jd.bodyB = asteroid;
jd.localAnchorA = asteroid.Position;
jd.localAnchorB = Vector2.Zero;
jd.frequencyHz = 0.18f;
jd.dampingRatio = 0.95f;
jd.length = 0;
jd.collideConnected = false;
world.CreateJoint(jd);
asteroids.Add(new Asteroid(GameContent, random.Next(16), asteroid));
}
public DistanceJointTest()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = World.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.AngularDamping = 0.1f;
bd.Position.Set(0.0f, 5.0f);
Body body = World.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
body.CreateFixture(shape, 5.0f);
m_hertz = 1.0f;
m_dampingRatio = 0.7f;
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(ground, body, new Vector2(0.0f, 15.0f), bd.Position);
jd.CollideConnected = true;
m_length = jd.Length;
m_minLength = m_length;
m_maxLength = m_length;
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, m_hertz, m_dampingRatio, jd.BodyA, jd.BodyB);
m_joint = (DistanceJoint)World.CreateJoint(jd);
}
}
public Cloth()
{
FixtureDef boxFix = new FixtureDef(new CircleShape(ClothBodySize), 0.2f);
BodyDef boxBod = new BodyDef(BodyType.Dynamic, Vec2.Empty);
boxFix.Filter.GroupIndex = -1;
boxBod.Position = new Vec2(-ClothTotalWidth / 2, 30);
Body bar;
{
bar = m_world.CreateBody(new BodyDef(BodyType.Static, new Vec2(-ClothBodySpacingWidth / 2, 30)));
var fd = new FixtureDef(new PolygonShape((ClothTotalWidth / 2) + ClothBodySpacingWidth, 0.25f));
fd.Filter.GroupIndex = -1;
bar.CreateFixture(fd);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body body = m_world.CreateBody(boxBod);
boxBod.Position += new Vec2(ClothBodySpacingWidth, 0);
body.CreateFixture(boxFix);
if (y == 0)
{
WeldJointDef wjd = new WeldJointDef();
wjd.Initialize(body, bar, body.WorldCenter);
m_world.CreateJoint(wjd);
}
cloth[x, y] = body;
}
boxBod.Position = new Vec2(-ClothTotalWidth / 2, boxBod.Position.Y - ClothBodySpacingWidth);
}
for (int y = 0; y < ClothSegmentsHeight; ++y)
{
for (int x = 0; x < ClothSegmentsWidth; ++x)
{
Body leftBody, rightBody;
DistanceJointDef djd = new DistanceJointDef();
djd.FrequencyHz = 15 + Rand.RandomFloat(0, 6);
djd.DampingRatio = 0.11f + Rand.RandomFloat(0.01f, 0.15f);
// connect to right
if (x != ClothSegmentsWidth - 1)
{
leftBody = cloth[x, y];
rightBody = cloth[x + 1, y];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
// connect to up
if (y != 0)
{
leftBody = cloth[x, y];
rightBody = cloth[x, y - 1];
djd.Initialize(leftBody, rightBody, leftBody.WorldCenter, rightBody.WorldCenter);
m_world.CreateJoint(djd);
}
}
}
}
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
Vector2[] vertices = new Vector2[3];
if (s > 0.0f)
{
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd2.type = BodyType.Dynamic;
bd1.position = _offset;
bd2.position = p4 + _offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 5.0f);
_bodies[0] = _world.CreateBody(bd);
_bodies[0].CreateFixture(shape, 5.0f);
bd.position = new Vector2(5.0f, 5.0f);
_bodies[1] = _world.CreateBody(bd);
_bodies[1].CreateFixture(shape, 5.0f);
bd.position = new Vector2(5.0f, 15.0f);
_bodies[2] = _world.CreateBody(bd);
_bodies[2].CreateFixture(shape, 5.0f);
bd.position = new Vector2(-5.0f, 15.0f);
_bodies[3] = _world.CreateBody(bd);
_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1, p2, d;
jd.frequencyHz = 4.0f;
jd.dampingRatio = 0.5f;
jd.bodyA = ground;
jd.bodyB = _bodies[0];
jd.localAnchorA = new Vector2(-10.0f, 0.0f);
jd.localAnchorB = new Vector2(-0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[0] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[1];
jd.localAnchorA = new Vector2(10.0f, 0.0f);
jd.localAnchorB = new Vector2(0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[1] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[2];
jd.localAnchorA = new Vector2(10.0f, 20.0f);
jd.localAnchorB = new Vector2(0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[2] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[3];
jd.localAnchorA = new Vector2(-10.0f, 20.0f);
jd.localAnchorB = new Vector2(-0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[3] = _world.CreateJoint(jd);
jd.bodyA = _bodies[0];
jd.bodyB = _bodies[1];
jd.localAnchorA = new Vector2(0.5f, 0.0f);
jd.localAnchorB = new Vector2(-0.5f, 0.0f);;
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[4] = _world.CreateJoint(jd);
jd.bodyA = _bodies[1];
jd.bodyB = _bodies[2];
jd.localAnchorA = new Vector2(0.0f, 0.5f);
jd.localAnchorB = new Vector2(0.0f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[5] = _world.CreateJoint(jd);
jd.bodyA = _bodies[2];
jd.bodyB = _bodies[3];
jd.localAnchorA = new Vector2(-0.5f, 0.0f);
jd.localAnchorB = new Vector2(0.5f, 0.0f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[6] = _world.CreateJoint(jd);
jd.bodyA = _bodies[3];
jd.bodyB = _bodies[0];
jd.localAnchorA = new Vector2(0.0f, -0.5f);
jd.localAnchorB = new Vector2(0.0f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[7] = _world.CreateJoint(jd);
}
}
public WebTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = World.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-5.0f, 5.0f);
m_bodies[0] = World.CreateBody(bd);
m_bodies[0].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 5.0f);
m_bodies[1] = World.CreateBody(bd);
m_bodies[1].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 15.0f);
m_bodies[2] = World.CreateBody(bd);
m_bodies[2].CreateFixture(shape, 5.0f);
bd.Position.Set(-5.0f, 15.0f);
m_bodies[3] = World.CreateBody(bd);
m_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1;
Vector2 p2;
Vector2 d;
float frequencyHz = 2.0f;
float dampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = m_bodies[0];
jd.LocalAnchorA.Set(-10.0f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[0] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[1];
jd.LocalAnchorA.Set(10.0f, 0.0f);
jd.LocalAnchorB.Set(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[1] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[2];
jd.LocalAnchorA.Set(10.0f, 20.0f);
jd.LocalAnchorB.Set(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[2] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[3];
jd.LocalAnchorA.Set(-10.0f, 20.0f);
jd.LocalAnchorB.Set(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[3] = World.CreateJoint(jd);
jd.BodyA = m_bodies[0];
jd.BodyB = m_bodies[1];
jd.LocalAnchorA.Set(0.5f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, 0.0f);
;
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[4] = World.CreateJoint(jd);
jd.BodyA = m_bodies[1];
jd.BodyB = m_bodies[2];
jd.LocalAnchorA.Set(0.0f, 0.5f);
jd.LocalAnchorB.Set(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[5] = World.CreateJoint(jd);
jd.BodyA = m_bodies[2];
jd.BodyB = m_bodies[3];
jd.LocalAnchorA.Set(-0.5f, 0.0f);
jd.LocalAnchorB.Set(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[6] = World.CreateJoint(jd);
jd.BodyA = m_bodies[3];
jd.BodyB = m_bodies[0];
jd.LocalAnchorA.Set(0.0f, -0.5f);
jd.LocalAnchorB.Set(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointUtils.LinearStiffness(out jd.Stiffness, out jd.Damping, frequencyHz, dampingRatio, jd.BodyA, jd.BodyB);
m_joints[7] = World.CreateJoint(jd);
}
}
public Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
shape.Set(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
shape.Density = 0;
ground.CreateFixture(shape);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
shape.Density = 5;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(-5.0f, 5.0f);
m_bodies[0] = m_world.CreateBody(bd);
m_bodies[0].CreateFixture(shape);
bd.Position.Set(5.0f, 5.0f);
m_bodies[1] = m_world.CreateBody(bd);
m_bodies[1].CreateFixture(shape);
bd.Position.Set(5.0f, 15.0f);
m_bodies[2] = m_world.CreateBody(bd);
m_bodies[2].CreateFixture(shape);
bd.Position.Set(-5.0f, 15.0f);
m_bodies[3] = m_world.CreateBody(bd);
m_bodies[3].CreateFixture(shape);
DistanceJointDef jd = new DistanceJointDef();
Vec2 p1, p2, d;
jd.frequencyHz = 2.0f;
jd.dampingRatio = 0.0f;
jd.bodyA = ground;
jd.bodyB = m_bodies[0];
jd.localAnchorA.Set(-10.0f, 0.0f);
jd.localAnchorB.Set(-0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[0] = m_world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = m_bodies[1];
jd.localAnchorA.Set(10.0f, 0.0f);
jd.localAnchorB.Set(0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[1] = m_world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = m_bodies[2];
jd.localAnchorA.Set(10.0f, 20.0f);
jd.localAnchorB.Set(0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[2] = m_world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = m_bodies[3];
jd.localAnchorA.Set(-10.0f, 20.0f);
jd.localAnchorB.Set(-0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[3] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[0];
jd.bodyB = m_bodies[1];
jd.localAnchorA.Set(0.5f, 0.0f);
jd.localAnchorB.Set(-0.5f, 0.0f);;
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[4] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[1];
jd.bodyB = m_bodies[2];
jd.localAnchorA.Set(0.0f, 0.5f);
jd.localAnchorB.Set(0.0f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[5] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[2];
jd.bodyB = m_bodies[3];
jd.localAnchorA.Set(-0.5f, 0.0f);
jd.localAnchorB.Set(0.5f, 0.0f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[6] = m_world.CreateJoint(jd);
jd.bodyA = m_bodies[3];
jd.bodyB = m_bodies[0];
jd.localAnchorA.Set(0.0f, -0.5f);
jd.localAnchorB.Set(0.0f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
m_joints[7] = m_world.CreateJoint(jd);
}
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
var p1 = new Vector2(5.4f * s, -6.1f);
var p2 = new Vector2(7.2f * s, -1.2f);
var p3 = new Vector2(4.3f * s, -1.9f);
var p4 = new Vector2(3.1f * s, 0.8f);
var p5 = new Vector2(6.0f * s, 1.5f);
var p6 = new Vector2(2.5f * s, 3.7f);
var fd1 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var fd2 = new FixtureDef {
Filter = { GroupIndex = -1 }, Density = 1.0f
};
var poly1 = new PolygonShape();
var poly2 = new PolygonShape();
if (s > 0.0f)
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices);
}
else
{
var vertices = new Vector2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices);
}
fd1.Shape = poly1;
fd2.Shape = poly2;
var bd1 = new BodyDef();
var bd2 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd2.BodyType = BodyType.DynamicBody;
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
var body1 = World.CreateBody(bd1);
var body2 = World.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
var djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.DampingRatio = 0.5f;
djd.FrequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
World.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
World.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
World.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
World.CreateJoint(djd);
var rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
World.CreateJoint(rjd);
}
public WorldData Deserialize(Stream stream)
{
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
throw new Exception();
WorldData data = new WorldData();
if (root.Attributes.Count == 0)
throw new Exception("No version");
else if (int.Parse(root.Attributes[0].Value) != WorldXmlSerializer.XmlVersion)
throw new Exception("Wrong version XML file");
data.Version = int.Parse(root.Attributes[0].Value);
foreach (var main in root.Elements)
{
switch (main.Name.ToLower())
{
case "gravity":
{
data.Gravity = ReadVector(main);
}
break;
case "shapes":
{
foreach (var n in main.Elements)
{
if (n.Name.ToLower() != "shape")
throw new Exception();
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true);
string name = "";
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "radius":
shape.Radius = float.Parse(sn.Value);
break;
case "position":
shape.Position = ReadVector(sn);
break;
default:
throw new Exception();
}
}
_shapes.Add(new ShapeSerialized(shape, name));
}
break;
case ShapeType.Polygon:
{
PolygonShape shape = new PolygonShape();
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "vertices":
{
List<Vec2> verts = new List<Vec2>();
foreach (var vert in sn.Elements)
verts.Add(ReadVector(vert));
shape.Vertices = verts.ToArray();
}
break;
case "centroid":
shape.Centroid = ReadVector(sn);
break;
}
}
_shapes.Add(new ShapeSerialized(shape, name));
}
break;
}
}
}
break;
case "fixtures":
{
foreach (var n in main.Elements)
{
FixtureDef fixture = new FixtureDef();
if (n.Name.ToLower() != "fixture")
throw new Exception();
string name = "";
int id = 0;
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "shape":
id = int.Parse(sn.Value);
break;
case "density":
fixture.Density = float.Parse(sn.Value);
break;
case "filterdata":
fixture.Filter = (FilterData)ReadSimpleType(sn, typeof(FilterData), true);
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;
}
}
fixture.Shape = _shapes[id].Shape;
_fixtures.Add(new FixtureDefSerialized(fixture, id, name));
}
}
break;
case "bodies":
{
foreach (var n in main.Elements)
{
BodyDef body = new BodyDef();
if (n.Name.ToLower() != "body")
throw new Exception();
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true);
List<int> fixtures = new List<int>();
string name = "";
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "active":
body.Active = bool.Parse(sn.Value);
break;
case "allowsleep":
body.AllowSleep = bool.Parse(sn.Value);
break;
case "angle":
body.Angle = 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.Bullet = bool.Parse(sn.Value);
break;
case "fixedrotation":
body.FixedRotation = bool.Parse(sn.Value);
break;
case "inertiascale":
body.InertiaScale = float.Parse(sn.Value);
break;
case "lineardamping":
body.LinearDamping = float.Parse(sn.Value);
break;
case "linearvelocity":
body.LinearVelocity = ReadVector(sn);
break;
case "position":
body.Position = ReadVector(sn);
break;
case "userdata":
body.UserData = ReadSimpleType(sn, null, false);
break;
case "fixtures":
{
foreach (var v in sn.Elements)
fixtures.Add(int.Parse(v.Value));
break;
}
}
}
_bodies.Add(new BodyDefSerialized(null, body, fixtures, name));
}
}
break;
case "joints":
{
foreach (var n in main.Elements)
{
JointDef mainDef = null;
if (n.Name.ToLower() != "joint")
throw new Exception();
JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true);
int bodyA = -1, bodyB = -1;
bool collideConnected = false;
object userData = null;
string name = "";
switch (type)
{
case JointType.Distance:
mainDef = new DistanceJointDef();
break;
case JointType.Friction:
mainDef = new FrictionJointDef();
break;
case JointType.Line:
mainDef = new LineJointDef();
break;
case JointType.Prismatic:
mainDef = new PrismaticJointDef();
break;
case JointType.Pulley:
mainDef = new PulleyJointDef();
break;
case JointType.Revolute:
mainDef = new RevoluteJointDef();
break;
case JointType.Weld:
mainDef = new WeldJointDef();
break;
default:
throw new Exception("Invalid or unsupported joint");
}
foreach (var sn in n.Elements)
{
// check for specific nodes
switch (type)
{
case JointType.Distance:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((DistanceJointDef)mainDef).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((DistanceJointDef)mainDef).FrequencyHz = float.Parse(sn.Value);
break;
case "length":
((DistanceJointDef)mainDef).Length = float.Parse(sn.Value);
break;
case "localanchora":
((DistanceJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((DistanceJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Friction:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((FrictionJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((FrictionJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxforce":
((FrictionJointDef)mainDef).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((FrictionJointDef)mainDef).MaxTorque = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Line:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((LineJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((LineJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((LineJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((LineJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "localaxisa":
((LineJointDef)mainDef).LocalAxisA = ReadVector(sn);
break;
case "maxmotorforce":
((LineJointDef)mainDef).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((LineJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((LineJointDef)mainDef).LowerTranslation = float.Parse(sn.Value);
break;
case "uppertranslation":
((LineJointDef)mainDef).UpperTranslation = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Prismatic:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((PrismaticJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((PrismaticJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((PrismaticJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PrismaticJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "localaxisa":
((PrismaticJointDef)mainDef).LocalAxis = ReadVector(sn);
break;
case "maxmotorforce":
((PrismaticJointDef)mainDef).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((PrismaticJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((PrismaticJointDef)mainDef).LowerTranslation = float.Parse(sn.Value);
break;
case "uppertranslation":
((PrismaticJointDef)mainDef).UpperTranslation = float.Parse(sn.Value);
break;
case "referenceangle":
((PrismaticJointDef)mainDef).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Pulley:
{
switch (sn.Name.ToLower())
{
case "groundanchora":
((PulleyJointDef)mainDef).GroundAnchorA = ReadVector(sn);
break;
case "groundanchorb":
((PulleyJointDef)mainDef).GroundAnchorB = ReadVector(sn);
break;
case "lengtha":
((PulleyJointDef)mainDef).LengthA = float.Parse(sn.Value);
break;
case "lengthb":
((PulleyJointDef)mainDef).LengthB = float.Parse(sn.Value);
break;
case "localanchora":
((PulleyJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PulleyJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxlengtha":
((PulleyJointDef)mainDef).MaxLengthA = float.Parse(sn.Value);
break;
case "maxlengthb":
((PulleyJointDef)mainDef).MaxLengthB = float.Parse(sn.Value);
break;
case "ratio":
((PulleyJointDef)mainDef).Ratio = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Revolute:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((RevoluteJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((RevoluteJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((RevoluteJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RevoluteJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxmotortorque":
((RevoluteJointDef)mainDef).MaxMotorTorque = float.Parse(sn.Value);
break;
case "motorspeed":
((RevoluteJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowerangle":
((RevoluteJointDef)mainDef).LowerAngle = float.Parse(sn.Value);
break;
case "upperangle":
((RevoluteJointDef)mainDef).UpperAngle = float.Parse(sn.Value);
break;
case "referenceangle":
((RevoluteJointDef)mainDef).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Weld:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((WeldJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WeldJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Gear:
throw new Exception("Gear joint is unsupported");
}
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "bodya":
bodyA = int.Parse(sn.Value);
break;
case "bodyb":
bodyB = int.Parse(sn.Value);
break;
case "collideconnected":
collideConnected = bool.Parse(sn.Value);
break;
case "userdata":
userData = ReadSimpleType(sn, null, false);
break;
}
}
mainDef.CollideConnected = collideConnected;
mainDef.UserData = userData;
_joints.Add(new JointDefSerialized(mainDef, bodyA, bodyB, name));
}
}
break;
}
}
return data;
}
/// <summary>
/// Resets the bike and the driver to their initial positions
/// Resets all angular and linear speeds
/// Recreates the joints if they were destroyed
/// </summary>
public void Reset()
{
foreach (var part in parts)
{
part.SetAngularVelocity(0);
part.SetLinearVelocity(Vector2.Zero);
}
frontWheel.SetTransform(frontWheelInitPos / Level.FACTOR, 0);
frontFork.SetTransform(frontForkInitPos / Level.FACTOR, 0);
rearWheel.SetTransform(rearWheelInitPos / Level.FACTOR, 0);
rearFork.SetTransform(rearForkInitPos / Level.FACTOR,
rearForkInitRot * Level.DEG_TO_RAD);
bikeBody.SetTransform(bikeBodyInitPos / Level.FACTOR,
bikeBodyInitRot * Level.DEG_TO_RAD);
head.SetTransform(headInitPos / Level.FACTOR, headInitRot * Level.DEG_TO_RAD);
humanBody.SetTransform(humanBodyInitPos / Level.FACTOR, 0);
hand.SetTransform(handInitPos / Level.FACTOR, handInitRot * Level.DEG_TO_RAD);
arm.SetTransform(armInitPos / Level.FACTOR, armInitRot * Level.DEG_TO_RAD);
if (OffTheBike)
{
RevoluteJointDef handToBikeDef = new RevoluteJointDef();
Vector2 anchor = hand.GetWorldPoint(new Vector2(17.06f / Level.FACTOR,
4.26f / Level.FACTOR));
handToBikeDef.Initialize(hand, bikeBody, anchor);
handToBikeDef.maxMotorTorque = 300.0f;
handToBike = world.CreateJoint(handToBikeDef);
RevoluteJointDef humanToBikeDef = new RevoluteJointDef();
anchor = humanBody.GetWorldCenter();
anchor.Y += (30.0f / Level.FACTOR);
humanToBikeDef.Initialize(humanBody, bikeBody, anchor);
humanToBikeDef.maxMotorTorque = 300.0f;
humanToBike = world.CreateJoint(humanToBikeDef);
DistanceJointDef armToBikeDef = new DistanceJointDef();
armToBikeDef.Initialize(hand, bikeBody,
hand.GetWorldPoint(new Vector2(-17.00f / Level.FACTOR,
4.26f / Level.FACTOR)),
bikeBody.GetWorldCenter());
armToBikeDef.length = 40.0f / Level.FACTOR;
armToBikeDef.frequencyHz = 10.0f;
armToBikeDef.dampingRatio = 1.0f;
armToBikeDef.collideConnected = true;
armToBike = world.CreateJoint(armToBikeDef);
OffTheBike = false;
}
if (!bikeBody.IsAwake())
{
bikeBody.SetAwake(true);
}
if (RotationData.device)
{
motor._enableMotor = true;
}
}
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
ShapeDef sp = new ShapeDef(1.0f);
sp.groupIndex = -1;
Vector2[] vertices1 = new Vector2[3];
Vector2[] vertices2 = new Vector2[3];
if (s > 0.0f)
{
vertices1[0] = p1;
vertices1[1] = p2;
vertices1[2] = p3;
vertices2[0] = Vector2.zero;
vertices2[1] = p5 - p4;
vertices2[2] = p6 - p4;
}
else
{
vertices1[0] = p1;
vertices1[1] = p3;
vertices1[2] = p2;
vertices2[0] = Vector2.zero;
vertices2[1] = p6 - p4;
vertices2[2] = p5 - p4;
}
BodyDef bd1 = new BodyDef(BodyType.DYNAMIC_BODY);
BodyDef bd2 = new BodyDef(BodyType.DYNAMIC_BODY);
bd1.position = m_offset;
bd2.position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
var body1 = API.CreateBody(world, bd1);
var body2 = API.CreateBody(world, bd2);
API.AddPolygonShape(body1, vertices1, vertices1.Length, sp);
API.AddPolygonShape(body2, vertices2, vertices2.Length, sp);
DistanceJointDef djd = new DistanceJointDef();
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
API.CreateDistanceJoint(world, djd);
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
API.CreateDistanceJoint(world, djd);
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd);
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis, p4 + m_offset);
API.CreateRevoluteJoint(world, rjd);
}
public Dominos()
{
Body b1 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = _world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.position = new Vector2(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vector2 anchor;
anchor = new Vector2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.collideConnected = true;
_world.CreateJoint(jd);
Body b4 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 15.0f);
b4 = _world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor = new Vector2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
_world.CreateJoint(jd);
Body b5 = null;
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 3.0f);
b5 = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor = new Vector2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
_world.CreateJoint(jd);
Body b6 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(6.5f, 4.1f);
b6 = _world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor = new Vector2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
_world.CreateJoint(jd);
Body b7 = null;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
DistanceJointDef djd = new DistanceJointDef();
djd.bodyA = b3;
djd.bodyB = b7;
djd.localAnchorA = new Vector2(6.0f, 0.0f);
djd.localAnchorB = new Vector2(0.0f, -1.0f);
Vector2 d = djd.bodyB.GetWorldPoint(djd.localAnchorB) - djd.bodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length();
_world.CreateJoint(djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape();
shape._radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public void JointReactions()
{
var gravity = new Vector2(0, -10.0f);
World world = new World(gravity);
BodyDef bodyDef = new BodyDef();
Body ground = world.CreateBody(bodyDef);
CircleShape circle = new CircleShape();
circle.Radius = 1.0f;
FixtureDef fixtureDef = new FixtureDef();
// Disable collision
fixtureDef.Filter.MaskBits = 0;
fixtureDef.Density = 1.0f;
fixtureDef.Shape = circle;
bodyDef.BodyType = BodyType.DynamicBody;
bodyDef.Position.Set(-2.0f, 3.0f);
var bodyA = world.CreateBody(bodyDef);
var bodyB = world.CreateBody(bodyDef);
var bodyC = world.CreateBody(bodyDef);
circle.ComputeMass(out var massData, fixtureDef.Density);
var mg = massData.Mass * gravity.Y;
bodyA.CreateFixture(fixtureDef);
bodyB.CreateFixture(fixtureDef);
bodyC.CreateFixture(fixtureDef);
DistanceJointDef distanceJointDef = new DistanceJointDef();
distanceJointDef.Initialize(ground, bodyA, bodyDef.Position + new Vector2(0.0f, 4.0f), bodyDef.Position);
distanceJointDef.MinLength = distanceJointDef.Length;
distanceJointDef.MaxLength = distanceJointDef.Length;
PrismaticJointDef prismaticJointDef = new PrismaticJointDef();
prismaticJointDef.Initialize(ground, bodyB, bodyDef.Position, new Vector2(1.0f, 0.0f));
RevoluteJointDef revoluteJointDef = new RevoluteJointDef();
revoluteJointDef.Initialize(ground, bodyC, bodyDef.Position);
var distanceJoint = (DistanceJoint)world.CreateJoint(distanceJointDef);
var prismaticJoint = (PrismaticJoint)world.CreateJoint(prismaticJointDef);
var revoluteJoint = (RevoluteJoint)world.CreateJoint(revoluteJointDef);
const float timeStep = 1 / 60f;
const float invTimeStep = 60.0f;
const int velocityIterations = 6;
const int positionIterations = 2;
world.Step(timeStep, velocityIterations, positionIterations);
const float tol = 1e-5f;
{
var F = distanceJoint.GetReactionForce(invTimeStep);
var T = distanceJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
{
var F = prismaticJoint.GetReactionForce(invTimeStep);
var T = prismaticJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
{
var F = revoluteJoint.GetReactionForce(invTimeStep);
var T = revoluteJoint.GetReactionTorque(invTimeStep);
F.X.ShouldBe(0.0f);
Math.Abs(F.Y + mg).ShouldBeLessThan(tol);
T.ShouldBe(0.0f);
}
}
private DominosTest()
{
Body b1;
{
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
BodyDef bd = new BodyDef();
b1 = BodyFactory.CreateFromDef(World, bd);
b1.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(0.0f);
shape.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position = new Vector2(-1.5f, 10.0f);
Body ground = BodyFactory.CreateFromDef(World, bd);
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.1f, 1.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
}
}
{
PolygonShape shape = new PolygonShape(0.0f);
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.Position = new Vector2(1.0f, 6.0f);
Body ground = BodyFactory.CreateFromDef(World, bd);
ground.AddFixture(shape);
}
Body b2;
{
PolygonShape shape = new PolygonShape(0.02f);
shape.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.Position = new Vector2(-7.0f, 4.0f);
b2 = BodyFactory.CreateFromDef(World, bd);
b2.AddFixture(shape);
}
Body b3;
{
PolygonShape shape = new PolygonShape(10.0f);
shape.SetAsBox(6.0f, 0.125f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = BodyFactory.CreateFromDef(World, bd);
b3.AddFixture(shape);
}
RevoluteJointDef jd = new RevoluteJointDef();
Vector2 anchor;
anchor = new Vector2(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
JointFactory.CreateFromDef(World, jd);
Body b4;
{
PolygonShape shape = new PolygonShape(10.0f);
shape.SetAsBox(0.25f, 0.25f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-10.0f, 15.0f);
b4 = BodyFactory.CreateFromDef(World, bd);
b4.AddFixture(shape);
}
anchor = new Vector2(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
JointFactory.CreateFromDef(World, jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(6.5f, 3.0f);
b5 = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(10.0f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.AddFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.AddFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.AddFixture(fd);
}
anchor = new Vector2(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
JointFactory.CreateFromDef(World, jd);
Body b6;
{
PolygonShape shape = new PolygonShape(30.0f);
shape.SetAsBox(1.0f, 0.1f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(6.5f, 4.1f);
b6 = BodyFactory.CreateFromDef(World, bd);
b6.AddFixture(shape);
}
anchor = new Vector2(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
JointFactory.CreateFromDef(World, jd);
Body b7;
{
PolygonShape shape = new PolygonShape(10.0f);
shape.SetAsBox(0.1f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(7.4f, 1.0f);
b7 = BodyFactory.CreateFromDef(World, bd);
b7.AddFixture(shape);
}
DistanceJointDef djd = new DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.LocalAnchorA = new Vector2(6.0f, 0.0f);
djd.LocalAnchorB = new Vector2(0.0f, -1.0f);
Vector2 d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
JointHelper.LinearStiffness(1.0f, 1.0f, djd.BodyA, djd.BodyB, out float stiffness, out float damping);
djd.Stiffness = stiffness;
djd.Damping = damping;
JointFactory.CreateFromDef(World, djd);
{
float radius = 0.2f;
CircleShape shape = new CircleShape(10.0f);
shape.Radius = radius;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
}
}
}
private WebTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(-5.0f, 5.0f);
_bodies[0] = BodyFactory.CreateFromDef(World, bd);
_bodies[0].AddFixture(shape);
bd.Position = new Vector2(5.0f, 5.0f);
_bodies[1] = BodyFactory.CreateFromDef(World, bd);
_bodies[1].AddFixture(shape);
bd.Position = new Vector2(5.0f, 15.0f);
_bodies[2] = BodyFactory.CreateFromDef(World, bd);
_bodies[2].AddFixture(shape);
bd.Position = new Vector2(-5.0f, 15.0f);
_bodies[3] = BodyFactory.CreateFromDef(World, bd);
_bodies[3].AddFixture(shape);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1, p2, d;
float frequencyHz = 2.0f;
float dampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = _bodies[0];
jd.LocalAnchorA = new Vector2(-10.0f, 0.0f);
jd.LocalAnchorB = new Vector2(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[0] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[1];
jd.LocalAnchorA = new Vector2(10.0f, 0.0f);
jd.LocalAnchorB = new Vector2(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[1] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[2];
jd.LocalAnchorA = new Vector2(10.0f, 20.0f);
jd.LocalAnchorB = new Vector2(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[2] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = ground;
jd.BodyB = _bodies[3];
jd.LocalAnchorA = new Vector2(-10.0f, 20.0f);
jd.LocalAnchorB = new Vector2(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[3] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[0];
jd.BodyB = _bodies[1];
jd.LocalAnchorA = new Vector2(0.5f, 0.0f);
jd.LocalAnchorB = new Vector2(-0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[4] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[1];
jd.BodyB = _bodies[2];
jd.LocalAnchorA = new Vector2(0.0f, 0.5f);
jd.LocalAnchorB = new Vector2(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[5] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[2];
jd.BodyB = _bodies[3];
jd.LocalAnchorA = new Vector2(-0.5f, 0.0f);
jd.LocalAnchorB = new Vector2(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[6] = JointFactory.CreateFromDef(World, jd);
jd.BodyA = _bodies[3];
jd.BodyB = _bodies[0];
jd.LocalAnchorA = new Vector2(0.0f, -0.5f);
jd.LocalAnchorB = new Vector2(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
JointHelper.LinearStiffness(frequencyHz, dampingRatio, jd.BodyA, jd.BodyB, out stiffness, out damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joints[7] = JointFactory.CreateFromDef(World, jd);
}
}
public Dominos()
{
Body b1;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
b1 = _world.CreateBody(bd);
b1.CreateFixture(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(6.0f, 0.25f);
BodyDef bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.1f, 1.0f);
sd.Density = 20.0f;
sd.Friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
}
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(7.0f, 0.25f, Vec2.Zero, 0.3f);
BodyDef bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
Body ground = _world.CreateBody(bd);
ground.CreateFixture(sd);
}
Body b2;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.25f, 1.5f);
BodyDef bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = _world.CreateBody(bd);
b2.CreateFixture(sd);
}
Body b3;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(6.0f, 0.125f);
sd.Density = 10.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = _world.CreateBody(bd);
b3.CreateFixture(sd);
b3.SetMassFromShapes();
}
RevoluteJointDef jd = new RevoluteJointDef();
Vec2 anchor = new Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
_world.CreateJoint(jd);
Body b4;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.25f, 0.25f);
sd.Density = 10.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, 15.0f);
b4 = _world.CreateBody(bd);
b4.CreateFixture(sd);
b4.SetMassFromShapes();
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
_world.CreateJoint(jd);
Body b5;
{
BodyDef bd = new BodyDef();
bd.Position.Set(6.5f, 3.0f);
b5 = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.Density = 10.0f;
sd.Friction = 0.1f;
sd.SetAsBox(1.0f, 0.1f, new Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(sd);
sd.SetAsBox(0.1f, 1.0f, new Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(sd);
sd.SetAsBox(0.1f, 1.0f, new Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(sd);
b5.SetMassFromShapes();
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
_world.CreateJoint(jd);
Body b6;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(1.0f, 0.1f);
sd.Density = 30.0f;
sd.Friction = 0.2f;
BodyDef bd = new BodyDef();
bd.Position.Set(6.5f, 4.1f);
b6 = _world.CreateBody(bd);
b6.CreateFixture(sd);
b6.SetMassFromShapes();
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
_world.CreateJoint(jd);
Body b7;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.1f, 1.0f);
sd.Density = 10.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(7.4f, 1.0f);
b7 = _world.CreateBody(bd);
b7.CreateFixture(sd);
b7.SetMassFromShapes();
}
DistanceJointDef djd = new DistanceJointDef();
djd.Body1 = b3;
djd.Body2 = b7;
djd.LocalAnchor1.Set(6.0f, 0.0f);
djd.LocalAnchor2.Set(0.0f, -1.0f);
Vec2 d = djd.Body2.GetWorldPoint(djd.LocalAnchor2) - djd.Body1.GetWorldPoint(djd.LocalAnchor1);
djd.Length = d.Length();
_world.CreateJoint(djd);
{
CircleDef sd = new CircleDef();
sd.Radius = 0.2f;
sd.Density = 10.0f;
for (int i = 0; i < 4; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(5.9f + 2.0f * sd.Radius * i, 2.4f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
}
}
}
public Web()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-5.0f, 5.0f);
_bodies[0] = World.CreateBody(bd);
_bodies[0].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 5.0f);
_bodies[1] = World.CreateBody(bd);
_bodies[1].CreateFixture(shape, 5.0f);
bd.Position.Set(5.0f, 15.0f);
_bodies[2] = World.CreateBody(bd);
_bodies[2].CreateFixture(shape, 5.0f);
bd.Position.Set(-5.0f, 15.0f);
_bodies[3] = World.CreateBody(bd);
_bodies[3].CreateFixture(shape, 5.0f);
var jd = new DistanceJointDef();
Vector2 p1;
Vector2 p2;
Vector2 d;
jd.FrequencyHz = 2.0f;
jd.DampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = _bodies[0];
jd.LocalAnchorA.Set(-10.0f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[0] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = _bodies[1];
jd.LocalAnchorA.Set(10.0f, 0.0f);
jd.LocalAnchorB.Set(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[1] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = _bodies[2];
jd.LocalAnchorA.Set(10.0f, 20.0f);
jd.LocalAnchorB.Set(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[2] = World.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = _bodies[3];
jd.LocalAnchorA.Set(-10.0f, 20.0f);
jd.LocalAnchorB.Set(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[3] = World.CreateJoint(jd);
jd.BodyA = _bodies[0];
jd.BodyB = _bodies[1];
jd.LocalAnchorA.Set(0.5f, 0.0f);
jd.LocalAnchorB.Set(-0.5f, 0.0f);
;
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[4] = World.CreateJoint(jd);
jd.BodyA = _bodies[1];
jd.BodyB = _bodies[2];
jd.LocalAnchorA.Set(0.0f, 0.5f);
jd.LocalAnchorB.Set(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[5] = World.CreateJoint(jd);
jd.BodyA = _bodies[2];
jd.BodyB = _bodies[3];
jd.LocalAnchorA.Set(-0.5f, 0.0f);
jd.LocalAnchorB.Set(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[6] = World.CreateJoint(jd);
jd.BodyA = _bodies[3];
jd.BodyB = _bodies[0];
jd.LocalAnchorA.Set(0.0f, -0.5f);
jd.LocalAnchorB.Set(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.LocalAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.LocalAnchorB);
d = p2 - p1;
jd.Length = d.Length();
_joints[7] = World.CreateJoint(jd);
}
}
public static Joint AddJoint(this IJointable ithis, V2DJoint joint, float offsetX, float offsetY)
{
Joint result = null;
JointDef jointDef = null;
//Body targ0 = ithis.VScreen.bodyMap[joint.Body1];
//Body targ1 = ithis.VScreen.bodyMap[joint.Body2];
Body targ0 = GetBody(ithis, joint.Body1);
Body targ1 = GetBody(ithis, joint.Body2);
// gears need the first body static
if (targ0 != null && targ1 != null && targ1.GetType() == BodyType.Static && targ0.GetType() != BodyType.Static)
{
Body temp = targ0;
targ0 = targ1;
targ1 = temp;
}
Vector2 pt0 = new Vector2(joint.X + offsetX, joint.Y + offsetY);
string name = joint.Name;
Vector2 anchor0 = new Vector2(pt0.X / V2DScreen.WorldScale, pt0.Y / V2DScreen.WorldScale);
Vector2 anchor1 = new Vector2();
switch (joint.Type)
{
case V2DJointKind.Distance:
Vector2 pt1 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt1.X / V2DScreen.WorldScale, pt1.Y / V2DScreen.WorldScale);
DistanceJointDef dj = new DistanceJointDef();
dj.Initialize(targ0, targ1, anchor0, anchor1);
dj.collideConnected = joint.CollideConnected;
dj.dampingRatio = joint.DampingRatio;
dj.frequencyHz = joint.FrequencyHz;
if (joint.Length != -1)
{
dj.length = joint.Length / V2DScreen.WorldScale;
}
jointDef = dj;
break;
case V2DJointKind.Revolute:
float rot0 = joint.Min; //(typeof(joint["min"]) == "string") ? parseFloat(joint["min"]) / 180 * Math.PI : joint["min"];
float rot1 = joint.Max; //(typeof(joint["max"]) == "string") ? parseFloat(joint["max"]) / 180 * Math.PI : joint["max"];
RevoluteJointDef rj = new RevoluteJointDef();
rj.Initialize(targ0, targ1, anchor0);
rj.lowerAngle = rot0;
rj.upperAngle = rot1;
rj.enableLimit = rot0 != 0 && rot1 != 0;
rj.maxMotorTorque = joint.MaxMotorTorque;
rj.motorSpeed = joint.MotorSpeed;
rj.enableMotor = joint.EnableMotor;
jointDef = rj;
break;
case V2DJointKind.Prismatic:
float axisX = joint.AxisX;
float axisY = joint.AxisY;
float min = joint.Min;
float max = joint.Max;
PrismaticJointDef pj = new PrismaticJointDef();
Vector2 worldAxis = new Vector2(axisX, axisY);
pj.Initialize(targ0, targ1, anchor0, worldAxis);
pj.lowerTranslation = min / V2DScreen.WorldScale;
pj.upperTranslation = max / V2DScreen.WorldScale;
pj.enableLimit = joint.EnableLimit;
pj.maxMotorForce = joint.MaxMotorTorque;
pj.motorSpeed = joint.MotorSpeed;
pj.enableMotor = joint.EnableMotor;
jointDef = pj;
break;
case V2DJointKind.Pully:
Vector2 pt2 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt2.X / V2DScreen.WorldScale, pt2.Y / V2DScreen.WorldScale);
Vector2 groundAnchor0 = new Vector2(joint.GroundAnchor1X / V2DScreen.WorldScale, joint.GroundAnchor1Y / V2DScreen.WorldScale);
Vector2 groundAnchor1 = new Vector2(joint.GroundAnchor2X / V2DScreen.WorldScale, joint.GroundAnchor2Y / V2DScreen.WorldScale);
float max0 = joint.MaxLength1;
float max1 = joint.MaxLength2;
float rat = joint.Ratio;
PulleyJointDef puj = new PulleyJointDef();
puj.Initialize(targ0, targ1, groundAnchor0, groundAnchor1, anchor0, anchor1, rat);
puj.maxLengthA = (max0 + max1) / V2DScreen.WorldScale;
puj.maxLengthB = (max0 + max1) / V2DScreen.WorldScale;
puj.collideConnected = joint.CollideConnected;
jointDef = puj;
break;
case V2DJointKind.Gear:
GearJointDef gj = new GearJointDef();
gj.bodyA = targ0;
gj.bodyB = targ1;
gj.joint1 = GetFirstGearableJoint(targ0.GetJointList());
gj.joint2 = GetFirstGearableJoint(targ1.GetJointList());
gj.ratio = joint.Ratio;
jointDef = gj;
break;
}
if (jointDef != null)
{
result = SetJointWithReflection(ithis, name, jointDef);
if (result != null)
{
Dictionary <string, string> dict = new Dictionary <string, string>();
dict["name"] = name;
result.SetUserData(dict);
}
}
return(result);
}
public Web()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.5f);
sd.Density = 5.0f;
sd.Friction = 0.2f;
BodyDef bd = new BodyDef();
bd.Position.Set(-5.0f, 5.0f);
_bodies[0] = _world.CreateBody(bd);
_bodies[0].CreateShape(sd);
_bodies[0].SetMassFromShapes();
bd.Position.Set(5.0f, 5.0f);
_bodies[1] = _world.CreateBody(bd);
_bodies[1].CreateShape(sd);
_bodies[1].SetMassFromShapes();
bd.Position.Set(5.0f, 15.0f);
_bodies[2] = _world.CreateBody(bd);
_bodies[2].CreateShape(sd);
_bodies[2].SetMassFromShapes();
bd.Position.Set(-5.0f, 15.0f);
_bodies[3] = _world.CreateBody(bd);
_bodies[3].CreateShape(sd);
_bodies[3].SetMassFromShapes();
DistanceJointDef jd = new DistanceJointDef();
Vec2 p1, p2, d;
jd.FrequencyHz = 4.0f;
jd.DampingRatio = 0.5f;
jd.Body1 = ground;
jd.Body2 = _bodies[0];
jd.LocalAnchor1.Set(-10.0f, 10.0f);
jd.LocalAnchor2.Set(-0.5f, -0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[0] = _world.CreateJoint(jd);
jd.Body1 = ground;
jd.Body2 = _bodies[1];
jd.LocalAnchor1.Set(10.0f, 10.0f);
jd.LocalAnchor2.Set(0.5f, -0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[1] = _world.CreateJoint(jd);
jd.Body1 = ground;
jd.Body2 = _bodies[2];
jd.LocalAnchor1.Set(10.0f, 30.0f);
jd.LocalAnchor2.Set(0.5f, 0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[2] = _world.CreateJoint(jd);
jd.Body1 = ground;
jd.Body2 = _bodies[3];
jd.LocalAnchor1.Set(-10.0f, 30.0f);
jd.LocalAnchor2.Set(-0.5f, 0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[3] = _world.CreateJoint(jd);
jd.Body1 = _bodies[0];
jd.Body2 = _bodies[1];
jd.LocalAnchor1.Set(0.5f, 0.0f);
jd.LocalAnchor2.Set(-0.5f, 0.0f);;
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[4] = _world.CreateJoint(jd);
jd.Body1 = _bodies[1];
jd.Body2 = _bodies[2];
jd.LocalAnchor1.Set(0.0f, 0.5f);
jd.LocalAnchor2.Set(0.0f, -0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[5] = _world.CreateJoint(jd);
jd.Body1 = _bodies[2];
jd.Body2 = _bodies[3];
jd.LocalAnchor1.Set(-0.5f, 0.0f);
jd.LocalAnchor2.Set(0.5f, 0.0f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[6] = _world.CreateJoint(jd);
jd.Body1 = _bodies[3];
jd.Body2 = _bodies[0];
jd.LocalAnchor1.Set(0.0f, -0.5f);
jd.LocalAnchor2.Set(0.0f, 0.5f);
p1 = jd.Body1.GetWorldPoint(jd.LocalAnchor1);
p2 = jd.Body2.GetWorldPoint(jd.LocalAnchor2);
d = p2 - p1;
jd.Length = d.Length();
_joints[7] = _world.CreateJoint(jd);
}
}
public Dominos()
{
Body b1;
{
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var bd = new BodyDef();
b1 = World.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
var bd = new BodyDef();
bd.Position.Set(-1.5f, 10.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.1f;
for (var i = 0; i < 10; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 1.0f * i, 11.25f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
var shape = new PolygonShape();
shape.SetAsBox(7.0f, 0.25f, Vector2.Zero, 0.3f);
var bd = new BodyDef();
bd.Position.Set(1.0f, 6.0f);
var ground = World.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
Body b2;
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
var bd = new BodyDef();
bd.Position.Set(-7.0f, 4.0f);
b2 = World.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
Body b3;
{
var shape = new PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-0.9f, 1.0f);
bd.Angle = -0.15f;
b3 = World.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
var jd = new RevoluteJointDef();
var anchor = new Vector2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
World.CreateJoint(jd);
Body b4;
{
var shape = new PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f, 15.0f);
b4 = World.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
World.CreateJoint(jd);
Body b5;
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(6.5f, 3.0f);
b5 = World.CreateBody(bd);
var shape = new PolygonShape();
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 10.0f;
fd.Friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
World.CreateJoint(jd);
Body b6;
{
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(6.5f, 4.1f);
b6 = World.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
World.CreateJoint(jd);
Body b7;
{
var shape = new PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(7.4f, 1.0f);
b7 = World.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
var djd = new DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.LocalAnchorA.Set(6.0f, 0.0f);
djd.LocalAnchorB.Set(0.0f, -1.0f);
var d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
World.CreateJoint(djd);
{
var radius = 0.2f;
var shape = new CircleShape();
shape.Radius = radius;
for (var i = 0; i < 4; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(5.9f + 2.0f * radius * i, 2.4f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
void CreateLeg(double s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
FixtureDef fd1 = new FixtureDef();
FixtureDef fd2 = new FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
PolygonShape poly1 = new PolygonShape();
PolygonShape poly2 = new PolygonShape();
Vector2[] vertices = new Vector2[3];
if (s > 0.0f)
{
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
BodyDef bd1 = new BodyDef();
BodyDef bd2 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd2.type = BodyType.Dynamic;
bd1.position = _offset;
bd2.position = p4 + _offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
public void CreateLeg(float s, Vec2 wheelAnchor)
{
Vec2 p1 = new Vec2(5.4f * s, -6.1f);
Vec2 p2 = new Vec2(7.2f * s, -1.2f);
Vec2 p3 = new Vec2(4.3f * s, -1.9f);
Vec2 p4 = new Vec2(3.1f * s, 0.8f);
Vec2 p5 = new Vec2(6.0f * s, 1.5f);
Vec2 p6 = new Vec2(2.5f * s, 3.7f);
PolygonDef sd1 = new PolygonDef(), sd2 = new PolygonDef();
sd1.VertexCount = 3;
sd2.VertexCount = 3;
sd1.Filter.GroupIndex = -1;
sd2.Filter.GroupIndex = -1;
sd1.Density = 1.0f;
sd2.Density = 1.0f;
if (s > 0.0f)
{
sd1.Vertices[0] = p1;
sd1.Vertices[1] = p2;
sd1.Vertices[2] = p3;
sd2.Vertices[0] = Vec2.Zero;
sd2.Vertices[1] = p5 - p4;
sd2.Vertices[2] = p6 - p4;
}
else
{
sd1.Vertices[0] = p1;
sd1.Vertices[1] = p3;
sd1.Vertices[2] = p2;
sd2.Vertices[0] = Vec2.Zero;
sd2.Vertices[1] = p6 - p4;
sd2.Vertices[2] = p5 - p4;
}
BodyDef bd1 = new BodyDef(), bd2 = new BodyDef();
bd1.Position = _offset;
bd2.Position = p4 + _offset;
bd1.AngularDamping = 10.0f;
bd2.AngularDamping = 10.0f;
Body body1 = _world.CreateBody(bd1);
Body body2 = _world.CreateBody(bd2);
body1.CreateShape(sd1);
body2.CreateShape(sd2);
body1.SetMassFromShapes();
body2.SetMassFromShapes();
DistanceJointDef djd = new DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.DampingRatio = 0.5f;
djd.FrequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + _offset, p5 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + _offset, p4 + _offset);
_world.CreateJoint(djd);
djd.Initialize(body1, _wheel, p3 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
djd.Initialize(body2, _wheel, p6 + _offset, wheelAnchor + _offset);
_world.CreateJoint(djd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, _chassis, p4 + _offset);
_world.CreateJoint(rjd);
}
/// <summary>
/// Creates a new motorcycle and a driver into the given Box2D world.
/// Creates all the parts of the motorcycle and driver and joints them together.
/// </summary>
/// <param name="pBikeSpeed">A pointer to the variable that describes the speed of the
/// motorcycle</param>
/// <param name="pRotationData">RotationData to provide the information of the rotation
/// of the device</param>
/// <param name="pWorld">The Box2D world where the bike is created into</param>
/// <param name="pCamPos">A pointer to the variable that describes the position of the
/// camera</param>
/// <param name="pContent">The used ContentManager instance</param>
/// <param name="pSpriteBatch">The used SpriteBatch instance</param>
public Bike(float [] pBikeSpeed, RotationData pRotationData, World pWorld, float[] pCamPos,
ContentManager pContent)
{
OffTheBike = false;
camPos = pCamPos;
world = pWorld;
content = pContent;
RotationData = pRotationData;
bikeSpeed = pBikeSpeed;
frontWheel = CreateCirclePart("wheel", frontWheelInitPos, 35.0f, 0, 0.1f, 0.9f, 0.2f);
frontFork = CreateBoxPart("susp_lower_long", frontForkInitPos, 20.53f, 21.33f, 0, 0.8f,
1.0f, 0.2f);
rearWheel = CreateCirclePart("rearWheel", rearWheelInitPos, 32.0f, 0, 0.4f, 1.0f,
0.2f);
rearFork = CreateBoxPart("rearFork", rearForkInitPos, 64.0f, 17.0f, rearForkInitRot,
0.5f, 1.0f, 0.2f);
bikeBody = CreateBikeBody(bikeBodyInitPos, bikeBodyInitRot, 0.5f, 1.0f, 0.2f);
RevoluteJointDef motorDef = new RevoluteJointDef();
motorDef.Initialize(rearWheel, rearFork, rearWheel.GetWorldCenter());
motorDef.maxMotorTorque = 2.0f;
motorDef.enableMotor = true;
motor = (RevoluteJoint)world.CreateJoint(motorDef);
RevoluteJointDef rearForkBodyDef = new RevoluteJointDef();
Vector2 anchor = rearFork.GetWorldCenter();
anchor.X += (32.0f / Level.FACTOR);
anchor.Y += (13.5f / Level.FACTOR);
rearForkBodyDef.Initialize(rearFork, bikeBody, anchor);
rearForkBodyDef.bodyA = rearFork;
rearForkBodyDef.bodyB = bikeBody;
rearForkBodyDef.maxMotorTorque = 300.0f;
world.CreateJoint(rearForkBodyDef);
RevoluteJointDef frontWheelJointDef = new RevoluteJointDef();
frontWheelJointDef.Initialize(frontWheel, frontFork, frontWheel.GetWorldCenter());
frontWheelJointDef.maxMotorTorque = 300.0f;
world.CreateJoint(frontWheelJointDef);
DistanceJointDef frontSuspToBikeDef = new DistanceJointDef();
frontSuspToBikeDef.Initialize(bikeBody, frontFork,
frontFork.GetWorldCenter() + new Vector2(0, 0.4f),
frontFork.GetWorldCenter());
frontSuspToBikeDef.frequencyHz = 4.0f;
frontSuspToBikeDef.dampingRatio = 0.1f;
frontSuspToBikeDef.collideConnected = true;
world.CreateJoint(frontSuspToBikeDef);
DistanceJointDef rearForkDistanceDef = new DistanceJointDef();
rearForkDistanceDef.Initialize(bikeBody, rearFork,
rearFork.GetWorldCenter() + new Vector2(0, 0.4f),
rearFork.GetWorldCenter());
rearForkDistanceDef.frequencyHz = 7.0f;
rearForkDistanceDef.dampingRatio = 0.1f;
rearForkDistanceDef.collideConnected = true;
world.CreateJoint(rearForkDistanceDef);
PrismaticJointDef fSuspBikePrismaticDef = new PrismaticJointDef();
fSuspBikePrismaticDef.Initialize(bikeBody, frontFork, bikeBody.GetWorldCenter(),
new Vector2(0, 1));
fSuspBikePrismaticDef.enableLimit = true;
fSuspBikePrismaticDef.lowerTranslation = -0.2f;
fSuspBikePrismaticDef.upperTranslation = 0.2f;
fSuspBikePrismaticDef.collideConnected = true;
world.CreateJoint(fSuspBikePrismaticDef);
humanBody = CreateBoxPart("human", humanBodyInitPos, 17.0f, 64.0f, 0, 0.1f, 1.0f,
0.2f);
head = CreateBoxPart("head", headInitPos, 38.4f, 29.9f, headInitRot, 0.1f, 1.0f,
0.2f);
hand = CreateBoxPart("hand", handInitPos, 34.13f, 8.53f, handInitRot, 0.1f, 1.0f,
0.2f);
arm = CreateBoxPart("arm", armInitPos, 42.67f, 8.53f, armInitRot, 0.1f, 1.0f, 0.2f);
WeldJointDef headToHumanDef = new WeldJointDef();
headToHumanDef.Initialize(head, humanBody, head.GetWorldCenter());
world.CreateJoint(headToHumanDef);
RevoluteJointDef humanToBikeDef = new RevoluteJointDef();
anchor = humanBody.GetWorldCenter();
anchor.Y += (30.0f / Level.FACTOR);
humanToBikeDef.Initialize(humanBody, bikeBody, anchor);
humanToBikeDef.maxMotorTorque = 300.0f;
humanToBike = world.CreateJoint(humanToBikeDef);
RevoluteJointDef humanToArmDef = new RevoluteJointDef();
anchor = arm.GetWorldPoint(new Vector2(-21.33f / Level.FACTOR, 4.26f / Level.FACTOR));
humanToArmDef.Initialize(humanBody, arm, anchor);
humanToArmDef.maxMotorTorque = 300.0f;
world.CreateJoint(humanToArmDef);
RevoluteJointDef armToHandDef = new RevoluteJointDef();
anchor = arm.GetWorldPoint(new Vector2(21.33f / Level.FACTOR, 4.26f / Level.FACTOR));
armToHandDef.Initialize(arm, hand, anchor);
armToHandDef.maxMotorTorque = 300.0f;
world.CreateJoint(armToHandDef);
RevoluteJointDef handToBikeDef = new RevoluteJointDef();
anchor = hand.GetWorldPoint(new Vector2(17.06f / Level.FACTOR, 4.26f / Level.FACTOR));
handToBikeDef.Initialize(hand, bikeBody, anchor);
handToBikeDef.maxMotorTorque = 300.0f;
handToBike = world.CreateJoint(handToBikeDef);
DistanceJointDef armToBikeDef = new DistanceJointDef();
armToBikeDef.Initialize(hand, bikeBody,
hand.GetWorldPoint(new Vector2(-17.00f / Level.FACTOR,
4.26f / Level.FACTOR)),
bikeBody.GetWorldCenter());
armToBikeDef.length = 40.0f / Level.FACTOR;
armToBikeDef.frequencyHz = 10.0f;
armToBikeDef.dampingRatio = 1.0f;
armToBikeDef.collideConnected = true;
armToBike = world.CreateJoint(armToBikeDef);
}
Web()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-5.0f, 5.0f);
_bodies[0] = _world.CreateBody(bd);
_bodies[0].CreateFixture(shape, 5.0f);
bd.position = new Vector2(5.0f, 5.0f);
_bodies[1] = _world.CreateBody(bd);
_bodies[1].CreateFixture(shape, 5.0f);
bd.position = new Vector2(5.0f, 15.0f);
_bodies[2] = _world.CreateBody(bd);
_bodies[2].CreateFixture(shape, 5.0f);
bd.position = new Vector2(-5.0f, 15.0f);
_bodies[3] = _world.CreateBody(bd);
_bodies[3].CreateFixture(shape, 5.0f);
DistanceJointDef jd = new DistanceJointDef();
Vector2 p1, p2, d;
jd.frequencyHz = 4.0f;
jd.dampingRatio = 0.5f;
jd.bodyA = ground;
jd.bodyB = _bodies[0];
jd.localAnchorA = new Vector2(-10.0f, 0.0f);
jd.localAnchorB = new Vector2(-0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[0] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[1];
jd.localAnchorA = new Vector2(10.0f, 0.0f);
jd.localAnchorB = new Vector2(0.5f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[1] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[2];
jd.localAnchorA = new Vector2(10.0f, 20.0f);
jd.localAnchorB = new Vector2(0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[2] = _world.CreateJoint(jd);
jd.bodyA = ground;
jd.bodyB = _bodies[3];
jd.localAnchorA = new Vector2(-10.0f, 20.0f);
jd.localAnchorB = new Vector2(-0.5f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[3] = _world.CreateJoint(jd);
jd.bodyA = _bodies[0];
jd.bodyB = _bodies[1];
jd.localAnchorA = new Vector2(0.5f, 0.0f);
jd.localAnchorB = new Vector2(-0.5f, 0.0f);;
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[4] = _world.CreateJoint(jd);
jd.bodyA = _bodies[1];
jd.bodyB = _bodies[2];
jd.localAnchorA = new Vector2(0.0f, 0.5f);
jd.localAnchorB = new Vector2(0.0f, -0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[5] = _world.CreateJoint(jd);
jd.bodyA = _bodies[2];
jd.bodyB = _bodies[3];
jd.localAnchorA = new Vector2(-0.5f, 0.0f);
jd.localAnchorB = new Vector2(0.5f, 0.0f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[6] = _world.CreateJoint(jd);
jd.bodyA = _bodies[3];
jd.bodyB = _bodies[0];
jd.localAnchorA = new Vector2(0.0f, -0.5f);
jd.localAnchorB = new Vector2(0.0f, 0.5f);
p1 = jd.bodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.bodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length();
_joints[7] = _world.CreateJoint(jd);
}
}
