/// <summary>
/// Translates the control points by the specified vector.
/// </summary>
/// <param name="vector">The vector.</param>
public void Translate(ref FVector2 vector)
{
for (int i = 0; i < ControlPoints.Count; i++)
{
ControlPoints[i] = FVector2.Add(ControlPoints[i], vector);
}
}
public static float DistanceBetweenPointAndLineSegment(ref FVector2 point, ref FVector2 lineEndPoint1,
ref FVector2 lineEndPoint2)
{
FVector2 v = FVector2.Subtract(lineEndPoint2, lineEndPoint1);
FVector2 w = FVector2.Subtract(point, lineEndPoint1);
float c1 = FVector2.Dot(w, v);
if (c1 <= 0)
{
return(DistanceBetweenPointAndPoint(ref point, ref lineEndPoint1));
}
float c2 = FVector2.Dot(v, v);
if (c2 <= c1)
{
return(DistanceBetweenPointAndPoint(ref point, ref lineEndPoint2));
}
float b = c1 / c2;
FVector2 pointOnLine = FVector2.Add(lineEndPoint1, FVector2.Multiply(v, b));
return(DistanceBetweenPointAndPoint(ref point, ref pointOnLine));
}
private void CreateLeg(float s, FVector2 wheelAnchor)
{
FVector2 p1, p2, p3, p4, p5, p6;
p1 = new FVector2((162f * s) / tScale, -183f / tScale);
p2 = new FVector2((216f * s) / tScale, -36f / tScale);
p3 = new FVector2((129f * s) / tScale, -57f / tScale);
p4 = new FVector2((093f * s) / tScale, 24f / tScale);
p5 = new FVector2((180f * s) / tScale, 45f / tScale);
p6 = new FVector2((075f * s) / tScale, 111f / tScale);
Body body1;
Body body2;
body1 = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, m_offset);
body1.BodyType = BodyType.Dynamic;
body2 = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(p4, m_offset));
body2.BodyType = BodyType.Dynamic;
Fixture b1fix;
Fixture b2fix;
List <Vertices> vl1 = new List <Vertices>();
List <Vertices> vl2 = new List <Vertices>();
vl1.Add(new Vertices());
vl2.Add(new Vertices());
if (s > 0f)
{
vl1[0].Add(p1);
vl1[0].Add(p2);
vl1[0].Add(p3);
vl2[0].Add(FVector2.Zero);
vl2[0].Add(FVector2.Subtract(p5, p4));
vl2[0].Add(FVector2.Subtract(p6, p4));
}
else
{
vl1[0].Add(p1);
vl1[0].Add(p3);
vl1[0].Add(p2);
vl2[0].Add(FVector2.Zero);
vl2[0].Add(FVector2.Subtract(p6, p4));
vl2[0].Add(FVector2.Subtract(p5, p4));
}
b1fix = FixtureFactory.AttachCompoundPolygon(vl1, 1f, body1)[0];
b2fix = FixtureFactory.AttachCompoundPolygon(vl2, 1f, body2)[0];
b1fix.CollisionCategories = Category.Cat10;
b1fix.CollidesWith = Category.Cat1;
b2fix.CollisionCategories = Category.Cat10;
b2fix.CollidesWith = Category.Cat1;
body1.AngularDamping = 10f;
body2.AngularDamping = 10f;
DistanceJoint dj;
float dampingRatio = 0.5f;
float freqHz = 10f;
// 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.
dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body1, body2, body1.GetLocalPoint(FVector2.Add(p2, m_offset)), body2.GetLocalPoint(FVector2.Add(p5, m_offset)));
dj.DampingRatio = dampingRatio;
dj.Frequency = freqHz;
dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body1, body2, body1.GetLocalPoint(FVector2.Add(p3, m_offset)), body2.GetLocalPoint(FVector2.Add(p4, m_offset)));
dj.DampingRatio = dampingRatio;
dj.Frequency = freqHz;
dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body1, m_wheel, body1.GetLocalPoint(FVector2.Add(p3, m_offset)), m_wheel.GetLocalPoint(FVector2.Add(wheelAnchor, m_offset)));
dj.DampingRatio = dampingRatio;
dj.Frequency = freqHz;
dj = JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld, body2, m_wheel, body2.GetLocalPoint(FVector2.Add(p6, m_offset)), m_wheel.GetLocalPoint(FVector2.Add(wheelAnchor, m_offset)));
dj.DampingRatio = dampingRatio;
dj.Frequency = freqHz;
JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, body2, m_chassis, m_chassis.GetLocalPoint(FVector2.Add(p4, m_offset)));
}
public override void Start()
{
base.Start();
Body body;
tScale = physScale * 2f;
// St position in world space
m_offset = new FVector2(180f / physScale, -200f / physScale);
m_motorSpeed = 2f;
m_motorOn = true;
FVector2 pivot = new FVector2(0f, 24f / tScale);
#if UNITY_IPHONE || UNITY_ANDROID
for (int i = 0; i < 20; i++)
#else
for (int i = 0; i < 50; i++)
#endif
{
body = BodyFactory.CreateCircle(FSWorldComponent.PhysicsWorld, 3.75f / physScale, 1f, new FVector2((Random.value * 620f + 10f) / physScale, -340f / physScale));
body.BodyType = BodyType.Dynamic;
}
// chassis
{
m_chassis = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_chassis.BodyType = BodyType.Dynamic;
Fixture m_chassis_f = FixtureFactory.AttachRectangle(150f / tScale, 60f / tScale, 1f, FVector2.Zero, m_chassis);
//m_chassis_f.CollisionGroup = -1;
m_chassis_f.CollisionCategories = Category.Cat10;
m_chassis_f.CollidesWith = Category.Cat1;
}
// wheel
{
m_wheel = BodyFactory.CreateBody(FSWorldComponent.PhysicsWorld, FVector2.Add(pivot, m_offset));
m_wheel.BodyType = BodyType.Dynamic;
Fixture m_wheel_f = FixtureFactory.AttachCircle(48f / tScale, 1f, m_wheel);
//m_wheel_f.CollisionGroup = -1;
m_wheel_f.CollisionCategories = Category.Cat10;
m_wheel_f.CollidesWith = Category.Cat1;
}
// glue chassis & wheel
{
m_motorJoint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, m_wheel, m_chassis, FVector2.Zero);
m_motorJoint.MotorSpeed = m_motorSpeed;
m_motorJoint.MaxMotorTorque = 400f;
m_motorJoint.CollideConnected = false;
m_motorJoint.MotorEnabled = m_motorOn;
}
FVector2 wheelAnchor;
wheelAnchor = new FVector2(0f, -24f / tScale) + pivot;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = 120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
m_wheel.Rotation = -120f * Mathf.Deg2Rad;
CreateLeg(-1f, wheelAnchor);
CreateLeg(1f, wheelAnchor);
}
