public Bridge()
{
Body ground;
{
PolygonDef sd = new PolygonDef();
sd.ShapeType = ShapeType.e_polygonShape;
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position = new Vector(0, -10);
ground = world.CreateBody(bd);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.125f);
sd.Density = 20.0f;
sd.Friction = 0.2f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.e_dynamicBody;
RevoluteJointDef jd = new RevoluteJointDef();
const float numPlanks = 30;
Body prevBody = ground;
for (float i = 0; i < numPlanks; ++i)
{
bd.Position = new Vector(-14.5f + i, 5);
Body body = world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
Vector anchor = new Vector(-15 + i, 5);
jd.Initialize(prevBody, body, anchor);
world.CreateJoint(jd);
prevBody = body;
}
Vector anchor2 = new Vector(-15 + numPlanks, 5);
jd.Initialize(prevBody, ground, anchor2);
world.CreateJoint(jd);
}
}
private void Start()
{
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(0.6f, 0.125f);
var fd = new FixtureDef
{
Shape = shape,
Density = 20.0f,
Friction = 0.2f
};
var jd = new RevoluteJointDef {
CollideConnected = false
};
const float y = 25.0f;
var prevBody = ground;
for (var i = 0; i < 30; ++i)
{
var bd = new BodyDef {
BodyType = BodyType.DynamicBody
};
bd.Position.Set(0.5f + i, y);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(i, y);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
}
}
public Tumbler()
{
World = new World();
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
}
{
var bd = new BodyDef
{
BodyType = BodyType.DynamicBody,
AllowSleep = false,
Position = new Vector2(0.0f, 10.0f)
};
var body = World.CreateBody(bd);
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 10.0f, new Vector2(10.0f, 0.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
shape.SetAsBox(0.5f, 10.0f, new Vector2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, 10.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, -10.0f), 0.0f);
body.CreateFixture(shape, 5.0f);
var jd = new RevoluteJointDef
{
BodyA = ground,
BodyB = body,
LocalAnchorA = new Vector2(0.0f, 10.0f),
LocalAnchorB = new Vector2(0.0f, 0.0f),
ReferenceAngle = 0.0f,
MotorSpeed = 0.05f * Settings.Pi,
MaxMotorTorque = 1e8f,
EnableMotor = true
};
_joint = (RevoluteJoint)World.CreateJoint(jd);
}
_count = 0;
}
public RevoluteJoint CreateRevoluteJointJoint(Body bodyA, Body bodyB, bool reverse = false)
{
var jd = new RevoluteJointDef();
var motorSpeed = 3.501000000000000e+00f;
jd.bodyA = bodyA;
jd.bodyB = bodyB;
jd.localAnchorB = new Vector2(-0.3f, 0);
jd.enableLimit = true;
jd.enableMotor = true;
jd.upperAngle = reverse ? DegToRad(90) : DegToRad(180);
jd.lowerAngle = reverse ? DegToRad(0) : DegToRad(90);
//jd.referenceAngle = DegToRad(90);
jd.motorSpeed = reverse ? -motorSpeed : motorSpeed;
jd.maxMotorTorque = 30.120000000000000e+00f;
return(b2DWorld.CreateJoint(jd) as RevoluteJoint);
}
public Joint AddJoint(Body b1, Body b2, float x, float y, bool collideConnected, float upperAngle, float lowerAngle, float referenceAngle = 0)
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(b1, b2, new Vec2(x / metric, y / metric));
jd.CollideConnected = collideConnected;
jd.EnableMotor = true;
jd.EnableLimit = true;
jd.LowerAngle = lowerAngle;
jd.UpperAngle = upperAngle;
jd.ReferenceAngle = referenceAngle;
Joint joint = world.CreateJoint(jd);
return(joint);
}
public Bridge()
{
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.CreateFixture(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.125f);
sd.Density = 20.0f;
sd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
const int numPlanks = 30;
Body prevBody = ground;
for (int i = 0; i < numPlanks; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
Vec2 anchor = new Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
Vec2 anchor_ = new Vec2(-15.0f + 1.0f * numPlanks, 5.0f);
jd.Initialize(prevBody, ground, anchor_);
_world.CreateJoint(jd);
}
}
public Chain()
{
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(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.5f + i, y);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
Vec2 anchor = new Vec2((float)(i), y);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Body AddNode(Body parent, Vec2 localAnchor, int depth, float offset, float a)
{
Vec2 h = new Vec2(0.0f, a);
Vec2 p = parent.GetPosition() + localAnchor - h;
BodyDef bodyDef = new BodyDef();
bodyDef.type = BodyType._dynamicBody;
bodyDef.Position = p;
Body body = m_world.CreateBody(bodyDef);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.25f * a, a);
shape.Density = 20;
body.CreateFixture(shape);
if (depth == e_depth)
{
return(body);
}
Vec2 a1 = new Vec2(offset, -a);
Vec2 a2 = new Vec2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.bodyA = body;
jointDef.localAnchorB = h;
jointDef.localAnchorA = a1;
jointDef.bodyB = body1;
m_world.CreateJoint(jointDef);
jointDef.localAnchorA = a2;
jointDef.bodyB = body2;
m_world.CreateJoint(jointDef);
return(body);
}
private Body AddNode(Body parent, Vector2 localAnchor, int depth, float offset, float a)
{
float density = 20.0f;
Vector2 h = new Vector2(0.0f, a);
Vector2 p = parent.Position + localAnchor - h;
BodyDef bodyDef = new BodyDef();
bodyDef.Type = BodyType.Dynamic;
bodyDef.Position = p;
Body body = BodyFactory.CreateFromDef(World, bodyDef);
PolygonShape shape = new PolygonShape(density);
shape.SetAsBox(0.25f * a, a);
body.AddFixture(shape);
if (depth == _depth)
{
return(body);
}
Vector2 a1 = new Vector2(offset, -a);
Vector2 a2 = new Vector2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.BodyA = body;
jointDef.LocalAnchorB = h;
jointDef.LocalAnchorA = a1;
jointDef.BodyB = body1;
JointFactory.CreateFromDef(World, jointDef);
jointDef.LocalAnchorA = a2;
jointDef.BodyB = body2;
JointFactory.CreateFromDef(World, jointDef);
return(body);
}
private Body AddNode(Body parent, Vector2 localAnchor, int depth, float offset, float a)
{
var density = 20.0f;
var h = new Vector2(0.0f, a);
var p = parent.GetPosition() + localAnchor - h;
var bodyDef = new BodyDef();
bodyDef.BodyType = BodyType.DynamicBody;
bodyDef.Position = p;
var body = World.CreateBody(bodyDef);
var shape = new PolygonShape();
shape.SetAsBox(0.25f * a, a);
body.CreateFixture(shape, density);
if (depth == Depth)
{
return(body);
}
var a1 = new Vector2(offset, -a);
var a2 = new Vector2(-offset, -a);
var body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
var body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
var jointDef = new RevoluteJointDef();
jointDef.BodyA = body;
jointDef.LocalAnchorB = h;
jointDef.LocalAnchorA = a1;
jointDef.BodyB = body1;
World.CreateJoint(jointDef);
jointDef.LocalAnchorA = a2;
jointDef.BodyB = body2;
World.CreateJoint(jointDef);
return(body);
}
public Revolute()
{
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.CreateFixture(sd);
}
{
CircleDef sd = new CircleDef();
sd.Radius = 0.5f;
sd.Density = 5.0f;
BodyDef bd = new BodyDef();
RevoluteJointDef rjd = new RevoluteJointDef();
bd.Position.Set(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vec2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vec2(0.0f, 12.0f));
rjd.MotorSpeed = 1.0f * Box2DNet.Common.Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = false;
rjd.LowerAngle = -0.25f * Box2DNet.Common.Settings.Pi;
rjd.UpperAngle = 0.5f * Box2DNet.Common.Settings.Pi;
rjd.EnableLimit = true;
rjd.CollideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
// Use this for initialization
protected override void Init()
{
var ground = API.CreateBody(world, new Vector2(0, 0), 0, BodyType.STATIC_BODY);
API.AddEdgeShape(ground, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f), new ShapeDef(0));
ShapeDef sp = new ShapeDef(20.0f);
sp.friction = 0.2f;
RevoluteJointDef def = new RevoluteJointDef();
IntPtr prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
var b = API.CreateBody(world, new Vector2(-14.5f + i, 5.0f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(b, 0.5f, 0.125f, Vector2.zero, 0, sp);
def.Initialize(prevBody, b, new Vector2(-15.0f + i, 5.0f));
API.CreateRevoluteJoint(world, def);
prevBody = b;
}
def.Initialize(prevBody, ground, new Vector2(-15.0f + e_count, 5.0f));
API.CreateRevoluteJoint(world, def);
for (int i = 0; i < 2; ++i)
{
var b = API.CreateBody(world, new Vector2(-8.0f + 8 * i, 12), 0, BodyType.DYNAMIC_BODY);
Vector2[] vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
API.AddPolygonShape(b, vertices, vertices.Length, new ShapeDef(1.0f));
}
for (int i = 0; i < 3; ++i)
{
var b = API.CreateBody(world, new Vector2(-6.0f + 6 * i, 10), 0, BodyType.DYNAMIC_BODY);
API.AddCircleShape(b, 0.5f, new ShapeDef(1.0f));
}
}
public Chain()
{
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(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2((float)i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.6, 0.125);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0;
fd.friction = 0.2;
RevoluteJointDef jd = new RevoluteJointDef();
jd.collideConnected = false;
double y = 25.0;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2((double)i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
void Start()
{
if (connectedBody == null)
{
return;
}
var jointDef = new RevoluteJointDef();
#if USING_BOX2DX
jointDef.Initialize(connectedBody, GetComponent <Box2DBody>(), anchor.ToVec2());
#else
jointDef.Initialize(connectedBody, GetComponent <Box2DBody>(), anchor);
#endif
jointDef.MotorSpeed = motorSpeed;
jointDef.MaxMotorTorque = maxMotorTorque;
jointDef.EnableMotor = enableMotor;
jointDef.CollideConnected = collideConnected;
joint = (RevoluteJoint)Box2DWorld.Instance().CreateJoint(jointDef);
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="anchor"></param>
/// <param name="limits"></param>
/// <param name="motor"></param>
public RevoluteJoint joinBodies_Rotate(Body b1, Body b2, Vector2 anchor, Vector2 limits, float motor)
{
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.enableLimit = false;
if (motor == 0)
{
rjd.enableMotor = false;
}
else
{
rjd.enableMotor = true;
}
rjd.motorSpeed = motor;
rjd.collideConnected = false;
rjd.Initialize(b1, b2, anchor);
RevoluteJoint rj = physicsWorld.CreateJoint(rjd) as RevoluteJoint;
return(rj);
}
private ChainTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
{
PolygonShape shape = new PolygonShape(20.0f);
shape.SetAsBox(0.6f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.CollideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.5f + i, y);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(i, y);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
}
}
public Tumbler()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = m_world.CreateBody(bd);
}
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.allowSleep = false;
bd.Position.Set(0.0f, 10.0f);
Body body = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.Density = 5;
shape.SetAsBox(0.5f, 10.0f, new Vec2(10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(0.5f, 10.0f, new Vec2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vec2(0.0f, 10.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vec2(0.0f, -10.0f), 0.0f);
body.CreateFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.bodyA = ground;
jd.bodyB = body;
jd.localAnchorA.Set(0.0f, 10.0f);
jd.localAnchorB.Set(0.0f, 0.0f);
jd.referenceAngle = 0.0f;
jd.motorSpeed = 0.05f * (float)Math.PI;
jd.maxMotorTorque = 1e8f;
jd.enableMotor = true;
m_joint = (RevoluteJoint)m_world.CreateJoint(jd);
}
m_count = 0;
}
public Revolute()
{
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);
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(0.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Settings.b2_pi;
rjd.upperAngle = 0.5f * (float)Settings.b2_pi;
rjd.enableLimit = true;
rjd.collideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
public Revolute()
{
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);
}
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
RevoluteJointDef rjd = new RevoluteJointDef();
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
float w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(0.0f, 12.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = false;
rjd.lowerAngle = -0.25f * (float)Settings.b2_pi;
rjd.upperAngle = 0.5f * (float)Settings.b2_pi;
rjd.enableLimit = true;
rjd.collideConnected = true;
_joint = (RevoluteJoint)_world.CreateJoint(rjd);
}
}
public Joint JointRevolute(RigidBody body, float x, float y, bool isCollide, float lowerAngle, float upperAngle,
float referenceAngle)
{
var p = GetBody().GetPosition() + new Vec2(x / PhysicsController.metric, y / PhysicsController.metric);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(GetBody(), body.GetBody(), p);
jd.CollideConnected = isCollide;
jd.EnableMotor = true;
jd.EnableLimit = true;
jd.LowerAngle = lowerAngle / 180 * (float)Math.PI;
jd.UpperAngle = upperAngle / 180 * (float)Math.PI;
jd.ReferenceAngle = referenceAngle;
Joint joint = Physics.GetWorld().CreateJoint(jd);
return(joint);
}
private TumblerTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
}
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.AllowSleep = false;
bd.Position = new Vector2(0.0f, 10.0f);
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(0.5f, 10.0f, new Vector2(10.0f, 0.0f), 0.0f);
body.AddFixture(shape);
shape.SetAsBox(0.5f, 10.0f, new Vector2(-10.0f, 0.0f), 0.0f);
body.AddFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, 10.0f), 0.0f);
body.AddFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, -10.0f), 0.0f);
body.AddFixture(shape);
RevoluteJointDef jd = new RevoluteJointDef();
jd.BodyA = ground;
jd.BodyB = body;
jd.LocalAnchorA = new Vector2(0.0f, 10.0f);
jd.LocalAnchorB = new Vector2(0.0f, 0.0f);
jd.ReferenceAngle = 0.0f;
jd.MotorSpeed = 0.05f * MathConstants.Pi;
jd.MaxMotorTorque = 1e8f;
jd.EnableMotor = true;
_joint = (RevoluteJoint)JointFactory.CreateFromDef(World, jd);
}
_count2 = 0;
}
public Chain()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
ground.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.6f, 0.125f);
sd.Density = 20.0f;
sd.Friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
jd.CollideConnected = false;
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.5f + i, y);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
Vec2 anchor = new Vec2(i, y);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
prevBody = body;
}
}
}
private MobileBalancedTest()
{
Body ground;
// Create ground body.
{
BodyDef bodyDef = new BodyDef();
bodyDef.Position = new Vector2(0.0f, 20.0f);
ground = BodyFactory.CreateFromDef(World, bodyDef);
}
float a = 0.5f;
Vector2 h = new Vector2(0.0f, a);
Body root = AddNode(ground, Vector2.Zero, 0, 3.0f, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.BodyA = ground;
jointDef.BodyB = root;
jointDef.LocalAnchorA = Vector2.Zero;
jointDef.LocalAnchorB = h;
JointFactory.CreateFromDef(World, jointDef);
}
public Mobile()
{
Body ground;
// Create ground body.
{
var bodyDef = new BodyDef();
bodyDef.Position.Set(0.0f, 20.0f);
ground = World.CreateBody(bodyDef);
}
var a = 0.5f;
var h = new Vector2(0.0f, a);
var root = AddNode(ground, Vector2.Zero, 0, 3.0f, a);
var jointDef = new RevoluteJointDef();
jointDef.BodyA = ground;
jointDef.BodyB = root;
jointDef.LocalAnchorA.SetZero();
jointDef.LocalAnchorB = h;
World.CreateJoint(jointDef);
}
public MobileBalanced()
{
Body ground;
// Create ground body.
{
BodyDef bodyDef = new BodyDef();
bodyDef.Position.Set(0.0f, 20.0f);
ground = m_world.CreateBody(bodyDef);
}
float a = 0.5f;
Vec2 h = new Vec2(0.0f, a);
Body root = AddNode(ground, new Vec2(0, 0), 0, 3.0f, a);
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.bodyA = ground;
jointDef.bodyB = root;
jointDef.localAnchorA.SetZero();
jointDef.localAnchorB = h;
m_world.CreateJoint(jointDef);
}
public BodyTypes()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.shape = shape;
ground.CreateFixture(fd);
}
// Define attachment
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 3.0f);
_attachment = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
_attachment.CreateFixture(shape, 2.0f);
}
// Define platform
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-4.0f, 5.0f);
_platform = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f, new Vector2(4.0f, 0.0f), 0.5f * (float)Math.PI);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
_platform.CreateFixture(fd);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(_attachment, _platform, new Vector2(0.0f, 5.0f));
rjd.maxMotorTorque = 50.0f;
rjd.enableMotor = true;
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = -10.0f;
pjd.upperTranslation = 10.0f;
pjd.enableLimit = true;
_world.CreateJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 8.0f);
Body body = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.75f, 0.75f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.friction = 0.6f;
fd.density = 2.0f;
body.CreateFixture(fd);
}
}
public Revolute()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
var fd = new FixtureDef();
fd.Shape = shape;
//fd.filter.categoryBits = 2;
ground.CreateFixture(fd);
}
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
var rjd = new RevoluteJointDef();
bd.Position.Set(-10.0f, 20.0f);
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
var w = 100.0f;
body.SetAngularVelocity(w);
body.SetLinearVelocity(new Vector2(-8.0f * w, 0.0f));
rjd.Initialize(ground, body, new Vector2(-10.0f, 12.0f));
rjd.MotorSpeed = 1.0f * Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = false;
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.5f * Settings.Pi;
rjd.EnableLimit = true;
rjd.CollideConnected = true;
m_joint = (RevoluteJoint)World.CreateJoint(rjd);
}
{
var circle_shape = new CircleShape();
circle_shape.Radius = 3.0f;
var circle_bd = new BodyDef();
circle_bd.BodyType = BodyType.DynamicBody;
circle_bd.Position.Set(5.0f, 30.0f);
var fd = new FixtureDef();
fd.Density = 5.0f;
var filter = fd.Filter;
filter.MaskBits = 1;
fd.Filter = filter;
fd.Shape = circle_shape;
m_ball = World.CreateBody(circle_bd);
m_ball.CreateFixture(fd);
var polygon_shape = new PolygonShape();
polygon_shape.SetAsBox(10.0f, 0.2f, new Vector2(-10.0f, 0.0f), 0.0f);
var polygon_bd = new BodyDef();
polygon_bd.Position.Set(20.0f, 10.0f);
polygon_bd.BodyType = BodyType.DynamicBody;
polygon_bd.Bullet = true;
var polygon_body = World.CreateBody(polygon_bd);
polygon_body.CreateFixture(polygon_shape, 2.0f);
var rjd = new RevoluteJointDef();
rjd.Initialize(ground, polygon_body, new Vector2(20.0f, 10.0f));
rjd.LowerAngle = -0.25f * Settings.Pi;
rjd.UpperAngle = 0.0f * Settings.Pi;
rjd.EnableLimit = true;
World.CreateJoint(rjd);
}
// Tests mass computation of a small object far from the origin
{
var bodyDef = new BodyDef();
bodyDef.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bodyDef);
var polyShape = new PolygonShape();
var verts = new Vector2[3];
verts[0].Set(17.63f, 36.31f);
verts[1].Set(17.52f, 36.69f);
verts[2].Set(17.19f, 36.36f);
polyShape.Set(verts);
var polyFixtureDef = new FixtureDef();
polyFixtureDef.Shape = polyShape;
polyFixtureDef.Density = 1;
body.CreateFixture(polyFixtureDef); //assertion hits inside here
}
}
public SliderCrank()
{
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.CreateFixture(sd);
}
{
// Define crank.
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 2.0f);
sd.Density = 1.0f;
RevoluteJointDef rjd = new RevoluteJointDef();
Body prevBody = ground;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 5.0f));
rjd.MotorSpeed = 1.0f * Box2DNet.Common.Settings.Pi;
rjd.MaxMotorTorque = 10000.0f;
rjd.EnableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
// Define follower.
sd.SetAsBox(0.5f, 4.0f);
bd.Position.Set(0.0f, 13.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 9.0f));
rjd.EnableMotor = false;
_world.CreateJoint(rjd);
prevBody = body;
// Define piston
sd.SetAsBox(1.5f, 1.5f);
bd.Position.Set(0.0f, 17.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
rjd.Initialize(prevBody, body, new Vec2(0.0f, 17.0f));
_world.CreateJoint(rjd);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vec2(0.0f, 17.0f), new Vec2(0.0f, 1.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.EnableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
// Create a payload
sd.Density = 2.0f;
bd.Position.Set(0.0f, 23.0f);
body = _world.CreateBody(bd);
body.CreateFixture(sd);
body.SetMassFromShapes();
}
}
public Bridge()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(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, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 20.0f;
fd.Friction = 0.2f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < Count; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-14.5f + 1.0f * i, 5.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
if (i == Count >> 1)
{
_middle = body;
}
prevBody = body;
}
{
var anchor = new Vector2(-15.0f + 1.0f * Count, 5.0f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
for (var i = 0; i < 2; ++i)
{
var vertices = new Vector2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
var shape = new PolygonShape();
shape.Set(vertices);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-8.0f + 8.0f * i, 12.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
for (var i = 0; i < 3; ++i)
{
var shape = new CircleShape();
shape.Radius = 0.5f;
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-6.0f + 6.0f * i, 10.0f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
}
}
public Bridge()
{
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, 0.125f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.2f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
_world.CreateJoint(jd);
if (i == (e_count >> 1))
{
_middle = body;
}
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * e_count, 5.0f);
jd.Initialize(prevBody, ground, anchor2);
_world.CreateJoint(jd);
}
Vector2[] vertices = new Vector2[3];
for (int i = 0; i < 2; ++i)
{
vertices[0] = new Vector2(-0.5f, 0.0f);
vertices[1] = new Vector2(0.5f, 0.0f);
vertices[2] = new Vector2(0.0f, 1.5f);
PolygonShape shape = new PolygonShape();
shape.Set(vertices, 3);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-8.0f + 8.0f * i, 12.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.5f;
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-6.0f + 6.0f * i, 10.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
}
}
Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2._radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd1.position = new Vector2(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
jd1.localAnchorA = ground.GetLocalPoint(bd1.position);
jd1.localAnchorB = body1.GetLocalPoint(bd1.position);
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.Dynamic;
bd2.position = new Vector2(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.Dynamic;
bd3.position = new Vector2(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.position, new Vector2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = _joint1;
jd4.joint2 = _joint2;
jd4.ratio = circle2._radius / circle1._radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = _joint2;
jd5.joint2 = _joint3;
jd5.ratio = -1.0f / circle2._radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
/// <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;
}
}
TheoJansen()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
BodyDef bd = new BodyDef();
Body ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
ground.CreateFixture(shape, 0.0f);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape();
shape._radius = 0.25f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-40.0f + 2.0f * i, 0.5f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 1.0f);
}
// Chassis
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.5f, 1.0f);
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_chassis = _world.CreateBody(bd);
_chassis.CreateFixture(sd);
}
{
CircleShape shape = new CircleShape();
shape._radius = 1.6f;
FixtureDef sd = new FixtureDef();
sd.density = 1.0f;
sd.shape = shape;
sd.filter.groupIndex = -1;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateFixture(sd);
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.collideConnected = false;
jd.motorSpeed = _motorSpeed;
jd.maxMotorTorque = 400.0f;
jd.enableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vector2 wheelAnchor;
wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), 120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.GetPosition(), -120.0f * (float)Settings.b2_pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
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);
}
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 SliderCrank()
{
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);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 13.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd3 = new RevoluteJointDef();
rjd3.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd3.enableMotor = false;
_world.CreateJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 17.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd2 = new RevoluteJointDef();
rjd2.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
_world.CreateJoint(rjd2);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 23.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
public GearJoint()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var bd1 = new BodyDef();
bd1.BodyType = BodyType.StaticBody;
bd1.Position.Set(10.0f, 9.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(10.0f, 8.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(box, 5.0f);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(10.0f, 6.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(circle2, 5.0f);
var jd1 = new RevoluteJointDef();
jd1.Initialize(body1, body2, bd1.Position);
var joint1 = World.CreateJoint(jd1);
var jd2 = new RevoluteJointDef();
jd2.Initialize(body2, body3, bd3.Position);
var joint2 = World.CreateJoint(jd2);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body3;
jd4.Joint1 = joint1;
jd4.Joint2 = joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
World.CreateJoint(jd4);
}
{
var circle1 = new CircleShape();
circle1.Radius = 1.0f;
var circle2 = new CircleShape();
circle2.Radius = 2.0f;
var box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
var bd1 = new BodyDef();
bd1.BodyType = BodyType.DynamicBody;
bd1.Position.Set(-3.0f, 12.0f);
var body1 = World.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
var jd1 = new RevoluteJointDef();
jd1.BodyA = ground;
jd1.BodyB = body1;
jd1.LocalAnchorA = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchorB = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)World.CreateJoint(jd1);
var bd2 = new BodyDef();
bd2.BodyType = BodyType.DynamicBody;
bd2.Position.Set(0.0f, 12.0f);
var body2 = World.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
var jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)World.CreateJoint(jd2);
var bd3 = new BodyDef();
bd3.BodyType = BodyType.DynamicBody;
bd3.Position.Set(2.5f, 12.0f);
var body3 = World.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
var jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vector2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_joint3 = (PrismaticJoint)World.CreateJoint(jd3);
var jd4 = new GearJointDef();
jd4.BodyA = body1;
jd4.BodyB = body2;
jd4.Joint1 = _joint1;
jd4.Joint2 = _joint2;
jd4.Ratio = circle2.Radius / circle1.Radius;
_joint4 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd4);
var jd5 = new GearJointDef();
jd5.BodyA = body2;
jd5.BodyB = body3;
jd5.Joint1 = _joint2;
jd5.Joint2 = _joint3;
jd5.Ratio = -1.0f / circle2.Radius;
_joint5 = (Box2DSharp.Dynamics.Joints.GearJoint)World.CreateJoint(jd5);
}
}
protected override void Create()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 0.0f;
fd.Friction = 0.6f;
shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
ground.CreateFixture(fd);
float[] hs = { 0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f };
float x = 20.0f, y1 = 0.0f, dx = 5.0f;
for (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
for (var i = 0; i < 10; ++i)
{
var y2 = hs[i];
shape.Set(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.CreateFixture(fd);
y1 = y2;
x += dx;
}
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 80.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f));
ground.CreateFixture(fd);
x += 20.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.CreateFixture(fd);
x += 40.0f;
shape.Set(new Vector2(x, 0.0f), new Vector2(x, 20.0f));
ground.CreateFixture(fd);
}
// Teeter
{
var bd = new BodyDef();
bd.Position.Set(140.0f, 1.0f);
bd.BodyType = BodyType.DynamicBody;
var body = World.CreateBody(bd);
var box = new PolygonShape();
box.SetAsBox(10.0f, 0.25f);
body.CreateFixture(box, 1.0f);
var jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.GetPosition());
jd.LowerAngle = -8.0f * Settings.Pi / 180.0f;
jd.UpperAngle = 8.0f * Settings.Pi / 180.0f;
jd.EnableLimit = true;
World.CreateJoint(jd);
body.ApplyAngularImpulse(100.0f, true);
}
// Bridge
{
var N = 20;
var shape = new PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.6f;
var jd = new RevoluteJointDef();
var prevBody = ground;
for (var i = 0; i < N; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(161.0f + 2.0f * i, -0.125f);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var anchor = new Vector2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
World.CreateJoint(jd);
prevBody = body;
}
{
var anchor = new Vector2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor);
World.CreateJoint(jd);
}
}
// Boxes
{
var box = new PolygonShape();
box.SetAsBox(0.5f, 0.5f);
Body body = null;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(230.0f, 0.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 1.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 2.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 3.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
bd.Position.Set(230.0f, 4.5f);
body = World.CreateBody(bd);
body.CreateFixture(box, 0.5f);
}
// Car
{
var chassis = new PolygonShape();
var vertices = new Vector2[8];
vertices[0].Set(-1.5f, -0.5f);
vertices[1].Set(1.5f, -0.5f);
vertices[2].Set(1.5f, 0.0f);
vertices[3].Set(0.0f, 0.9f);
vertices[4].Set(-1.15f, 0.9f);
vertices[5].Set(-1.5f, 0.2f);
chassis.Set(vertices);
var circle = new CircleShape();
circle.Radius = 0.4f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 1.0f);
_car = World.CreateBody(bd);
_car.CreateFixture(chassis, 1.0f);
var fd = new FixtureDef();
fd.Shape = circle;
fd.Density = 1.0f;
fd.Friction = 0.9f;
bd.Position.Set(-1.0f, 0.35f);
_wheel1 = World.CreateBody(bd);
_wheel1.CreateFixture(fd);
bd.Position.Set(1.0f, 0.4f);
_wheel2 = World.CreateBody(bd);
_wheel2.CreateFixture(fd);
var jd = new WheelJointDef();
var axis = new Vector2(0.0f, 1.0f);
jd.Initialize(_car, _wheel1, _wheel1.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 20.0f;
jd.EnableMotor = true;
jd.FrequencyHz = _hz;
jd.DampingRatio = _zeta;
_spring1 = (WheelJoint)World.CreateJoint(jd);
jd.Initialize(_car, _wheel2, _wheel2.GetPosition(), axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10.0f;
jd.EnableMotor = false;
jd.FrequencyHz = _hz;
jd.DampingRatio = _zeta;
_spring2 = (WheelJoint)World.CreateJoint(jd);
}
}
/// <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);
}
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;
}