public TheoJansenWalker(World world, PhysicsGameScreen screen, Vector2 position)
{
_position = position;
_motorSpeed = 2.0f;
_motorOn = true;
_screen = screen;
_walkerJoints = new List<DistanceJoint>();
_leftShoulders = new Body[3];
_rightShoulders = new Body[3];
_leftLegs = new Body[3];
_rightLegs = new Body[3];
Vector2 pivot = new Vector2(0f, -0.8f);
// Chassis
{
PolygonShape shape = new PolygonShape(1f);
shape.SetAsBox(2.5f, 1.0f);
_body =
new Sprite(_screen.ScreenManager.Assets.TextureFromShape(shape, MaterialType.Blank,
Color.Beige, 1f));
_chassis = BodyFactory.CreateBody(world);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _position;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1f);
_engine =
new Sprite(_screen.ScreenManager.Assets.TextureFromShape(shape, MaterialType.Waves,
Color.Beige * 0.8f, 1f));
_wheel = BodyFactory.CreateBody(world);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _position;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _wheel.GetLocalPoint(_chassis.Position), Vector2.Zero);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400f;
_motorJoint.MotorEnabled = _motorOn;
world.AddJoint(_motorJoint);
}
Vector2 wheelAnchor = pivot + new Vector2(0f, 0.8f);
CreateLegTextures();
CreateLeg(world, -1f, wheelAnchor, 0);
CreateLeg(world, 1f, wheelAnchor, 0);
_leftLeg.Origin = AssetCreator.CalculateOrigin(_leftLegs[0]);
_leftShoulder.Origin = AssetCreator.CalculateOrigin(_leftShoulders[0]);
_rightLeg.Origin = AssetCreator.CalculateOrigin(_rightLegs[0]);
_rightShoulder.Origin = AssetCreator.CalculateOrigin(_rightShoulders[0]);
_wheel.SetTransform(_wheel.Position, 120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 1);
CreateLeg(world, 1f, wheelAnchor, 1);
_wheel.SetTransform(_wheel.Position, -120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 2);
CreateLeg(world, 1f, wheelAnchor, 2);
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
FixtureFactory.AttachEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f), ground);
FixtureFactory.AttachEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f), ground);
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(0.25f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
body.CreateFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(2.5f, 1.0f);
_chassis = BodyFactory.CreateBody(World);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _offset;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1);
_wheel = BodyFactory.CreateBody(World);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _offset;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _chassis.Position, true);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400.0f;
_motorJoint.MotorEnabled = _motorOn;
World.AddJoint(_motorJoint);
}
Vector2 wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, 120.0f * Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, -120.0f * Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public TheoJansenWalker(World world, Vector2 position)
{
_position = position;
_motorSpeed = 2.0f;
_motorOn = true;
_leftShoulders = new Body[3];
_leftLegs = new Body[3];
_rightShoulders = new Body[3];
_rightLegs = new Body[3];
Vector2 pivot = new Vector2(0f, -0.8f);
// Chassis
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonTools.CreateRectangle(2.5f, 1.0f);
_body = new Sprite(ContentWrapper.TextureFromShape(box, _walkerColors[0], ContentWrapper.Black));
_chassis = BodyFactory.CreateBody(world);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _position;
Fixture bodyFixture = _chassis.CreateFixture(box);
bodyFixture.CollisionGroup = -1;
// Wheel
CircleShape circle = new CircleShape(1.6f, 1f);
_engine = new Sprite(ContentWrapper.TextureFromShape(circle, "Stripe", _walkerColors[1] * 0.6f, _walkerColors[2] * 0.8f, ContentWrapper.Black, 3f));
_wheel = BodyFactory.CreateBody(world);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _position;
Fixture wheelFixture = _wheel.CreateFixture(circle);
wheelFixture.CollisionGroup = -1;
// Physics
_motorJoint = new RevoluteJoint(_wheel, _chassis, _chassis.Position, true);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400f;
_motorJoint.MotorEnabled = _motorOn;
world.AddJoint(_motorJoint);
Vector2 wheelAnchor = pivot + new Vector2(0f, 0.8f);
CreateLeg(world, -1f, wheelAnchor, 0);
CreateLeg(world, 1f, wheelAnchor, 0);
_wheel.SetTransform(_wheel.Position, 120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 1);
CreateLeg(world, 1f, wheelAnchor, 1);
_wheel.SetTransform(_wheel.Position, -120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 2);
CreateLeg(world, 1f, wheelAnchor, 2);
// GFX
Vector2[] points = {
new Vector2(-5.4f, 6.1f),
new Vector2(-7.2f, 1.2f),
new Vector2(-4.3f, 1.9f),
new Vector2(-2.9f, -0.7f),
new Vector2(0.6f, -2.9f)
};
_leftShoulder = new Sprite(ContentWrapper.PolygonTexture(new[] { Vector2.Zero, points[3], points[4] }, Color.White * 0.6f, ContentWrapper.Black));
_leftShoulder.Origin = ContentWrapper.CalculateOrigin(_leftShoulders[0]);
_leftLeg = new Sprite(ContentWrapper.PolygonTexture(new[] { points[0], points[1], points[2] }, Color.White * 0.6f, ContentWrapper.Black));
_leftLeg.Origin = ContentWrapper.CalculateOrigin(_leftLegs[0]);
for (int i = 0; i < points.Length; i++)
{
points[i].X *= -1f;
}
_rightShoulder = new Sprite(ContentWrapper.PolygonTexture(new[] { Vector2.Zero, points[4], points[3] }, Color.White * 0.6f, ContentWrapper.Black));
_rightShoulder.Origin = ContentWrapper.CalculateOrigin(_rightShoulders[0]);
_rightLeg = new Sprite(ContentWrapper.PolygonTexture(new[] { points[0], points[2], points[1] }, Color.White * 0.6f, ContentWrapper.Black));
_rightLeg.Origin = ContentWrapper.CalculateOrigin(_rightLegs[0]);
}
public Ragdoll(World world, Vector2 position)
{
// Physics
// Head
_head = BodyFactory.CreateCircle(world, 0.75f, 10f);
_head.BodyType = BodyType.Dynamic;
_head.AngularDamping = LimbAngularDamping;
_head.Mass = 2f;
_head.Position = position;
// Torso
_upperBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_upperBody.BodyType = BodyType.Dynamic;
_upperBody.Mass = 1f;
_upperBody.SetTransform(position + new Vector2(0f, 1.75f), MathHelper.Pi / 2f);
_middleBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_middleBody.BodyType = BodyType.Dynamic;
_middleBody.Mass = 1f;
_middleBody.SetTransform(position + new Vector2(0f, 3f), MathHelper.Pi / 2f);
_lowerBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_lowerBody.BodyType = BodyType.Dynamic;
_lowerBody.Mass = 1f;
_lowerBody.SetTransform(position + new Vector2(0f, 4.25f), MathHelper.Pi / 2f);
// Left Arm
_lowerLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerLeftArm.BodyType = BodyType.Dynamic;
_lowerLeftArm.AngularDamping = LimbAngularDamping;
_lowerLeftArm.Mass = 2f;
_lowerLeftArm.Rotation = 1.4f;
_lowerLeftArm.Position = position + new Vector2(-4f, 2.2f);
_upperLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperLeftArm.BodyType = BodyType.Dynamic;
_upperLeftArm.AngularDamping = LimbAngularDamping;
_upperLeftArm.Mass = 2f;
_upperLeftArm.Rotation = 1.4f;
_upperLeftArm.Position = position + new Vector2(-2f, 1.8f);
// Right Arm
_lowerRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerRightArm.BodyType = BodyType.Dynamic;
_lowerRightArm.AngularDamping = LimbAngularDamping;
_lowerRightArm.Mass = 2f;
_lowerRightArm.Rotation = -1.4f;
_lowerRightArm.Position = position + new Vector2(4f, 2.2f);
_upperRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperRightArm.BodyType = BodyType.Dynamic;
_upperRightArm.AngularDamping = LimbAngularDamping;
_upperRightArm.Mass = 2f;
_upperRightArm.Rotation = -1.4f;
_upperRightArm.Position = position + new Vector2(2f, 1.8f);
// Left Leg
_lowerLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerLeftLeg.BodyType = BodyType.Dynamic;
_lowerLeftLeg.AngularDamping = LimbAngularDamping;
_lowerLeftLeg.Mass = 2f;
_lowerLeftLeg.Position = position + new Vector2(-0.6f, 8f);
_upperLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperLeftLeg.BodyType = BodyType.Dynamic;
_upperLeftLeg.AngularDamping = LimbAngularDamping;
_upperLeftLeg.Mass = 2f;
_upperLeftLeg.Position = position + new Vector2(-0.6f, 6f);
// Right Leg
_lowerRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerRightLeg.BodyType = BodyType.Dynamic;
_lowerRightLeg.AngularDamping = LimbAngularDamping;
_lowerRightLeg.Mass = 2f;
_lowerRightLeg.Position = position + new Vector2(0.6f, 8f);
_upperRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperRightLeg.BodyType = BodyType.Dynamic;
_upperRightLeg.AngularDamping = LimbAngularDamping;
_upperRightLeg.Mass = 2f;
_upperRightLeg.Position = position + new Vector2(0.6f, 6f);
// head -> upper body
DistanceJoint jointHeadBody = new DistanceJoint(_head, _upperBody, new Vector2(0f, 1f), new Vector2(-0.75f, 0f));
jointHeadBody.CollideConnected = true;
jointHeadBody.DampingRatio = DampingRatio;
jointHeadBody.Frequency = Frequency;
jointHeadBody.Length = 0.025f;
world.AddJoint(jointHeadBody);
// lowerLeftArm -> upperLeftArm
DistanceJoint jointLeftArm = new DistanceJoint(_lowerLeftArm, _upperLeftArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
jointLeftArm.CollideConnected = true;
jointLeftArm.DampingRatio = DampingRatio;
jointLeftArm.Frequency = Frequency;
jointLeftArm.Length = 0.02f;
world.AddJoint(jointLeftArm);
// upperLeftArm -> upper body
DistanceJoint jointLeftArmBody = new DistanceJoint(_upperLeftArm, _upperBody, new Vector2(0f, -1f), new Vector2(-0.15f, 1f));
jointLeftArmBody.DampingRatio = DampingRatio;
jointLeftArmBody.Frequency = Frequency;
jointLeftArmBody.Length = 0.02f;
world.AddJoint(jointLeftArmBody);
// lowerRightArm -> upperRightArm
DistanceJoint jointRightArm = new DistanceJoint(_lowerRightArm, _upperRightArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
jointRightArm.CollideConnected = true;
jointRightArm.DampingRatio = DampingRatio;
jointRightArm.Frequency = Frequency;
jointRightArm.Length = 0.02f;
world.AddJoint(jointRightArm);
// upperRightArm -> upper body
DistanceJoint jointRightArmBody = new DistanceJoint(_upperRightArm, _upperBody, new Vector2(0f, -1f), new Vector2(-0.15f, -1f));
jointRightArmBody.DampingRatio = DampingRatio;
jointRightArmBody.Frequency = 25;
jointRightArmBody.Length = 0.02f;
world.AddJoint(jointRightArmBody);
// lowerLeftLeg -> upperLeftLeg
DistanceJoint jointLeftLeg = new DistanceJoint(_lowerLeftLeg, _upperLeftLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
jointLeftLeg.CollideConnected = true;
jointLeftLeg.DampingRatio = DampingRatio;
jointLeftLeg.Frequency = Frequency;
jointLeftLeg.Length = 0.05f;
world.AddJoint(jointLeftLeg);
// upperLeftLeg -> lower body
DistanceJoint jointLeftLegBody = new DistanceJoint(_upperLeftLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, 0.8f));
jointLeftLegBody.CollideConnected = true;
jointLeftLegBody.DampingRatio = DampingRatio;
jointLeftLegBody.Frequency = Frequency;
jointLeftLegBody.Length = 0.02f;
world.AddJoint(jointLeftLegBody);
// lowerRightleg -> upperRightleg
DistanceJoint jointRightLeg = new DistanceJoint(_lowerRightLeg, _upperRightLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
jointRightLeg.CollideConnected = true;
jointRightLeg.DampingRatio = DampingRatio;
jointRightLeg.Frequency = Frequency;
jointRightLeg.Length = 0.05f;
world.AddJoint(jointRightLeg);
// upperRightleg -> lower body
DistanceJoint jointRightLegBody = new DistanceJoint(_upperRightLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, -0.8f));
jointRightLegBody.CollideConnected = true;
jointRightLegBody.DampingRatio = DampingRatio;
jointRightLegBody.Frequency = Frequency;
jointRightLegBody.Length = 0.02f;
world.AddJoint(jointRightLegBody);
// upper body -> middle body
RevoluteJoint jointUpperTorso = new RevoluteJoint(_upperBody, _middleBody, _upperBody.Position + new Vector2(0f, 0.625f), true);
jointUpperTorso.LimitEnabled = true;
jointUpperTorso.SetLimits(-MathHelper.Pi / 16f, MathHelper.Pi / 16f);
world.AddJoint(jointUpperTorso);
// middle body -> lower body
RevoluteJoint jointLowerTorso = new RevoluteJoint(_middleBody, _lowerBody, _middleBody.Position + new Vector2(0f, 0.625f), true);
jointLowerTorso.LimitEnabled = true;
jointLowerTorso.SetLimits(-MathHelper.Pi / 8f, MathHelper.Pi / 8f);
world.AddJoint(jointLowerTorso);
// GFX
_face = new Sprite(ContentWrapper.CircleTexture(0.75f, "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Grey, 1f));
_torso = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateRoundedRectangle(1.5f, 2f, 0.75f, 0.75f, 2), "Stripe", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 2.0f));
_upperLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateCapsule(1.9f, 0.45f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f));
_lowerLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateCapsule(2f, 0.5f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f));
}
protected void SetPhysicalState(object nState)
{
List<Body> mOldBodies = mBodies;
if (mSpriteEffects == SpriteEffects.FlipHorizontally)
{
mBodies = mBodiesLeft;
}
else
{
mBodies = mBodiesRight;
}
//If mBody == null, the player is being loaded for the first time
if (mBody == null)
{
mBody = mBodies[mStates.IndexOf(nState)];
mBody.Enabled = true;
//mBody.Awake = true;
//mBody.IgnoreGravity = false;
//mBody.CollidesWith = Category.All;
//mBody.Positi = mStartPos;
mBody.IgnoreGravity = false;
mBody.CollisionCategories = Category.Cat1;
mBody.CollidesWith = Category.All & ~Category.Cat2;
mBody.CollisionGroup = -1;
}
else
{
//Set new body
mBody = mBodies[mStates.IndexOf(nState)];
//Disable old body
mOldBodies[mStates.IndexOf(mState)].CollisionCategories = Category.Cat2;
mOldBodies[mStates.IndexOf(mState)].CollidesWith = Category.None;
mOldBodies[mStates.IndexOf(mState)].CollisionGroup = -2;
//Enable new body
mBody.IgnoreGravity = false;
mBody.CollisionCategories = Category.Cat1;
mBody.CollidesWith = Category.All & ~Category.Cat2;
mBody.CollisionGroup = -1;
//Copy properties to new body
mBody.SetTransform(mOldBodies[mStates.IndexOf(mState)].Position, mOldBodies[mStates.IndexOf(mState)].Rotation);
mBody.LinearVelocity = mOldBodies[mStates.IndexOf(mState)].LinearVelocity;
mBody.AngularVelocity = mOldBodies[mStates.IndexOf(mState)].AngularVelocity;
}
}
protected void ConstructGenericMan()
{
#region Torso
//Torso
Vector2 size = new Vector2(20f / PPM, 36f / PPM);
torso = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
torso.UserData = new PhysicalData(size, this, medColor);
torso.Position = position / PPM;
torso.FixedRotation = true;
torso.BodyType = BodyType.Dynamic;
torso.Restitution = 0.2f;
torso.Friction = 0.2f;
torso.SleepingAllowed = false;
torso.CollisionCategories = Category.Cat2;
torso.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//FixtureFactory.AttachRectangle(20f / PPM, 20f / PPM, 5f, new Vector2(0f, -20f), torso);
#endregion
#region Head
//Head
size = new Vector2(26f / PPM, 26f / PPM);
head = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
head.UserData = new PhysicalData(size, this, medColor);
head.Position = (position + new Vector2(0f, -38f)) / PPM;
head.BodyType = BodyType.Dynamic;
head.Restitution = 0.2f;
head.Friction = 0.2f;
head.AngularDamping = 1.2f;
head.SetTransform(head.Position, 0.1f);
head.SleepingAllowed = false;
head.CollisionCategories = Category.Cat2;
head.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//Join head to body
neck = JointFactory.CreateRevoluteJoint(world, torso, head, new Vector2(0f, 0f));
#endregion
#region Arms
#region Right Arm
//Right Arm
size = new Vector2(15f / PPM, 25f / PPM);
rArm = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
rArm.UserData = new PhysicalData(size, this, color);
rArm.Position = (position + new Vector2(0f, -6f)) / PPM;
rArm.BodyType = BodyType.Dynamic;
rArm.Restitution = 0.2f;
rArm.Friction = 0.2f;
rArm.SleepingAllowed = false;
rArm.CollisionCategories = Category.Cat2;
rArm.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//Join right arm to body
//JointFactory.CreateRevoluteJoint(world, torso, rArm, new Vector2(0f, -4f / PPM));
rShoulder = new RevoluteJoint(torso, rArm, new Vector2(0f / PPM, -15f / PPM), new Vector2(0f / PPM, -10f / PPM));
//rShoulder.LowerLimit = -(float)Math.PI / 1.5f;
//rShoulder.UpperLimit = (float)Math.PI / 3f;
//rShoulder.LimitEnabled = true;
rShoulder.MotorEnabled = true;
rShoulder.MaxMotorTorque = JOINT_MAX_TORQUE;
rShoulder.MotorSpeed = 0;
world.AddJoint(rShoulder);
//Right Forearm
size = new Vector2(18f / PPM, 30f / PPM);
rForearm = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
rForearm.UserData = new PhysicalData(size, this, color);
rForearm.Position = (position + new Vector2(0f, 4f)) / PPM;
rForearm.BodyType = BodyType.Dynamic;
rForearm.Restitution = 0.2f;
rForearm.Friction = 0.2f;
rForearm.AngularDamping = 0.8f;
rForearm.SleepingAllowed = false;
rForearm.CollisionCategories = Category.Cat2;
rForearm.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//Join right forearm to right arm
//JointFactory.CreateRevoluteJoint(world, rArm, rForearm, new Vector2(0f, 4f / PPM));
rElbow = new RevoluteJoint(rArm, rForearm, new Vector2(0f / PPM, 15f / PPM), new Vector2(0f / PPM, -10f / PPM));
//rElbow.LowerLimit = -(float)Math.PI / 1.5f;
//rElbow.UpperLimit = (float)Math.PI / 3f;
//rElbow.LimitEnabled = true;
rElbow.MotorEnabled = true;
rElbow.MaxMotorTorque = JOINT_MAX_TORQUE;
rElbow.MotorSpeed = 0;
world.AddJoint(rElbow);
#endregion
#region Left Arm
//Left Arm
size = new Vector2(15f / PPM, 25f / PPM);
lArm = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
lArm.UserData = new PhysicalData(size, this, darkColor);
lArm.Position = (position + new Vector2(0f, -6f)) / PPM;
lArm.BodyType = BodyType.Dynamic;
lArm.Restitution = 0.2f;
lArm.Friction = 0.2f;
lArm.SleepingAllowed = false;
lArm.CollisionCategories = Category.Cat2;
lArm.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//Join Left arm to body
//JointFactory.CreateRevoluteJoint(world, torso, lArm, new Vector2(0f, -4f / PPM));
lShoulder = new RevoluteJoint(torso, lArm, new Vector2(0f / PPM, -15f / PPM), new Vector2(0f / PPM, -10f / PPM));
//lShoulder.LowerLimit = -(float)Math.PI / 1.5f;
//lShoulder.UpperLimit = (float)Math.PI / 3f;
//lShoulder.LimitEnabled = true;
lShoulder.MotorEnabled = true;
lShoulder.MaxMotorTorque = JOINT_MAX_TORQUE;
lShoulder.MotorSpeed = 0;
world.AddJoint(lShoulder);
//Left Forearm
size = new Vector2(18f / PPM, 30f / PPM);
lForearm = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
lForearm.UserData = new PhysicalData(size, this, darkColor);
lForearm.Position = (position + new Vector2(0f, 4f)) / PPM;
lForearm.BodyType = BodyType.Dynamic;
lForearm.Restitution = 0.2f;
lForearm.Friction = 0.2f;
lForearm.AngularDamping = 0.8f;
lForearm.SleepingAllowed = false;
lForearm.CollisionCategories = Category.Cat2;
lForearm.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//Join Left forearm to Left arm
//JointFactory.CreateRevoluteJoint(world, lArm, lForearm, new Vector2(0f, 4f / PPM));
lElbow = new RevoluteJoint(lArm, lForearm, new Vector2(0f / PPM, 15f / PPM), new Vector2(0f / PPM, -10f / PPM));
//lElbow.LowerLimit = -(float)Math.PI / 1.5f;
//lElbow.UpperLimit = (float)Math.PI / 3f;
//lElbow.LimitEnabled = true;
lElbow.MotorEnabled = true;
lElbow.MaxMotorTorque = JOINT_MAX_TORQUE;
lElbow.MotorSpeed = 0;
world.AddJoint(lElbow);
#endregion
#endregion
#region Legs
#region Right Leg
//Right Thigh
size = new Vector2(15f / PPM, 30f / PPM);
rThigh = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
rThigh.UserData = new PhysicalData(size, this, medColor);
rThigh.Position = (position + new Vector2(30f, 45f)) / PPM;
rThigh.BodyType = BodyType.Dynamic;
rThigh.Restitution = 0.2f;
rThigh.Friction = 0.2f;
rThigh.SleepingAllowed = false;
rThigh.CollisionCategories = Category.Cat2;
rThigh.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//Join right Thigh to body
//JointFactory.CreateRevoluteJoint(world, torso, rThigh, new Vector2(0f, -10f / PPM));
rHip = new RevoluteJoint(torso, rThigh, new Vector2(0f / PPM, 20f / PPM), new Vector2(0f / PPM, -10f / PPM));
//rHip.LowerLimit = -(float)Math.PI / 1.5f;
//rHip.UpperLimit = (float)Math.PI / 3f;
//rHip.LimitEnabled = true;
rHip.MotorEnabled = true;
rHip.MaxMotorTorque = JOINT_MAX_TORQUE;
rHip.MotorSpeed = 0;
world.AddJoint(rHip);
//Right Leg
size = new Vector2(25f / PPM, 35f / PPM);
rLeg = BodyFactory.CreateRectangle(world, 25f / PPM, 35f / PPM, 10f);
rLeg.UserData = new PhysicalData(size, this, medColor);
rLeg.Position = (position + new Vector2(0f, 16f)) / PPM;
rLeg.BodyType = BodyType.Dynamic;
rLeg.Restitution = 0.2f;
rLeg.Friction = 0.8f;
rLeg.AngularDamping = 0.8f;
rLeg.SleepingAllowed = false;
rLeg.CollisionCategories = Category.Cat2;
rLeg.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
rLeg.OnCollision += CharacterCollision;
//Join right Leg to right thigh
//JointFactory.CreateRevoluteJoint(world, rThigh, rLeg, new Vector2(0f, 20f / PPM));
rKnee = new RevoluteJoint(rThigh, rLeg, new Vector2(0f / PPM, 15f / PPM));
//rKnee.LowerLimit = -(float)Math.PI;
//rKnee.UpperLimit = -(float)Math.PI / 3f;
//rKnee.LimitEnabled = true;
rKnee.MotorEnabled = true;
rKnee.MaxMotorTorque = JOINT_MAX_TORQUE;
rKnee.MotorSpeed = 0;
world.AddJoint(rKnee);
#endregion
#region Left Leg
//Left Thigh
size = new Vector2(15f / PPM, 30f / PPM);
lThigh = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
lThigh.UserData = new PhysicalData(size, this, darkColor);
lThigh.Position = (position + new Vector2(30f, 45f)) / PPM;
lThigh.BodyType = BodyType.Dynamic;
lThigh.Restitution = 0.2f;
lThigh.Friction = 0.2f;
lThigh.SleepingAllowed = false;
lThigh.CollisionCategories = Category.Cat2;
lThigh.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
//Join Left Thigh to body
//JointFactory.CreateRevoluteJoint(world, torso, rThigh, new Vector2(0f, -10f / PPM));
lHip = new RevoluteJoint(torso, lThigh, new Vector2(0f / PPM, 20f / PPM), new Vector2(0f / PPM, -10f / PPM));
//lHip.LowerLimit = -(float)Math.PI / 1.5f;
//lHip.UpperLimit = (float)Math.PI / 3f;
//lHip.LimitEnabled = true;
lHip.MotorEnabled = true;
lHip.MaxMotorTorque = JOINT_MAX_TORQUE;
lHip.MotorSpeed = 0;
world.AddJoint(lHip);
//Left Leg
size = new Vector2(25f / PPM, 35f / PPM);
lLeg = BodyFactory.CreateRectangle(world, size.X, size.Y, 10f);
lLeg.UserData = new PhysicalData(size, this, darkColor);
lLeg.Position = (position + new Vector2(0f, 16f)) / PPM;
lLeg.BodyType = BodyType.Dynamic;
lLeg.Restitution = 0.2f;
lLeg.Friction = 0.8f;
lLeg.AngularDamping = 0.8f;
lLeg.SleepingAllowed = false;
lLeg.CollisionCategories = Category.Cat2;
lLeg.CollidesWith = Category.Cat1 | Category.Cat3 | Category.Cat5;
lLeg.OnCollision += CharacterCollision;
//Join right Leg to right thigh
//JointFactory.CreateRevoluteJoint(world, rThigh, rLeg, new Vector2(0f, 20f / PPM));
lKnee = new RevoluteJoint(lThigh, lLeg, new Vector2(0f / PPM, 15f / PPM));
//lKnee.LowerLimit = -(float)Math.PI;
//lKnee.UpperLimit = -(float)Math.PI / 3f;
//lKnee.LimitEnabled = true;
lKnee.MotorEnabled = true;
lKnee.MaxMotorTorque = JOINT_MAX_TORQUE;
lKnee.MotorSpeed = 0;
world.AddJoint(lKnee);
#endregion
#endregion
#region Add to Display List
//Add all body parts to parts list
bodyParts.Add(lForearm);
bodyParts.Add(lArm);
bodyParts.Add(lLeg);
bodyParts.Add(lThigh);
bodyParts.Add(torso);
bodyParts.Add(head);
bodyParts.Add(rThigh);
bodyParts.Add(rLeg);
bodyParts.Add(rArm);
bodyParts.Add(rForearm);
//Add all joints to joints list
joints.Add(neck);
joints.Add(rShoulder);
joints.Add(lShoulder);
joints.Add(rElbow);
joints.Add(lElbow);
joints.Add(rHip);
joints.Add(lHip);
joints.Add(rKnee);
joints.Add(lKnee);
#endregion
}
public static void SetTransform(Body body, Transform2 transform)
{
body.SetTransform((Xna.Vector2)transform.Position, transform.Rotation);
}