// Use this for initialization
protected override void Init()
{
var ground = API.CreateBody(world, new Vector2(0,0), 0, BodyType.STATIC_BODY );
BodyDef bd = new BodyDef(BodyType.DYNAMIC_BODY);
bd.allowSleep = false;
bd.position = new Vector2(0,10);
m_body = API.CreateBody(world, bd);
API.AddBoxShape(m_body,0.5f,10.0f,new Vector2(10.0f,0),0,new ShapeDef(5.0f));
API.AddBoxShape(m_body,0.5f,10.0f,new Vector2(-10.0f,0),0,new ShapeDef(5.0f));
API.AddBoxShape(m_body,10.0f,0.5f,new Vector2(0,10),0,new ShapeDef(5.0f));
API.AddBoxShape(m_body,10.0f,0.5f,new Vector2(0,-10),0,new ShapeDef(5.0f));
RevoluteJointDef rjd = new RevoluteJointDef(IntPtr.Zero, IntPtr.Zero);
rjd.bodyA = ground;
rjd.bodyB = m_body;
rjd.localAnchorA = new Vector2(0,10);
rjd.localAnchorB = Vector2.zero;
rjd.referenceAngle = 0;
rjd.motorSpeed = 0.05f * Mathf.PI;
rjd.maxMotorTorque = 1e8f;
rjd.enableMotor = true;
API.CreateRevoluteJoint(world, rjd);
}
public void Start()
{
if (!started)
{
started = true;
BodyDef def = new BodyDef( type );
def.position = transform.position;
def.angle = transform.localEulerAngles.z*Mathf.Deg2Rad;
def.linearVelocity = linearVelocity;
def.angularVelocity = angularVelocity;
def.linearDamping = linearDamping;
def.angularDamping = angularDamping;
def.allowSleep = allowSleep;
def.awake = awake;
def.fixedRotation = fixedRotation;
def.bullet = bullet;
def.active = active;
def.userData = 0;
def.gravityScale = gravityScale;
body = API.CreateBody(B2DWorld.instance.world, def);
}
}
public static IntPtr CreateBody( IntPtr w, Vector2 pos, float angle, BodyType type)
{
BodyDef bd = new BodyDef(type);
bd.position = pos;
bd.angle = angle;
return CreateBody(w,bd);
}
public static extern IntPtr CreateBody( IntPtr w, BodyDef def);
// Use this for initialization
protected override void Init()
{
API.SetGravity(world,Vector2.zero);
var ground = API.CreateBody(world, new Vector2(0,20), 0, BodyType.STATIC_BODY );
ShapeDef sp = new ShapeDef(0);
sp.restitution = 0.4f;
API.AddEdgeShape(ground, new Vector2(-20,-20), new Vector2(-20,20), sp);
API.AddEdgeShape(ground, new Vector2(20,-20), new Vector2(20,20), sp);
API.AddEdgeShape(ground, new Vector2(-20,20), new Vector2(20,20), sp);
API.AddEdgeShape(ground, new Vector2(-20,-20), new Vector2(20,-20), sp);
BodyDef bd = new BodyDef(BodyType.DYNAMIC_BODY);
bd.allowSleep = false;
bd.angle = 3.14159265359f;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0,2);
m_body = API.CreateBody(world,bd);
sp.restitution = 0.0f;
sp.density = 4.0f;
b2Transform xf1 = new b2Transform();
xf1.q = new b2Rot(0.3524f * Mathf.PI);
xf1.p = xf1.q.GetXAxis();
Vector2[] vertices = new Vector2[3];
vertices[0] = b2Math.b2Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf1, new Vector2(0.0f, 0.5f));
API.AddPolygonShape(m_body, vertices, vertices.Length, sp);
sp.density = 2.0f;
xf1.q = new b2Rot(-0.3524f * Mathf.PI);
xf1.p = -xf1.q.GetXAxis();
vertices[0] = b2Math.b2Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf1, new Vector2(0.0f, 0.5f));
API.AddPolygonShape(m_body, vertices, vertices.Length, sp);
sp.density = 1.0f;
sp.friction = 0.3f;
float gravity = 10;
FrictionJointDef jd = new FrictionJointDef();
for(int i=0; i<10; ++i)
{
var b = API.CreateBody(world, new Vector2(0,5.0f+1.54f*i), 0, BodyType.DYNAMIC_BODY );
API.AddBoxShape(b, 0.5f, 0.5f, Vector2.zero, 0, sp);
float I = API.GetInertia(b);
float mass = API.GetMass(b);
float radius = Mathf.Sqrt(2.0f*I/mass);
jd.bodyA = ground;
jd.bodyB = b;
jd.collideConnected = true;
jd.maxForce = mass*gravity;
jd.maxTorque = mass*radius*gravity;
API.CreateFrictionJoint(world,jd);
}
}
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
ShapeDef sp = new ShapeDef(1.0f);
sp.groupIndex = -1;
Vector2[] vertices1 = new Vector2[3];
Vector2[] vertices2 = new Vector2[3];
if( s > 0.0f )
{
vertices1[0] = p1;
vertices1[1] = p2;
vertices1[2] = p3;
vertices2[0] = Vector2.zero;
vertices2[1] = p5-p4;
vertices2[2] = p6-p4;
}
else
{
vertices1[0] = p1;
vertices1[1] = p3;
vertices1[2] = p2;
vertices2[0] = Vector2.zero;
vertices2[1] = p6-p4;
vertices2[2] = p5-p4;
}
BodyDef bd1 = new BodyDef(BodyType.DYNAMIC_BODY);
BodyDef bd2 = new BodyDef(BodyType.DYNAMIC_BODY);
bd1.position = m_offset;
bd2.position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
var body1 = API.CreateBody(world,bd1);
var body2 = API.CreateBody(world,bd2);
API.AddPolygonShape(body1, vertices1,vertices1.Length,sp);
API.AddPolygonShape(body2, vertices2,vertices2.Length,sp);
DistanceJointDef djd = new DistanceJointDef();
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1,body2,p2+m_offset, p5+m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd );
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis,p4+m_offset);
API.CreateRevoluteJoint(world,rjd);
}
