public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
{
WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);
world.addJoint(joint);
return(joint);
}
public override void InitJoint()
{
base.InitJoint();
//B tekerlek
//A araba
//jesus %99 em-in
Vector3 p0 = BodyB.transform.TransformPoint(new Vector3(LocalAnchorB.x, LocalAnchorB.y, -5f));
joint = JointFactory.CreateWheelJoint(FSWorldComponent.PhysicsWorld,
BodyA.PhysicsBody,
BodyB.PhysicsBody,
BodyB.PhysicsBody.GetLocalPoint(FSHelper.Vector3ToFVector2(p0)),
FSHelper.Vector2ToFVector2(axis));
//UnitY ile yanlış yapıyor olabilirim
joint.MaxMotorTorque = MaxMotorTorque;
joint.MotorEnabled = MotorEnabled;
joint.MotorSpeed = MotorSpeed;
joint.SpringDampingRatio = springDampingRatio;
joint.SpringFrequencyHz = springFrequency;
joint.CollideConnected = false;
//
}
/// <summary>
/// Creates a Wheel Joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 localanchorB, Vector2 axis)
{
WheelJoint joint = CreateWheelJoint(bodyA, bodyB, localanchorB, axis);
world.AddJoint(joint);
return(joint);
}
private WheelJointTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(0.5f, 2.0f);
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 7.0f);
body.CreateFixture(shape);
Vector2 axis = new Vector2(-1000.0f, -2.0f);
axis.Normalize();
WheelJoint jd = new WheelJoint(ground, body, new Vector2(0, 8.5f), axis);
jd.MotorSpeed = 1.0f;
jd.MaxMotorTorque = 1000.0f;
jd.MotorEnabled = true;
jd.SpringFrequencyHz = 1.0f;
jd.SpringDampingRatio = 0.2f;
World.AddJoint(jd);
PolygonShape shape2 = new PolygonShape(1);
shape2.SetAsBox(0.5f, 2.0f);
Body body2 = BodyFactory.CreatePolygon(World, shape2.Vertices, 0.5f);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, 7.0f);
}
}
public override Joint CreateJoint()
{
var joint = new WheelJoint(BodyA, BodyB, Anchor * FSConvert.DisplayToSim, Axis);
joint.CollideConnected = CollideConnected;
joint.Axis = Axis;
joint.MotorEnabled = MotorEnabled;
joint.MotorSpeed = MotorSpeed;
joint.MaxMotorTorque = MaxMotorTorque;
joint.Frequency = Frequency;
joint.DampingRatio = DampingRatio;
return(joint);
}
public override Joint createJoint()
{
var joint = new WheelJoint(bodyA, bodyB, anchor * FSConvert.displayToSim, axis);
joint.collideConnected = collideConnected;
joint.axis = axis;
joint.motorEnabled = motorEnabled;
joint.motorSpeed = motorSpeed;
joint.maxMotorTorque = maxMotorTorque;
joint.frequency = frequency;
joint.dampingRatio = dampingRatio;
return(joint);
}
public Car(World world, Genom.Genom genom)
{
chassis = new Chassis(world, genom.chassis.vertices, genom.chassis.density);
chassis.body.Position = new Vector2(2.5f, -1.0f);
chassis.body.Mass = 2f;
chassis.body.Friction = 10f;
max_x = chassis.body.Position.X;
Utils util = new Utils();
wheel_1 = new Wheel(world, genom.wheel_1.vertex, genom.wheel_1.radius, genom.wheel_1.density);
wheel_1.body.Mass = 0.5f;
wheel_1.body.Position = new Vector2(
(float)util.lengthdir_x(genom.chassis.vertices[genom.wheel_1.vertex], genom.wheel_1.vertex * 45),
(float)util.lengthdir_y(genom.chassis.vertices[genom.wheel_1.vertex], genom.wheel_1.vertex * 45)
) + chassis.body.Position;
wheel_2 = new Wheel(world, genom.wheel_2.vertex, genom.wheel_2.radius, genom.wheel_2.density);
wheel_2.body.Mass = 0.5f;
wheel_2.body.Position = new Vector2(
(float)util.lengthdir_x(genom.chassis.vertices[genom.wheel_2.vertex], genom.wheel_2.vertex * 45),
(float)util.lengthdir_y(genom.chassis.vertices[genom.wheel_2.vertex], genom.wheel_2.vertex * 45)
) + chassis.body.Position;
Vector2 axis = new Vector2(0.0f, 1.0f);
WheelJoint spring_1;
spring_1 = new WheelJoint(chassis.body, wheel_1.body, wheel_1.body.Position, axis, true);
spring_1.MotorSpeed = 20f;
spring_1.MaxMotorTorque = 50f;
spring_1.MotorEnabled = true;
spring_1.Frequency = 10f;
spring_1.DampingRatio = 1f;
world.AddJoint(spring_1);
WheelJoint spring_2;
spring_2 = new WheelJoint(chassis.body, wheel_2.body, wheel_2.body.Position, axis, true);
spring_2.MotorSpeed = 20.0f;
spring_2.MaxMotorTorque = 50f;
spring_2.MotorEnabled = true;
spring_2.Frequency = 10f;
spring_2.DampingRatio = 1f;
world.AddJoint(spring_2);
this.genom = genom;
}
public WheelJointTestBase()
{
Body ground = null;
{
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);
}
EnableLimit = true;
EnableMotor = false;
MotorSpeed = 10.0f;
{
CircleShape shape = new CircleShape();
shape.Radius = 2.0f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 10.0f);
bd.AllowSleep = false;
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
var mass = body.Mass;
var hertz = 1.0f;
var dampingRatio = 0.7f;
var omega = 2.0f * Settings.Pi * hertz;
var jd = new WheelJointDef();
// Horizontal
jd.Initialize(ground, body, bd.Position, new Vector2(0.0f, 1.0f));
jd.MotorSpeed = MotorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = EnableMotor;
jd.Stiffness = mass * omega * omega;
jd.Damping = 2.0f * mass * dampingRatio * omega;
jd.LowerTranslation = -3.0f;
jd.UpperTranslation = 3.0f;
jd.EnableLimit = EnableLimit;
Joint = (WheelJoint)World.CreateJoint(jd);
}
}
private WheelJointTest()
{
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.AddFixture(shape);
}
_enableLimit = true;
_enableMotor = false;
_motorSpeed = 10.0f;
{
CircleShape shape = new CircleShape(5.0f);
shape.Radius = 2.0f;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 10.0f);
bd.AllowSleep = false;
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(shape);
WheelJointDef jd = new WheelJointDef();
// Horizontal
jd.Initialize(ground, body, bd.Position, new Vector2(0.0f, 1.0f));
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 10000.0f;
jd.EnableMotor = _enableMotor;
jd.LowerTranslation = -3.0f;
jd.UpperTranslation = 3.0f;
jd.EnableLimit = _enableLimit;
float hertz = 1.0f;
float dampingRatio = 0.7f;
JointHelper.LinearStiffness(hertz, dampingRatio, ground, body, out float stiffness, out float damping);
jd.Stiffness = stiffness;
jd.Damping = damping;
_joint = (WheelJoint)JointFactory.CreateFromDef(World, jd);
}
}
public override Joint CreateJoint()
{
WheelJoint joint = new WheelJoint(BodyA, BodyB, Anchor * FSConvert.DisplayToSim, Axis)
{
CollideConnected = CollideConnected,
Axis = Axis,
MotorEnabled = MotorEnabled,
MotorSpeed = MotorSpeed,
MaxMotorTorque = MaxMotorTorque,
Frequency = Frequency,
DampingRatio = DampingRatio
};
return(joint);
}
private SerializationTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20, 0), new Vector2(20, 0));
//Friction and distance joint
{
Body bodyA = BodyFactory.CreateCircle(World, 1, 1.5f, new Vector2(10, 25));
bodyA.BodyType = BodyType.Dynamic;
Body bodyB = BodyFactory.CreateRectangle(World, 1, 1, 1, new Vector2(-1, 25));
bodyB.BodyType = BodyType.Dynamic;
FrictionJoint frictionJoint = JointFactory.CreateFrictionJoint(World, bodyB, ground, Vector2.Zero);
frictionJoint.CollideConnected = true;
frictionJoint.MaxForce = 100;
JointFactory.CreateDistanceJoint(World, bodyA, bodyB);
}
//Wheel joint
{
Vertices vertices = new Vertices(6);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
Body carBody = BodyFactory.CreatePolygon(World, vertices, 1, new Vector2(0, 1));
carBody.BodyType = BodyType.Dynamic;
Body wheel1 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(-1.0f, 0.35f));
wheel1.BodyType = BodyType.Dynamic;
wheel1.Friction = 0.9f;
Body wheel2 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(1.0f, 0.4f));
wheel2.BodyType = BodyType.Dynamic;
wheel2.Friction = 0.9f;
Vector2 axis = new Vector2(0.0f, 1.0f);
WheelJoint spring1 = JointFactory.CreateWheelJoint(World, carBody, wheel1, axis);
spring1.MotorSpeed = 0.0f;
spring1.MaxMotorTorque = 20.0f;
spring1.MotorEnabled = true;
spring1.Frequency = 4;
spring1.DampingRatio = 0.7f;
WheelJoint spring2 = JointFactory.CreateWheelJoint(World, carBody, wheel2, axis);
spring2.MotorSpeed = 0.0f;
spring2.MaxMotorTorque = 10.0f;
spring2.MotorEnabled = false;
spring2.Frequency = 4;
spring2.DampingRatio = 0.7f;
}
//Prismatic joint
{
Body body = BodyFactory.CreateRectangle(World, 2, 2, 5, new Vector2(-10.0f, 10.0f));
body.BodyType = BodyType.Dynamic;
body.Rotation = 0.5f * Settings.Pi;
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
PrismaticJoint joint = JointFactory.CreatePrismaticJoint(World, ground, body, Vector2.Zero, axis);
joint.MotorSpeed = 5.0f;
joint.MaxMotorForce = 1000.0f;
joint.MotorEnabled = true;
joint.LowerLimit = -10.0f;
joint.UpperLimit = 20.0f;
joint.LimitEnabled = true;
}
// Pulley joint
{
Body body1 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(-10.0f, 16.0f));
body1.BodyType = BodyType.Dynamic;
Body body2 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(10.0f, 16.0f));
body2.BodyType = BodyType.Dynamic;
Vector2 anchor1 = new Vector2(-10.0f, 16.0f + 2.0f);
Vector2 anchor2 = new Vector2(10.0f, 16.0f + 2.0f);
Vector2 worldAnchor1 = new Vector2(-10.0f, 16.0f + 2.0f + 12.0f);
Vector2 worldAnchor2 = new Vector2(10.0f, 16.0f + 2.0f + 12.0f);
JointFactory.CreatePulleyJoint(World, body1, body2, anchor1, anchor2, worldAnchor1, worldAnchor2, 1.5f, true);
}
//Revolute joint
{
Body ball = BodyFactory.CreateCircle(World, 3.0f, 5.0f, new Vector2(5.0f, 30.0f));
ball.BodyType = BodyType.Dynamic;
Body polygonBody = BodyFactory.CreateRectangle(World, 20, 0.4f, 2, new Vector2(10, 10));
polygonBody.BodyType = BodyType.Dynamic;
polygonBody.IsBullet = true;
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(World, ground, polygonBody, new Vector2(10, 0));
joint.LowerLimit = -0.25f * Settings.Pi;
joint.UpperLimit = 0.0f * Settings.Pi;
joint.LimitEnabled = true;
}
//Weld joint
{
PolygonShape shape = new PolygonShape(PolygonUtils.CreateRectangle(0.5f, 0.125f), 20);
Body prevBody = ground;
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(0.5f, 0);
if (i == 0)
{
anchor = new Vector2(-15f, 5);
}
JointFactory.CreateWeldJoint(World, prevBody, body, anchor, new Vector2(-0.5f, 0));
prevBody = body;
}
}
//Rope joint
{
LinkFactory.CreateChain(World, new Vector2(-10, 10), new Vector2(-20, 10), 0.1f, 0.5f, 10, 0.1f, true);
}
//Angle joint
{
Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
fA.Rotation = (float)(Math.PI / 3);
Body fB = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(5, 4));
fB.BodyType = BodyType.Dynamic;
AngleJoint joint = new AngleJoint(fA, fB);
joint.TargetAngle = (float)Math.PI / 2;
World.AddJoint(joint);
}
//Motor joint
{
Body body = BodyFactory.CreateRectangle(World, 4, 1, 2, new Vector2(0, 35));
body.BodyType = BodyType.Dynamic;
body.Friction = 0.6f;
MotorJoint motorJoint = JointFactory.CreateMotorJoint(World, ground, body);
motorJoint.MaxForce = 1000.0f;
motorJoint.MaxTorque = 1000.0f;
motorJoint.LinearOffset = new Vector2(0, 35);
motorJoint.AngularOffset = (float)(Math.PI / 3f);
}
}
CarTest()
{
_hz = 4.0;
_zeta = 0.7;
_speed = 50.0;
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
{
double[] hs = new[] { 0.25, 1.0, 4.0, 0.0, 0.0, -1.0, -2.0, -2.0, -1.25, 0.0 };
double x = 20.0, y1 = 0.0;
const double dx = 5.0;
for (int i = 0; i < 10; ++i)
{
double y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
double y2 = hs[i];
FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
y1 = y2;
x += dx;
}
FixtureFactory.AttachEdge(new Vector2(x, 0.0), new Vector2(x + 40.0, 0.0), ground);
x += 80.0;
FixtureFactory.AttachEdge(new Vector2(x, 0.0), new Vector2(x + 40.0, 0.0), ground);
x += 40.0;
FixtureFactory.AttachEdge(new Vector2(x, 0.0), new Vector2(x + 10.0, 5.0), ground);
x += 20.0;
FixtureFactory.AttachEdge(new Vector2(x, 0.0), new Vector2(x + 40.0, 0.0), ground);
x += 40.0;
FixtureFactory.AttachEdge(new Vector2(x, 0.0), new Vector2(x, 20.0), ground);
ground.Friction = 0.6f;
}
// Teeter
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(140.0, 1.0);
PolygonShape box = new PolygonShape(1);
box.Vertices = PolygonTools.CreateRectangle(10.0, 0.25);
body.CreateFixture(box);
RevoluteJoint jd = JointFactory.CreateRevoluteJoint(World, ground, body, Vector2.Zero);
jd.LowerLimit = -8.0 * Alt.FarseerPhysics.Settings.Pi / 180.0;
jd.UpperLimit = 8.0 * Alt.FarseerPhysics.Settings.Pi / 180.0;
jd.LimitEnabled = true;
body.ApplyAngularImpulse(100.0);
}
//Bridge
{
const int N = 20;
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(1.0, 0.125);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161.0 + 2.0 * i, -0.125);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6;
Vector2 anchor = new Vector2(-1, 0);
JointFactory.CreateRevoluteJoint(World, prevBody, body, anchor);
prevBody = body;
}
Vector2 anchor2 = new Vector2(1.0, 0);
JointFactory.CreateRevoluteJoint(World, ground, prevBody, anchor2);
}
// Boxes
{
PolygonShape box = new PolygonShape(0.5);
box.Vertices = PolygonTools.CreateRectangle(0.5, 0.5);
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0, 0.5);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0, 1.5);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0, 2.5);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0, 3.5);
body.CreateFixture(box);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0, 4.5);
body.CreateFixture(box);
}
// Car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-1.5, -0.5));
vertices.Add(new Vector2(1.5, -0.5));
vertices.Add(new Vector2(1.5, 0.0));
vertices.Add(new Vector2(0.0, 0.9));
vertices.Add(new Vector2(-1.15, 0.9));
vertices.Add(new Vector2(-1.5, 0.2));
PolygonShape chassis = new PolygonShape(vertices, 1);
CircleShape circle = new CircleShape(0.4, 1);
_car = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0, 1.0);
_car.CreateFixture(chassis);
_wheel1 = new Body(World);
_wheel1.BodyType = BodyType.Dynamic;
_wheel1.Position = new Vector2(-1.0, 0.35);
_wheel1.CreateFixture(circle);
_wheel1.Friction = 0.9;
_wheel2 = new Body(World);
_wheel2.BodyType = BodyType.Dynamic;
_wheel2.Position = new Vector2(1.0, 0.4);
_wheel2.CreateFixture(circle);
_wheel2.Friction = 0.9;
Vector2 axis = new Vector2(0.0, 1.0);
_spring1 = new WheelJoint(_car, _wheel1, _wheel1.Position, axis, true);
_spring1.MotorSpeed = 0.0;
_spring1.MaxMotorTorque = 10;// 20.0;
_spring1.MotorEnabled = true;
_spring1.Frequency = _hz;
_spring1.DampingRatio = _zeta;
World.AddJoint(_spring1);
_spring2 = new WheelJoint(_car, _wheel2, _wheel2.Position, axis, true);
_spring2.MotorSpeed = 0.0;
_spring2.MaxMotorTorque = 10.0;
_spring2.MotorEnabled = false;
_spring2.Frequency = _hz;
_spring2.DampingRatio = _zeta;
World.AddJoint(_spring2);
}
}
private CarTest()
{
_hz = 4.0f;
_zeta = 0.7f;
_speed = 50.0f;
Body ground = World.CreateEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
{
float[] hs = new[] { 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;
const float dx = 5.0f;
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
ground.CreateEdge(new Vector2(x, y1), new Vector2(x + dx, y2));
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
ground.CreateEdge(new Vector2(x, y1), new Vector2(x + dx, y2));
y1 = y2;
x += dx;
}
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
x += 80.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
x += 40.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f));
x += 20.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
x += 40.0f;
ground.CreateEdge(new Vector2(x, 0.0f), new Vector2(x, 20.0f));
ground.SetFriction(0.6f);
}
// Teeter
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(1);
box.Vertices = PolygonTools.CreateRectangle(10.0f, 0.25f);
body.CreateFixture(box);
RevoluteJoint jd = JointFactory.CreateRevoluteJoint(World, ground, body, Vector2.Zero);
jd.LowerLimit = -8.0f * MathHelper.Pi / 180.0f;
jd.UpperLimit = 8.0f * MathHelper.Pi / 180.0f;
jd.LimitEnabled = true;
body.ApplyAngularImpulse(100.0f);
}
//Bridge
{
const int N = 20;
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(1.0f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161.0f + 2.0f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
Vector2 anchor = new Vector2(-1, 0);
JointFactory.CreateRevoluteJoint(World, prevBody, body, anchor);
prevBody = body;
}
Vector2 anchor2 = new Vector2(1.0f, 0);
JointFactory.CreateRevoluteJoint(World, ground, prevBody, anchor2);
}
// Boxes
{
PolygonShape box = new PolygonShape(0.5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 0.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 1.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 2.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 3.5f);
body.CreateFixture(box);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(230.0f, 4.5f);
body.CreateFixture(box);
}
// Car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
PolygonShape chassis = new PolygonShape(vertices, 1);
CircleShape circle = new CircleShape(0.4f, 1);
_car = World.CreateBody();
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheel1 = World.CreateBody();
_wheel1.BodyType = BodyType.Dynamic;
_wheel1.Position = new Vector2(-1.0f, 0.35f);
_wheel1.CreateFixture(circle);
_wheel1.SetFriction(0.9f);
_wheel2 = World.CreateBody();
_wheel2.BodyType = BodyType.Dynamic;
_wheel2.Position = new Vector2(1.0f, 0.4f);
_wheel2.CreateFixture(circle);
_wheel2.SetFriction(0.9f);
Vector2 axis = new Vector2(0.0f, 1.0f);
_spring1 = new WheelJoint(_car, _wheel1, _wheel1.Position, axis, true);
_spring1.MotorSpeed = 0.0f;
_spring1.MaxMotorTorque = 20.0f;
_spring1.MotorEnabled = true;
_spring1.Frequency = _hz;
_spring1.DampingRatio = _zeta;
World.Add(_spring1);
_spring2 = new WheelJoint(_car, _wheel2, _wheel2.Position, axis, true);
_spring2.MotorSpeed = 0.0f;
_spring2.MaxMotorTorque = 10.0f;
_spring2.MotorEnabled = false;
_spring2.Frequency = _hz;
_spring2.DampingRatio = _zeta;
World.Add(_spring2);
}
}
private static void Deserialize(World world, Stream stream)
{
List <Body> bodies = new List <Body>();
List <Fixture> fixtures = new List <Fixture>();
List <Joint> joints = new List <Joint>();
List <Shape> shapes = new List <Shape>();
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
{
throw new Exception();
}
//Read gravity
foreach (XMLFragmentElement element in root.Elements)
{
if (element.Name.ToLower() == "gravity")
{
world.Gravity = ReadVector(element);
break;
}
}
//Read shapes
foreach (XMLFragmentElement shapeElement in root.Elements)
{
if (shapeElement.Name.ToLower() == "shapes")
{
foreach (XMLFragmentElement element in shapeElement.Elements)
{
if (element.Name.ToLower() != "shape")
{
throw new Exception();
}
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), element.Attributes[0].Value, true);
float density = float.Parse(element.Attributes[1].Value);
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "radius":
shape.Radius = float.Parse(sn.Value);
break;
case "position":
shape.Position = ReadVector(sn);
break;
default:
throw new Exception();
}
}
shapes.Add(shape);
}
break;
case ShapeType.Polygon:
{
PolygonShape shape = new PolygonShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
foreach (XMLFragmentElement vert in sn.Elements)
{
verts.Add(ReadVector(vert));
}
shape.Vertices = new Vertices(verts);
}
break;
case "centroid":
shape.MassData.Centroid = ReadVector(sn);
break;
}
}
shapes.Add(shape);
}
break;
case ShapeType.Edge:
{
EdgeShape shape = new EdgeShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "hasvertex0":
shape.HasVertex0 = bool.Parse(sn.Value);
break;
case "hasvertex3":
shape.HasVertex0 = bool.Parse(sn.Value);
break;
case "vertex0":
shape.Vertex0 = ReadVector(sn);
break;
case "vertex1":
shape.Vertex1 = ReadVector(sn);
break;
case "vertex2":
shape.Vertex2 = ReadVector(sn);
break;
case "vertex3":
shape.Vertex3 = ReadVector(sn);
break;
default:
throw new Exception();
}
}
shapes.Add(shape);
}
break;
case ShapeType.Chain:
{
ChainShape shape = new ChainShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
foreach (XMLFragmentElement vert in sn.Elements)
{
verts.Add(ReadVector(vert));
}
shape.Vertices = new Vertices(verts);
}
break;
case "nextvertex":
shape.NextVertex = ReadVector(sn);
break;
case "prevvertex":
shape.PrevVertex = ReadVector(sn);
break;
default:
throw new Exception();
}
}
shapes.Add(shape);
}
break;
}
}
}
}
//Read fixtures
foreach (XMLFragmentElement fixtureElement in root.Elements)
{
if (fixtureElement.Name.ToLower() == "fixtures")
{
foreach (XMLFragmentElement element in fixtureElement.Elements)
{
Fixture fixture = new Fixture();
if (element.Name.ToLower() != "fixture")
{
throw new Exception();
}
fixture.FixtureId = int.Parse(element.Attributes[0].Value);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "filterdata":
foreach (XMLFragmentElement ssn in sn.Elements)
{
switch (ssn.Name.ToLower())
{
case "categorybits":
fixture._collisionCategories = (Category)int.Parse(ssn.Value);
break;
case "maskbits":
fixture._collidesWith = (Category)int.Parse(ssn.Value);
break;
case "groupindex":
fixture._collisionGroup = short.Parse(ssn.Value);
break;
case "CollisionIgnores":
string[] split = ssn.Value.Split('|');
foreach (string s in split)
{
fixture._collisionIgnores.Add(int.Parse(s));
}
break;
}
}
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;
}
}
fixtures.Add(fixture);
}
}
}
//Read bodies
foreach (XMLFragmentElement bodyElement in root.Elements)
{
if (bodyElement.Name.ToLower() == "bodies")
{
foreach (XMLFragmentElement element in bodyElement.Elements)
{
Body body = new Body(world);
if (element.Name.ToLower() != "body")
{
throw new Exception();
}
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), element.Attributes[0].Value, true);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "active":
bool enabled = bool.Parse(sn.Value);
if (enabled)
{
body._flags |= BodyFlags.Enabled;
}
else
{
body._flags &= ~BodyFlags.Enabled;
}
break;
case "allowsleep":
body.SleepingAllowed = bool.Parse(sn.Value);
break;
case "angle":
{
Vector2 position = body.Position;
body.SetTransformIgnoreContacts(ref position, 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.IsBullet = bool.Parse(sn.Value);
break;
case "fixedrotation":
body.FixedRotation = bool.Parse(sn.Value);
break;
case "lineardamping":
body.LinearDamping = float.Parse(sn.Value);
break;
case "linearvelocity":
body.LinearVelocity = ReadVector(sn);
break;
case "position":
{
float rotation = body.Rotation;
Vector2 position = ReadVector(sn);
body.SetTransformIgnoreContacts(ref position, rotation);
}
break;
case "userdata":
body.UserData = ReadSimpleType(sn, null, false);
break;
case "bindings":
{
foreach (XMLFragmentElement pair in sn.Elements)
{
Fixture fix = fixtures[int.Parse(pair.Attributes[0].Value)];
fix.Shape = shapes[int.Parse(pair.Attributes[1].Value)].Clone();
fix.CloneOnto(body);
}
break;
}
}
}
bodies.Add(body);
}
}
}
//Read joints
foreach (XMLFragmentElement jointElement in root.Elements)
{
if (jointElement.Name.ToLower() == "joints")
{
foreach (XMLFragmentElement n in jointElement.Elements)
{
Joint joint;
if (n.Name.ToLower() != "joint")
{
throw new Exception();
}
JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true);
int bodyAIndex = -1, bodyBIndex = -1;
bool collideConnected = false;
object userData = null;
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "bodya":
bodyAIndex = int.Parse(sn.Value);
break;
case "bodyb":
bodyBIndex = int.Parse(sn.Value);
break;
case "collideconnected":
collideConnected = bool.Parse(sn.Value);
break;
case "userdata":
userData = ReadSimpleType(sn, null, false);
break;
}
}
Body bodyA = bodies[bodyAIndex];
Body bodyB = bodies[bodyBIndex];
switch (type)
{
//case JointType.FixedMouse:
// joint = new FixedMouseJoint();
// break;
//case JointType.FixedRevolute:
// break;
//case JointType.FixedDistance:
// break;
//case JointType.FixedLine:
// break;
//case JointType.FixedPrismatic:
// break;
//case JointType.FixedAngle:
// break;
//case JointType.FixedFriction:
// break;
case JointType.Distance:
joint = new DistanceJoint();
break;
case JointType.Friction:
joint = new FrictionJoint();
break;
case JointType.Wheel:
joint = new WheelJoint();
break;
case JointType.Prismatic:
joint = new PrismaticJoint();
break;
case JointType.Pulley:
joint = new PulleyJoint();
break;
case JointType.Revolute:
joint = new RevoluteJoint();
break;
case JointType.Weld:
joint = new WeldJoint();
break;
case JointType.Rope:
joint = new RopeJoint();
break;
case JointType.Angle:
joint = new AngleJoint();
break;
case JointType.Motor:
joint = new MotorJoint();
break;
case JointType.Gear:
throw new Exception("GearJoint is not supported.");
default:
throw new Exception("Invalid or unsupported joint.");
}
joint.CollideConnected = collideConnected;
joint.UserData = userData;
joint.BodyA = bodyA;
joint.BodyB = bodyB;
joints.Add(joint);
world.AddJoint(joint);
foreach (XMLFragmentElement sn in n.Elements)
{
// check for specific nodes
switch (type)
{
case JointType.Distance:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((DistanceJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((DistanceJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "length":
((DistanceJoint)joint).Length = float.Parse(sn.Value);
break;
case "localanchora":
((DistanceJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((DistanceJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Friction:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((FrictionJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((FrictionJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxforce":
((FrictionJoint)joint).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((FrictionJoint)joint).MaxTorque = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Wheel:
{
switch (sn.Name.ToLower())
{
case "enablemotor":
((WheelJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((WheelJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WheelJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "motorspeed":
((WheelJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "dampingratio":
((WheelJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "maxmotortorque":
((WheelJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "frequencyhz":
((WheelJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "axis":
((WheelJoint)joint).Axis = ReadVector(sn);
break;
}
}
break;
case JointType.Prismatic:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((PrismaticJoint)joint).LimitEnabled = bool.Parse(sn.Value);
break;
case "enablemotor":
((PrismaticJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((PrismaticJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PrismaticJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "axis":
((PrismaticJoint)joint).Axis = ReadVector(sn);
break;
case "maxmotorforce":
((PrismaticJoint)joint).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((PrismaticJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((PrismaticJoint)joint).LowerLimit = float.Parse(sn.Value);
break;
case "uppertranslation":
((PrismaticJoint)joint).UpperLimit = float.Parse(sn.Value);
break;
case "referenceangle":
((PrismaticJoint)joint).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Pulley:
{
switch (sn.Name.ToLower())
{
case "worldanchora":
((PulleyJoint)joint).WorldAnchorA = ReadVector(sn);
break;
case "worldanchorb":
((PulleyJoint)joint).WorldAnchorB = ReadVector(sn);
break;
case "lengtha":
((PulleyJoint)joint).LengthA = float.Parse(sn.Value);
break;
case "lengthb":
((PulleyJoint)joint).LengthB = float.Parse(sn.Value);
break;
case "localanchora":
((PulleyJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PulleyJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "ratio":
((PulleyJoint)joint).Ratio = float.Parse(sn.Value);
break;
case "constant":
((PulleyJoint)joint).Constant = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Revolute:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((RevoluteJoint)joint).LimitEnabled = bool.Parse(sn.Value);
break;
case "enablemotor":
((RevoluteJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((RevoluteJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RevoluteJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxmotortorque":
((RevoluteJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "motorspeed":
((RevoluteJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "lowerangle":
((RevoluteJoint)joint).LowerLimit = float.Parse(sn.Value);
break;
case "upperangle":
((RevoluteJoint)joint).UpperLimit = float.Parse(sn.Value);
break;
case "referenceangle":
((RevoluteJoint)joint).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Weld:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((WeldJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WeldJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Rope:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((RopeJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RopeJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxlength":
((RopeJoint)joint).MaxLength = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Gear:
throw new Exception("Gear joint is unsupported");
case JointType.Angle:
{
switch (sn.Name.ToLower())
{
case "biasfactor":
((AngleJoint)joint).BiasFactor = float.Parse(sn.Value);
break;
case "maximpulse":
((AngleJoint)joint).MaxImpulse = float.Parse(sn.Value);
break;
case "softness":
((AngleJoint)joint).Softness = float.Parse(sn.Value);
break;
case "targetangle":
((AngleJoint)joint).TargetAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Motor:
switch (sn.Name.ToLower())
{
case "angularoffset":
((MotorJoint)joint).AngularOffset = float.Parse(sn.Value);
break;
case "linearoffset":
((MotorJoint)joint).LinearOffset = ReadVector(sn);
break;
case "maxforce":
((MotorJoint)joint).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((MotorJoint)joint).MaxTorque = float.Parse(sn.Value);
break;
case "correctionfactor":
((MotorJoint)joint).CorrectionFactor = float.Parse(sn.Value);
break;
}
break;
}
}
}
}
}
world.ProcessChanges();
}
public override void Construct()
{
Demo.Window.Title = "Game Scene Demo";
Demo.Camera3D.Position = new Vector3(17f, 9f, 19f);
Vector2 defaultPositionShift = new Vector2(-100f, 5f);
Demo.Camera3D.Target = new Vector3(defaultPositionShift.X, defaultPositionShift.Y, 18f);
_positionStart = Demo.Camera3D.Target;
ConstructBusStop();
ConstructBackground();
PolygonShape shape = new PolygonShape(1f)
{
Vertices = PolygonTools.CreateRoundedRectangle(25f, 6.45566f, 1.5f, 1.5f, 4)
};
_chassis3D =
Body3DFactory.CreateBody3D(
_bodyModel,
Demo.World3D.World2D,
Demo.GraphicsDevice,
defaultPositionShift,
BodyType.Dynamic,
new Vector2(25f, 6.45566f));
Demo.World3D.AddBody3D(_chassis3D);
#region Přední náprava
Vector2 frontPosition = new Vector2(6.996475f, -2.9f) + defaultPositionShift;
Vector2 axis = new Vector2(0f, 1.2f);
_frontWheels = new Body();
_frontWheels.CreateCircle(1.3163165f, 1f);
_frontWheels3D =
Body3DFactory.CreateBody3D(
_frontWheelsModel,
Demo.World3D.World2D,
_frontWheels,
frontPosition);
_springFront = new WheelJoint(_chassis3D.Body2D, _frontWheels, frontPosition, axis, true)
{
MotorSpeed = 0f,
MaxMotorTorque = 10f,
MotorEnabled = false,
Frequency = 4f,
DampingRatio = 0.7f
};
Demo.World3D.World2D.Add(_springFront);
Demo.World3D.AddBody3D(_frontWheels3D);
#endregion Přední náprava
#region Zadní náprava
Vector2 backPosition = new Vector2(-5.973385f, -2.9f) + defaultPositionShift;
_backWheels = new Body();
_backWheels.CreateCircle(1.364622f, 1f);
_backWheels3D =
Body3DFactory.CreateBody3D(
_backWheelsModel,
Demo.World3D.World2D,
_backWheels,
backPosition);
_springBack = new WheelJoint(_chassis3D.Body2D, _backWheels, backPosition, axis, true)
{
MotorSpeed = DEFAULT_MOTOR_SPEED,
MaxMotorTorque = MAX_MOTOR_TORQUE,
MotorEnabled = true,
Frequency = 4f,
DampingRatio = 0.7f
};
Demo.World3D.World2D.Add(_springBack);
Demo.World3D.AddBody3D(_backWheels3D);
#endregion Zadní náprava
#region Rampa
_ramp3D = Body3DFactory.CreateBody3D(
_rampModel,
Demo.World3D.World2D,
Demo.GraphicsDevice,
new Vector2(0f, 5f));
Demo.World3D.AddBody3D(_ramp3D);
#endregion Rampa
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, -10f);
HasCursor = true;
EnableCameraControl = true;
HasVirtualStick = true;
// terrain
_ground = World.CreateBody();
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, 5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, 0.25f));
terrain.Add(new Vector2(30f, 1f));
terrain.Add(new Vector2(35f, 4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, -1f));
terrain.Add(new Vector2(55f, -2f));
terrain.Add(new Vector2(60f, -2f));
terrain.Add(new Vector2(65f, -1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, 0.3f));
terrain.Add(new Vector2(80f, 1.5f));
terrain.Add(new Vector2(85f, 3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, -0.5f));
terrain.Add(new Vector2(100f, -1f));
terrain.Add(new Vector2(105f, -2f));
terrain.Add(new Vector2(110f, -2.5f));
terrain.Add(new Vector2(115f, -1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, -10f));
terrain.Add(new Vector2(201f, -10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, 5f));
terrain.Add(new Vector2(250f, -10f));
terrain.Add(new Vector2(270f, -10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, 5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
_ground.CreateEdge(terrain[i], terrain[i + 1]);
}
_ground.SetFriction(0.6f);
}
// teeter board
{
_board = World.CreateBody();
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(PolygonTools.CreateRectangle(20.0f / 2f, 0.5f / 2f), 1);
_teeter =
new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Pavement, Color.LightGray, 1.2f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * MathHelper.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * MathHelper.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
_board.ApplyAngularImpulse(100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(1.0f, 0.125f), 1f);
_bridge = new Sprite(ScreenManager.Assets.TextureFromShape(shape, MaterialType.Dots, Color.SandyBrown, 1f));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.5f), 1f);
_box = new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Squares, Color.SaddleBrown, 2f));
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 2.5f);
body.CreateFixture(box);
_boxes.Add(body);
}
// car
{
//вершины на основе которых делается физ.объект корпуса машины
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, -0.08f));
vertices.Add(new Vector2(-2.375f, 0.46f));
vertices.Add(new Vector2(-0.58f, 0.92f));
vertices.Add(new Vector2(0.46f, 0.92f));
vertices.Add(new Vector2(2.5f, 0.17f));
vertices.Add(new Vector2(2.5f, -0.205f));
vertices.Add(new Vector2(2.3f, -0.33f));
vertices.Add(new Vector2(-2.25f, -0.35f));
//создает форму на основе заданных вершин для корпуса и колёс
PolygonShape chassis = new PolygonShape(vertices, 2);
CircleShape wheelShape = new CircleShape(0.5f, 0.8f);
//создание физ.объекта корпуса машины
_car = World.CreateBody();
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
//создание физ.объекта заднего колеса
_wheelBack = World.CreateBody();
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, 0.78f);
_wheelBack.CreateFixture(wheelShape);
_wheelBack.SetFriction(0.9f);
//создание физ.объекта переднего колеса
wheelShape.Density = 1;
_wheelFront = World.CreateBody();
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, 0.8f);
_wheelFront.CreateFixture(wheelShape);
Vector2 axis = new Vector2(0.0f, 1.2f);
_springBack = new WheelJoint(_car, _wheelBack, _wheelBack.Position, axis, true);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
_springBack.Frequency = 4.0f;
_springBack.DampingRatio = 0.7f;
World.Add(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis, true);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
_springFront.Frequency = 4.0f;
_springFront.DampingRatio = 0.7f;
World.Add(_springFront);
_carBody = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/car"), AssetCreator.CalculateOrigin(_car, 24f));
_wheel = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
public override void LoadContent()
{
base.LoadContent();
song = ScreenManager.Instance.Content.Load <Song>("Audio/mainsong"); // use the name of your song instead of "song_name"
sacrificeSprite.LoadContent();
audioManager.LoadContent();
camera = new Camera2D(ScreenManager.Instance.GraphicsDevice);
if (world == null)
{
world = new World(Vector2.UnitY * 10);
}
else
{
world.Clear();
}
cameraTarget = CameraTarget.Init;
camera.MaxPosition = new Vector2(6850, 0);
camera.MinPosition = new Vector2(-3300, 0);
background.LoadContent();
truckAngel.LoadContent();
tireAngel.LoadContent();
instructionAngel.LoadContent();
instructionDemon.LoadContent();
endText.LoadContent();
truckDemon.LoadContent();
tireDemon.LoadContent();
angelVictoryGoal = new Goal(world, new Vector2(8350, 775), true);
angelVictoryGoal.LoadContent();
demonVictoryGoal = new Goal(world, new Vector2(-4900, 775), false);
demonVictoryGoal.LoadContent();
if (debug == null)
{
debug = new DebugViewXNA(world);
debug.AppendFlags(DebugViewFlags.Shape);
debug.AppendFlags(DebugViewFlags.PolygonPoints);
debug.LoadContent(ScreenManager.Instance.GraphicsDevice, ScreenManager.Instance.Content);
}
floor = new Body(world);
{
Vertices terrain = new Vertices();
terrain.Add(ConvertUnits.ToSimUnits(-6890, 880));
//terrain.Add(ConvertUnits.ToSimUnits(200, 880));
//terrain.Add(ConvertUnits.ToSimUnits(400, 870));
//terrain.Add(ConvertUnits.ToSimUnits(600, 890));
//terrain.Add(ConvertUnits.ToSimUnits(800, 875));
//terrain.Add(ConvertUnits.ToSimUnits(1000, 880));
//terrain.Add(ConvertUnits.ToSimUnits(1200, 880));
//terrain.Add(ConvertUnits.ToSimUnits(1400, 880));
//terrain.Add(ConvertUnits.ToSimUnits(1600, 885));
//terrain.Add(ConvertUnits.ToSimUnits(1800, 875));
////terrain.Add(ConvertUnits.ToSimUnits(20, 890));
////terrain.Add(ConvertUnits.ToSimUnits(20, 890));
terrain.Add(ConvertUnits.ToSimUnits(8540, 880));
for (int i = 0; i < terrain.Count - 1; ++i)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], floor);
}
floor.Friction = 0.6f;
}
world.Gravity = new Vector2(0, 17f);
wallLeft = BodyFactory.CreateRectangle(world, ConvertUnits.ToSimUnits(2f), ConvertUnits.ToSimUnits(1080f), 10f);
//wallLeft.Position = ConvertUnits.ToSimUnits(0, 540);
wallLeft.Position = camera.Position - new Vector2(0, -5);
wallLeft.IsStatic = true;
wallLeft.Restitution = 0.2f;
wallLeft.Friction = 0.2f;
wallRight = BodyFactory.CreateRectangle(world, ConvertUnits.ToSimUnits(2f), ConvertUnits.ToSimUnits(1080f), 10f);
//wallRight.Position = ConvertUnits.ToSimUnits(1920, 540);
wallRight.Position = camera.Position + new Vector2(19.2f, 5);
wallRight.IsStatic = true;
wallRight.Restitution = 0.2f;
wallRight.Friction = 0.2f;
wallLeft_1 = BodyFactory.CreateRectangle(world, ConvertUnits.ToSimUnits(2f), ConvertUnits.ToSimUnits(1080f), 10f);
wallLeft_1.Position = ConvertUnits.ToSimUnits(-5000, 540);
wallLeft_1.IsStatic = true;
wallLeft_1.Restitution = 0.2f;
wallLeft_1.Friction = 0.2f;
wallRight_1 = BodyFactory.CreateRectangle(world, ConvertUnits.ToSimUnits(2f), ConvertUnits.ToSimUnits(1080f), 10f);
wallRight_1.Position = ConvertUnits.ToSimUnits(8430, 540);
wallRight_1.IsStatic = true;
wallRight_1.Restitution = 0.2f;
wallRight_1.Friction = 0.2f;
CircleShape wheelShape = new CircleShape(0.4f, 0.8f);
Vertices chassisShapeDemon = new Vertices(4);
chassisShapeDemon.Add(ConvertUnits.ToSimUnits(-190, -20));
chassisShapeDemon.Add(ConvertUnits.ToSimUnits(-150, 30));
chassisShapeDemon.Add(ConvertUnits.ToSimUnits(165, -5));
chassisShapeDemon.Add(ConvertUnits.ToSimUnits(165, 10));
PolygonShape chassisDemon = new PolygonShape(chassisShapeDemon, 2);
truckDemonCollisionBox = new Body(world);
truckDemonCollisionBox.BodyType = BodyType.Dynamic;
truckDemonCollisionBox.Position = camera.Position + new Vector2(3.5f, -1.0f);
truckDemonCollisionBox.CreateFixture(chassisDemon);
truckDemonCollisionBox.UserData = "demon";
_wheelBackDemon = new Body(world);
_wheelBackDemon.BodyType = BodyType.Dynamic;
//_wheelBackDemon.Position = new Vector2(2.4f, -0.4f);
_wheelBackDemon.Position = truckDemonCollisionBox.Position + new Vector2(-1.1f, 0.6f);
_wheelBackDemon.CreateFixture(wheelShape);
_wheelBackDemon.Friction = 0.8f;
wheelShape.Density = 1;
_wheelFrontDemon = new Body(world);
_wheelFrontDemon.BodyType = BodyType.Dynamic;
_wheelFrontDemon.Position = truckDemonCollisionBox.Position + new Vector2(-0.1f, 0.6f);
//_wheelFrontDemon.Position = new Vector2(3.4f, -0.4f);
_wheelFrontDemon.CreateFixture(wheelShape);
_wheelFrontDemon.Friction = 0.8f;
Vector2 axisDemon = new Vector2(0.0f, -1.2f);
_springBackDemon = new WheelJoint(truckDemonCollisionBox, _wheelBackDemon, _wheelBackDemon.Position, axisDemon, true);
_springBackDemon.MotorSpeed = 0.0f;
_springBackDemon.MaxMotorTorque = 19.5f;
_springBackDemon.MotorEnabled = true;
_springBackDemon.Frequency = 4.0f;
_springBackDemon.DampingRatio = 0.7f;
world.AddJoint(_springBackDemon);
_springFrontDemon = new WheelJoint(truckDemonCollisionBox, _wheelFrontDemon, _wheelFrontDemon.Position, axisDemon, true);
_springFrontDemon.MotorSpeed = 0.0f;
_springFrontDemon.MaxMotorTorque = 19.5f;
_springFrontDemon.MotorEnabled = true;
_springFrontDemon.Frequency = 4.0f;
_springFrontDemon.DampingRatio = 0.7f;
world.AddJoint(_springFrontDemon);
Vertices chassisShapeAngel = new Vertices(4);
chassisShapeAngel.Add(ConvertUnits.ToSimUnits(-160, 0));
chassisShapeAngel.Add(ConvertUnits.ToSimUnits(-160, 20));
chassisShapeAngel.Add(ConvertUnits.ToSimUnits(170, -30));
chassisShapeAngel.Add(ConvertUnits.ToSimUnits(140, 35));
PolygonShape chassisAngel = new PolygonShape(chassisShapeAngel, 2);
truckAngelCollisionBox = new Body(world);
truckAngelCollisionBox.BodyType = BodyType.Dynamic;
truckAngelCollisionBox.Position = camera.Position + new Vector2(16.7f, -1.0f);
truckAngelCollisionBox.CreateFixture(chassisAngel);
truckAngelCollisionBox.UserData = "angel";
_wheelBackAngel = new Body(world);
_wheelBackAngel.BodyType = BodyType.Dynamic;
//_wheelBackAngel.Position = new Vector2(16.7f, -0.45f);
_wheelBackAngel.Position = truckAngelCollisionBox.Position + new Vector2(0f, 0.55f);
_wheelBackAngel.CreateFixture(wheelShape);
_wheelBackAngel.Friction = 0.8f;
wheelShape.Density = 1;
_wheelFrontAngel = new Body(world);
_wheelFrontAngel.BodyType = BodyType.Dynamic;
//_wheelFrontAngel.Position = new Vector2(17.8f, -0.45f);
_wheelFrontAngel.Position = truckAngelCollisionBox.Position + new Vector2(1.1f, 0.55f);
_wheelFrontAngel.CreateFixture(wheelShape);
_wheelFrontAngel.Friction = 0.8f;
Vector2 axisAngel = new Vector2(0.0f, -1.2f);
_springBackAngel = new WheelJoint(truckAngelCollisionBox, _wheelBackAngel, _wheelBackAngel.Position, axisAngel, true);
_springBackAngel.MotorSpeed = 0.0f;
_springBackAngel.MaxMotorTorque = 19.5f;
_springBackAngel.MotorEnabled = true;
_springBackAngel.Frequency = 4.0f;
_springBackAngel.DampingRatio = 0.7f;
world.AddJoint(_springBackAngel);
_springFrontAngel = new WheelJoint(truckAngelCollisionBox, _wheelFrontAngel, _wheelFrontAngel.Position, axisAngel, true);
_springFrontAngel.MotorSpeed = 0.0f;
_springFrontAngel.MaxMotorTorque = 19.5f;
_springFrontAngel.MotorEnabled = true;
_springFrontAngel.Frequency = 4.0f;
_springFrontAngel.DampingRatio = 0.7f;
world.AddJoint(_springFrontAngel);
sacrifice = BodyFactory.CreateRectangle(world, 0.8f, 0.4f, 1f);
sacrifice.Position = ConvertUnits.ToSimUnits(960, 700);
sacrifice.BodyType = BodyType.Dynamic;
}
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);
}
}
//public static FixedPrismaticJoint CreateFixedPrismaticJoint(World world, Body body, Vector2 worldAnchor,
// Vector2 axis)
//{
// FixedPrismaticJoint joint = new FixedPrismaticJoint(body, worldAnchor, axis);
// world.AddJoint(joint);
// return joint;
//}
#endregion
#region Wheel Joint
/// <summary>
/// Creates a Wheel Joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static WheelJoint CreateWheelJoint(Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis)
{
WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis);
return(joint);
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 10f);
HasCursor = false;
EnableCameraControl = true;
_hzFront = 8.5f;
_hzBack = 5.0f;
_zeta = 0.85f;
_maxSpeed = 50.0f;
// terrain
_ground = BodyFactory.CreateBody(World);
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, -5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, -0.25f));
terrain.Add(new Vector2(30f, -1f));
terrain.Add(new Vector2(35f, -4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, 1f));
terrain.Add(new Vector2(55f, 2f));
terrain.Add(new Vector2(60f, 2f));
terrain.Add(new Vector2(65f, 1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, -0.3f));
terrain.Add(new Vector2(80f, -1.5f));
terrain.Add(new Vector2(85f, -3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, 0.5f));
terrain.Add(new Vector2(100f, 1f));
terrain.Add(new Vector2(105f, 2f));
terrain.Add(new Vector2(110f, 2.5f));
terrain.Add(new Vector2(115f, 1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, 10f));
terrain.Add(new Vector2(201f, 10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, -5f));
terrain.Add(new Vector2(250f, 10f));
terrain.Add(new Vector2(270f, 10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, -5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], _ground);
}
_ground.Friction = 0.6f;
}
// teeter board
{
_board = BodyFactory.CreateBody(World);
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, -1.0f);
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonUtils.CreateRectangle(10.0f, 0.25f);
_teeter = new Sprite(ContentWrapper.TextureFromShape(box, "Stripe", ContentWrapper.Gold, ContentWrapper.Black, ContentWrapper.Black, 1f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * MathConstants.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * MathConstants.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
_board.ApplyAngularImpulse(-100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(1f);
shape.Vertices = PolygonUtils.CreateRectangle(1.0f, 0.125f);
_bridge = new Sprite(ContentWrapper.TextureFromShape(shape, ContentWrapper.Gold, ContentWrapper.Black));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, 0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonUtils.CreateRectangle(0.5f, 0.5f);
_box = new Sprite(ContentWrapper.TextureFromShape(box, "Square", ContentWrapper.Sky, ContentWrapper.Sunset, ContentWrapper.Black, 1f));
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -2.5f);
body.CreateFixture(box);
_boxes.Add(body);
}
// car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, 0.08f));
vertices.Add(new Vector2(-2.375f, -0.46f));
vertices.Add(new Vector2(-0.58f, -0.92f));
vertices.Add(new Vector2(0.46f, -0.92f));
vertices.Add(new Vector2(2.5f, -0.17f));
vertices.Add(new Vector2(2.5f, 0.205f));
vertices.Add(new Vector2(2.3f, 0.33f));
vertices.Add(new Vector2(-2.25f, 0.35f));
PolygonShape chassis = new PolygonShape(vertices, 2f);
_car = BodyFactory.CreateBody(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, -1.0f);
_car.CreateFixture(chassis);
_wheelBack = BodyFactory.CreateBody(World);
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, -0.78f);
Fixture fix = _wheelBack.CreateFixture(new CircleShape(0.5f, 0.8f));
fix.Friction = 0.9f;
_wheelFront = BodyFactory.CreateBody(World);
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, -0.8f);
_wheelFront.CreateFixture(new CircleShape(0.5f, 1f));
Vector2 axis = new Vector2(0.0f, -1.2f);
_springBack = new WheelJoint(_car, _wheelBack, _wheelBack.Position, axis, true);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
_springBack.Frequency = _hzBack;
_springBack.DampingRatio = _zeta;
World.AddJoint(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis, true);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
_springFront.Frequency = _hzFront;
_springFront.DampingRatio = _zeta;
World.AddJoint(_springFront);
// GFX
_carBody = new Sprite(ContentWrapper.GetTexture("Car"), ContentWrapper.CalculateOrigin(_car));
_wheel = new Sprite(ContentWrapper.GetTexture("Wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
private CarTest()
{
_speed = 50.0f;
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
ground.AddFixture(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 (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.SetTwoSided(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.AddFixture(fd);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
shape.SetTwoSided(new Vector2(x, y1), new Vector2(x + dx, y2));
ground.AddFixture(fd);
y1 = y2;
x += dx;
}
shape.SetTwoSided(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.AddFixture(fd);
x += 80.0f;
shape.SetTwoSided(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.AddFixture(fd);
x += 40.0f;
shape.SetTwoSided(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f));
ground.AddFixture(fd);
x += 20.0f;
shape.SetTwoSided(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f));
ground.AddFixture(fd);
x += 40.0f;
shape.SetTwoSided(new Vector2(x, 0.0f), new Vector2(x, 20.0f));
ground.AddFixture(fd);
}
// Teeter
{
BodyDef bd = new BodyDef();
bd.Position = new Vector2(140.0f, 1.0f);
bd.Type = BodyType.Dynamic;
Body body = BodyFactory.CreateFromDef(World, bd);
PolygonShape box = new PolygonShape(1.0f);
box.SetAsBox(10.0f, 0.25f);
body.AddFixture(box);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground, body, body.Position);
jd.LowerAngle = -8.0f * MathConstants.Pi / 180.0f;
jd.UpperAngle = 8.0f * MathConstants.Pi / 180.0f;
jd.EnableLimit = true;
JointFactory.CreateFromDef(World, jd);
body.ApplyAngularImpulse(100.0f);
}
//Bridge
{
int N = 20;
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(1.0f, 0.125f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.6f;
RevoluteJointDef jd = new RevoluteJointDef();
Body prevBody = ground;
for (int i = 0; i < N; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(161.0f + 2.0f * i, -0.125f);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
Vector2 anchor = new Vector2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody, body, anchor);
JointFactory.CreateFromDef(World, jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody, ground, anchor2);
JointFactory.CreateFromDef(World, jd);
}
// Boxes
{
PolygonShape box = new PolygonShape(0.5f);
box.SetAsBox(0.5f, 0.5f);
Body body;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(230.0f, 0.5f);
body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(box);
bd.Position = new Vector2(230.0f, 1.5f);
body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(box);
bd.Position = new Vector2(230.0f, 2.5f);
body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(box);
bd.Position = new Vector2(230.0f, 3.5f);
body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(box);
bd.Position = new Vector2(230.0f, 4.5f);
body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(box);
}
// Car
{
PolygonShape chassis = new PolygonShape(1.0f);
Vertices vertices = new Vertices(6);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
chassis.Vertices = vertices;
CircleShape circle = new CircleShape(0.4f, 1.0f);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 1.0f);
_car = BodyFactory.CreateFromDef(World, bd);
_car.AddFixture(chassis);
FixtureDef fd = new FixtureDef();
fd.Shape = circle;
fd.Friction = 0.9f;
bd.Position = new Vector2(-1.0f, 0.35f);
_wheel1 = BodyFactory.CreateFromDef(World, bd);
_wheel1.AddFixture(fd);
bd.Position = new Vector2(1.0f, 0.4f);
_wheel2 = BodyFactory.CreateFromDef(World, bd);
_wheel2.AddFixture(fd);
WheelJointDef jd = new WheelJointDef();
Vector2 axis = new Vector2(0.0f, 1.0f);
float mass1 = _wheel1.Mass;
float mass2 = _wheel2.Mass;
float hertz = 4.0f;
float dampingRatio = 0.7f;
float omega = 2.0f * MathConstants.Pi * hertz;
jd.Initialize(_car, _wheel1, _wheel1.Position, axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 20.0f;
jd.EnableMotor = true;
jd.Stiffness = mass1 * omega * omega;
jd.Damping = 2.0f * mass1 * dampingRatio * omega;
jd.LowerTranslation = -0.25f;
jd.UpperTranslation = 0.25f;
jd.EnableLimit = true;
_spring1 = (WheelJoint)JointFactory.CreateFromDef(World, jd);
jd.Initialize(_car, _wheel2, _wheel2.Position, axis);
jd.MotorSpeed = 0.0f;
jd.MaxMotorTorque = 10.0f;
jd.EnableMotor = false;
jd.Stiffness = mass2 * omega * omega;
jd.Damping = 2.0f * mass2 * dampingRatio * omega;
jd.LowerTranslation = -0.25f;
jd.UpperTranslation = 0.25f;
jd.EnableLimit = true;
_spring2 = (WheelJoint)JointFactory.CreateFromDef(World, jd);
}
}
private static void SerializeJoint(List <Body> bodies, Joint joint)
{
_writer.WriteStartElement("Joint");
_writer.WriteAttributeString("Type", joint.JointType.ToString());
WriteElement("BodyA", FindIndex(bodies, joint.BodyA));
WriteElement("BodyB", FindIndex(bodies, joint.BodyB));
WriteElement("CollideConnected", joint.CollideConnected);
WriteElement("Breakpoint", joint.Breakpoint);
if (joint.UserData != null)
{
_writer.WriteStartElement("UserData");
WriteDynamicType(joint.UserData.GetType(), joint.UserData);
_writer.WriteEndElement();
}
switch (joint.JointType)
{
case JointType.Distance:
{
DistanceJoint distanceJoint = (DistanceJoint)joint;
WriteElement("DampingRatio", distanceJoint.DampingRatio);
WriteElement("FrequencyHz", distanceJoint.Frequency);
WriteElement("Length", distanceJoint.Length);
WriteElement("LocalAnchorA", distanceJoint.LocalAnchorA);
WriteElement("LocalAnchorB", distanceJoint.LocalAnchorB);
}
break;
case JointType.Friction:
{
FrictionJoint frictionJoint = (FrictionJoint)joint;
WriteElement("LocalAnchorA", frictionJoint.LocalAnchorA);
WriteElement("LocalAnchorB", frictionJoint.LocalAnchorB);
WriteElement("MaxForce", frictionJoint.MaxForce);
WriteElement("MaxTorque", frictionJoint.MaxTorque);
}
break;
case JointType.Gear:
throw new Exception("Gear joint not supported by serialization");
case JointType.Wheel:
{
WheelJoint wheelJoint = (WheelJoint)joint;
WriteElement("EnableMotor", wheelJoint.MotorEnabled);
WriteElement("LocalAnchorA", wheelJoint.LocalAnchorA);
WriteElement("LocalAnchorB", wheelJoint.LocalAnchorB);
WriteElement("MotorSpeed", wheelJoint.MotorSpeed);
WriteElement("DampingRatio", wheelJoint.DampingRatio);
WriteElement("MaxMotorTorque", wheelJoint.MaxMotorTorque);
WriteElement("FrequencyHz", wheelJoint.Frequency);
WriteElement("Axis", wheelJoint.Axis);
}
break;
case JointType.Prismatic:
{
//NOTE: Does not conform with Box2DScene
PrismaticJoint prismaticJoint = (PrismaticJoint)joint;
WriteElement("EnableLimit", prismaticJoint.LimitEnabled);
WriteElement("EnableMotor", prismaticJoint.MotorEnabled);
WriteElement("LocalAnchorA", prismaticJoint.LocalAnchorA);
WriteElement("LocalAnchorB", prismaticJoint.LocalAnchorB);
WriteElement("Axis", prismaticJoint.Axis);
WriteElement("LowerTranslation", prismaticJoint.LowerLimit);
WriteElement("UpperTranslation", prismaticJoint.UpperLimit);
WriteElement("MaxMotorForce", prismaticJoint.MaxMotorForce);
WriteElement("MotorSpeed", prismaticJoint.MotorSpeed);
}
break;
case JointType.Pulley:
{
PulleyJoint pulleyJoint = (PulleyJoint)joint;
WriteElement("WorldAnchorA", pulleyJoint.WorldAnchorA);
WriteElement("WorldAnchorB", pulleyJoint.WorldAnchorB);
WriteElement("LengthA", pulleyJoint.LengthA);
WriteElement("LengthB", pulleyJoint.LengthB);
WriteElement("LocalAnchorA", pulleyJoint.LocalAnchorA);
WriteElement("LocalAnchorB", pulleyJoint.LocalAnchorB);
WriteElement("Ratio", pulleyJoint.Ratio);
WriteElement("Constant", pulleyJoint.Constant);
}
break;
case JointType.Revolute:
{
RevoluteJoint revoluteJoint = (RevoluteJoint)joint;
WriteElement("EnableLimit", revoluteJoint.LimitEnabled);
WriteElement("EnableMotor", revoluteJoint.MotorEnabled);
WriteElement("LocalAnchorA", revoluteJoint.LocalAnchorA);
WriteElement("LocalAnchorB", revoluteJoint.LocalAnchorB);
WriteElement("LowerAngle", revoluteJoint.LowerLimit);
WriteElement("MaxMotorTorque", revoluteJoint.MaxMotorTorque);
WriteElement("MotorSpeed", revoluteJoint.MotorSpeed);
WriteElement("ReferenceAngle", revoluteJoint.ReferenceAngle);
WriteElement("UpperAngle", revoluteJoint.UpperLimit);
}
break;
case JointType.Weld:
{
WeldJoint weldJoint = (WeldJoint)joint;
WriteElement("LocalAnchorA", weldJoint.LocalAnchorA);
WriteElement("LocalAnchorB", weldJoint.LocalAnchorB);
}
break;
//
// Not part of Box2DScene
//
case JointType.Rope:
{
RopeJoint ropeJoint = (RopeJoint)joint;
WriteElement("LocalAnchorA", ropeJoint.LocalAnchorA);
WriteElement("LocalAnchorB", ropeJoint.LocalAnchorB);
WriteElement("MaxLength", ropeJoint.MaxLength);
}
break;
case JointType.Angle:
{
AngleJoint angleJoint = (AngleJoint)joint;
WriteElement("BiasFactor", angleJoint.BiasFactor);
WriteElement("MaxImpulse", angleJoint.MaxImpulse);
WriteElement("Softness", angleJoint.Softness);
WriteElement("TargetAngle", angleJoint.TargetAngle);
}
break;
case JointType.Motor:
{
MotorJoint motorJoint = (MotorJoint)joint;
WriteElement("AngularOffset", motorJoint.AngularOffset);
WriteElement("LinearOffset", motorJoint.LinearOffset);
WriteElement("MaxForce", motorJoint.MaxForce);
WriteElement("MaxTorque", motorJoint.MaxTorque);
WriteElement("CorrectionFactor", motorJoint.CorrectionFactor);
}
break;
default:
throw new Exception("Joint not supported");
}
_writer.WriteEndElement();
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 10f);
HasCursor = false;
EnableCameraControl = true;
HasVirtualStick = true;
_hzFront = 8.5f;
_hzBack = 5.0f;
_zeta = 0.85f;
_maxSpeed = 50.0f;
#if WINDOWS_PHONE
_scale = 2f / 3f;
#else
_scale = 1f;
#endif
// terrain
_ground = new Body(World);
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, -5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, -0.25f));
terrain.Add(new Vector2(30f, -1f));
terrain.Add(new Vector2(35f, -4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, 1f));
terrain.Add(new Vector2(55f, 2f));
terrain.Add(new Vector2(60f, 2f));
terrain.Add(new Vector2(65f, 1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, -0.3f));
terrain.Add(new Vector2(80f, -1.5f));
terrain.Add(new Vector2(85f, -3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, 0.5f));
terrain.Add(new Vector2(100f, 1f));
terrain.Add(new Vector2(105f, 2f));
terrain.Add(new Vector2(110f, 2.5f));
terrain.Add(new Vector2(115f, 1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, 10f));
terrain.Add(new Vector2(201f, 10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, -5f));
terrain.Add(new Vector2(250f, 10f));
terrain.Add(new Vector2(270f, 10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, -5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], _ground);
}
_ground.Friction = 0.6f;
}
// teeter board
{
_board = new Body(World);
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, -1.0f);
PolygonShape box = new PolygonShape(1f);
box.SetAsBox(10.0f, 0.25f);
_teeter =
new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Pavement, Color.LightGray, 1.2f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(_ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * Settings.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * Settings.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
World.AddJoint(teeterAxis);
_board.ApplyAngularImpulse(-100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(1f);
shape.SetAsBox(1.0f, 0.125f);
_bridge =
new Sprite(ScreenManager.Assets.TextureFromShape(shape, MaterialType.Dots, Color.SandyBrown, 1f));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, 0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(1f);
box.SetAsBox(0.5f, 0.5f);
_box =
new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Squares, Color.SaddleBrown, 2f));
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -2.5f);
body.CreateFixture(box);
_boxes.Add(body);
}
// car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, 0.08f));
vertices.Add(new Vector2(-2.375f, -0.46f));
vertices.Add(new Vector2(-0.58f, -0.92f));
vertices.Add(new Vector2(0.46f, -0.92f));
vertices.Add(new Vector2(2.5f, -0.17f));
vertices.Add(new Vector2(2.5f, 0.205f));
vertices.Add(new Vector2(2.3f, 0.33f));
vertices.Add(new Vector2(-2.25f, 0.35f));
PolygonShape chassis = new PolygonShape(vertices, 2f);
_car = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, -1.0f);
_car.CreateFixture(chassis);
_wheelBack = new Body(World);
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, -0.78f);
Fixture fix = _wheelBack.CreateFixture(new CircleShape(0.5f, 0.8f));
fix.Friction = 0.9f;
_wheelFront = new Body(World);
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, -0.8f);
_wheelFront.CreateFixture(new CircleShape(0.5f, 1f));
Vector2 axis = new Vector2(0.0f, -1.2f);
_springBack = new WheelJoint(_car, _wheelBack, _wheelBack.Position, axis);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
//_springBack.Frequency = _hzBack;
//_springBack.DampingRatio = _zeta;
World.AddJoint(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
//_springFront.Frequency = _hzFront;
//_springFront.DampingRatio = _zeta;
World.AddJoint(_springFront);
_carBody = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/car"),
AssetCreator.CalculateOrigin(_car) / _scale);
_wheel = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
/// <summary>
/// Loads bodies, fixtures, and joints of the specified R.U.B.E. JSON export file to the provided world. A common usage is loading the bodies into
/// a temporary world object and then plucking those items you're interested in out of that world and deep cloning them into another world.
/// </summary>
/// <param name="fileName">File path of the input JSON, e.g. "data/myRubeWorld.json"</param>
/// <param name="world">The world to load the bodies, fixtures, and joints into.</param>
public static void Load(string fileName, World world)
{
// load the R.U.B.E. file
using (
var reader = new StreamReader(fileName))
{
string json = reader.ReadToEnd();
// JSON clean-up...
// NOTE: this list is certainly not complete, so it should be added to as other issues are discovered.
json = json.Replace("massData-", "massData");
json = json.Replace("filter-", "filter");
json = json.Replace(@"""anchorB"" : 0", @"""anchorB"" : { ""x"":0, ""y"":0 }");
json = json.Replace(@"""center"" : 0", @"""center"" : { ""x"":0, ""y"":0 }");
json = json.Replace(@"""linearVelocity"" : 0", @"""linearVelocity"" : { ""x"":0, ""y"":0 }");
var rubeData = JsonConvert.DeserializeObject <RubeRootObject>(json);
// Key = order loaded by
var loadedBodies = new Dictionary <int, Body>();
for (var rubeBodyIndex = 0; rubeBodyIndex < rubeData.body.Count; rubeBodyIndex++)
{
var rubeBody = rubeData.body[rubeBodyIndex];
var body = new Body();
if (rubeBody.fixture != null)
{
foreach (var rubeFixture in rubeBody.fixture)
{
Fixture f = null;
if (rubeFixture.polygon != null)
{
var vertices = new Vertices();
for (int i = 0; i < rubeFixture.polygon.vertices.x.Count; i++)
{
var x = rubeFixture.polygon.vertices.x[i];
var y = rubeFixture.polygon.vertices.y[i];
vertices.Add(new Vector2(x, y));
}
f = body.CreatePolygon(vertices, rubeFixture.density);
}
else if (rubeFixture.circle != null)
{
f = body.CreateCircle(
rubeFixture.circle.radius,
rubeFixture.density,
rubeFixture.circle.center.ToVector2());
}
else
{
//throw new InvalidDataException();
continue;
}
f.Restitution = rubeFixture.restitution;
f.Friction = rubeFixture.friction;
}
}
body.Rotation = rubeBody.angle;
body.AngularVelocity = rubeBody.angularVelocity;
body.Awake = rubeBody.awake;
body.LinearVelocity = Vector2.Zero;
body.Position = new Vector2(rubeBody.position.x, rubeBody.position.y);
body.BodyType = (BodyType)rubeBody.type;
body.Tag = rubeBodyIndex;
// reset mass data
// NOTE: this probably isn't needed, but it shouldn't hurt anything
body.ResetMassData();
body.ResetDynamics();
// add to world
world.Add(body);
// add to load array
loadedBodies.Add(rubeBodyIndex, body);
}
if (rubeData.joint != null)
{
foreach (var rubeJoint in rubeData.joint)
{
var bodyA = loadedBodies[rubeJoint.bodyA];
var bodyB = loadedBodies[rubeJoint.bodyB];
var anchorA = new Vector2(rubeJoint.anchorA.x, rubeJoint.anchorA.y);
var anchorB = new Vector2(rubeJoint.anchorB.x, rubeJoint.anchorB.y);
Joint joint = null;
switch (rubeJoint.type)
{
case "prismatic":
var prisJoint = new PrismaticJoint(
bodyA,
bodyB,
anchorA,
anchorB,
rubeJoint.localAxisA.ToVector2());
prisJoint.LowerLimit = rubeJoint.lowerLimit.Value;
prisJoint.UpperLimit = rubeJoint.upperLimit.Value;
prisJoint.LimitEnabled = rubeJoint.enableLimit.Value;
joint = prisJoint;
break;
case "distance":
DistanceJoint distJoint = new DistanceJoint(
bodyA,
bodyB,
anchorA,
anchorB);
joint = distJoint;
break;
case "revolute":
var revJoint = new RevoluteJoint(
bodyA,
bodyB,
anchorA,
anchorB
);
revJoint.MotorSpeed = rubeJoint.motorSpeed.Value;
revJoint.MaxMotorTorque = rubeJoint.maxMotorTorque.Value;
revJoint.MotorEnabled = rubeJoint.enableMotor.Value;
revJoint.LowerLimit = rubeJoint.lowerLimit.Value;
revJoint.UpperLimit = rubeJoint.upperLimit.Value;
revJoint.LimitEnabled = rubeJoint.enableLimit.Value;
revJoint.CollideConnected = false;
joint = revJoint;
break;
case "wheel":
// TODO: There's a bug in this wheel joint. Don't have time to fix at the moment.
var wheelJoint = new WheelJoint(
bodyA,
bodyB,
bodyB.Position,
rubeJoint.localAxisA.ToVector2(),
true
);
wheelJoint.MotorSpeed = rubeJoint.motorSpeed.Value;
wheelJoint.MaxMotorTorque = rubeJoint.maxMotorTorque.Value;
wheelJoint.MotorEnabled = rubeJoint.enableMotor.Value;
wheelJoint.Frequency = rubeJoint.frequency;
wheelJoint.DampingRatio = rubeJoint.dampingRatio;
joint = wheelJoint;
break;
default:
throw new InvalidDataException();
}
// TODO: set all base joint properties here...
if (joint != null)
{
// add it!
world.Add(joint);
}
}
}
}
}
