public DistanceTest()
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(1.0f, 1.0f);
sd.Density = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
_body1 = _world.CreateBody(bd);
_shape1 = _body1.CreateShape(sd);
PolygonDef sd2 = new PolygonDef();
sd2.VertexCount = 3;
sd2.Vertices[0].Set(-1.0f, 0.0f);
sd2.Vertices[1].Set(1.0f, 0.0f);
sd2.Vertices[2].Set(0.0f, 15.0f);
sd2.Density = 1.0f;
BodyDef bd2 = new BodyDef();
bd2.Position.Set(0.0f, 10.0f);
_body2 = _world.CreateBody(bd2);
_shape2 = _body2.CreateShape(sd2);
_body2.SetMassFromShapes();
_world.Gravity = new Vec2(0.0f, 0.0f);
}
public PolyCollision()
{
_localPoints[0].state = ContactState.ContactRemoved;
_localPoints[1].state = ContactState.ContactRemoved;
{
PolygonDef sd = new PolygonDef();
sd.Vertices[0].Set(-9.0f, -1.1f);
sd.Vertices[1].Set(7.0f, -1.1f);
sd.Vertices[2].Set(5.0f, -0.9f);
sd.Vertices[3].Set(-11.0f, -0.9f);
sd.VertexCount = 4;
sd.Density = 0.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
_body1 = _world.CreateBody(bd);
_body1.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 0.5f);
sd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 10.0f);
_body2 = _world.CreateBody(bd);
_body2.CreateShape(sd);
_body2.SetMassFromShapes();
}
_world.Gravity = Vec2.Zero;
}
public ShapeEditing()
{
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
BodyDef bodydef = new BodyDef();
bodydef.Position.Set(0.0f, 10.0f);
_body = _world.CreateBody(bodydef);
PolygonDef sd_ = new PolygonDef();
sd_.SetAsBox(4.0f, 4.0f, new Vec2(0.0f, 0.0f), 0.0f);
sd_.Density = 10.0f;
_shape1 = _body.CreateShape(sd_);
_body.SetMassFromShapes();
_shape2 = null;
}
public TimeOfImpact()
{
{
PolygonDef sd = new PolygonDef();
sd.Density = 0.0f;
sd.SetAsBox(0.1f, 10.0f, new Vec2(10.0f, 0.0f), 0.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
bd.Angle = 0.0f;
_body1 = _world.CreateBody(bd);
_shape1 = _body1.CreateShape(sd);
}
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.25f, 0.25f);
sd.Density = 1.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(9.6363468f, 28.050615f);
bd.Angle = 1.6408679f;
_body2 = _world.CreateBody(bd);
_shape2 = (PolygonShape)_body2.CreateShape(sd);
_body2.SetMassFromShapes();
}
}
public RaycastTest()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
ground.CreateShape(sd);
}
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 1.0f);
laserBody = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.SetAsBox(5.0f, 1.0f);
sd.Density = 4.0f;
laserBody.CreateShape(sd);
laserBody.SetMassFromShapes();
Body body;
//Create a few shapes
bd.Position.Set(-5.0f, 10.0f);
body = _world.CreateBody(bd);
CircleDef cd = new CircleDef();
cd.Radius = 3;
body.CreateShape(cd);
bd.Position.Set(5.0f, 10.0f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
}
}
/// <summary>
/// Add objects to the Box2d world.
/// </summary>
protected override void PopulateWorld()
{
// ==== Define the ground body ====
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(_trackLengthHalf, -1f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 1f);
groundShapeDef.Friction = _simParams._defaultFriction;
groundShapeDef.Restitution = _simParams._defaultRestitution;
groundShapeDef.Filter.CategoryBits = 0x3;
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// ==== Define walker torso.
BodyDef torsoBodyDef = new BodyDef();
torsoBodyDef.Position.Set(0f, 1.45f);
torsoBodyDef.IsBullet = true;
// Create walker torso.
_torsoBody = _world.CreateBody(torsoBodyDef);
PolygonDef torsoShapeDef = new PolygonDef();
torsoShapeDef.SetAsBox(0.10f, 0.45f);
torsoShapeDef.Friction = _simParams._defaultFriction;
torsoShapeDef.Restitution = 0f;
torsoShapeDef.Density = 2f;
torsoShapeDef.Filter.CategoryBits = 0x2;
_torsoBody.CreateShape(torsoShapeDef);
_torsoBody.SetMassFromShapes();
// ===== Create legs.
// Leg joint definition.
RevoluteJointDef jointDef = new RevoluteJointDef();
jointDef.CollideConnected = false;
jointDef.EnableMotor = true;
jointDef.MaxMotorTorque = 0f;
// Other re-usable stuff .
const float legRadius = 0.05f; // Half the thickness of the leg
Vec2 upperLegPosBase = new Vec2(0f, 1.05f);
Vec2 lowerLegPosBase = new Vec2(0f, 0.55f);
// ===== Create left leg.
// Upper leg.
Body upperLeftLegBody = CreatePole(upperLegPosBase, 0.5f, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to torso (hip joint)
jointDef.Initialize(_torsoBody, upperLeftLegBody, upperLegPosBase);
_leftHipJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// Lower leg.
_leftLowerLegBody = CreatePole(lowerLegPosBase, __lowerLegLength, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to upper leg (knee joint)
jointDef.Initialize(upperLeftLegBody, _leftLowerLegBody, lowerLegPosBase);
_leftKneeJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// ===== Create right leg.
// Upper leg.
Body upperRightLegBody = CreatePole(upperLegPosBase, 0.5f, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to torso (hip joint)
jointDef.Initialize(_torsoBody, upperRightLegBody, upperLegPosBase);
_rightHipJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
// Lower leg.
_rightLowerLegBody = CreatePole(lowerLegPosBase, __lowerLegLength, (float)SysMath.PI, legRadius, 2f, 0x1);
// Join to upper leg (knee joint)
jointDef.Initialize(upperRightLegBody, _rightLowerLegBody, lowerLegPosBase);
_rightKneeJoint = (RevoluteJoint)_world.CreateJoint(jointDef);
}
public void AddToWorld()
{
body = world.CreateBody(bodyDef);
foreach (ShapeDef shape in shapes)
body.CreateShape(shape);
body.SetMassFromShapes();
body.SetUserData(this);
foreach (Controller controller in controllers)
{
controller.AddBody(body);
world.AddController(controller);
}
foreach (PhysicsObject child in children)
child.AddToWorld();
}
protected override void LoadContent()
{
poligonDef = new PolygonDef();
poligonDef.VertexCount = CollisionBody.Length;
poligonDef.Vertices = CollisionBody;
poligonDef.Density = 2000f;
poligonDef.Friction = 100f;
BodyDef bodyDef = new BodyDef();
bodyDef.Position = new Vec2(Position.X, Position.Y);
Body = Game1.world.CreateBody(bodyDef);
PolygonShape shape = (PolygonShape)Body.CreateShape(poligonDef);
Body.SetMassFromShapes();
base.LoadContent();
}
// Main...
public ElasticBody()
{
// Bottom static body
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 2.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(-1.0f, -7.5f);
_ground = _world.CreateBody(bd);
_ground.CreateShape(sd);
}
// Upper static body
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(20.0f, 0.50f, new Vec2(0.0f, 0.0f), 0.047f * Box2DX.Common.Settings.Pi);
sd.Friction = 0.01f;
sd.Restitution = 0.001f;
BodyDef bd = new BodyDef();
bd.Position.Set(-20.0f, 93.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
sd.SetAsBox(15.0f, 0.50f, new Vec2(-15.0f, 12.5f), 0.0f);
g.CreateShape(sd);
sd.SetAsBox(20.0f, 0.5f, new Vec2(0.0f, -25.0f), -0.5f);
g.CreateShape(sd);
}
// Left channel left wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.7f, 55.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(-49.3f, 50.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
}
// Right wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.7f, 55.0f);
sd.Friction = 0.1f;
sd.Restitution = 0.1f;
BodyDef bd = new BodyDef();
bd.Position.Set(45.0f, 50.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
}
// Left channel right upper wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.5f, 20.0f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-42.0f, 70.0f);
bd.Angle = -0.03f * Box2DX.Common.Settings.Pi;
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
}
// Left channel right lower wall
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.50f, 23.0f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-44.0f, 27.0f);
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
// Bottom motors
CircleDef cd = new CircleDef();
cd.Radius = 3.0f;
cd.Density = 15.0f;
cd.Friction = 1.0f;
cd.Restitution = 0.2f;
// 1.
bd.Position.Set(-40.0f, 2.5f);
Body body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
RevoluteJointDef jr = new RevoluteJointDef();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
jr.MaxMotorTorque = 30000.0f;
jr.EnableMotor = true;
jr.MotorSpeed = 20.0f;
_world.CreateJoint(jr);
// 1. left down
bd.Position.Set(-46.0f, -2.5f);
cd.Radius = 1.5f; jr.MotorSpeed = -20.0f;
body = _world.CreateBody(bd);
body.CreateShape(cd);
sd.SetAsBox(2.0f, 0.50f);
body.CreateShape(sd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter());
_world.CreateJoint(jr);
// 2.
cd.Radius = 3.0f; jr.MotorSpeed = 20.0f;
bd.Position.Set(-32.0f, 2.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 3.
jr.MotorSpeed = 20.0f;
bd.Position.Set(-24.0f, 1.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 4.
bd.Position.Set(-16.0f, 0.8f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 5.
bd.Position.Set(-8.0f, 0.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 6.
bd.Position.Set(0.0f, 0.1f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 7.
bd.Position.Set(8.0f, -0.5f);
body = _world.CreateBody(bd);
body.CreateShape(cd);
sd.SetAsBox(3.7f, 0.5f);
body.CreateShape(sd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter() + new Vec2(0.0f, 1.0f));
_world.CreateJoint(jr);
// 8. right rotator
sd.SetAsBox(5.0f, 0.5f);
sd.Density = 2.0f;
bd.Position.Set(18.0f, 1.0f);
Body rightmotor = _world.CreateBody(bd);
rightmotor.CreateShape(sd);
sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi / 3.0f);
rightmotor.CreateShape(sd);
sd.SetAsBox(4.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * 2.0f / 3.0f);
rightmotor.CreateShape(sd);
cd.Radius = 4.2f;
rightmotor.CreateShape(cd);
rightmotor.SetMassFromShapes();
jr.Initialize(g, rightmotor, rightmotor.GetWorldCenter());
jr.MaxMotorTorque = 70000.0f;
jr.MotorSpeed = -4.0f;
_world.CreateJoint(jr);
// 9. left rotator
sd.SetAsBox(8.5f, 0.5f);
sd.Density = 2.0f;
bd.Position.Set(-34.0f, 17.0f);
body = _world.CreateBody(bd);
body.CreateShape(sd);
sd.SetAsBox(8.5f, 0.5f, new Vec2(0.0f, 0.0f), Box2DX.Common.Settings.Pi * .5f);
body.CreateShape(sd);
cd.Radius = 7.0f;
cd.Friction = 0.9f;
body.CreateShape(cd);
body.SetMassFromShapes();
jr.Initialize(g, body, body.GetWorldCenter());
jr.MaxMotorTorque = 100000.0f;
jr.MotorSpeed = -5.0f;
_world.CreateJoint(jr);
// big compressor
sd.SetAsBox(3.0f, 4.0f);
sd.Density = 10.0f;
bd.Position.Set(-16.0f, 17.0f);
Body hammerleft = _world.CreateBody(bd);
hammerleft.CreateShape(sd);
hammerleft.SetMassFromShapes();
DistanceJointDef jd = new DistanceJointDef();
jd.Initialize(body, hammerleft, body.GetWorldCenter() + new Vec2(0.0f, 6.0f), hammerleft.GetWorldCenter());
_world.CreateJoint(jd);
bd.Position.Set(4.0f, 17.0f);
Body hammerright = _world.CreateBody(bd);
hammerright.CreateShape(sd);
hammerright.SetMassFromShapes();
jd.Initialize(body, hammerright, body.GetWorldCenter() - new Vec2(0.0f, 6.0f), hammerright.GetWorldCenter());
_world.CreateJoint(jd);
// pusher
sd.SetAsBox(6.0f, 0.75f);
bd.Position.Set(-21.0f, 9.0f);
Body pusher = _world.CreateBody(bd);
pusher.CreateShape(sd);
sd.SetAsBox(2.0f, 1.5f, new Vec2(-5.0f, 0.0f), 0.0f);
pusher.SetMassFromShapes();
pusher.CreateShape(sd);
jd.Initialize(rightmotor, pusher, rightmotor.GetWorldCenter() + new Vec2(-8.0f, 0.0f),
pusher.GetWorldCenter() + new Vec2(5.0f, 0.0f));
_world.CreateJoint(jd);
}
// Static bodies above motors
{
PolygonDef sd = new PolygonDef();
CircleDef cd = new CircleDef();
sd.SetAsBox(9.0f, 0.5f);
sd.Friction = 0.05f;
sd.Restitution = 0.01f;
BodyDef bd = new BodyDef();
bd.Position.Set(-15.5f, 12.0f);
bd.Angle = 0.0f;
Body g = _world.CreateBody(bd);
g.CreateShape(sd);
sd.SetAsBox(8.0f, 0.5f, new Vec2(23.0f, 0.0f), 0.0f);
g.CreateShape(sd);
// compressor statics
sd.SetAsBox(7.0f, 0.5f, new Vec2(-2.0f, 9.0f), 0.0f);
g.CreateShape(sd);
sd.SetAsBox(9.0f, 0.5f, new Vec2(22.0f, 9.0f), 0.0f);
g.CreateShape(sd);
sd.SetAsBox(19.0f, 0.5f, new Vec2(-9.0f, 15.0f), -0.05f);
g.CreateShape(sd);
sd.SetAsBox(4.7f, 0.5f, new Vec2(15.0f, 11.5f), -0.5f);
g.CreateShape(sd);
// below compressor
sd.SetAsBox(26.0f, 0.3f, new Vec2(17.0f, -4.4f), -0.02f);
g.CreateShape(sd);
cd.Radius = 1.0f; cd.Friction = 1.0f;
cd.LocalPosition = new Vec2(29.0f, -6.0f);
g.CreateShape(cd);
cd.Radius = 0.7f;
cd.LocalPosition = new Vec2(-2.0f, -4.5f);
g.CreateShape(cd);
}
// Elevator
{
BodyDef bd = new BodyDef();
CircleDef cd = new CircleDef();
PolygonDef sd = new PolygonDef();
bd.Position.Set(40.0f, 4.0f);
_elev = _world.CreateBody(bd);
sd.SetAsBox(0.5f, 2.5f, new Vec2(3.0f, -3.0f), 0.0f);
sd.Density = 1.0f;
sd.Friction = 0.01f;
_elev.CreateShape(sd);
sd.SetAsBox(7.0f, 0.5f, new Vec2(-3.5f, -5.5f), 0.0f);
_elev.CreateShape(sd);
sd.SetAsBox(0.5f, 2.5f, new Vec2(-11.0f, -3.5f), 0.0f);
_elev.CreateShape(sd);
_elev.SetMassFromShapes();
PrismaticJointDef jp = new PrismaticJointDef();
jp.Initialize(_ground, _elev, bd.Position, new Vec2(0.0f, 1.0f));
jp.LowerTranslation = 0.0f;
jp.UpperTranslation = 100.0f;
jp.EnableLimit = true;
jp.EnableMotor = true;
jp.MaxMotorForce = 10000.0f;
jp.MotorSpeed = 0.0f;
_joint_elev = (PrismaticJoint)_world.CreateJoint(jp);
// Korb
sd.SetAsBox(2.3f, 0.5f, new Vec2(1.0f, 0.0f), 0.0f);
sd.Density = 0.5f;
bd.Position.Set(29.0f, 6.5f);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
sd.SetAsBox(2.5f, 0.5f, new Vec2(3.0f, -2.0f), Box2DX.Common.Settings.Pi / 2.0f);
body.CreateShape(sd);
sd.SetAsBox(4.6f, 0.5f, new Vec2(7.8f, -4.0f), 0.0f);
body.CreateShape(sd);
sd.SetAsBox(0.5f, 4.5f, new Vec2(12.0f, 0.0f), 0.0f);
body.CreateShape(sd);
sd.SetAsBox(0.5f, 0.5f, new Vec2(13.0f, 4.0f), 0.0f);
body.CreateShape(sd);
cd.Radius = 0.7f; cd.Density = 1.0f; cd.Friction = 0.01f;
cd.LocalPosition = new Vec2(0.0f, 0.0f);
body.CreateShape(cd);
body.SetMassFromShapes();
RevoluteJointDef jr = new RevoluteJointDef();
jr.Initialize(_elev, body, bd.Position);
jr.EnableLimit = true;
jr.LowerAngle = -0.2f;
jr.UpperAngle = Box2DX.Common.Settings.Pi * 1.1f;
jr.CollideConnected = true;
_world.CreateJoint(jr);
// upper body exit
sd.SetAsBox(14.0f, 0.5f, new Vec2(-3.5f, -10.0f), 0.0f);
bd.Position.Set(17.5f, 96.0f);
body = _world.CreateBody(bd);
body.CreateShape(sd);
}
// "Elastic body" 64 bodies - something like a lin. elastic compound
// connected via dynamic forces (springs)
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(0.55f, 0.55f);
sd.Density = 1.5f;
sd.Friction = 0.01f;
sd.Filter.GroupIndex = -1;
Vec2 startpoint = new Vec2(30.0f, 20.0f);
BodyDef bd = new BodyDef();
bd.IsBullet = false;
bd.AllowSleep = false;
for (int i = 0; i < 8; ++i)
{
for (int j = 0; j < 8; ++j)
{
bd.Position.Set(j * 1.02f, 2.51f + 1.02f * i);
bd.Position += startpoint;
Body body = _world.CreateBody(bd);
bodies[8 * i + j] = body;
body.CreateShape(sd);
body.SetMassFromShapes();
}
}
}
}
public TheoJansen()
{
_offset.Set(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vec2 pivot = new Vec2(0.0f, 0.8f);
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(sd);
sd.SetAsBox(0.5f, 5.0f, new Vec2(-50.0f, 15.0f), 0.0f);
ground.CreateShape(sd);
sd.SetAsBox(0.5f, 5.0f, new Vec2(50.0f, 15.0f), 0.0f);
ground.CreateShape(sd);
}
for (int i = 0; i < 40; ++i)
{
CircleDef sd = new CircleDef();
sd.Density = 1.0f;
sd.Radius = 0.25f;
BodyDef bd = new BodyDef();
bd.Position.Set(-40.0f + 2.0f * i, 0.5f);
Body body = _world.CreateBody(bd);
body.CreateShape(sd);
body.SetMassFromShapes();
}
{
PolygonDef sd = new PolygonDef();
sd.Density = 1.0f;
sd.SetAsBox(2.5f, 1.0f);
sd.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.Position = pivot + _offset;
_chassis = _world.CreateBody(bd);
_chassis.CreateShape(sd);
_chassis.SetMassFromShapes();
}
{
CircleDef sd = new CircleDef();
sd.Density = 1.0f;
sd.Radius = 1.6f;
sd.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.Position = pivot + _offset;
_wheel = _world.CreateBody(bd);
_wheel.CreateShape(sd);
_wheel.SetMassFromShapes();
}
{
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_wheel, _chassis, pivot + _offset);
jd.CollideConnected = false;
jd.MotorSpeed = _motorSpeed;
jd.MaxMotorTorque = 400.0f;
jd.EnableMotor = _motorOn;
_motorJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
Vec2 wheelAnchor;
wheelAnchor = pivot + new Vec2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetXForm(_wheel.GetPosition(), 120.0f * Box2DX.Common.Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetXForm(_wheel.GetPosition(), -120.0f * Box2DX.Common.Settings.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
public override void Keyboard(System.Windows.Forms.Keys key)
{
switch (key)
{
case System.Windows.Forms.Keys.S:
if (_bullet != null)
{
_world.DestroyBody(_bullet);
_bullet = null;
}
{
CircleDef sd = new CircleDef();
sd.Density = 20.0f;
sd.Radius = 0.25f;
sd.Restitution = 0.05f;
BodyDef bd = new BodyDef();
bd.IsBullet = true;
bd.AllowSleep = false;
bd.Position.Set(-31.0f, 5.0f);
_bullet = _world.CreateBody(bd);
_bullet.CreateShape(sd);
_bullet.SetMassFromShapes();
_bullet.SetLinearVelocity(new Vec2(400.0f, 0.0f));
}
break;
}
}
public PlayerCharacter(World _world, Vector2 _position)
: base(_world, _position)
{
playerIndex = playerCount++;
color = PlayerCharacter.Colors[playerIndex];
accelerate = 0;
rotate = 0;
isDead = false;
this.angVelocity = 0;
//build the unicycle
CircleDef circleDef = new CircleDef();
circleDef.Radius = 1;
circleDef.Density = 1f;
circleDef.Friction = 1.0f;
circleDef.Restitution = 0.0f;
circleDef.LocalPosition.Set(0, 0);
wheel = body.CreateShape(circleDef);
body.SetMassFromShapes();
body.SetUserData(this); // link body and this to register collisions in this
//build the head and connect with the wheel
BodyDef bodydef = new BodyDef();
bodydef.Position = _position + new Vector2(0.0f, 3.5f);
bodydef.Angle = 0f;
chest = _world.CreateBody(bodydef);
//add the head
circleDef.Density = 0.0001f;
circleDef.Radius = 0.75f;
circleDef.LocalPosition.Set(0, 3);
head = chest.CreateShape(circleDef);
rotationHead = _position;
PolygonDef Boxdef = new PolygonDef();
Boxdef.SetAsBox(1, 1.5f);
Boxdef.Density = 0.25f;
Boxdef.Friction = 0.4f;
Box2DX.Collision.Shape s2 = chest.CreateShape(Boxdef);
chest.SetMassFromShapes();
chest.SetUserData(this);
//Jointshit
RevoluteJointDef jointDefKW = new RevoluteJointDef();
jointDefKW.Body2 = chest;
jointDefKW.Body1 = body;
jointDefKW.CollideConnected = false;
jointDefKW.LocalAnchor2 = new Vector2(-0.0f, -3.8f);
jointDefKW.LocalAnchor1 = new Vector2(0, 0);
jointDefKW.EnableLimit = false;
_world.CreateJoint(jointDefKW);
// add visuals
Texture wheelTexture = AssetManager.getTexture(AssetManager.TextureName.ShoopWheel);
wheelSprite = new AnimatedSprite(wheelTexture, 1.0f, 1, (Vector2)wheelTexture.Size);
wheelSprite.Scale = Constants.windowScaleFactor * new Vector2(0.2f, 0.2f); //(Vector2.One / (Vector2)wheelTexture.Size * 2F * circleDef.Radius).toScreenCoord() - Vector2.Zero.toScreenCoord();//new Vector2(0.08f, 0.08f);
wheelSprite.Origin = ((Vector2)wheelSprite.spriteSize) / 2F;
sheepSprite = new Sprite(AssetManager.getTexture(AssetManager.TextureName.ShoopInfronUnicycle));
sheepSprite.Origin = ((Vector2)sheepSprite.Texture.Size) / 2F;
sheepSprite.Scale = Constants.windowScaleFactor * new Vector2(_position.X > Constants.worldSizeX / 2F ? -0.2f : 0.2f, 0.2f);
}
public virtual void InitPhysics()
{
if (_physBody != null)
{
Log.Instance.Log("WARNING: Call to InitPhysics had no effect. Actor has already had physics initialized.");
return;
}
ShapeType shapeType = ShapeType.Box;
Box2D.World physicsWorld = Angel.World.Instance.PhysicsWorld;
ShapeDef shape;
switch (shapeType)
{
case ShapeType.Box:
PolygonDef box = new PolygonDef();
box.SetAsBox(0.5f * Size.X, 0.5f * Size.Y);
shape = box;
break;
case ShapeType.Circle:
CircleDef circle = new CircleDef();
circle.Radius = 0.5f * Size.X;
shape = circle;
break;
default:
Log.Instance.Log("InitPhysics(): Invalid shape type given");
return;
}
shape.Density = _fDensity;
shape.Friction = _fFriction;
shape.Restitution = _fRestitution;
shape.IsSensor = _bIsSensor;
if (_iCollisionFlags != -1)
{
//shape->maskBits = (short)collisionFlags;
//shape->categoryBits = (short)collisionFlags;
}
// InitShape( shape );
BodyDef bodyDef = new BodyDef();
bodyDef.UserData = this;
bodyDef.Position = this.Position;
bodyDef.Angle = MathHelper.ToRadians(-Rotation);
bodyDef.FixedRotation = _bFixedRotation;
_physBody = physicsWorld.CreateBody(bodyDef);
_physBody.CreateShape(shape);
_physBody.SetMassFromShapes();
CustomInitPhysics();
}
public void LaunchBomb()
{
if (_bomb != null)
{
_world.DestroyBody(_bomb);
_bomb = null;
}
BodyDef bd = new BodyDef();
bd.AllowSleep = true;
bd.Position.Set(Box2DX.Common.Math.Random(-15.0f, 15.0f), 30.0f);
bd.IsBullet = true;
_bomb = _world.CreateBody(bd);
_bomb.SetLinearVelocity(-5.0f * bd.Position);
CircleDef sd = new CircleDef();
sd.Radius = 0.3f;
sd.Density = 20.0f;
sd.Restitution = 0.1f;
_bomb.CreateShape(sd);
_bomb.SetMassFromShapes();
}
public Biped(World w, Vec2 position)
{
m_world = w;
BipedDef def = new BipedDef();
BodyDef bd;
// create body parts
bd = def.LFootDef;
bd.Position += position;
LFoot = w.CreateBody(bd);
LFoot.CreateShape(def.LFootPoly);
LFoot.SetMassFromShapes();
bd = def.RFootDef;
bd.Position += position;
RFoot = w.CreateBody(bd);
RFoot.CreateShape(def.RFootPoly);
RFoot.SetMassFromShapes();
bd = def.LCalfDef;
bd.Position += position;
LCalf = w.CreateBody(bd);
LCalf.CreateShape(def.LCalfPoly);
LCalf.SetMassFromShapes();
bd = def.RCalfDef;
bd.Position += position;
RCalf = w.CreateBody(bd);
RCalf.CreateShape(def.RCalfPoly);
RCalf.SetMassFromShapes();
bd = def.LThighDef;
bd.Position += position;
LThigh = w.CreateBody(bd);
LThigh.CreateShape(def.LThighPoly);
LThigh.SetMassFromShapes();
bd = def.RThighDef;
bd.Position += position;
RThigh = w.CreateBody(bd);
RThigh.CreateShape(def.RThighPoly);
RThigh.SetMassFromShapes();
bd = def.PelvisDef;
bd.Position += position;
Pelvis = w.CreateBody(bd);
Pelvis.CreateShape(def.PelvisPoly);
Pelvis.SetMassFromShapes();
bd = def.PelvisDef;
bd.Position += position;
Stomach = w.CreateBody(bd);
Stomach.CreateShape(def.StomachPoly);
Stomach.SetMassFromShapes();
bd = def.ChestDef;
bd.Position += position;
Chest = w.CreateBody(bd);
Chest.CreateShape(def.ChestPoly);
Chest.SetMassFromShapes();
bd = def.NeckDef;
bd.Position += position;
Neck = w.CreateBody(bd);
Neck.CreateShape(def.NeckPoly);
Neck.SetMassFromShapes();
bd = def.HeadDef;
bd.Position += position;
Head = w.CreateBody(bd);
Head.CreateShape(def.HeadCirc);
Head.SetMassFromShapes();
bd = def.LUpperArmDef;
bd.Position += position;
LUpperArm = w.CreateBody(bd);
LUpperArm.CreateShape(def.LUpperArmPoly);
LUpperArm.SetMassFromShapes();
bd = def.RUpperArmDef;
bd.Position += position;
RUpperArm = w.CreateBody(bd);
RUpperArm.CreateShape(def.RUpperArmPoly);
RUpperArm.SetMassFromShapes();
bd = def.LForearmDef;
bd.Position += position;
LForearm = w.CreateBody(bd);
LForearm.CreateShape(def.LForearmPoly);
LForearm.SetMassFromShapes();
bd = def.RForearmDef;
bd.Position += position;
RForearm = w.CreateBody(bd);
RForearm.CreateShape(def.RForearmPoly);
RForearm.SetMassFromShapes();
bd = def.LHandDef;
bd.Position += position;
LHand = w.CreateBody(bd);
LHand.CreateShape(def.LHandPoly);
LHand.SetMassFromShapes();
bd = def.RHandDef;
bd.Position += position;
RHand = w.CreateBody(bd);
RHand.CreateShape(def.RHandPoly);
RHand.SetMassFromShapes();
// link body parts
def.LAnkleDef.Body1 = LFoot;
def.LAnkleDef.Body2 = LCalf;
def.RAnkleDef.Body1 = RFoot;
def.RAnkleDef.Body2 = RCalf;
def.LKneeDef.Body1 = LCalf;
def.LKneeDef.Body2 = LThigh;
def.RKneeDef.Body1 = RCalf;
def.RKneeDef.Body2 = RThigh;
def.LHipDef.Body1 = LThigh;
def.LHipDef.Body2 = Pelvis;
def.RHipDef.Body1 = RThigh;
def.RHipDef.Body2 = Pelvis;
def.LowerAbsDef.Body1 = Pelvis;
def.LowerAbsDef.Body2 = Stomach;
def.UpperAbsDef.Body1 = Stomach;
def.UpperAbsDef.Body2 = Chest;
def.LowerNeckDef.Body1 = Chest;
def.LowerNeckDef.Body2 = Neck;
def.UpperNeckDef.Body1 = Chest;
def.UpperNeckDef.Body2 = Head;
def.LShoulderDef.Body1 = Chest;
def.LShoulderDef.Body2 = LUpperArm;
def.RShoulderDef.Body1 = Chest;
def.RShoulderDef.Body2 = RUpperArm;
def.LElbowDef.Body1 = LForearm;
def.LElbowDef.Body2 = LUpperArm;
def.RElbowDef.Body1 = RForearm;
def.RElbowDef.Body2 = RUpperArm;
def.LWristDef.Body1 = LHand;
def.LWristDef.Body2 = LForearm;
def.RWristDef.Body1 = RHand;
def.RWristDef.Body2 = RForearm;
// create joints
LAnkle = (RevoluteJoint)w.CreateJoint(def.LAnkleDef);
RAnkle = (RevoluteJoint)w.CreateJoint(def.RAnkleDef);
LKnee = (RevoluteJoint)w.CreateJoint(def.LKneeDef);
RKnee = (RevoluteJoint)w.CreateJoint(def.RKneeDef);
LHip = (RevoluteJoint)w.CreateJoint(def.LHipDef);
RHip = (RevoluteJoint)w.CreateJoint(def.RHipDef);
LowerAbs = (RevoluteJoint)w.CreateJoint(def.LowerAbsDef);
UpperAbs = (RevoluteJoint)w.CreateJoint(def.UpperAbsDef);
LowerNeck = (RevoluteJoint)w.CreateJoint(def.LowerNeckDef);
UpperNeck = (RevoluteJoint)w.CreateJoint(def.UpperNeckDef);
LShoulder = (RevoluteJoint)w.CreateJoint(def.LShoulderDef);
RShoulder = (RevoluteJoint)w.CreateJoint(def.RShoulderDef);
LElbow = (RevoluteJoint)w.CreateJoint(def.LElbowDef);
RElbow = (RevoluteJoint)w.CreateJoint(def.RElbowDef);
LWrist = (RevoluteJoint)w.CreateJoint(def.LWristDef);
RWrist = (RevoluteJoint)w.CreateJoint(def.RWristDef);
}
public Car()
{
{ // car body
PolygonDef poly1 = new PolygonDef(), poly2 = new PolygonDef();
// bottom half
poly1.VertexCount = 5;
poly1.Vertices[4].Set(-2.2f, -0.74f);
poly1.Vertices[3].Set(-2.2f, 0);
poly1.Vertices[2].Set(1.0f, 0);
poly1.Vertices[1].Set(2.2f, -0.2f);
poly1.Vertices[0].Set(2.2f, -0.74f);
poly1.Filter.GroupIndex = -1;
poly1.Density = 20.0f;
poly1.Friction = 0.68f;
poly1.Filter.GroupIndex = -1;
// top half
poly2.VertexCount = 4;
poly2.Vertices[3].Set(-1.7f, 0);
poly2.Vertices[2].Set(-1.3f, 0.7f);
poly2.Vertices[1].Set(0.5f, 0.74f);
poly2.Vertices[0].Set(1.0f, 0);
poly2.Filter.GroupIndex = -1;
poly2.Density = 5.0f;
poly2.Friction = 0.68f;
poly2.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.Position.Set(-35.0f, 2.8f);
_vehicle = _world.CreateBody(bd);
_vehicle.CreateShape(poly1);
_vehicle.CreateShape(poly2);
_vehicle.SetMassFromShapes();
}
{ // vehicle wheels
CircleDef circ = new CircleDef();
circ.Density = 40.0f;
circ.Radius = 0.38608f;
circ.Friction = 0.8f;
circ.Filter.GroupIndex = -1;
BodyDef bd = new BodyDef();
bd.AllowSleep = false;
bd.Position.Set(-33.8f, 2.0f);
_rightWheel = _world.CreateBody(bd);
_rightWheel.CreateShape(circ);
_rightWheel.SetMassFromShapes();
bd.Position.Set(-36.2f, 2.0f);
_leftWheel = _world.CreateBody(bd);
_leftWheel.CreateShape(circ);
_leftWheel.SetMassFromShapes();
}
{ // join wheels to chassis
Vec2 anchor = new Vec2();
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(_vehicle, _leftWheel, _leftWheel.GetWorldCenter());
jd.CollideConnected = false;
jd.EnableMotor = true;
jd.MaxMotorTorque = 10.0f;
jd.MotorSpeed = 0.0f;
_leftJoint = (RevoluteJoint)_world.CreateJoint(jd);
jd.Initialize(_vehicle, _rightWheel, _rightWheel.GetWorldCenter());
jd.CollideConnected = false;
_rightJoint = (RevoluteJoint)_world.CreateJoint(jd);
}
{ // ground
PolygonDef box = new PolygonDef();
box.SetAsBox(19.5f, 0.5f);
box.Friction = 0.62f;
BodyDef bd = new BodyDef();
bd.Position.Set(-25.0f, 1.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(9.5f, 0.5f, Vec2.Zero, 0.1f * Box2DX.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(27.0f - 30.0f, 3.1f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(9.5f, 0.5f, Vec2.Zero, -0.1f * Box2DX.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(55.0f - 30.0f, 3.1f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(9.5f, 0.5f, Vec2.Zero, 0.03f * Box2DX.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(41.0f, 2.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(5.0f, 0.5f, Vec2.Zero, 0.15f * Box2DX.Common.Settings.Pi);
box.Friction = 0.62f;
bd.Position.Set(50.0f, 4.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(box);
}
{ // more ground
PolygonDef box = new PolygonDef();
BodyDef bd = new BodyDef();
box.SetAsBox(20.0f, 0.5f);
box.Friction = 0.62f;
bd.Position.Set(85.0f, 2.0f);
Body ground = _world.CreateBody(bd);
ground.CreateShape(box);
}
}
/// <summary>
/// Add objects to the Box2d world.
/// </summary>
protected override void PopulateWorld()
{
// ==== Define the ground body ====
BodyDef groundBodyDef = new BodyDef();
groundBodyDef.Position.Set(0f, -0.25f);
// Call the body factory which creates the ground box shape.
// The body is also added to the world.
Body groundBody = _world.CreateBody(groundBodyDef);
// Define the ground box shape.
PolygonDef groundShapeDef = new PolygonDef();
// The extents are the half-widths of the box.
groundShapeDef.SetAsBox(_trackLengthHalf + 1f, 0.25f);
groundShapeDef.Friction = _simParams._defaultFriction;
groundShapeDef.Restitution = _simParams._defaultRestitution;
groundShapeDef.Filter.CategoryBits = 0x3;
// Add the ground shape to the ground body.
groundBody.CreateShape(groundShapeDef);
// ==== Define the cart body.
BodyDef cartBodyDef = new BodyDef();
cartBodyDef.Position.Set(0f, 0.15f);
// Create cart body.
_cartBody = _world.CreateBody(cartBodyDef);
PolygonDef cartShapeDef = new PolygonDef();
cartShapeDef.SetAsBox(0.5f, 0.125f);
cartShapeDef.Friction = 0f;
cartShapeDef.Restitution = 0f;
cartShapeDef.Density = 16f;
_cartBody.CreateShape(cartShapeDef);
_cartBody.SetMassFromShapes();
// Fix cart to 'track' (prismatic joint).
PrismaticJointDef cartTrackJointDef = new PrismaticJointDef();
cartTrackJointDef.EnableMotor = true;
cartTrackJointDef.LowerTranslation = -_trackLengthHalf;
cartTrackJointDef.UpperTranslation = _trackLengthHalf;
cartTrackJointDef.EnableLimit = true;
cartTrackJointDef.Initialize(groundBody, _cartBody, new Vec2(0f, 0f), new Vec2(1f, 0f));
_cartTrackJoint = (PrismaticJoint)_world.CreateJoint(cartTrackJointDef);
// ===== Create arm1.
const float poleRadius = 0.025f; // Half the thickness of the pole.
Vec2 arm1PosBase = new Vec2(0f, 0.275f);
Body arm1Body = CreatePole(arm1PosBase, _cartJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
// Join arm1 to cart.
RevoluteJointDef poleJointDef = new RevoluteJointDef();
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(_cartBody, arm1Body, arm1PosBase);
_cartJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
// ===== Create arm2.
Vec2 arm2PosBase = CalcPoleEndPos(arm1Body);
Body arm2Body = CreatePole(arm2PosBase, _elbowJointInitialAngle, poleRadius, 0f, 0f, 2f, 0x0);
_arm2Body = arm2Body;
// Join arm2 to arm1.
poleJointDef.CollideConnected = false;
poleJointDef.EnableMotor = false;
poleJointDef.MaxMotorTorque = 0f;
poleJointDef.Initialize(arm1Body, arm2Body, arm2PosBase);
_elbowJoint = (RevoluteJoint)_world.CreateJoint(poleJointDef);
}
public ApplyForce()
{
_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
Body ground = _world.CreateBody(bd);
PolygonDef sd = new PolygonDef();
sd.Density = 0.0f;
sd.Restitution = k_restitution;
sd.SetAsBox(0.2f, 20.0f, new Vec2(-20.0f, 0.0f), 0.0f);
ground.CreateShape(sd);
sd.SetAsBox(0.2f, 20.0f, new Vec2(20.0f, 0.0f), 0.0f);
ground.CreateShape(sd);
sd.SetAsBox(0.2f, 20.0f, new Vec2(0.0f, -20.0f), 0.5f * Box2DX.Common.Settings.Pi);
ground.CreateShape(sd);
sd.SetAsBox(0.2f, 20.0f, new Vec2(0.0f, 20.0f), -0.5f * Box2DX.Common.Settings.Pi);
ground.CreateShape(sd);
}
{
XForm xf1 = new XForm();
xf1.R.Set(0.3524f * Box2DX.Common.Settings.Pi);
xf1.Position = Box2DX.Common.Math.Mul(xf1.R, new Vec2(1.0f, 0.0f));
PolygonDef sd1 = new PolygonDef();
sd1.VertexCount = 3;
sd1.Vertices[0] = Box2DX.Common.Math.Mul(xf1, new Vec2(-1.0f, 0.0f));
sd1.Vertices[1] = Box2DX.Common.Math.Mul(xf1, new Vec2(1.0f, 0.0f));
sd1.Vertices[2] = Box2DX.Common.Math.Mul(xf1, new Vec2(0.0f, 0.5f));
sd1.Density = 2.0f;
XForm xf2 = new XForm();
xf2.R.Set(-0.3524f * Box2DX.Common.Settings.Pi);
xf2.Position = Box2DX.Common.Math.Mul(xf2.R, new Vec2(-1.0f, 0.0f));
PolygonDef sd2 = new PolygonDef();
sd2.VertexCount = 3;
sd2.Vertices[0] = Box2DX.Common.Math.Mul(xf2, new Vec2(-1.0f, 0.0f));
sd2.Vertices[1] = Box2DX.Common.Math.Mul(xf2, new Vec2(1.0f, 0.0f));
sd2.Vertices[2] = Box2DX.Common.Math.Mul(xf2, new Vec2(0.0f, 0.5f));
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.AngularDamping = 2.0f;
bd.LinearDamping = 0.1f;
bd.Position.Set(0.0f, 1.05f);
bd.Angle = Box2DX.Common.Settings.Pi;
_body = _world.CreateBody(bd);
_body.CreateShape(sd1);
_body.CreateShape(sd2);
_body.SetMassFromShapes();
}
}
