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);
}
