// Use this for initialization
protected override IntPtr Init()
{
DistanceJointDef jd = new DistanceJointDef(other.body, body.body);
jd.Initialize(other.body,body.body,anchor1, anchor2);
jd.frequencyHz = frequencyHz;
jd.dampingRatio = dampingRatio;
return API.CreateDistanceJoint( B2DWorld.instance.world, jd );
}
public static extern IntPtr CreateDistanceJoint( IntPtr w, DistanceJointDef def );
public static extern IntPtr CreateDistanceJoint(IntPtr w, DistanceJointDef def);
void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
ShapeDef sp = new ShapeDef(1.0f);
sp.groupIndex = -1;
Vector2[] vertices1 = new Vector2[3];
Vector2[] vertices2 = new Vector2[3];
if( s > 0.0f )
{
vertices1[0] = p1;
vertices1[1] = p2;
vertices1[2] = p3;
vertices2[0] = Vector2.zero;
vertices2[1] = p5-p4;
vertices2[2] = p6-p4;
}
else
{
vertices1[0] = p1;
vertices1[1] = p3;
vertices1[2] = p2;
vertices2[0] = Vector2.zero;
vertices2[1] = p6-p4;
vertices2[2] = p5-p4;
}
BodyDef bd1 = new BodyDef(BodyType.DYNAMIC_BODY);
BodyDef bd2 = new BodyDef(BodyType.DYNAMIC_BODY);
bd1.position = m_offset;
bd2.position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
var body1 = API.CreateBody(world,bd1);
var body2 = API.CreateBody(world,bd2);
API.AddPolygonShape(body1, vertices1,vertices1.Length,sp);
API.AddPolygonShape(body2, vertices2,vertices2.Length,sp);
DistanceJointDef djd = new DistanceJointDef();
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1,body2,p2+m_offset, p5+m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd );
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
API.CreateDistanceJoint(world, djd );
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(body2, m_chassis,p4+m_offset);
API.CreateRevoluteJoint(world,rjd);
}