// Use this for initialization
protected override IntPtr Init()
{
WheelJointDef jd = new WheelJointDef(other.body, body.body);
jd.Initialize(other.body,body.body,anchor, axis);
jd.enableMotor = enableMotor;
jd.maxMotorTorque = maxMotorTorque;
jd.motorSpeed = motorSpeed;
jd.frequencyHz = frequencyHz;
jd.dampingRatio = dampingRatio;
return API.CreateWheelJoint( B2DWorld.instance.world, jd );
}
public static extern IntPtr CreateWheelJoint(IntPtr w, WheelJointDef def);
public static extern IntPtr CreateWheelJoint( IntPtr w, WheelJointDef def );
// Use this for initialization
protected override void Init()
{
m_hz = 4.0f;
m_zeta = 0.7f;
m_speed = 50.0f;
IntPtr ground = IntPtr.Zero;
{
ground = API.CreateBody(world,new Vector2(0,0), 0, BodyType.STATIC_BODY);
ShapeDef sp = new ShapeDef(0);
sp.friction = 0.6f;
API.AddEdgeShape(ground, new Vector2(-20,0),new Vector2(20,0), sp);
float[] hs = new float[]{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];
API.AddEdgeShape(ground, new Vector2(x,y1), new Vector2(x+dx,y2),sp);
y1 = y2;
x += dx;
}
for (int i = 0; i < 10; ++i)
{
float y2 = hs[i];
API.AddEdgeShape(ground, new Vector2(x,y1), new Vector2(x+dx,y2),sp);
y1 = y2;
x += dx;
}
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+40,0),sp);
x += 80.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+40,0),sp);
x += 40.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+10,5),sp);
x += 20.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x+40,0),sp);
x += 40.0f;
API.AddEdgeShape(ground, new Vector2(x,0), new Vector2(x,20),sp);
}
// Teeter
{
IntPtr body = API.CreateBody(world,new Vector2(140,1.0f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,10,0.25f,Vector2.zero,0,new ShapeDef(1.0f));
Vector2 archor;
API.GetPosition(body, out archor);
RevoluteJointDef jd = new RevoluteJointDef();
jd.Initialize(ground,body,archor);
jd.lowerAngle = -8.0f * Mathf.Deg2Rad;
jd.upperAngle = 8.0f * Mathf.Deg2Rad;
jd.enableLimit = true;
API.CreateRevoluteJoint(world,jd);
API.ApplyAngularImpulse(body, 100.0f);
}
// Bridge
{
int N = 20;
ShapeDef sp = new ShapeDef(1.0f);
sp.friction = 0.6f;
Vector2 anchor;
RevoluteJointDef jd = new RevoluteJointDef();
IntPtr prevBody = ground;
for (int i = 0; i < N; ++i)
{
var body = API.CreateBody(world,new Vector2(161.0f+2.0f*i, -0.125f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,1.0f, 0.125f, Vector2.zero, 0, sp);
anchor = new Vector2(160.0f + 2.0f * i, -0.125f);
jd.Initialize(prevBody,body,anchor);
API.CreateRevoluteJoint(world,jd);
prevBody = body;
}
anchor = new Vector2(160.0f + 2.0f * N, -0.125f);
jd.Initialize(prevBody,ground,anchor);
API.CreateRevoluteJoint(world,jd);
}
// Boxes
{
var body = API.CreateBody(world,new Vector2(230.0f,0.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,1.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,2.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,3.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
body = API.CreateBody(world,new Vector2(230.0f,4.5f), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(body,0.5f,0.5f, Vector2.zero,0,new ShapeDef(0.5f));
}
// Car
{
ShapeDef sp = new ShapeDef(1.0f);
Vector2[] vertices = new Vector2[6];
vertices[0] = new Vector2(-1.5f, -0.5f);
vertices[1] = new Vector2(1.5f, -0.5f);
vertices[2] = new Vector2(1.5f, 0.0f);
vertices[3] = new Vector2(0.0f, 0.9f);
vertices[4] = new Vector2(-1.15f, 0.9f);
vertices[5] = new Vector2(-1.5f, 0.2f);
m_car = API.CreateBody(world,new Vector2(0,1.0f),0,BodyType.DYNAMIC_BODY);
API.AddPolygonShape(m_car,vertices,vertices.Length,sp);
sp.friction = 0.9f;
m_wheel1 = API.CreateBody(world,new Vector2(-1.0f,0.35f),0,BodyType.DYNAMIC_BODY);
API.AddCircleShape(m_wheel1, 0.4f, sp);
m_wheel2 = API.CreateBody(world,new Vector2(1.0f,0.4f),0,BodyType.DYNAMIC_BODY);
API.AddCircleShape(m_wheel2, 0.4f, sp);
WheelJointDef jd = new WheelJointDef();
Vector2 axis = new Vector2(0.0f, 1.0f);
Vector2 pos1,pos2;
API.GetPosition(m_wheel1,out pos1);
API.GetPosition(m_wheel2,out pos2);
jd.Initialize(m_car, m_wheel1, pos1, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 20.0f;
jd.enableMotor = true;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring1 = API.CreateWheelJoint(world,jd);
jd.Initialize(m_car, m_wheel2, pos2, axis);
jd.motorSpeed = 0.0f;
jd.maxMotorTorque = 10.0f;
jd.enableMotor = false;
jd.frequencyHz = m_hz;
jd.dampingRatio = m_zeta;
m_spring2 = API.CreateWheelJoint(world,jd);
}
}
