protected override void Init(World world)
{
Body body1 = new StaticBody("Ground1", new Box(500.0f, 20.0f));
body1.SetPosition(250.0f, 400);
world.Add(body1);
Body body2 = new Body("Teeter", new Box(250.0f, 10.0f), 5);
body2.Friction = 0.5f;
body2.SetPosition(250.0f, 370);
world.Add(body2);
Body body3 = new Body("light1", new Box(10.0f, 10.0f), 10);
body3.SetPosition(135, 360);
world.Add(body3);
Body body4 = new Body("light2", new Box(10.0f, 10.0f), 10);
body4.SetPosition(150, 360);
world.Add(body4);
Body body5 = new Body("weight", new Box(25.0f, 25.0f), 30);
body5.SetPosition(350, 50);
world.Add(body5);
BasicJoint j = new BasicJoint(body1, body2, new Vector2f(250, 370));
world.Add(j);
}
/// <summary> Create a new joint
///
/// </summary>
/// <param name="body1">The first body jointed
/// </param>
/// <param name="body2">The second body jointed
/// </param>
/// <param name="anchor">The anchor point for the underlying basic joint
/// </param>
/// <param name="Distance">The Distance the bodies must be apart before force is applied
/// </param>
public ConstrainingJoint(Body body1, Body body2, Vector2f anchor, float distance)
{
this.distance = distance;
this.body1 = body1;
this.body2 = body2;
realJoint = new BasicJoint(body1, body2, anchor);
}
protected override void Init(World world)
{
Body body1 = new StaticBody("Ground1", new Box(400.0f, 20.0f));
body1.SetPosition(250.0f, 400);
world.Add(body1);
Body body1b = new StaticBody("Ground1", new Box(20.0f, 400.0f));
body1b.SetPosition(20.0f, 200);
world.Add(body1b);
Body body3 = new Body("Mover2", new Circle(25), 50.0f);
body3.SetPosition(225.0f, 365);
world.Add(body3);
Body body2 = new Body("Mover1", new Circle(25), 50.0f);
body2.SetPosition(275.0f, 365);
world.Add(body2);
Body body3a = new Body("Mover2", new Circle(25), 50.0f);
body3a.SetPosition(175.0f, 365);
world.Add(body3a);
Body body2a = new Body("Mover1", new Circle(25), 50.0f);
body2a.SetPosition(325.0f, 365);
world.Add(body2a);
Body faller = new Body("Faller", new Circle(25), 200.0f);
faller.SetPosition(250.0f, -20f);
world.Add(faller);
}
protected override void Init(World world)
{
float w = 50f;
Body body1 = new StaticBody("Ground1", new Box(w,w));
body1.SetPosition(250.0f, 400);
world.Add(body1);
Body body3 = new StaticBody("Ground2", new Box(w,w));
body3.SetPosition(360.0f, 380);
world.Add(body3);
Body body5 = new StaticBody("Ground3", new Box(w,w));
body5.SetPosition(200.0f, 300);
world.Add(body5);
Body body6 = new StaticBody("Ground3", new Box(w,w));
body6.SetPosition(400.0f, 300);
world.Add(body6);
Body body2 = new Body("Mover1", new Box(w, w), 100.0f);
body2.SetPosition(250.0f, 4.0f);
world.Add(body2);
Body body4 = new Body("Mover2", new Box(w,w), 100.0f);
body4.SetPosition(230.0f, -60.0f);
world.Add(body4);
Body body8 = new Body("Mover3", new Box(w, w), 100.0f);
body8.SetPosition(280.0f, -120.0f);
world.Add(body8);
}
protected override void Init(World world)
{
Body body1 = new StaticBody("Ground1", new Box(600.0f, 20.0f));
body1.SetPosition(250.0f, 400);
world.Add(body1);
Body body3 = new StaticBody("Ground2", new Box(200.0f, 20.0f));
body3.SetPosition(360.0f, 340);
body3.Rotation = 0.4f;
world.Add(body3);
Body body9 = new StaticBody("Ground3", new Box(200.0f, 20.0f));
body9.SetPosition(140.0f, 340);
body9.Rotation = - 0.4f;
world.Add(body9);
Body bodya = new StaticBody("Wall1", new Box(20.0f, 400.0f));
bodya.SetPosition(20.0f, 190);
world.Add(bodya);
Body bodyb = new StaticBody("Wall2", new Box(20.0f, 400.0f));
bodyb.SetPosition(480.0f, 190);
world.Add(bodyb);
Body body2 = new Body("Mover1", new Box(50.0f, 50.0f), 100.0f);
body2.SetPosition(250.0f, 4.0f);
body2.Rotation = 0.2f;
world.Add(body2);
Body body4 = new Body("Mover2", new Box(50.0f, 50.0f), 100.0f);
body4.SetPosition(230.0f, - 60.0f);
world.Add(body4);
Body body8 = new Body("Mover3", new Box(50.0f, 50.0f), 100.0f);
body8.SetPosition(280.0f, - 120.0f);
world.Add(body8);
}
protected override void Init(World world)
{
this.world = world;
Body body1 = new StaticBody("Ground1", new Box(400.0f, 20.0f));
body1.SetPosition(250.0f, 400);
body1.Friction = 1;
world.Add(body1);
for (int y = 0; y < 5; y++)
{
int xbase = 250 - (y * 21);
for (int x = 0; x < y + 1; x++)
{
DynamicShape shape = new Box(40, 40);
if ((x == 1) && (y == 2))
{
shape = new Circle(19);
}
if ((x == 1) && (y == 4))
{
shape = new Circle(19);
}
if ((x == 3) && (y == 4))
{
shape = new Circle(19);
}
Body body2 = new Body("Mover1", shape, 100.0f);
body2.SetPosition(xbase + (x * 42), y * 45);
world.Add(body2);
}
}
}
/// <summary> Create a new event describing a contact
///
/// </summary>
/// <param name="time">The time of the collision
/// </param>
/// <param name="body1">The first body in the collision
/// </param>
/// <param name="body2">The second body in the collision
/// </param>
/// <param name="point">The point of collision (not always perfect - accepts penetration)
/// </param>
/// <param name="normal">The normal of collision
/// </param>
/// <param name="depth">The penetration of of the contact
/// </param>
public CollisionEvent(float time, Body body1, Body body2, ROVector2f point, ROVector2f normal, float depth)
{
this.time = time;
this.body1 = body1;
this.body2 = body2;
this.point = point;
this.normal = normal;
this.depth = depth;
}
protected override void HandleKey(KeyHandler handler)
{
base.HandleKey(handler);
if(handler.IsKeyPressed(Key.Space))
{
Random r = new Random();
double rand = r.NextDouble();
Body body2 = new Body("Mover1", new Box(40.0f, 40.0f), 300.0f);
body2.SetPosition(- 50, (float) (((rand * 50) + 150)));
world.Add(body2);
body2.AdjustAngularVelocity(1);
body2.AdjustVelocity(new Vector2f(200, (float) (rand * 200)));
}
}
protected override void Init(World world)
{
Body body1 = new StaticBody("Ground1", new Box(400.0f, 20.0f));
body1.SetPosition(250.0f, 400);
body1.Friction = 1;
world.Add(body1);
for (int y = 0; y < 3; y++)
{
int xbase = 250 - (y * 21);
for (int x = 0; x < y + 1; x++)
{
Body body2 = new Body("Mover1", new Box(40.0f, 40.0f), 100.0f);
body2.SetPosition(xbase + (x * 42), y * 45);
world.Add(body2);
}
}
}
/// <summary> Create a new arbiter - this should only be done by the
/// engine
///
/// </summary>
/// <param name="b1">The first body in contact
/// </param>
/// <param name="b2">The second body in contact
/// </param>
internal Arbiter(Body b1, Body b2)
{
for (int i = 0; i < MAX_POINTS; i++)
{
contacts[i] = new Contact();
}
if (!(b2 is StaticBody) && b1.GetHashCode() < b2.GetHashCode())
{
body1 = b1;
body2 = b2;
}
else
{
body1 = b2;
body2 = b1;
}
}
public void DrawBody(Body body)
{
if (body.Shape is Box)
{
DrawBoxBody(body, (Box)body.Shape);
}
if (body.Shape is Circle)
{
DrawCircleBody(body, (Circle)body.Shape);
}
if (body.Shape is Silver.Weight.Raw.Shapes.Line)
{
DrawLineBody(body, (Silver.Weight.Raw.Shapes.Line)body.Shape);
}
if (body.Shape is Silver.Weight.Raw.Shapes.Polygon)
{
DrawPolygonBody(body, (Silver.Weight.Raw.Shapes.Polygon)body.Shape);
}
}
protected override void Init(World world)
{
Body body1 = new StaticBody("Ground1", new Box(400.0f, 20.0f));
body1.SetPosition(250.0f, 400);
world.Add(body1);
Body body3 = new StaticBody("Ground2", new Box(200.0f, 20.0f));
body3.SetPosition(250.0f, 100);
world.Add(body3);
Body swing = new Body("Swing", new Circle(10), 50);
swing.SetPosition(160.0f, 300);
world.Add(swing);
Body swing2 = new Body("Swing", new Circle(10), 50);
swing2.SetPosition(340.0f, 300);
world.Add(swing2);
Body swing3 = new Body("Swing", new Box(250.0f, 10.0f), 50);
swing3.SetPosition(250.0f, 285);
swing3.Friction = 4.0f;
world.Add(swing3);
Body box = new Body("Resting", new Box(30, 30), 1);
box.SetPosition(250.0f, 200);
box.Rotation = 0.15f;
world.Add(box);
BasicJoint j1 = new BasicJoint(body3, swing, new Vector2f(160, 110));
world.Add(j1);
BasicJoint j2 = new BasicJoint(body3, swing2, new Vector2f(340, 110));
world.Add(j2);
BasicJoint j3 = new BasicJoint(swing, swing3, new Vector2f(160, 300));
world.Add(j3);
BasicJoint j4 = new BasicJoint(swing2, swing3, new Vector2f(340, 300));
world.Add(j4);
swing.AdjustVelocity(new Vector2f(-100, 0));
}
/// <summary> Remove a body from the excluded list of this body. i.e. the
/// body specified will be allowed to Collide with this body again
///
/// </summary>
/// <param name="other">The body to Remove from the exclusion list
/// </param>
public virtual void RemoveExcludedBody(Body other)
{
if (other.Equals(this))
{
return ;
}
if (excluded.Contains(other))
{
excluded.Remove(other);
other.RemoveExcludedBody(this);
}
}
protected override void DrawCircleBody(Body body, Circle circle)
{
float x = body.GetPosition().X;
float y = body.GetPosition().Y;
float r = circle.Radius;
float rot = body.Rotation;
float xo = (float)(System.Math.Cos(rot) * r);
float yo = (float)(System.Math.Sin(rot) * r);
var circleSize = new Vector2f(circle.Radius * 2, circle.Radius * 2);
UIElement e = body.UserData as UIElement;
if (e == null)
{
e = new VisualCircle(circleSize, imagePath);
canvas.Children.Add(e);
body.UserData = e;
}
UpdateElementPosition(e, x, y, circleSize);
ApplyRotationToElement(e, circle.Radius * 2, circle.Radius * 2, RadToDeg(body.Rotation));
}
/// <summary> Remove a body from the list
///
/// </summary>
/// <param name="body">The body to Remove from the list
/// </param>
public virtual void Remove(Body body)
{
//SupportClass.ICollectionSupport.Remove(elements, body);
elements.Remove(body);
}
/// <summary> Notify listeners of a collision
///
/// </summary>
/// <param name="body1">The first body in the collision
/// </param>
/// <param name="body2">The second body in the collision
/// </param>
/// <param name="point">The point of collision (not always perfect - accepts penetration)
/// </param>
/// <param name="normal">The normal of collision
/// </param>
/// <param name="depth">The penetration of of the contact
/// </param>
private void NotifyCollision(Body body1, Body body2, ROVector2f point, ROVector2f normal, float depth)
{
if (listeners.Count == 0)
{
return ;
}
CollisionEvent newEvent = new CollisionEvent(totalTime, body1, body2, point, normal, depth);
for (int i = 0; i < listeners.Count; i++)
{
((CollisionListener) listeners[i]).CollisionOccured(newEvent);
}
}
/// <summary> Create a joint holding two bodies together
///
/// </summary>
/// <param name="b1">The first body attached to the joint
/// </param>
/// <param name="b2">The second body attached to the joint
/// </param>
/// <param name="anchor">The anchor point which movement/rotation will occur
/// arround.
/// </param>
public BasicJoint(Body b1, Body b2, Vector2f anchor)
{
id = NEXT_ID++;
accumulatedImpulse.Reconfigure(0.0f, 0.0f);
relaxation = 1.0f;
Reconfigure(b1, b2, anchor);
}
protected override void DrawBoxBody(Body body, Box box)
{
FrameworkElement e = body.UserData as FrameworkElement;
if (e == null)
{
e = new VisualBox(box.Size, imagePath);
canvas.Children.Add(e);
body.UserData = e;
}
ROVector2f pos = body.GetPosition();
if(Single.IsNaN(pos.X) || Single.IsNaN(pos.Y)) return;
UpdateElementPosition(e, Convert.ToInt32(pos.X), Convert.ToInt32(pos.Y), box.Size);
ApplyRotationToElement(e,box.Size.X,box.Size.Y,RadToDeg(body.Rotation));
}
/// <summary> Create a joint holding two bodies together
///
/// </summary>
/// <param name="b1">The first body attached to the joint
/// </param>
/// <param name="b2">The second body attached to the joint
/// </param>
public FixedJoint(Body b1, Body b2)
{
id = NEXT_ID++;
Reconfigure(b1, b2);
}
/// <summary> Reconfigure this joint
///
/// </summary>
/// <param name="b1">The first body attached to this joint
/// </param>
/// <param name="b2">The second body attached to this joint
/// </param>
public virtual void Reconfigure(Body b1, Body b2)
{
body1 = b1;
body2 = b2;
joint1 = new BasicJoint(b1, b2, new Vector2f(b1.GetPosition()));
joint2 = new BasicJoint(b2, b1, new Vector2f(b2.GetPosition()));
}
/// <summary> Add a body to the list
///
/// </summary>
/// <param name="body">The body to Add
/// </param>
public virtual void Add(Body body)
{
elements.Add(body);
}
private void DrawLineBody(Body body, Silver.Weight.Raw.Shapes.Line line)
{
System.Windows.Shapes.Line line1 = MakeLine(new Vector2f(line.X1, line.X2), new Vector2f(line.X2,line.Y2), 1, Colors.White);
canvas.Children.Add(line1);
}
/// <summary> Get the energy contained within 2 bodies
///
/// </summary>
/// <param name="body1">The first body
/// </param>
/// <param name="body2">The second body
/// </param>
/// <returns> The energy contained
/// </returns>
protected internal virtual float GetEnergy(Body body1, Body body2)
{
Vector2f combinedVel = MathUtil.Scale(body1.Velocity, body1.Mass);
combinedVel.Add(MathUtil.Scale(body2.Velocity, body2.Mass));
float combinedInertia = body1.Inertia * body1.AngularVelocity;
combinedInertia += body2.Inertia * body2.AngularVelocity;
float vel1Energy = body1.Mass * body1.Velocity.Dot(body1.Velocity);
float vel2Energy = body2.Mass * body2.Velocity.Dot(body2.Velocity);
float ang1Energy = body1.Inertia * (body1.AngularVelocity * body1.AngularVelocity);
float ang2Energy = body2.Inertia * (body2.AngularVelocity * body2.AngularVelocity);
float energy = vel1Energy + vel2Energy + ang1Energy + ang2Energy;
return energy;
}
/// <summary> Check if this arbiter affects the specified body
///
/// </summary>
/// <param name="body">The body to check for
/// </param>
/// <returns> True if this arbiter effects the body
/// </returns>
public virtual bool Concerns(Body body)
{
return (body1 == body) || (body2 == body);
}
/// <summary> Check if this list Contains the specified body
///
/// </summary>
/// <param name="body">The body to look for
/// </param>
/// <returns> True if this list Contains the specified body
/// </returns>
public virtual bool Contains(Body body)
{
return elements.Contains(body);
}
/// <summary> Add a body that this body is not allowed to Collide with, i.e.
/// the body specified will Collide with this body
///
/// </summary>
/// <param name="other">The body to exclude from collisions with this body
/// </param>
public virtual void AddExcludedBody(Body other)
{
if (other.Equals(this))
{
return ;
}
if (!excluded.Contains(other))
{
excluded.Add(other);
other.AddExcludedBody(this);
}
}
/// <summary> Notification that this body Collided with another
///
/// </summary>
/// <param name="other">The other body that this body Collided with
/// </param>
public virtual void Collided(Body other)
{
if (!restingBodyDetection)
{
return ;
}
if (!touching.Contains(other))
{
touching.Add(other);
}
if (Resting)
{
if ((!other.Resting))
{
if (other.Velocity.LengthSquared() > hitTolerance)
{
hitByAnother = true;
SetMass(originalMass);
}
}
}
hitCount++;
}
/// <summary> Add a body to the simulation
///
/// </summary>
/// <param name="body">The body to be added
/// </param>
public virtual void Add(Body body)
{
bodies.Add(body);
}
/// <summary> Remove a body from the simulation
///
/// </summary>
/// <param name="body">The body to be removed
/// </param>
public virtual void Remove(Body body)
{
bodies.Remove(body);
}
/// <summary> Reconfigure this joint
///
/// </summary>
/// <param name="b1">The first body attached to this joint
/// </param>
/// <param name="b2">The second body attached to this joint
/// </param>
/// <param name="anchor">The static anchor point between the joints
/// </param>
public virtual void Reconfigure(Body b1, Body b2, Vector2f anchor)
{
body1 = b1;
body2 = b2;
Matrix2f rot1 = new Matrix2f(body1.Rotation);
Matrix2f rot2 = new Matrix2f(body2.Rotation);
Matrix2f rot1T = rot1.Transpose();
Matrix2f rot2T = rot2.Transpose();
Vector2f a1 = new Vector2f(anchor);
a1.Sub(body1.GetPosition());
localAnchor1 = MathUtil.Mul(rot1T, a1);
Vector2f a2 = new Vector2f(anchor);
a2.Sub(body2.GetPosition());
localAnchor2 = MathUtil.Mul(rot2T, a2);
accumulatedImpulse.Reconfigure(0.0f, 0.0f);
relaxation = 1.0f;
}
