private void CreateLegTextures(AssetCreator assets)
{
Vector2 p1 = new Vector2(-5.4f, -6.1f);
Vector2 p2 = new Vector2(-7.2f, -1.2f);
Vector2 p3 = new Vector2(-4.3f, -1.9f);
Vector2 p4 = Vector2.Zero;
Vector2 p5 = new Vector2(-2.9f, 0.7f);
Vector2 p6 = new Vector2(0.6f, 2.9f);
Vertices vertices = new Vertices(3);
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
_leftLeg = new Sprite(assets.TextureFromVertices(vertices, MaterialType.Blank, Color.IndianRed * 0.8f, 1f, 24f));
vertices[0] = p4;
vertices[1] = p5;
vertices[2] = p6;
_leftShoulder = new Sprite(assets.TextureFromVertices(vertices, MaterialType.Blank, Color.Beige * 0.8f, 1f, 24f));
p1.X *= -1f;
p2.X *= -1f;
p3.X *= -1f;
p5.X *= -1f;
p6.X *= -1f;
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
_rightLeg = new Sprite(assets.TextureFromVertices(vertices, MaterialType.Blank, Color.IndianRed * 0.8f, 1f, 24f));
vertices[0] = p4;
vertices[1] = p6;
vertices[2] = p5;
_rightShoulder = new Sprite(assets.TextureFromVertices(vertices, MaterialType.Blank, Color.Beige * 0.8f, 1f, 24f));
_leftShoulder.Origin = AssetCreator.CalculateOrigin(_leftShoulders[0], 24f);
_leftLeg.Origin = AssetCreator.CalculateOrigin(_leftLegs[0], 24f);
_rightShoulder.Origin = AssetCreator.CalculateOrigin(_rightShoulders[0], 24f);
_rightLeg.Origin = AssetCreator.CalculateOrigin(_rightLegs[0], 24f);
}
public TheoJansenWalker(World world, ScreenManager screenManager, Camera2D camera, Vector2 position)
{
_position = position;
_motorSpeed = 2.0f;
_spriteBatch = screenManager.SpriteBatch;
_lineBatch = screenManager.LineBatch;
_camera = camera;
_walkerJoints = new List <DistanceJoint>();
_leftShoulders = new Body[3];
_rightShoulders = new Body[3];
_leftLegs = new Body[3];
_rightLegs = new Body[3];
Vector2 pivot = new Vector2(0f, -0.8f);
CreateChassis(world, pivot, screenManager.Assets);
Vector2 wheelAnchor = pivot + new Vector2(0f, 0.8f);
CreateLegTextures(screenManager.Assets);
CreateLeg(world, -1f, wheelAnchor, 0);
CreateLeg(world, 1f, wheelAnchor, 0);
_leftLeg.Origin = AssetCreator.CalculateOrigin(_leftLegs[0]);
_leftShoulder.Origin = AssetCreator.CalculateOrigin(_leftShoulders[0]);
_rightLeg.Origin = AssetCreator.CalculateOrigin(_rightLegs[0]);
_rightShoulder.Origin = AssetCreator.CalculateOrigin(_rightShoulders[0]);
_wheel.SetTransform(_wheel.Position, 120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 1);
CreateLeg(world, 1f, wheelAnchor, 1);
_wheel.SetTransform(_wheel.Position, -120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 2);
CreateLeg(world, 1f, wheelAnchor, 2);
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, -10f);
HasCursor = false;
EnableCameraControl = true;
HasVirtualStick = true;
// terrain
_ground = World.CreateBody();
{
Vertices terrain = new Vertices();
terrain.Add(new Vector2(-20f, 5f));
terrain.Add(new Vector2(-20f, 0f));
terrain.Add(new Vector2(20f, 0f));
terrain.Add(new Vector2(25f, 0.25f));
terrain.Add(new Vector2(30f, 1f));
terrain.Add(new Vector2(35f, 4f));
terrain.Add(new Vector2(40f, 0f));
terrain.Add(new Vector2(45f, 0f));
terrain.Add(new Vector2(50f, -1f));
terrain.Add(new Vector2(55f, -2f));
terrain.Add(new Vector2(60f, -2f));
terrain.Add(new Vector2(65f, -1.25f));
terrain.Add(new Vector2(70f, 0f));
terrain.Add(new Vector2(75f, 0.3f));
terrain.Add(new Vector2(80f, 1.5f));
terrain.Add(new Vector2(85f, 3.5f));
terrain.Add(new Vector2(90f, 0f));
terrain.Add(new Vector2(95f, -0.5f));
terrain.Add(new Vector2(100f, -1f));
terrain.Add(new Vector2(105f, -2f));
terrain.Add(new Vector2(110f, -2.5f));
terrain.Add(new Vector2(115f, -1.3f));
terrain.Add(new Vector2(120f, 0f));
terrain.Add(new Vector2(160f, 0f));
terrain.Add(new Vector2(159f, -10f));
terrain.Add(new Vector2(201f, -10f));
terrain.Add(new Vector2(200f, 0f));
terrain.Add(new Vector2(240f, 0f));
terrain.Add(new Vector2(250f, 5f));
terrain.Add(new Vector2(250f, -10f));
terrain.Add(new Vector2(270f, -10f));
terrain.Add(new Vector2(270f, 0));
terrain.Add(new Vector2(310f, 0));
terrain.Add(new Vector2(310f, 5));
for (int i = 0; i < terrain.Count - 1; ++i)
{
_ground.CreateEdge(terrain[i], terrain[i + 1]);
}
_ground.SetFriction(0.6f);
}
// teeter board
{
_board = World.CreateBody();
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, 1.0f);
PolygonShape box = new PolygonShape(PolygonTools.CreateRectangle(20.0f / 2f, 0.5f / 2f), 1);
_teeter =
new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Pavement, Color.LightGray, 1.2f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * MathHelper.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * MathHelper.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
_board.ApplyAngularImpulse(100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(1.0f, 0.125f), 1f);
_bridge = new Sprite(ScreenManager.Assets.TextureFromShape(shape, MaterialType.Dots, Color.SandyBrown, 1f));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(161f + 2f * i, -0.125f);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(World, prevBody, body, -Vector2.UnitX);
prevBody = body;
_bridgeSegments.Add(body);
}
JointFactory.CreateRevoluteJoint(World, _ground, prevBody, Vector2.UnitX);
}
// boxes
{
_boxes = new List <Body>();
PolygonShape box = new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.5f), 1f);
_box = new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Squares, Color.SaddleBrown, 2f));
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, 2.5f);
body.CreateFixture(box);
_boxes.Add(body);
}
// car
{
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(-2.5f, -0.08f));
vertices.Add(new Vector2(-2.375f, 0.46f));
vertices.Add(new Vector2(-0.58f, 0.92f));
vertices.Add(new Vector2(0.46f, 0.92f));
vertices.Add(new Vector2(2.5f, 0.17f));
vertices.Add(new Vector2(2.5f, -0.205f));
vertices.Add(new Vector2(2.3f, -0.33f));
vertices.Add(new Vector2(-2.25f, -0.35f));
PolygonShape chassis = new PolygonShape(vertices, 2);
CircleShape wheelShape = new CircleShape(0.5f, 0.8f);
_car = World.CreateBody();
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, 1.0f);
_car.CreateFixture(chassis);
_wheelBack = World.CreateBody();
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, 0.78f);
_wheelBack.CreateFixture(wheelShape);
_wheelBack.SetFriction(0.9f);
wheelShape.Density = 1;
_wheelFront = World.CreateBody();
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, 0.8f);
_wheelFront.CreateFixture(wheelShape);
Vector2 axis = new Vector2(0.0f, 1.2f);
_springBack = new WheelJoint(_car, _wheelBack, _wheelBack.Position, axis, true);
_springBack.MotorSpeed = 0.0f;
_springBack.MaxMotorTorque = 20.0f;
_springBack.MotorEnabled = true;
_springBack.Frequency = 4.0f;
_springBack.DampingRatio = 0.7f;
World.Add(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis, true);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
_springFront.Frequency = 4.0f;
_springFront.DampingRatio = 0.7f;
World.Add(_springFront);
_carBody = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/car"), AssetCreator.CalculateOrigin(_car, 24f));
_wheel = new Sprite(ScreenManager.Content.Load <Texture2D>("Samples/wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
public TheoJansenWalker(World world, PhysicsGameScreen screen, Vector2 position)
{
_position = position;
_motorSpeed = 2.0f;
_motorOn = true;
_screen = screen;
_walkerJoints = new List <DistanceJoint>();
_leftShoulders = new Body[3];
_rightShoulders = new Body[3];
_leftLegs = new Body[3];
_rightLegs = new Body[3];
Vector2 pivot = new Vector2(0f, -0.8f);
// Chassis
{
PolygonShape shape = new PolygonShape(1f);
shape.SetAsBox(2.5f, 1.0f);
_body =
new Sprite(_screen.ScreenManager.Assets.TextureFromShape(shape, MaterialType.Blank,
Color.Beige, 1f));
_chassis = BodyFactory.CreateBody(world);
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _position;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1f);
_engine =
new Sprite(_screen.ScreenManager.Assets.TextureFromShape(shape, MaterialType.Waves,
Color.Beige * 0.8f, 1f));
_wheel = BodyFactory.CreateBody(world);
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _position;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _wheel.GetLocalPoint(_chassis.Position), Vector2.Zero);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400f;
_motorJoint.MotorEnabled = _motorOn;
world.AddJoint(_motorJoint);
}
Vector2 wheelAnchor = pivot + new Vector2(0f, 0.8f);
CreateLegTextures();
CreateLeg(world, -1f, wheelAnchor, 0);
CreateLeg(world, 1f, wheelAnchor, 0);
_leftLeg.Origin = AssetCreator.CalculateOrigin(_leftLegs[0]);
_leftShoulder.Origin = AssetCreator.CalculateOrigin(_leftShoulders[0]);
_rightLeg.Origin = AssetCreator.CalculateOrigin(_rightLegs[0]);
_rightShoulder.Origin = AssetCreator.CalculateOrigin(_rightShoulders[0]);
_wheel.SetTransform(_wheel.Position, 120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 1);
CreateLeg(world, 1f, wheelAnchor, 1);
_wheel.SetTransform(_wheel.Position, -120f * Settings.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, 2);
CreateLeg(world, 1f, wheelAnchor, 2);
}
