public void ShortenRope(Rope rope)
{
if (rope.PhysicsSegments.Count <= 2)
{
// Rope cannot be any shorter as 2 segments is minimum
return;
}
// Only allow shortening rope if all joints are restful
for (int i = 0; i < rope.PhysicsSegmentJoints.Count; ++i)
{
var joint = rope.PhysicsSegmentJoints[i];
if (Vector2.Distance(joint.WorldAnchorA, joint.WorldAnchorB) > 0.3f * Rope.SegmentLength)
{
return;
}
}
PhysicsWorld.RemoveJoint(rope.PhysicsEntityJoint);
PhysicsWorld.RemoveJoint(rope.PhysicsSegmentJoints.Last());
rope.PhysicsSegmentJoints.Remove(rope.PhysicsSegmentJoints.Last());
RemoveBody(rope.PhysicsSegments.Last());
rope.PhysicsSegments.Remove(rope.PhysicsSegments.Last());
var ballJoint = JointFactory.CreateRevoluteJoint(PhysicsWorld, rope.PhysicsSegments.Last(), rope.AttachedEntity.PhysicsBody, Vector2.Zero, Vector2.Zero);
ballJoint.CollideConnected = false;
rope.PhysicsEntityJoint = ballJoint;
}
public override void Update(GameTime gameTime)
{
if (Joint == null)
{
if (Object1 == null)
{
return;
}
if (Object2 == null)
{
Fixture referenceObject = FixtureFactory.CreateRectangle(Level.Physics, 0.1f, 0.1f, 0);
referenceObject.Body.Position = Object1.fixture.Body.Position;
referenceObject.Body.BodyType = BodyType.Static;
Joint = JointFactory.CreateRevoluteJoint(Level.Physics, Object1.fixture.Body, referenceObject.Body, Vector2.Zero);
}
else
{
Joint = JointFactory.CreateRevoluteJoint(Level.Physics, Object1.fixture.Body, Object2.fixture.Body, Vector2.Zero);
}
((RevoluteJoint)Joint).LowerLimit = MinAngle;
((RevoluteJoint)Joint).UpperLimit = MaxAngle;
((RevoluteJoint)Joint).LimitEnabled = EnableLimit;
((RevoluteJoint)Joint).MotorSpeed = MotorSpeed;
((RevoluteJoint)Joint).MotorEnabled = EnableMotor;
}
Circle.position = position;
}
Multithread2Test()
{
// enable multithreading
World.ContactManager.VelocityConstraintsMultithreadThreshold = 256;
World.ContactManager.PositionConstraintsMultithreadThreshold = 256;
World.ContactManager.CollideMultithreadThreshold = 256;
//Create ground
Body ground = World.CreateBody();
Body tumblerBody = World.CreateBody(new Vector2(0, 10));
tumblerBody.SleepingAllowed = false;
tumblerBody.BodyType = BodyType.Dynamic;
tumblerBody.CreateRectangle(1, 20, 5, new Vector2(10, 0));
tumblerBody.CreateRectangle(1, 20, 5, new Vector2(-10, 0));
tumblerBody.CreateRectangle(20, 1, 5, new Vector2(0, 10));
tumblerBody.CreateRectangle(20, 1, 5, new Vector2(0, -10));
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(World, ground, tumblerBody, new Vector2(0, 10), Vector2.Zero);
joint.ReferenceAngle = 0.0f;
joint.MotorSpeed = 0.05f * MathHelper.Pi;
joint.MaxMotorTorque = 1e8f;
joint.MotorEnabled = true;
}
private void CreatePlayerPhysicsObjects(Vector2 gameWorldPosition)
{
MainFixture = FixtureFactory.CreateRectangle(Engine.Physics.World, 0.5f, 0.5f, 1);
MainFixture.CollisionFilter.CollisionCategories = (Category)(Global.CollisionCategories.Player);
Bodies.Add(MainFixture.Body);
MainFixture.Body.Position = Engine.Physics.PositionToPhysicsWorld(gameWorldPosition);
MainFixture.Body.BodyType = BodyType.Dynamic;
MainFixture.Body.SleepingAllowed = false;
WheelFixture = FixtureFactory.CreateCircle(Engine.Physics.World, 0.3f, 1.0f);
WheelFixture.CollisionFilter.CollisionCategories = (Category)(Global.CollisionCategories.Player);
Bodies.Add(WheelFixture.Body);
WheelFixture.Body.Position = MainFixture.Body.Position + new Vector2(0.0f, 0.6f);
WheelFixture.Body.BodyType = BodyType.Dynamic;
WheelFixture.Body.SleepingAllowed = false;
WheelFixture.Friction = 0.5f;
playerFAJ = JointFactory.CreateFixedAngleJoint(Engine.Physics.World, MainFixture.Body);
playerFAJ.BodyB = WheelFixture.Body;
wheelMotorRevJoint = JointFactory.CreateRevoluteJoint(MainFixture.Body, WheelFixture.Body, Vector2.Zero);
wheelMotorRevJoint.MaxMotorTorque = 10.0f;
wheelMotorRevJoint.MotorEnabled = true;
Engine.Physics.World.AddJoint(wheelMotorRevJoint);
}
public ChainBridge(Vector2 setPosition)
{
Body ground = new Body(PhysicsGameScreen.World);
PolygonShape shape = new PolygonShape(1);
shape.SetAsBox(0.9f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < 11; ++i)
{
Body body = new Body(PhysicsGameScreen.World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(setPosition.X + 1.8f * i, setPosition.Y);
body.IgnoreCollisionWith(GameDemo1.physicTextures[8].body);
Fixture fix = body.CreateFixture(shape);
fix.Friction = 0.6f;
Vector2 anchor = new Vector2(-1, 0);
JointFactory.CreateRevoluteJoint(PhysicsGameScreen.World, prevBody, body, anchor);
body.Mass = 1f;
prevBody = body;
segment.Add(prevBody);
}
Vector2 anchor2 = new Vector2(1.0f, 0);
JointFactory.CreateRevoluteJoint(PhysicsGameScreen.World, ground, prevBody, anchor2);
}
public Character(SpriteBatch spriteBatch, Texture2D texture, Vector2 position, Rectangle tileSize, float rotation, World physicsWorld)
: base(spriteBatch, texture, position, tileSize, rotation, physicsWorld, 1.0f)
{
position = ConvertUnits.ToSimUnits(position);
//Create body that is half size of etire object
float upperBody = ConvertUnits.ToSimUnits(tileSize.Height) - (ConvertUnits.ToSimUnits(tileSize.Width) / 2.0f);
PhysicsBody = BodyFactory.CreateRectangle(physicsWorld, ConvertUnits.ToSimUnits(tileSize.Height), upperBody, 10.0f);
//shift it up a tiny bit to keep the new objects center correct
PhysicsBody.Position = position - Vector2.UnitY * (ConvertUnits.ToSimUnits(tileSize.Width) / 4);
float centerOffset = position.Y - PhysicsBody.Position.Y;
//Force the upper body to stay upright
var fixedAngleJoint = JointFactory.CreateFixedAngleJoint(physicsWorld, PhysicsBody);
//Create a wheel as wide as PhysicsBody
WheelBody = BodyFactory.CreateCircle(physicsWorld, ConvertUnits.ToSimUnits(tileSize.Width) / 2.0f, 1.0f);
//Position its center at the bottom of the upper body
WheelBody.Position = PhysicsBody.Position + Vector2.UnitY * (upperBody / 2.0f);
var motor = JointFactory.CreateRevoluteJoint(physicsWorld, PhysicsBody, WheelBody, WheelBody.Position);
motor.MotorEnabled = true;
motor.MaxMotorTorque = 1000f;
motor.MotorSpeed = 2f;
WheelBody.IgnoreCollisionWith(PhysicsBody);
WheelBody.Friction = float.MaxValue;
PhysicsBody.IgnoreCollisionWith(WheelBody);
PhysicsBody.BodyType = BodyType.Dynamic;
WheelBody.BodyType = BodyType.Dynamic;
}
public Spider(World world, PhysicsGameScreen screen, Vector2 position)
{
//Load bodies
_circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
//Left upper leg
_leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
_circle.Position - new Vector2(SpiderBodyRadius, 0f) -
new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
//Left lower leg
_leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
_circle.Position - new Vector2(SpiderBodyRadius, 0f) -
new Vector2(_upperLegSize.X, 0f) -
new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
//Right upper leg
_rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
_circle.Position + new Vector2(SpiderBodyRadius, 0f) +
new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
//Right lower leg
_rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
_circle.Position + new Vector2(SpiderBodyRadius, 0f) +
new Vector2(_upperLegSize.X, 0f) +
new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
_screen = screen;
//GFX
AssetCreator creator = _screen.ScreenManager.Assets;
_torso = new Sprite(creator.CircleTexture(SpiderBodyRadius, MaterialType.Waves, Color.Gray, 1f));
_upperLeg = new Sprite(creator.TextureFromShape(_leftUpper.FixtureList[0].Shape,
MaterialType.Blank, Color.DimGray, 1f));
_lowerLeg = new Sprite(creator.TextureFromShape(_leftLower.FixtureList[0].Shape,
MaterialType.Blank, Color.DarkSlateGray, 1f));
}
/// <summary>
/// Attaches the player to the cart with a joint.
/// </summary>
/// <param name="cartBody">The cart body.</param>
private void LandInCart(Body cartBody)
{
if (this.state == PlayerState.dead || this.cartCollisionDisabled)
{
return;
}
else
{
AudioManager.PlayEffect(this.enterCartSound);
this.smallBody.LinearVelocity = cartBody.LinearVelocity;
this.fullBody.LinearVelocity = cartBody.LinearVelocity;
this.wheelBody.LinearVelocity = cartBody.LinearVelocity;
this.jumpingDown = false;
this.state = PlayerState.standing;
this.InCart = true;
Vector2 cartTopPosition = cartBody.Position + ConvertUnits.ToSimUnits(-24.0f * Vector2.UnitY);
this.fullBody.Position = cartTopPosition + ConvertUnits.ToSimUnits(this.fullBodyOffset);
this.smallBody.Position = cartTopPosition + ConvertUnits.ToSimUnits(this.smallBodyOffset);
this.wheelBody.Position = cartTopPosition + ConvertUnits.ToSimUnits(this.wheelBodyOffset);
if (this.cartJoint == null)
{
this.cartJoint = JointFactory.CreateRevoluteJoint(this.physicsWorld, this.smallBody, cartBody, Vector2.Zero);
}
}
}
private Body AddNode(Body parent, Vector2 localAnchor, int depth, float offset, float a)
{
const float density = 20.0f;
Vector2 h = new Vector2(0.0f, a);
Vector2 p = parent.Position + localAnchor - h;
Body body = BodyFactory.CreateRectangle(World, 0.5f * a, a * 2, density, p);
body.UserData = _counter++;
body.BodyType = BodyType.Dynamic;
if (depth == Depth)
{
return(body);
}
FixtureFactory.AttachRectangle(offset * 2, 0.5f * a, density, new Vector2(0, -a), body);
Vector2 a1 = new Vector2(offset, -a);
Vector2 a2 = new Vector2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
JointFactory.CreateRevoluteJoint(World, body, body1, a1, h);
JointFactory.CreateRevoluteJoint(World, body, body2, a2, h);
return(body);
}
/// <summary>
/// Sets up all the physical properties of the StickMan object.
/// </summary>
/// <param name="physicsWorld">The physics world to set the objects up in.</param>
private void SetUpPhysicsObjects(ref World physicsWorld)
{
float density = 1.1f;
float restitution = 0.125f;
// Upper body for standing
this.fullBody = BodyFactory.CreateRectangle(physicsWorld, ConvertUnits.ToSimUnits(this.standingSprite.Height / 2.0f), ConvertUnits.ToSimUnits(this.standingSprite.Height * 0.75f), density, ConvertUnits.ToSimUnits(this.fullBodyOffset));
this.fullBody.BodyType = BodyType.Dynamic;
this.fullBody.Restitution = restitution;
this.fullBody.CollisionCategories = EntityConstants.StickManCategory;
// Middle body for crouching
this.smallBody = BodyFactory.CreateRectangle(physicsWorld, ConvertUnits.ToSimUnits(this.standingSprite.Height / 2.0f), ConvertUnits.ToSimUnits(this.standingSprite.Height * 0.25f), density, ConvertUnits.ToSimUnits(this.smallBodyOffset));
this.smallBody.BodyType = BodyType.Dynamic;
this.smallBody.IgnoreCollisionWith(this.fullBody);
this.smallBody.Restitution = restitution;
this.smallBody.CollisionCategories = EntityConstants.StickManCategory;
// Wheel for movement
this.wheelBody = BodyFactory.CreateCircle(physicsWorld, ConvertUnits.ToSimUnits(this.standingSprite.Height / 4.0f), density, ConvertUnits.ToSimUnits(this.wheelBodyOffset));
this.wheelBody.BodyType = BodyType.Dynamic;
this.wheelBody.IgnoreCollisionWith(this.smallBody);
this.wheelBody.IgnoreCollisionWith(this.fullBody);
this.wheelBody.Restitution = restitution;
this.wheelBody.Friction = float.MaxValue;
this.wheelBody.CollisionCategories = EntityConstants.StickManCategory;
// Joints to connect the bodies.
this.bodyJoint = JointFactory.CreateWeldJoint(physicsWorld, this.fullBody, this.smallBody, this.smallBody.Position);
this.angleUprightJoint = JointFactory.CreateFixedAngleJoint(physicsWorld, this.smallBody);
this.motorJoint = JointFactory.CreateRevoluteJoint(physicsWorld, this.smallBody, this.wheelBody, Vector2.Zero);
this.motorJoint.MotorSpeed = 0.0f;
this.motorJoint.MaxMotorTorque = 1000.0f;
this.motorJoint.MotorEnabled = true;
}
/// <summary> Creates a revolute joint between 2 given bodies - this joint ensures that the 2 bodies are always in the same place </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="position"></param>
/// <returns></returns>
public RevoluteJoint CreateRevoluteJoint(Body bodyA, Body bodyB, Vector2 position)
{
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(_World, bodyA, bodyB, ConvertUnits.ToSimUnits(position));
_JointList.Add(joint);
return(joint);
}
private Body AddNode(Body parent, Vector2 localAnchor, int depth, double offset, double a)
{
const double density = 20.0f;
Vector2 h = new Vector2(0.0f, a);
Vector2 p = parent.Position + localAnchor - h;
Body body = BodyFactory.CreateRectangle(World, 0.5f * a, a * 2, density, p);
body.BodyType = BodyType.Dynamic;
if (depth == Depth)
{
return(body);
}
Vector2 a1 = new Vector2(offset, -a);
Vector2 a2 = new Vector2(-offset, -a);
Body body1 = AddNode(body, a1, depth + 1, 0.5f * offset, a);
Body body2 = AddNode(body, a2, depth + 1, 0.5f * offset, a);
JointFactory.CreateRevoluteJoint(World, body, body1, a1, h);
JointFactory.CreateRevoluteJoint(World, body, body2, a2, h);
return(body);
}
public HumanoidBody(World world, Vector2 dimensions, object userData)
{
_torsoHeight = dimensions.Y - dimensions.X / 2f;
Torso = BodyFactory.CreateRectangle(
world: world,
width: dimensions.X,
height: _torsoHeight,
density: 1f,
position: Vector2.UnitX * 20,
userData: userData);
Torso.BodyType = BodyType.Dynamic;
Wheel = BodyFactory.CreateCircle(
world: world,
radius: dimensions.X / 2f,
density: 1f,
position: Torso.Position + new Vector2(0, _torsoHeight / 2),
userData: userData);
Wheel.BodyType = BodyType.Dynamic;
Wheel.Friction = float.MaxValue;
Wheel.Restitution = float.MinValue;
JointFactory.CreateFixedAngleJoint(world, Torso);
Motor = JointFactory.CreateRevoluteJoint(world, Torso, Wheel, Vector2.Zero);
Motor.MotorEnabled = true;
Motor.MaxMotorTorque = 10;
}
public void AddRope(Rope rope)
{
float ropeLength = (rope.AttachedEntity.Position - rope.AttachedPosition).Length();
int segmentCount = (int)Round(1 + (ropeLength / Rope.SegmentLength));
if (segmentCount < 2)
{
segmentCount = 2;
}
var ropeSegmentDir = Vector2.Normalize(rope.AttachedEntity.Position - rope.AttachedPosition);
// TODO: fix the RotationFromDirection function!
var ropeRotation = ropeSegmentDir.RotationFromDirection();
rope.PhysicsSegments.Clear();
for (int i = 0; i < segmentCount; i++)
{
var ropeSegmentLength = i > 0 ? Rope.SegmentLength : Rope.Diameter;
var ropeSegmentVector = ropeSegmentDir * ropeSegmentLength;
var segmentStart = rope.AttachedPosition + ropeSegmentVector * i;
var segmentCenter = rope.AttachedPosition + ropeSegmentVector * (i + 0.5f);
var boxWidth = Rope.Diameter;
var boxHeight = i > 0 ? Rope.SegmentLength : Rope.Diameter;
//var segment = BodyFactory.CreateCircle(PhysicsWorld, Rope.JointRadius, Rope.SegmentDensity);// BodyFactory.CreateRectangle(PhysicsWorld, 0.05f, Rope.SegmentLength, 0.5f);
var segment = BodyFactory.CreateRectangle(PhysicsWorld, boxWidth, boxHeight, Rope.SegmentDensity);
segment.BodyType = BodyType.Dynamic;
segment.Friction = 0.5f;
segment.Restitution = 0.2f;
segment.AngularDamping = 0.2f; //1.1f;
segment.LinearDamping = 0.2f; // 1.1f;
segment.CollisionCategories = Category.Cat3;
segment.SetTransform(segmentCenter, -ropeRotation - 0.5f * (float)Math.PI);
rope.PhysicsSegments.Add(segment);
if (i > 0)
{
var segmentJoint = JointFactory.CreateRevoluteJoint(PhysicsWorld, rope.PhysicsSegments[i - 1], segment, new Vector2(0, i == 1 ? Rope.Diameter / 2 : Rope.SegmentLength / 2), new Vector2(0, -Rope.SegmentLength / 2));
segmentJoint.CollideConnected = false;
rope.PhysicsSegmentJoints.Add(segmentJoint);
}
else
{
segment.BodyType = BodyType.Static;
}
}
//var ballAnchor = rope.AttachedEntity.Position + new Vector2(0, rope.AttachedEntity.Radius + 1f);
var ballJoint = JointFactory.CreateRevoluteJoint(PhysicsWorld, rope.PhysicsSegments.Last(), rope.AttachedEntity.PhysicsBody, new Vector2(0, Rope.SegmentLength / 2), Vector2.Zero);
ballJoint.CollideConnected = false;
rope.PhysicsEntityJoint = ballJoint;
rope.AttachedEntity.PhysicsBody.FixedRotation = false;
//rope.AttachedEntity.PhysicsBody.Mass = 2f;
}
public override PhysicsJoint CreateRevoluteJoint(PhysicsBody bodyA, PhysicsBody bodyB,
Vector2D anchor)
{
RevoluteJoint farseerJoint = JointFactory.CreateRevoluteJoint(world,
((FarseerBody)bodyA).Body, ((FarseerBody)bodyB).Body, unitConverter.Convert(anchor));
return(new FarseerJoint(farseerJoint, bodyA, bodyB));
}
public CompositePhysicsObject(World world, PhysicsObject physObA, PhysicsObject physObB, Vector2 relativeJointPosition)
{
this.physObA = physObA;
this.physObB = physObB;
revJoint = JointFactory.CreateRevoluteJoint(world, physObA.fixture.Body, physObB.fixture.Body, ConvertUnits.ToSimUnits(relativeJointPosition));
physObA.fixture.IgnoreCollisionWith(physObB.fixture);
physObB.fixture.IgnoreCollisionWith(physObA.fixture);
}
private Vector2 _upperLegSize = new Vector2(3, 0.5f); //x=width, y=height
public Spider(World world, Vector2 position)
{
//Load bodies
Body circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
circle.BodyType = BodyType.Dynamic;
//Left upper leg
Body leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X / 2, 0));
leftUpper.BodyType = BodyType.Dynamic;
//Left lower leg
Body leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) -
new Vector2(_lowerLegSize.X / 2, 0));
leftLower.BodyType = BodyType.Dynamic;
//Right upper leg
Body rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X / 2, 0));
rightUpper.BodyType = BodyType.Dynamic;
//Right lower leg
Body rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) +
new Vector2(_lowerLegSize.X / 2, 0));
rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, circle, leftUpper, new Vector2(SpiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle, leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, circle, rightUpper, new Vector2(-SpiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle, rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, leftUpper, leftLower, new Vector2(_upperLegSize.X / 2, 0));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, leftUpper, leftLower);
_leftKneeAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, rightUpper, rightLower,
-new Vector2(_upperLegSize.X / 2, 0));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, rightUpper, rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
}
public RevoluteWheel(World world, Car car, Vector2 position, float orientation)
: base(world, position, orientation)
{
Joint = JointFactory.CreateRevoluteJoint(world, car.Body, Body, Vector2.Zero);
Joint.MotorEnabled = true;
Joint.MaxMotorTorque = 100;
Joint.LimitEnabled = true;
Joint.LowerLimit = -Car.MAX_WHEEL_DEFLECTION;
Joint.UpperLimit = Car.MAX_WHEEL_DEFLECTION;
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0, -9.82f);
_border = new Border(World, ScreenManager, Camera);
/* Bridge */
//We make a path using 2 points.
Path bridgePath = new Path();
bridgePath.Add(new Vector2(-15, -5));
bridgePath.Add(new Vector2(15, -5));
bridgePath.Closed = false;
Vertices box = PolygonTools.CreateRectangle(0.25f / 2f, 1f / 2f);
PolygonShape shape = new PolygonShape(box, 20);
_bridgeBodies = PathManager.EvenlyDistributeShapesAlongPath(World, bridgePath, shape, BodyType.Dynamic, 29);
_bridgeBox = new Sprite(ScreenManager.Assets.TextureFromShape(shape, MaterialType.Dots, Color.SandyBrown, 1f));
//Attach the first and last fixtures to the world
JointFactory.CreateRevoluteJoint(World, HiddenBody, _bridgeBodies[0], new Vector2(0f, 0.5f));
JointFactory.CreateRevoluteJoint(World, HiddenBody, _bridgeBodies[_bridgeBodies.Count - 1], new Vector2(0, -0.5f));
PathManager.AttachBodiesWithRevoluteJoint(World, _bridgeBodies, new Vector2(0f, 0.5f), new Vector2(0f, -0.5f), false, true);
/* Soft body */
//We make a rectangular path.
Path rectanglePath = new Path();
rectanglePath.Add(new Vector2(-6, 11));
rectanglePath.Add(new Vector2(-6, -1));
rectanglePath.Add(new Vector2(6, -1));
rectanglePath.Add(new Vector2(6, 11));
rectanglePath.Closed = true;
//Creating two shapes. A circle to form the circle and a rectangle to stabilize the soft body.
List <Shape> shapes = new List <Shape>(2);
shapes.Add(new PolygonShape(PolygonTools.CreateRectangle(1f / 2f, 1f / 2f, new Vector2(-0.1f, 0f), 0f), 1f));
shapes.Add(new CircleShape(0.5f, 1f));
//We distribute the shapes in the rectangular path.
_softBodies = PathManager.EvenlyDistributeShapesAlongPath(World, rectanglePath, shapes,
BodyType.Dynamic, 30);
_softBodyBox = new Sprite(ScreenManager.Assets.TextureFromShape(shapes[0], MaterialType.Blank, Color.Silver * 0.8f, 1f));
_softBodyBox.Origin += new Vector2(2.4f, 0f);
_softBodyCircle = new Sprite(ScreenManager.Assets.TextureFromShape(shapes[1], MaterialType.Waves, Color.Silver, 1f));
//Attach the bodies together with revolute joints. The rectangular form will converge to a circular form.
PathManager.AttachBodiesWithRevoluteJoint(World, _softBodies, new Vector2(0f, 0.5f), new Vector2(0f, -0.5f),
true, true);
}
public Barrier(Texture2D texture, Unit start, Unit end, World world, Game game, Color color)
: base(texture, Vector2.Zero, DrawingHelper.DrawingLevel.Low, game, world)
{
Color = color;
EffectParticles = new ParticleEngine(30, texture, Vector2.Zero, color, Vector2.Zero, 1, 0, 10, DrawingHelper.DrawingLevel.Top, game);
SyncedGameCollection.ComponentCollection.Add(EffectParticles);
// Units to follow
_start = start;
_end = end;
// create two static hiddenBodies that mirror the position of the units
hiddenBody1 = BodyFactory.CreateCircle(world, texture.Width / 2, 1, _start.RigidBody.Position); //_start.RigidBody;
hiddenBody2 = BodyFactory.CreateCircle(world, texture.Width / 2, 1, _end.RigidBody.Position); //_end.RigidBody;
hiddenBody1.CollisionCategories = Category.None;
hiddenBody2.CollisionCategories = Category.None;
hiddenBody1.CollidesWith = Category.None;
hiddenBody2.CollidesWith = Category.None;
hiddenBody1.BodyType = BodyType.Static;
hiddenBody2.BodyType = BodyType.Static;
hiddenBody1.Position = _start.RigidBody.Position;
hiddenBody2.Position = _end.RigidBody.Position;
hiddenBody1.UserData = hiddenBody2.UserData = "";
// create path object and set it to the init position.
Path barrierPath = new Path();
barrierPath.Add(start.RigidBody.Position);
barrierPath.Add(end.RigidBody.Position);
barrierPath.Closed = false;
// create barrier particle
Vertices barrierParticle = PolygonTools.CreateCircle(ConvertUnits.ToSimUnits(texture.Width * 4), 8);
Shape shape = new PolygonShape(barrierParticle, 0f);
// distribute barrierParticle positions along the path between the two units.
_barrierBodies = PathManager.EvenlyDistributeShapesAlongPath(world, barrierPath, shape, BodyType.Dynamic, 30);
// fix the shapes together with the end and start point
JointFactory.CreateRevoluteJoint(world, hiddenBody1, _barrierBodies[0], new Vector2(0f, 0f));
JointFactory.CreateRevoluteJoint(world, hiddenBody2, _barrierBodies[_barrierBodies.Count - 1], new Vector2(0f, 0f));
// fix all the barrierParticles together in the path
PathManager.AttachBodiesWithRevoluteJoint(world, _barrierBodies, new Vector2(0f, 0.5f), new Vector2(0f, 0.5f), false, false);
// Set up OnCollision fale safe.
for (int i = 0; i < _barrierBodies.Count; i++)
{
_barrierBodies[i].CollisionCategories = Category.Cat10;
_barrierBodies[i].CollidesWith = Category.Cat5; /* should only collide with grabbables*/
_barrierBodies[i].UserData = "BARRIER";
_barrierBodies[i].OnCollision += OnCollision;
}
Deactivated();
}
public void ClipToLast(Body lastBody, World world)
{
PolygonShape shape = new PolygonShape(1f);
shape.SetAsBox(ConvertUnits.ToSimUnits(8f), ConvertUnits.ToSimUnits(8f));
Fixture fix = this.body.CreateFixture(shape);
fix.Friction = 0.6f;
JointFactory.CreateRevoluteJoint(world, this.body, lastBody, Vector2.Zero);
}
private MobileBalancedTest()
{
Body ground = BodyFactory.CreateBody(World, new Vector2(0, 20f));
const float a = 0.5f;
Vector2 h = new Vector2(0.0f, a);
Body root = AddNode(ground, Vector2.Zero, 0, 3.0f, a);
JointFactory.CreateRevoluteJoint(World, ground, root, Vector2.Zero, h);
}
public MobileTest()
{
Body ground = BodyFactory.CreateBody(World, new Vector2(0, 20f));
const double a = 0.5f;
Vector2 h = new Vector2(0.0f, a);
Body root = AddNode(ground, Vector2.Zero, 0, 3.0f, a);
JointFactory.CreateRevoluteJoint(World, ground, root, Vector2.Zero, h);
}
public JumpySpider(World world, Vector2 position)
{
// Body
_circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
// Left upper leg
_leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
// Left lower leg
_leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X, 0f) - new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
// Right upper leg
_rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
// Right lower leg
_rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X, 0f) + new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
//GFX
_torso = new Sprite(ContentWrapper.CircleTexture(SpiderBodyRadius, "Square", ContentWrapper.Grey, ContentWrapper.Gold, ContentWrapper.Black, 1f));
_upperLeg = new Sprite(ContentWrapper.TextureFromShape(_leftUpper.FixtureList[0].Shape, ContentWrapper.Grey, ContentWrapper.Black));
_lowerLeg = new Sprite(ContentWrapper.TextureFromShape(_leftLower.FixtureList[0].Shape, ContentWrapper.Gold, ContentWrapper.Black));
_flexed = false;
_timer = 0f;
_leftShoulderAngleJoint.TargetAngle = ShoulderRelaxed;
_leftKneeAngleJoint.TargetAngle = KneeRelaxed;
_rightShoulderAngleJoint.TargetAngle = -ShoulderRelaxed;
_rightKneeAngleJoint.TargetAngle = -KneeRelaxed;
}
private static RevoluteJoint CreateJoint(Body carBody, Body wheelBody, Vector2 anchor, World world)
{
var joint = JointFactory.CreateRevoluteJoint(carBody, wheelBody, Vector2.Zero);
joint.LocalAnchorA = anchor;
joint.LimitEnabled = true;
joint.LowerLimit = 0;
joint.UpperLimit = 0;
world.AddJoint(joint);
wheelBody.Position = carBody.Position + anchor;
return(joint);
}
public PinObject(World world, Vector2 position)
{
// This will be used to create fasters between the ribbon and the background
Body roller = BodyFactory.CreateCircle(world, .1f, 1, this);
Body roller2 = BodyFactory.CreateCircle(world, .25f, 1, this);
roller.BodyType = BodyType.Static;
roller2.BodyType = BodyType.Dynamic;
roller.Position = position;
roller2.Position = position;
Joint J = JointFactory.CreateRevoluteJoint(world, roller, roller2, new Vector2());
}
public static PayloadChain Connect(SpaceShip spaceShip, Payload payload, Vector2 payloadTarget)
{
var dynamicWorld = (DynamicEntityWorld)spaceShip.World;
var world = dynamicWorld.PhysicsWorld;
AABB spaceShipSize;
spaceShip.Body.FixtureList.First().GetAABB(out spaceShipSize, 0);
AABB payloadSize;
payload.Body.FixtureList.First().GetAABB(out payloadSize, 0);
var chainSize = new Vector2(1.0f);
var chainSizeSingle = Math.Max(chainSize.X, chainSize.Y);
var start = new Vector2(spaceShip.Position.X - spaceShipSize.Extents.Y, spaceShip.Position.Y);
var length = payloadTarget.Length();
var targetVector = payloadTarget / length;
var chainVector = targetVector * chainSizeSingle;
start += chainVector;
var chainCount = (int)Math.Ceiling(length / chainSizeSingle);
var lastBody = spaceShip.Body;
var chain = new PayloadChain(spaceShip.Name + "_Chain");
var elements = new List <ChainElement>();
for (var i = 0; i < chainCount; i++)
{
var chainBody = BodyFactory.CreateBody(world, start + i * chainVector);
chainBody.BodyType = BodyType.Dynamic;
var chainFixture = FixtureFactory.AttachRectangle(chainSize.X, chainSize.Y, 0.1f, Vector2.Zero, chainBody);
chainFixture.CollidesWith = Category.Cat2;
JointFactory.CreateRevoluteJoint(world, lastBody, chainBody, -chainVector / 2.0f);
lastBody = chainBody;
elements.Add(ChainElement.CreateFor(chain, elements.Count, dynamicWorld, chainBody));
}
payload.Position = new Vector3(start + chainCount * chainVector + targetVector * 2.5f, 0.0f);
JointFactory.CreateRevoluteJoint(world, lastBody, payload.Body, new Vector2(0.0f, -2.5f));
var ropeJoin = new RopeJoint(spaceShip.Body, payload.Body, new Vector2(0.0f, 3.0f), new Vector2(0.0f, -2.5f));
ropeJoin.CollideConnected = true;
world.AddJoint(ropeJoin);
return(chain);
}
/// <summary>
/// Connects the figure's body parts
/// </summary>
/// <param name="world">The physics world to add the joints to</param>
private void ConnectBody(World world)
{
upright = JointFactory.CreateAngleJoint(world, torso, gyro);
upright.MaxImpulse = maxImpulse;
upright.TargetAngle = 0.0f;
upright.CollideConnected = false;
r_neck = JointFactory.CreateRevoluteJoint(world, head, torso, -Vector2.UnitY * 20 * MainGame.PIXEL_TO_METER);
neck = JointFactory.CreateAngleJoint(world, head, torso);
neck.CollideConnected = false;
neck.MaxImpulse = maxImpulse;
r_leftShoulder = JointFactory.CreateRevoluteJoint(world, leftUpperArm, torso, -Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
leftShoulder = JointFactory.CreateAngleJoint(world, leftUpperArm, torso);
leftShoulder.CollideConnected = false;
leftShoulder.MaxImpulse = maxImpulse;
r_rightShoulder = JointFactory.CreateRevoluteJoint(world, rightUpperArm, torso, -Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
rightShoulder = JointFactory.CreateAngleJoint(world, rightUpperArm, torso);
rightShoulder.CollideConnected = false;
rightShoulder.MaxImpulse = maxImpulse;
r_leftElbow = JointFactory.CreateRevoluteJoint(world, leftLowerArm, leftUpperArm, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
leftElbow = JointFactory.CreateAngleJoint(world, leftLowerArm, leftUpperArm);
leftElbow.CollideConnected = false;
leftElbow.MaxImpulse = maxImpulse;
r_rightElbow = JointFactory.CreateRevoluteJoint(world, rightLowerArm, rightUpperArm, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
rightElbow = JointFactory.CreateAngleJoint(world, rightLowerArm, rightUpperArm);
rightElbow.CollideConnected = false;
rightElbow.MaxImpulse = maxImpulse;
r_leftHip = JointFactory.CreateRevoluteJoint(world, leftUpperLeg, torso, Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
leftHip = JointFactory.CreateAngleJoint(world, leftUpperLeg, torso);
leftHip.CollideConnected = false;
leftHip.MaxImpulse = maxImpulse;
r_rightHip = JointFactory.CreateRevoluteJoint(world, rightUpperLeg, torso, Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
rightHip = JointFactory.CreateAngleJoint(world, rightUpperLeg, torso);
rightHip.CollideConnected = false;
rightHip.MaxImpulse = maxImpulse;
r_leftKnee = JointFactory.CreateRevoluteJoint(world, leftLowerLeg, leftUpperLeg, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
leftKnee = JointFactory.CreateAngleJoint(world, leftUpperLeg, leftLowerLeg);
leftKnee.CollideConnected = false;
leftKnee.MaxImpulse = maxImpulse;
r_rightKnee = JointFactory.CreateRevoluteJoint(world, rightLowerLeg, rightUpperLeg, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
rightKnee = JointFactory.CreateAngleJoint(world, rightUpperLeg, rightLowerLeg);
rightKnee.CollideConnected = false;
rightKnee.MaxImpulse = maxImpulse;
}
public void grabRope(RopeGrabComponent ropeGrabComponent, Body bodyToAttach)
{
int index = (int)Math.Floor(ropeGrabComponent.distance);
float fraction = ropeGrabComponent.distance - (float)index;
RopeNode node = ropeGrabComponent.ropeNode.getByIndex(index);
float lengthPosition = -(node.halfLength * 2 * fraction - node.halfLength);
RevoluteJoint joint;
ropeGrabComponent.ropeNode = node;
bodyToAttach.Position = node.body.GetWorldPoint(new Vector2(lengthPosition, 0));
joint = JointFactory.CreateRevoluteJoint(bodyToAttach.World, bodyToAttach, node.body, node.body.GetLocalPoint(bodyToAttach.Position));
ropeGrabComponent.joints.Add(bodyToAttach, joint);
}
public JumpySpider(World world, Vector2 position)
{
flexTime = (float)(random.NextDouble() * 5000 + 2000);
relaxTime = (float)(random.NextDouble() * 5000 + 2000);
// Body
_circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
// Left upper leg
_leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
// Left lower leg
_leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X, 0f) - new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
// Right upper leg
_rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
// Right lower leg
_rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X, 0f) + new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
_flexed = false;
_timer = 0f;
_leftShoulderAngleJoint.TargetAngle = ShoulderRelaxed;
_leftKneeAngleJoint.TargetAngle = KneeRelaxed;
_rightShoulderAngleJoint.TargetAngle = -ShoulderRelaxed;
_rightKneeAngleJoint.TargetAngle = -KneeRelaxed;
}