private BridgeTest()
{
Body ground;
{
ground = new Body(World);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.2f;
Vector2 anchor = new Vector2(-15f + 1.0f * i, 5.0f);
RevoluteJoint jd = new RevoluteJoint(prevBody, body, anchor, true);
World.AddJoint(jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(-15.0f + 1.0f * Count, 5.0f);
RevoluteJoint jd2 = new RevoluteJoint(ground, prevBody, anchor2, true);
World.AddJoint(jd2);
}
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
private CompoundShapes()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
CircleShape circle1 = new CircleShape(0.5f, 2);
circle1.Position = new Vector2(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape(0.5f, 2);
circle2.Position = new Vector2(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x + 5.0f, 1.05f + 2.5f * i);
body.Rotation = Rand.RandomFloat(-Settings.Pi, Settings.Pi);
body.CreateFixture(circle1);
body.CreateFixture(circle2);
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 0.5f);
PolygonShape polygon1 = new PolygonShape(box, 2);
box = PolygonTools.CreateRectangle(0.25f, 0.5f, new Vector2(0.0f, -0.5f), 0.5f * Settings.Pi);
PolygonShape polygon2 = new PolygonShape(box, 2);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x - 5.0f, 1.05f + 2.5f * i);
body.Rotation = Rand.RandomFloat(-Settings.Pi, Settings.Pi);
body.CreateFixture(polygon1);
body.CreateFixture(polygon2);
}
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * Settings.Pi);
xf1.p = MathUtils.Mul(ref xf1.q, new Vector2(1.0f, 0.0f));
Vertices vertices = new Vertices(3);
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f)));
PolygonShape triangle1 = new PolygonShape(vertices, 2);
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * Settings.Pi);
xf2.p = MathUtils.Mul(ref xf2.q, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape triangle2 = new PolygonShape(vertices, 2);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x, 2.05f + 2.5f * i);
body.CreateFixture(triangle1);
body.CreateFixture(triangle2);
}
}
{
Vertices box = PolygonTools.CreateRectangle(1.5f, 0.15f);
PolygonShape bottom = new PolygonShape(box, 4);
box = PolygonTools.CreateRectangle(0.15f, 2.7f, new Vector2(-1.45f, 2.35f), 0.2f);
PolygonShape left = new PolygonShape(box, 4);
box = PolygonTools.CreateRectangle(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
PolygonShape right = new PolygonShape(box, 4);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 2.0f);
body.CreateFixture(bottom);
body.CreateFixture(left);
body.CreateFixture(right);
}
}
private void AddRectangle(int width, int height)
{
Vertices verts = PolygonTools.CreateRectangle(width, height);
_polygons.Add(verts);
}
/// <summary>
/// Build vertices to represent an oriented box.
/// </summary>
/// <param name="halfWidth">The half-width..</param>
/// <param name="halfHeight">The half-height.</param>
/// <param name="center">The center of the box in local coordinates.</param>
/// <param name="angle">The rotation of the box in local coordinates.</param>
public void SetAsBox(float halfWidth, float halfHeight, FVector2 center, float angle)
{
Set(PolygonTools.CreateRectangle(halfWidth, halfHeight, center, angle));
}
private CollisionFilteringTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
// Small triangle
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-1.0f, 0.0f));
vertices.Add(new Vector2(1.0f, 0.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
PolygonShape polygon = new PolygonShape(vertices, 1);
Body triangleBody = BodyFactory.CreateBody(World);
triangleBody.BodyType = BodyType.Dynamic;
triangleBody.Position = new Vector2(-5.0f, 2.0f);
Fixture triangleFixture = triangleBody.CreateFixture(polygon);
triangleFixture.CollisionGroup = SmallGroup;
triangleFixture.CollisionCategories = TriangleCategory;
triangleFixture.CollidesWith = TriangleMask;
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Vertices = vertices;
Body triangleBody2 = BodyFactory.CreateBody(World);
triangleBody2.BodyType = BodyType.Dynamic;
triangleBody2.Position = new Vector2(-5.0f, 6.0f);
triangleBody2.FixedRotation = true; // look at me!
Fixture triangleFixture2 = triangleBody2.CreateFixture(polygon);
triangleFixture2.CollisionGroup = LargeGroup;
triangleFixture2.CollisionCategories = TriangleCategory;
triangleFixture2.CollidesWith = TriangleMask;
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-5.0f, 10.0f);
Vertices box = PolygonTools.CreateRectangle(0.5f, 1.0f);
PolygonShape p = new PolygonShape(box, 1);
body.CreateFixture(p);
PrismaticJoint jd = new PrismaticJoint(triangleBody2, body, new Vector2(0, 4), Vector2.Zero, new Vector2(0.0f, 1.0f));
jd.LimitEnabled = true;
jd.LowerLimit = -1.0f;
jd.UpperLimit = 1.0f;
World.AddJoint(jd);
}
// Small box
polygon.Vertices = PolygonTools.CreateRectangle(1.0f, 0.5f);
Body boxBody = BodyFactory.CreateBody(World);
boxBody.BodyType = BodyType.Dynamic;
boxBody.Position = new Vector2(0.0f, 2.0f);
Fixture boxFixture = boxBody.CreateFixture(polygon);
boxFixture.Restitution = 0.1f;
boxFixture.CollisionGroup = SmallGroup;
boxFixture.CollisionCategories = BoxCategory;
boxFixture.CollidesWith = BoxMask;
// Large box (recycle definitions)
polygon.Vertices = PolygonTools.CreateRectangle(2, 1);
Body boxBody2 = BodyFactory.CreateBody(World);
boxBody2.BodyType = BodyType.Dynamic;
boxBody2.Position = new Vector2(0.0f, 6.0f);
Fixture boxFixture2 = boxBody2.CreateFixture(polygon);
boxFixture2.CollisionGroup = LargeGroup;
boxFixture2.CollisionCategories = BoxCategory;
boxFixture2.CollidesWith = BoxMask;
// Small circle
CircleShape circle = new CircleShape(1.0f, 1);
Body circleBody = BodyFactory.CreateBody(World);
circleBody.BodyType = BodyType.Dynamic;
circleBody.Position = new Vector2(5.0f, 2.0f);
Fixture circleFixture = circleBody.CreateFixture(circle);
circleFixture.CollisionGroup = SmallGroup;
circleFixture.CollisionCategories = CircleCategory;
circleFixture.CollidesWith = CircleMask;
// Large circle
circle.Radius *= 2.0f;
Body circleBody2 = BodyFactory.CreateBody(World);
circleBody2.BodyType = BodyType.Dynamic;
circleBody2.Position = new Vector2(5.0f, 6.0f);
Fixture circleFixture2 = circleBody2.CreateFixture(circle);
circleFixture2.CollisionGroup = LargeGroup;
circleFixture2.CollisionCategories = CircleCategory;
circleFixture2.CollidesWith = CircleMask;
// Large circle - Ignore with other large circle
Body circleBody3 = BodyFactory.CreateBody(World);
circleBody3.BodyType = BodyType.Dynamic;
circleBody3.Position = new Vector2(6.0f, 9.0f);
//Another large circle. This one uses IgnoreCollisionWith() logic instead of categories.
Fixture circleFixture3 = circleBody3.CreateFixture(circle);
circleFixture3.CollisionGroup = LargeGroup;
circleFixture3.CollisionCategories = CircleCategory;
circleFixture3.CollidesWith = CircleMask;
circleFixture3.IgnoreCollisionWith(circleFixture2);
}
}
public Objects(World world, ScreenManager screenManager, Vector2 startPosition, Vector2 endPosition, int count, float radius, ObjectType type, float toothHeight = 1f)
{
_batch = screenManager.SpriteBatch;
_bodyRadius = radius;
BodyList = new List <Body>(count);
for (int i = 0; i < count; i++)
{
switch (type)
{
case ObjectType.Circle:
BodyList.Add(world.CreateCircle(radius, 1f));
break;
case ObjectType.Rectangle:
BodyList.Add(world.CreateRectangle(radius, radius, 1f));
_bodyRadius = radius / 2f;
break;
case ObjectType.Star:
BodyList.Add(world.CreateGear(radius, 10, 0f, toothHeight, 1f));
_bodyRadius = radius * 2.7f;
break;
case ObjectType.Gear:
BodyList.Add(world.CreateGear(radius, 10, 100f, toothHeight, 1f));
_bodyRadius = radius * 2.7f;
break;
}
}
for (int i = 0; i < BodyList.Count; i++)
{
Body body = BodyList[i];
body.BodyType = BodyType.Dynamic;
body.Position = Vector2.Lerp(startPosition, endPosition, i / (float)(count - 1));
foreach (Fixture fixture in body.FixtureList)
{
fixture.Restitution = 0.7f;
fixture.Friction = 0.2f;
fixture.CollisionCategories = Category.All;
fixture.CollidesWith = Category.All;
}
}
//GFX
AssetCreator creator = screenManager.Assets;
switch (type)
{
case ObjectType.Circle:
_object = new Sprite(creator.CircleTexture(radius, MaterialType.Dots, Color.DarkRed, 0.8f, 24f));
break;
case ObjectType.Rectangle:
_object = new Sprite(creator.TextureFromVertices(PolygonTools.CreateRectangle(radius / 2f, radius / 2f), MaterialType.Dots, Color.Blue, 0.8f, 24f));
break;
case ObjectType.Star:
_object = new Sprite(creator.TextureFromVertices(PolygonTools.CreateGear(radius, 10, 0f, toothHeight), MaterialType.Dots, Color.Yellow, 0.8f, 24f));
break;
case ObjectType.Gear:
_object = new Sprite(creator.TextureFromVertices(PolygonTools.CreateGear(radius, 10, 100f, toothHeight), MaterialType.Dots, Color.DarkGreen, 0.8f, 24f));
break;
}
}
private CharacterCollisionTest()
{
//Ground body
Body ground = World.CreateEdge(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
// Collinear edges with no adjacency information.
// This shows the problematic case where a box shape can hit
// an internal vertex.
EdgeShape shape = new EdgeShape(new Vector2(-8.0f, 1.0f), new Vector2(-6.0f, 1.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(-6.0f, 1.0f), new Vector2(-4.0f, 1.0f));
ground.CreateFixture(shape);
shape = new EdgeShape(new Vector2(-4.0f, 1.0f), new Vector2(-2.0f, 1.0f));
ground.CreateFixture(shape);
// Chain shape
{
Vertices vs = new Vertices(4);
vs.Add(new Vector2(5.0f, 7.0f));
vs.Add(new Vector2(6.0f, 8.0f));
vs.Add(new Vector2(7.0f, 8.0f));
vs.Add(new Vector2(8.0f, 7.0f));
Body body = World.CreateChainShape(vs);
body.Rotation = 0.25f * MathHelper.Pi;
}
// Square tiles. This shows that adjacency shapes may
// have non-smooth collision. There is no solution
// to this problem.
PolygonShape tile = new PolygonShape(1);
tile.Vertices = PolygonTools.CreateRectangle(1.0f, 1.0f, new Vector2(4.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
tile.Vertices = PolygonTools.CreateRectangle(1.0f, 1.0f, new Vector2(6.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
tile.Vertices = PolygonTools.CreateRectangle(1.0f, 1.0f, new Vector2(8.0f, 3.0f), 0.0f);
ground.CreateFixture(tile);
// Square made from an edge loop. Collision should be smooth.
Vertices vertices = new Vertices(4);
vertices.Add(new Vector2(-1.0f, 3.0f));
vertices.Add(new Vector2(1.0f, 3.0f));
vertices.Add(new Vector2(1.0f, 5.0f));
vertices.Add(new Vector2(-1.0f, 5.0f));
ground.CreateLoopShape(vertices);
// Edge loop. Collision should be smooth.
vertices = new Vertices(10);
vertices.Add(new Vector2(0.0f, 0.0f));
vertices.Add(new Vector2(6.0f, 0.0f));
vertices.Add(new Vector2(6.0f, 2.0f));
vertices.Add(new Vector2(4.0f, 1.0f));
vertices.Add(new Vector2(2.0f, 2.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
vertices.Add(new Vector2(-2.0f, 2.0f));
vertices.Add(new Vector2(-4.0f, 3.0f));
vertices.Add(new Vector2(-6.0f, 2.0f));
vertices.Add(new Vector2(-6.0f, 0.0f));
World.CreateLoopShape(vertices, new Vector2(-10, 4));
// Square character 1
Body squareCharacter = World.CreateRectangle(1, 1, 20, new Vector2(-3.0f, 8.0f));
squareCharacter.BodyType = BodyType.Dynamic;
squareCharacter.FixedRotation = true;
squareCharacter.SleepingAllowed = false;
squareCharacter.OnBeginContact += CharacterOnCollision;
squareCharacter.OnEndContact += CharacterOnSeparation;
// Square character 2
Body squareCharacter2 = World.CreateRectangle(0.5f, 0.5f, 20, new Vector2(-5.0f, 5.0f));
squareCharacter2.BodyType = BodyType.Dynamic;
squareCharacter2.FixedRotation = true;
squareCharacter2.SleepingAllowed = false;
// Hexagon character
float angle = 0.0f;
const float delta = MathHelper.Pi / 3.0f;
vertices = new Vertices(6);
for (int i = 0; i < 6; ++i)
{
vertices.Add(new Vector2(0.5f * (float)Math.Cos(angle), 0.5f * (float)Math.Sin(angle)));
angle += delta;
}
Body hexCharacter = World.CreatePolygon(vertices, 20, new Vector2(-5.0f, 8.0f));
hexCharacter.BodyType = BodyType.Dynamic;
hexCharacter.FixedRotation = true;
hexCharacter.SleepingAllowed = false;
// Circle character
Body circleCharacter = World.CreateCircle(0.5f, 20, new Vector2(3.0f, 5.0f));
circleCharacter.BodyType = BodyType.Dynamic;
circleCharacter.FixedRotation = true;
circleCharacter.SleepingAllowed = false;
// Circle character
_character = World.CreateCircle(0.25f, 20, new Vector2(-7.0f, 6.0f));
_character.BodyType = BodyType.Dynamic;
_character.SetFriction(1.0f);
_character.SleepingAllowed = false;
}
private ApplyForceTest()
{
World.Gravity = Vector2.Zero;
const float restitution = 0.4f;
Body ground;
{
ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(0.0f, 20.0f);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
// Left vertical
Fixture fixture = ground.CreateFixture(shape);
fixture.Restitution = restitution;
// Right vertical
shape = new EdgeShape(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Top horizontal
shape = new EdgeShape(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Bottom horizontal
shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(shape);
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * Settings.Pi);
xf1.p = MathUtils.Mul(ref xf1.q, new Vector2(1.0f, 0.0f));
Vertices vertices = new Vertices(3);
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f)));
PolygonShape poly1 = new PolygonShape(vertices, 4);
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * Settings.Pi);
xf2.p = MathUtils.Mul(ref xf2.q, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape(vertices, 2);
_body = BodyFactory.CreateBody(World);
_body.BodyType = BodyType.Dynamic;
_body.Position = new Vector2(0.0f, 2.0f);
_body.Rotation = Settings.Pi;
_body.AngularDamping = 5.0f;
_body.LinearDamping = 0.8f;
_body.SleepingAllowed = true;
_body.CreateFixture(poly1);
_body.CreateFixture(poly2);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.5f);
PolygonShape shape = new PolygonShape(box, 1);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, 5.0f + 1.54f * i);
body.BodyType = BodyType.Dynamic;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
const float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0 * (I / mass));
FrictionJoint jd = new FrictionJoint(ground, body, Vector2.Zero, Vector2.Zero);
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
World.AddJoint(jd);
}
}
}
public FSBoxBody(World world, Subtexture subtexture, float density, Vector2 position = default(Vector2), BodyType bodyType = BodyType.Static)
: base(world, subtexture, PolygonTools.CreateRectangle(subtexture.sourceRect.Width / 2, subtexture.sourceRect.Height / 2), density, position, bodyType)
{
}
private CantileverTest()
{
Body ground;
{
ground = BodyFactory.CreateBody(World);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
prevBody = body;
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 15.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
prevBody = body;
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-4.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
}
prevBody = body;
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.5f + 1.0f * i, 10.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
}
prevBody = body;
}
}
//Triangels
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
//Circles
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
public FSBoxBody(Sprite sprite) : base(sprite,
PolygonTools.CreateRectangle(sprite.SourceRect.Width / 2, sprite.SourceRect.Height / 2))
{
}
/// <summary>
/// Called once to load content
/// </summary>
/// <param name="GraphicInfo"></param>
/// <param name="factory"></param>
/// <param name="contentManager"></param>
protected override void LoadContent(PloobsEngine.Engine.GraphicInfo GraphicInfo, PloobsEngine.Engine.GraphicFactory factory, PloobsEngine.SceneControl.IContentManager contentManager)
{
///load background texture
tile = factory.GetTexture2D("Textures/tile");
///recover the physic world reference
FarseerWorld fworld = this.World.PhysicWorld as FarseerWorld;
///from vertices
{
////creating objects from vertices
Vertices Vertices = new Vertices(3);
Vertices.Add(new Vector2(0, 0));
Vertices.Add(new Vector2(100, 0));
Vertices.Add(new Vector2(0, -100));
///creating the IModelo (graphic representation)
SpriteFarseer SpriteFarseer = new SpriteFarseer(factory, Vertices, Color.Green);
///The material (how to draw)
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
///the physic object (physic representation)
FarseerObject fs = new FarseerObject(fworld, SpriteFarseer, 1, BodyType.Static);
///the iobject (that comprises all)
I2DObject o = new I2DObject(fs, mat, SpriteFarseer);
///adding to the world
this.World.AddObject(o);
}
///Creating from factory helper
Vertices verts = PolygonTools.CreateRectangle(GraphicInfo.BackBufferWidth, 100);
{
IModelo2D model = new SpriteFarseer(factory, verts, Color.Red);
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
FarseerObject fs = new FarseerObject(fworld, model, 1, BodyType.Static);
I2DObject o = new I2DObject(fs, mat, model);
///the origin of the created object will be in the center of it, this mean: if we draw it, the center of mass of it will be on the midle of the screen
///We need to translate it a bit down
o.PhysicObject.Position = new Vector2(0, 250);
this.World.AddObject(o);
}
///Creating from factory helper
verts = PolygonTools.CreateRectangle(GraphicInfo.BackBufferWidth, 100);
{
IModelo2D model = new SpriteFarseer(factory, verts, Color.Red);
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
FarseerObject fs = new FarseerObject(fworld, model, 1, BodyType.Static);
I2DObject o = new I2DObject(fs, mat, model);
///the origin of the created object will be in the center of it, this mean: if we draw it, the center of mass of it will be on the midle of the screen
///We need to translate it a bit down
o.PhysicObject.Position = new Vector2(GraphicInfo.BackBufferWidth, 450);
this.World.AddObject(o);
}
///creating a circle =P
CircleShape circle = new CircleShape(50, 1);
{
IModelo2D model = new SpriteFarseer(factory, circle, Color.Orange);
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
FarseerObject fs = new FarseerObject(fworld, model);
Tracked = new I2DObject(fs, mat, model);
Tracked.PhysicObject.Position = new Vector2(0, -250); /// a middle of the screen + 250 pixels up
this.World.AddObject(Tracked);
}
///when space is pressed, perform the following action
this.BindInput(new SimpleConcreteKeyboardInputPlayable(StateKey.PRESS, Keys.Space,
(a) =>
{
if (tracking == false)
{
///enable camera tracking
(this.World.Camera2D as Camera2D).TrackingBody = Tracked;
(this.World.Camera2D as Camera2D).EnablePositionTracking = true;
}
else
{
///reset the camera (recreating =P)
this.World.Camera2D = new Camera2D(GraphicInfo);
}
tracking = !tracking;
}
));
///the basic ortographic 2D camera
this.World.Camera2D = new Camera2D(GraphicInfo);
base.LoadContent(GraphicInfo, factory, contentManager);
}
protected override void LoadContent(PloobsEngine.Engine.GraphicInfo GraphicInfo, PloobsEngine.Engine.GraphicFactory factory, PloobsEngine.SceneControl.IContentManager contentManager)
{
tile = factory.GetTexture2D("Textures/tile");
FarseerWorld fworld = this.World.PhysicWorld as FarseerWorld;
///border
border = new Border(fworld, factory, GraphicInfo, factory.CreateTexture2DColor(1, 1, Color.Red));
///from texture
{
Texture2D tex = factory.GetTexture2D("Textures//goo");
IModelo2D model = new SpriteFarseer(tex);
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
FarseerObject fs = new FarseerObject(fworld, tex);
I2DObject o = new I2DObject(fs, mat, model);
o.OnHasMoved += new PloobsEngine.SceneControl._2DScene.OnHasMoved(o_OnHasMoved);
this.World.AddObject(o);
}
///from texture, scale usage sample
{
Texture2D tex = factory.GetTexture2D("Textures//goo");
tex = factory.GetScaledTexture(tex, new Vector2(2));
IModelo2D model = new SpriteFarseer(tex);
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
FarseerObject fs = new FarseerObject(fworld, tex);
I2DObject o = new I2DObject(fs, mat, model);
this.World.AddObject(o);
}
///rectangle
Vertices verts = PolygonTools.CreateRectangle(5, 5);
{
IModelo2D model = new SpriteFarseer(factory, verts, Color.Orange);
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
FarseerObject fs = new FarseerObject(fworld, verts);
I2DObject o = new I2DObject(fs, mat, model);
this.World.AddObject(o);
}
///circle
CircleShape circle = new CircleShape(5, 1);
{
IModelo2D model = new SpriteFarseer(factory, circle, Color.Orange);
Basic2DTextureMaterial mat = new Basic2DTextureMaterial();
FarseerObject fs = new FarseerObject(fworld, circle);
I2DObject o = new I2DObject(fs, mat, model);
this.World.AddObject(o);
}
///camera
this.World.Camera2D = new Camera2D(GraphicInfo);
DPFSParticleSystem ps = new DPFSParticleSystem("TESTE", new SpriteParticleSystem(null));
this.World.ParticleManager.AddAndInitializeParticleSystem(ps);
///add a post effect =P
//this.RenderTechnic.AddPostEffect(new WigglePostEffect());
///updateable
JointUpdateable ju = new JointUpdateable(this, fworld, this.World.Camera2D);
base.LoadContent(GraphicInfo, factory, contentManager);
}
public Rope(Item item, XElement element)
: base(item, element)
{
string spritePath = ToolBox.GetAttributeString(element, "sprite", "");
if (spritePath == "")
{
DebugConsole.ThrowError("Sprite " + spritePath + " in " + element + " not found!");
}
float length = ConvertUnits.ToSimUnits(ToolBox.GetAttributeFloat(element, "length", 200.0f));
pullForce = ToolBox.GetAttributeFloat(element, "pullforce", 10.0f);
projectileAnchor = Vector2.Zero;
projectileAnchor.X = ToolBox.GetAttributeFloat(element, "projectileanchorx", 0.0f);
projectileAnchor.Y = ToolBox.GetAttributeFloat(element, "projectileanchory", 0.0f);
projectileAnchor = ConvertUnits.ToSimUnits(projectileAnchor);
characterUsable = ToolBox.GetAttributeBool(element, "characterusable", false);
sprite = new Sprite(spritePath, new Vector2(0.5f, 0.5f));
sectionLength = ConvertUnits.ToSimUnits(sprite.size.X);
Path ropePath = new Path();
ropePath.Add(item.body.SimPosition);
ropePath.Add(item.body.SimPosition + new Vector2(length, 0.0f));
ropePath.Closed = false;
Vertices box = PolygonTools.CreateRectangle(sectionLength, 0.05f);
PolygonShape shape = new PolygonShape(box, 5);
List <Body> ropeList = PathManager.EvenlyDistributeShapesAlongPath(GameMain.World, ropePath, shape, BodyType.Dynamic, (int)(length / sectionLength));
ropeBodies = new PhysicsBody[ropeList.Count];
for (int i = 0; i < ropeBodies.Length; i++)
{
ropeList[i].Mass = 0.01f;
ropeList[i].Enabled = false;
//only collide with the map
ropeList[i].CollisionCategories = Physics.CollisionItem;
ropeList[i].CollidesWith = Physics.CollisionWall;
//ropeBodies[i] = new PhysicsBody(ropeList[i]);
}
List <RevoluteJoint> joints = PathManager.AttachBodiesWithRevoluteJoint(GameMain.World, ropeList,
new Vector2(-sectionLength / 2, 0.0f), new Vector2(sectionLength / 2, 0.0f), false, false);
ropeJoints = new RevoluteJoint[joints.Count + 1];
//ropeJoints[0] = JointFactory.CreateRevoluteJoint(Game1.world, item.body, ropeList[0], new Vector2(0f, -0.0f));
for (int i = 0; i < joints.Count; i++)
{
var distanceJoint = JointFactory.CreateDistanceJoint(GameMain.World, ropeList[i], ropeList[i + 1]);
distanceJoint.Length = sectionLength;
distanceJoint.DampingRatio = 1.0f;
ropeJoints[i] = joints[i];
}
}
private DominosTest()
{
Body b1 = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
Vertices box = PolygonTools.CreateRectangle(6.0f, 0.25f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(-1.5f, 10.0f);
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 20);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.1f;
}
}
{
Vertices box = PolygonTools.CreateRectangle(7.0f, 0.25f, Vector2.Zero, 0.3f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(1.0f, 6.0f);
ground.CreateFixture(shape);
}
Body b2;
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 1.5f);
PolygonShape shape = new PolygonShape(box, 0);
b2 = BodyFactory.CreateBody(World);
b2.Position = new Vector2(-7.0f, 4.0f);
b2.CreateFixture(shape);
}
Body b3;
{
Vertices box = PolygonTools.CreateRectangle(6.0f, 0.125f);
PolygonShape shape = new PolygonShape(box, 10);
b3 = BodyFactory.CreateBody(World);
b3.BodyType = BodyType.Dynamic;
b3.Position = new Vector2(-0.9f, 1.0f);
b3.Rotation = -0.15f;
b3.CreateFixture(shape);
}
Vector2 anchor = new Vector2(-2.0f, 1.0f);
RevoluteJoint jd = new RevoluteJoint(b1, b3, anchor, true);
jd.CollideConnected = true;
World.AddJoint(jd);
Body b4;
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 0.25f);
PolygonShape shape = new PolygonShape(box, 10);
b4 = BodyFactory.CreateBody(World);
b4.BodyType = BodyType.Dynamic;
b4.Position = new Vector2(-10.0f, 15.0f);
b4.CreateFixture(shape);
}
anchor = new Vector2(-7.0f, 15.0f);
RevoluteJoint jd2 = new RevoluteJoint(b2, b4, anchor, true);
World.AddJoint(jd2);
Body b5;
{
b5 = BodyFactory.CreateBody(World);
b5.BodyType = BodyType.Dynamic;
b5.Position = new Vector2(6.5f, 3.0f);
Vertices vertices = PolygonTools.CreateRectangle(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
PolygonShape shape = new PolygonShape(vertices, 10);
Fixture fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonTools.CreateRectangle(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
shape.Vertices = vertices;
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonTools.CreateRectangle(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
shape.Vertices = vertices;
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
}
anchor = new Vector2(6.0f, 2.0f);
RevoluteJoint jd3 = new RevoluteJoint(b1, b5, anchor, true);
World.AddJoint(jd3);
Body b6;
{
Vertices box = PolygonTools.CreateRectangle(1.0f, 0.1f);
PolygonShape shape = new PolygonShape(box, 30);
b6 = BodyFactory.CreateBody(World);
b6.BodyType = BodyType.Dynamic;
b6.Position = new Vector2(6.5f, 4.1f);
b6.CreateFixture(shape);
}
anchor = new Vector2(7.50f, 4.0f);
RevoluteJoint jd4 = new RevoluteJoint(b5, b6, anchor, true);
jd4.CollideConnected = true;
World.AddJoint(jd4);
Body b7;
{
Vertices box = PolygonTools.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 10);
b7 = BodyFactory.CreateBody(World);
b7.BodyType = BodyType.Dynamic;
b7.Position = new Vector2(7.4f, 1.0f);
b7.CreateFixture(shape);
}
DistanceJoint djd = new DistanceJoint(b3, b7, new Vector2(6.0f, 0.0f), new Vector2(0.0f, -1.0f));
World.AddJoint(djd);
{
const float radius = 0.2f;
CircleShape shape = new CircleShape(radius, 10);
for (int i = 0; i < 4; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Fixture fix = body.CreateFixture(shape);
fix.OnCollision += BallCollision;
}
}
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 10f);
HasCursor = false;
EnableCameraControl = true;
_hzFront = 8.5f;
_hzBack = 5.0f;
_zeta = 0.85f;
_maxSpeed = 50.0f;
// terrain
_ground = new Body(World);
{
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)
{
FixtureFactory.AttachEdge(terrain[i], terrain[i + 1], _ground);
}
_ground.Friction = 0.6f;
}
// teeter board
{
_board = new Body(World);
_board.BodyType = BodyType.Dynamic;
_board.Position = new Vector2(140.0f, -1.0f);
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonTools.CreateRectangle(10.0f, 0.25f);
_teeter = new Sprite(ContentWrapper.TextureFromShape(box, "Stripe", ContentWrapper.Gold, ContentWrapper.Black, ContentWrapper.Black, 1f));
_board.CreateFixture(box);
RevoluteJoint teeterAxis = JointFactory.CreateRevoluteJoint(World, _ground, _board, Vector2.Zero);
teeterAxis.LowerLimit = -8.0f * Settings.Pi / 180.0f;
teeterAxis.UpperLimit = 8.0f * Settings.Pi / 180.0f;
teeterAxis.LimitEnabled = true;
_board.ApplyAngularImpulse(-100.0f);
}
// bridge
{
_bridgeSegments = new List <Body>();
const int segmentCount = 20;
PolygonShape shape = new PolygonShape(1f);
shape.Vertices = PolygonTools.CreateRectangle(1.0f, 0.125f);
_bridge = new Sprite(ContentWrapper.TextureFromShape(shape, ContentWrapper.Gold, ContentWrapper.Black));
Body prevBody = _ground;
for (int i = 0; i < segmentCount; ++i)
{
Body body = new Body(World);
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(1f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
_box = new Sprite(ContentWrapper.TextureFromShape(box, "Square", ContentWrapper.Sky, ContentWrapper.Sunset, ContentWrapper.Black, 1f));
Body body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -0.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(220f, -1.5f);
body.CreateFixture(box);
_boxes.Add(body);
body = new Body(World);
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, 2f);
_car = new Body(World);
_car.BodyType = BodyType.Dynamic;
_car.Position = new Vector2(0.0f, -1.0f);
_car.CreateFixture(chassis);
_wheelBack = new Body(World);
_wheelBack.BodyType = BodyType.Dynamic;
_wheelBack.Position = new Vector2(-1.709f, -0.78f);
Fixture fix = _wheelBack.CreateFixture(new CircleShape(0.5f, 0.8f));
fix.Friction = 0.9f;
_wheelFront = new Body(World);
_wheelFront.BodyType = BodyType.Dynamic;
_wheelFront.Position = new Vector2(1.54f, -0.8f);
_wheelFront.CreateFixture(new CircleShape(0.5f, 1f));
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 = _hzBack;
_springBack.DampingRatio = _zeta;
World.AddJoint(_springBack);
_springFront = new WheelJoint(_car, _wheelFront, _wheelFront.Position, axis, true);
_springFront.MotorSpeed = 0.0f;
_springFront.MaxMotorTorque = 10.0f;
_springFront.MotorEnabled = false;
_springFront.Frequency = _hzFront;
_springFront.DampingRatio = _zeta;
World.AddJoint(_springFront);
// GFX
_carBody = new Sprite(ContentWrapper.GetTexture("Car"), ContentWrapper.CalculateOrigin(_car));
_wheel = new Sprite(ContentWrapper.GetTexture("Wheel"));
}
Camera.MinRotation = -0.05f;
Camera.MaxRotation = 0.05f;
Camera.TrackingBody = _car;
Camera.EnableTracking = true;
}
public TheoJansenWalker(World world, Vector2 position)
{
_position = position;
_motorSpeed = 2.0f;
_motorOn = true;
_leftShoulders = new Body[3];
_leftLegs = new Body[3];
_rightShoulders = new Body[3];
_rightLegs = new Body[3];
Vector2 pivot = new Vector2(0f, 0.8f);
// Chassis
PolygonShape box = new PolygonShape(1f);
box.Vertices = PolygonTools.CreateRectangle(2.5f, 1.0f);
_body = new Sprite(ContentWrapper.TextureFromShape(box, _walkerColors[0], ContentWrapper.Black, 24f));
_chassis = world.CreateBody();
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _position;
Fixture bodyFixture = _chassis.CreateFixture(box);
bodyFixture.CollisionGroup = -1;
// Wheel
CircleShape circle = new CircleShape(1.6f, 1f);
_engine = new Sprite(ContentWrapper.TextureFromShape(circle, "Stripe", _walkerColors[1] * 0.6f, _walkerColors[2] * 0.8f, ContentWrapper.Black, 3f, 24f));
_wheel = world.CreateBody();
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _position;
Fixture wheelFixture = _wheel.CreateFixture(circle);
wheelFixture.CollisionGroup = -1;
// Physics
_motorJoint = new RevoluteJoint(_wheel, _chassis, _chassis.Position, true);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400f;
_motorJoint.MotorEnabled = _motorOn;
world.Add(_motorJoint);
Vector2 wheelAnchor = pivot + new Vector2(0f, -0.8f);
CreateLeg(world, -1f, wheelAnchor, out _leftShoulders[0], out _leftLegs[0]);
CreateLeg(world, 1f, wheelAnchor, out _rightShoulders[0], out _rightLegs[0]);
_wheel.SetTransform(_wheel.Position, 120f * MathHelper.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, out _leftShoulders[1], out _leftLegs[1]);
CreateLeg(world, 1f, wheelAnchor, out _rightShoulders[1], out _rightLegs[1]);
_wheel.SetTransform(_wheel.Position, -120f * MathHelper.Pi / 180f);
CreateLeg(world, -1f, wheelAnchor, out _leftShoulders[2], out _leftLegs[2]);
CreateLeg(world, 1f, wheelAnchor, out _rightShoulders[2], out _rightLegs[2]);
CreateLegTextures();
}
private GearsTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
{
CircleShape circle1 = new CircleShape(1.0f, 5f);
PolygonShape box = new PolygonShape(5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 5.0f);
CircleShape circle2 = new CircleShape(2.0f, 5f);
Body body1 = BodyFactory.CreateBody(World, new Vector2(10.0f, 9.0f));
body1.CreateFixture(circle1);
Body body2 = BodyFactory.CreateBody(World, new Vector2(10.0f, 8.0f));
body2.BodyType = BodyType.Dynamic;
body2.CreateFixture(box);
Body body3 = BodyFactory.CreateBody(World, new Vector2(10.0f, 6.0f));
body3.BodyType = BodyType.Dynamic;
body3.CreateFixture(circle2);
RevoluteJoint joint1 = new RevoluteJoint(body2, body1, body1.Position, true);
World.AddJoint(joint1);
RevoluteJoint joint2 = new RevoluteJoint(body2, body3, body3.Position, true);
World.AddJoint(joint2);
GearJoint joint4 = new GearJoint(body1, body3, joint1, joint2, circle2.Radius / circle1.Radius);
World.AddJoint(joint4);
}
{
CircleShape circle1 = new CircleShape(1.0f, 5.0f);
CircleShape circle2 = new CircleShape(2.0f, 5.0f);
PolygonShape box = new PolygonShape(5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 5.0f);
Body body1 = BodyFactory.CreateBody(World, new Vector2(-3.0f, 12.0f));
body1.BodyType = BodyType.Dynamic;
body1.CreateFixture(circle1);
_joint1 = new RevoluteJoint(ground, body1, body1.Position, true);
_joint1.ReferenceAngle = body1.Rotation - ground.Rotation;
World.AddJoint(_joint1);
Body body2 = BodyFactory.CreateBody(World, new Vector2(0.0f, 12.0f));
body2.BodyType = BodyType.Dynamic;
body2.CreateFixture(circle2);
_joint2 = new RevoluteJoint(ground, body2, body2.Position, true);
World.AddJoint(_joint2);
Body body3 = BodyFactory.CreateBody(World, new Vector2(2.5f, 12.0f));
body3.BodyType = BodyType.Dynamic;
body3.CreateFixture(box);
_joint3 = new PrismaticJoint(ground, body3, body3.Position, new Vector2(0.0f, 1.0f), true);
_joint3.LowerLimit = -5.0f;
_joint3.UpperLimit = 5.0f;
_joint3.LimitEnabled = true;
World.AddJoint(_joint3);
_joint4 = new GearJoint(body1, body2, _joint1, _joint2, circle2.Radius / circle1.Radius);
World.AddJoint(_joint4);
_joint5 = new GearJoint(body2, body3, _joint2, _joint3, -1.0f / circle2.Radius);
World.AddJoint(_joint5);
}
}
private CCDTest()
{
{
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, -0.2f);
Vertices box = PolygonTools.CreateRectangle(10, 0.2f);
PolygonShape shape = new PolygonShape(box, 0);
body.CreateFixture(shape);
box = PolygonTools.CreateRectangle(0.2f, 1.0f, new Vector2(0.5f, 1.2f), 0.0f);
shape.Set(box);
body.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(2, 0.1f);
PolygonShape shape = new PolygonShape(box, 1);
_angularVelocity = Rand.RandomFloat(-50.0f, 50.0f);
_angularVelocity = -30.669577f;
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 20.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Restitution = 0.0f;
body.LinearVelocity = new Vector2(0.0f, -100.0f);
body.AngularVelocity = _angularVelocity;
}
#if false
{
FixtureDef fd = new FixtureDef();
fd.SetAsBox(10.0f, 0.1f);
fd.density = 0.0f;
bd.BodyType = BodyDef.e_static;
bd.position = new Vector2(0.0f, -0.2f);
Body ground = _world.CreateBody();
ground.CreateFixture(fd);
}
{
FixtureDef fd = new FixtureDef();
fd.SetAsBox(2.0f, 0.1f);
fd.density = 1.0f;
fd.restitution = 0.0f;
BodyDef bd1;
bd1.type = BodyDef.e_dynamic;
bd1.bullet = true;
bd1.allowSleep = false;
bd1.position = new Vector2(0.0f, 20.0f);
Body b1 = _world.Create(bd1);
b1.CreateFixture(fd);
b1.SetLinearVelocity(new Vector2(0.0f, -100.0f));
fd.SetAsBox(1.0f, 0.1f);
BodyDef bd2;
bd2.type = BodyDef.e_dynamic;
bd2.bullet = true;
bd2.allowSleep = false;
bd2.position = new Vector2(0.0f, 20.2f);
Body b2 = _world.Create(bd2);
b2.CreateFixture(fd);
b2.SetLinearVelocity(new Vector2(0.0f, -100.0f));
fd.SetAsBox(0.25f, 0.25f);
fd.density = 10.0f;
BodyDef bd3;
bd3.type = BodyDef.e_dynamic;
bd3.bullet = true;
bd3.allowSleep = false;
bd3.position = new Vector2(0.0f, 100.0f);
Body b3 = _world.Create(bd3);
b3.CreateFixture(fd);
b3.SetLinearVelocity(new Vector2(0.0f, -150.0f));
}
#elif false
float k_restitution = 1.4f;
{
bd.position = new Vector2(0.0f, 20.0f);
Body body = _world.CreateBody();
FixtureDef fd = new FixtureDef();
fd.density = 0.0f;
fd.restitution = k_restitution;
fd.SetAsBox(0.1f, 10.0f, new Vector2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(fd);
fd.SetAsBox(0.1f, 10.0f, new Vector2(10.0f, 0.0f), 0.0f);
body.CreateFixture(fd);
fd.SetAsBox(0.1f, 10.0f, new Vector2(0.0f, -10.0f), 0.5f * FarseerPhysics.Settings.b2_pi);
body.CreateFixture(fd);
fd.SetAsBox(0.1f, 10.0f, new Vector2(0.0f, 10.0f), -0.5f * FarseerPhysics.Settings.b2_pi);
body.CreateFixture(fd);
}
#if false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, -1.0f), 0.0f);
sd_bottom.density = 4.0f;
FixtureDef sd_top;
sd_top.SetAsBox(1.0f, 0.1f, new Vector2(0.0f, 1.0f), 0.0f);
sd_top.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.1f, 1.0f, new Vector2(-1.0f, 0.0f), 0.0f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.1f, 1.0f, new Vector2(1.0f, 0.0f), 0.0f);
sd_right.density = 4.0f;
bd.BodyType = BodyDef.e_dynamicBody;
bd.position = new Vector2(0.0f, 15.0f);
Body body = _world.CreateBody();
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_top);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
}
#elif false
{
FixtureDef sd_bottom;
sd_bottom.SetAsBox(1.5f, 0.15f);
sd_bottom.density = 4.0f;
FixtureDef sd_left;
sd_left.SetAsBox(0.15f, 2.7f, new Vector2(-1.45f, 2.35f), 0.2f);
sd_left.density = 4.0f;
FixtureDef sd_right;
sd_right.SetAsBox(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
sd_right.density = 4.0f;
bd.position = new Vector2(0.0f, 15.0f);
Body body = _world.CreateBody();
body.CreateFixture(&sd_bottom);
body.CreateFixture(&sd_left);
body.CreateFixture(&sd_right);
}
#else
{
bd.position = new Vector2(-5.0f, 20.0f);
bd.bullet = true;
Body body = _world.CreateBody();
body.SetAngularVelocity(Rand.RandomFloat(-50.0f, 50.0f));
FixtureDef fd = new FixtureDef();
fd.SetAsBox(0.1f, 4.0f);
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(fd);
}
#endif
for (int i = 0; i < 0; ++i)
{
bd.position = new Vector2(0.0f, 15.0f + i);
bd.bullet = true;
Body body = _world.CreateBody();
body.SetAngularVelocity(Rand.RandomFloat(-50.0f, 50.0f));
FixtureDef fd = new FixtureDef();
fd.radius = 0.25f;
fd.density = 1.0f;
fd.restitution = 0.0f;
body.CreateFixture(fd);
}
#endif
}
public override void Initialize()
{
Settings.VelocityIterations = 2;
Settings.PositionIterations = 4;
//GEN GameInstance.ViewCenter = Vector2.Zero;
var size = CCDirector.SharedDirector.WinSize;
_worldSize = 2 * new Vector2(size.Width, 0); //GEN GameInstance.ConvertScreenToWorld(GameInstance.Window.ClientBounds.Width, 0);
//Create a World using QuadTree constructor
World = new World(new Vector2(0.0f, -10.0f), new AABB(-_worldSize / 2, _worldSize / 2));
//Create a World using DynamicTree constructor
//World = new World(new Vector2(0.0f, -10.0f));
//
//set up border
//
float halfWidth = _worldSize.X / 2 - 2f;
float halfHeight = _worldSize.Y / 2 - 2f;
Vertices borders = new Vertices(4);
borders.Add(new Vector2(-halfWidth, halfHeight));
borders.Add(new Vector2(halfWidth, halfHeight));
borders.Add(new Vector2(halfWidth, -halfHeight));
borders.Add(new Vector2(-halfWidth, -halfHeight));
Body anchor = BodyFactory.CreateLoopShape(World, borders);
anchor.CollisionCategories = Category.All;
anchor.CollidesWith = Category.All;
//
//box
//
Vertices bigbox = PolygonTools.CreateRectangle(3f, 3f);
PolygonShape bigshape = new PolygonShape(bigbox, 5);
Body bigbody = BodyFactory.CreateBody(World);
bigbody.BodyType = BodyType.Dynamic;
bigbody.Position = Vector2.UnitX * 25;
bigbody.CreateFixture(bigshape);
//
//populate
//
const int rad = 12;
const float a = 0.6f;
const float sep = 0.000f;
Vector2 cent = Vector2.Zero;
for (int y = -rad; y <= +rad; y++)
{
int xrad = (int)Math.Round(Math.Sqrt(rad * rad - y * y));
for (int x = -xrad; x <= +xrad; x++)
{
Vector2 pos = cent + new Vector2(x * (2 * a + sep), y * (2 * a + sep));
Body cBody = BodyFactory.CreateCircle(World, a, 55, pos);
cBody.BodyType = BodyType.Dynamic;
}
}
base.Initialize();
}
/// <summary>
/// Build vertices to represent an axis-aligned box.
/// </summary>
/// <param name="halfWidth">The half-width.</param>
/// <param name="halfHeight">The half-height.</param>
public void SetAsBox(float halfWidth, float halfHeight)
{
Set(PolygonTools.CreateRectangle(halfWidth, halfHeight));
}
private SerializationTest()
{
Body ground = World.CreateEdge(new Vector2(-20, 0), new Vector2(20, 0));
//Friction and distance joint
{
Body bodyA = World.CreateBody(new Vector2(10, 25), 0, BodyType.Dynamic);
bodyA.CreateCircle(1, 1.5f);
Body bodyB = World.CreateBody(new Vector2(-1, 25), 0, BodyType.Dynamic);
bodyB.CreateRectangle(1, 1, 1, Vector2.Zero);
FrictionJoint frictionJoint = JointFactory.CreateFrictionJoint(World, bodyB, ground, Vector2.Zero);
frictionJoint.CollideConnected = true;
frictionJoint.MaxForce = 100;
JointFactory.CreateDistanceJoint(World, bodyA, bodyB);
}
//Wheel joint
{
Vertices vertices = new Vertices(6);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
Body carBody = World.CreateBody(new Vector2(0, 1), 0, BodyType.Dynamic);
Fixture carFixture = carBody.CreatePolygon(vertices, 1);
Body wheel1 = World.CreateBody(new Vector2(-1.0f, 0.35f), 0, BodyType.Dynamic);
Fixture wheel1Fixture = wheel1.CreateCircle(0.4f, 1);
wheel1Fixture.Friction = 0.9f;
Body wheel2 = World.CreateBody(new Vector2(1.0f, 0.4f), 0, BodyType.Dynamic);
Fixture wheel2Fixture = wheel2.CreateCircle(0.4f, 1);
wheel2Fixture.Friction = 0.9f;
Vector2 axis = new Vector2(0.0f, 1.0f);
WheelJoint spring1 = JointFactory.CreateWheelJoint(World, carBody, wheel1, axis);
spring1.MotorSpeed = 0.0f;
spring1.MaxMotorTorque = 20.0f;
spring1.MotorEnabled = true;
spring1.Frequency = 4;
spring1.DampingRatio = 0.7f;
WheelJoint spring2 = JointFactory.CreateWheelJoint(World, carBody, wheel2, axis);
spring2.MotorSpeed = 0.0f;
spring2.MaxMotorTorque = 10.0f;
spring2.MotorEnabled = false;
spring2.Frequency = 4;
spring2.DampingRatio = 0.7f;
}
//Prismatic joint
{
Body body = World.CreateBody(new Vector2(-10.0f, 10.0f), 0.5f * MathHelper.Pi, BodyType.Dynamic);
body.CreateRectangle(2, 2, 5, Vector2.Zero);
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
PrismaticJoint joint = JointFactory.CreatePrismaticJoint(World, ground, body, Vector2.Zero, axis);
joint.MotorSpeed = 5.0f;
joint.MaxMotorForce = 1000.0f;
joint.MotorEnabled = true;
joint.LowerLimit = -10.0f;
joint.UpperLimit = 20.0f;
joint.LimitEnabled = true;
}
// Pulley joint
{
Body body1 = World.CreateBody(new Vector2(-10.0f, 16.0f), 0, BodyType.Dynamic);
body1.CreateRectangle(2, 4, 5, Vector2.Zero);
Body body2 = World.CreateBody(new Vector2(10.0f, 16.0f), 0, BodyType.Dynamic);
body2.CreateRectangle(2, 4, 5, Vector2.Zero);
Vector2 anchor1 = new Vector2(-10.0f, 16.0f + 2.0f);
Vector2 anchor2 = new Vector2(10.0f, 16.0f + 2.0f);
Vector2 worldAnchor1 = new Vector2(-10.0f, 16.0f + 2.0f + 12.0f);
Vector2 worldAnchor2 = new Vector2(10.0f, 16.0f + 2.0f + 12.0f);
JointFactory.CreatePulleyJoint(World, body1, body2, anchor1, anchor2, worldAnchor1, worldAnchor2, 1.5f, true);
}
//Revolute joint
{
Body ball = World.CreateBody(new Vector2(5.0f, 30.0f), 0, BodyType.Dynamic);
ball.CreateCircle(3.0f, 5.0f);
Body polygonBody = World.CreateBody(new Vector2(10, 10), 0, BodyType.Dynamic);
polygonBody.CreateRectangle(20, 0.4f, 2, Vector2.Zero);
polygonBody.IsBullet = true;
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(World, ground, polygonBody, new Vector2(10, 0));
joint.LowerLimit = -0.25f * MathHelper.Pi;
joint.UpperLimit = 0.0f * MathHelper.Pi;
joint.LimitEnabled = true;
}
//Weld joint
{
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.125f), 20);
Body prevBody = ground;
for (int i = 0; i < 10; ++i)
{
Body body = World.CreateBody(new Vector2(-14.5f + 1.0f * i, 5.0f), 0, BodyType.Dynamic);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(0.5f, 0);
if (i == 0)
{
anchor = new Vector2(-15f, 5);
}
JointFactory.CreateWeldJoint(World, prevBody, body, anchor, new Vector2(-0.5f, 0));
prevBody = body;
}
}
//Rope joint
{
World.CreateChain(new Vector2(-10, 10), new Vector2(-20, 10), 0.1f, 0.5f, 10, 0.1f, true);
}
//Angle joint
{
Body bA = World.CreateBody(new Vector2(-5, 4), (float)(Math.PI / 3), BodyType.Dynamic);
Fixture fA = bA.CreateRectangle(4, 4, 1, Vector2.Zero);
Body bB = World.CreateBody(new Vector2(5, 4), 0, BodyType.Dynamic);
Fixture fB = bB.CreateRectangle(4, 4, 1, Vector2.Zero);
AngleJoint joint = new AngleJoint(bA, bB);
joint.TargetAngle = (float)Math.PI / 2;
World.Add(joint);
}
//Motor joint
{
Body body = World.CreateBody(new Vector2(0, 35), 0, BodyType.Dynamic);
Fixture fixture = body.CreateRectangle(4, 1, 2, Vector2.Zero);
fixture.Friction = 0.6f;
MotorJoint motorJoint = JointFactory.CreateMotorJoint(World, ground, body);
motorJoint.MaxForce = 1000.0f;
motorJoint.MaxTorque = 1000.0f;
motorJoint.LinearOffset = new Vector2(0, 35);
motorJoint.AngularOffset = (float)(Math.PI / 3f);
}
}
private CollisionProcessingTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
const float xLo = -5.0f;
const float xHi = 5.0f;
const float yLo = 2.0f;
const float yHi = 35.0f;
// Small triangle
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-1.0f, 0.0f));
vertices.Add(new Vector2(1.0f, 0.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
PolygonShape polygon = new PolygonShape(vertices, 1);
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
Fixture fixture = body1.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Vertices = vertices;
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body2.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Small box
Vertices smallBox = PolygonTools.CreateRectangle(1.0f, 0.5f);
polygon.Vertices = smallBox;
Body body3 = BodyFactory.CreateBody(World);
body3.BodyType = BodyType.Dynamic;
body3.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body3.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Large box (recycle definitions)
Vertices largeBox = PolygonTools.CreateRectangle(2.0f, 1.0f);
polygon.Vertices = largeBox;
Body body4 = BodyFactory.CreateBody(World);
body4.BodyType = BodyType.Dynamic;
body4.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body4.CreateFixture(polygon);
fixture.OnCollision += OnCollision;
// Small circle
CircleShape circle = new CircleShape(1.0f, 1);
Body body5 = BodyFactory.CreateBody(World);
body5.BodyType = BodyType.Dynamic;
body5.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body5.CreateFixture(circle);
fixture.OnCollision += OnCollision;
// Large circle
circle.Radius *= 2.0f;
Body body6 = BodyFactory.CreateBody(World);
body6.BodyType = BodyType.Dynamic;
body6.Position = new Vector2(Rand.RandomFloat(xLo, xHi), Rand.RandomFloat(yLo, yHi));
fixture = body6.CreateFixture(circle);
fixture.OnCollision += OnCollision;
}
EdgeShapesTest()
{
// Ground body
{
Body ground = BodyFactory.CreateBody(World);
double x1 = -20.0f;
double y1 = 2.0f * (double)Math.Cos(x1 / 10.0f * (double)Math.PI);
for (int i = 0; i < 80; ++i)
{
double x2 = x1 + 0.5f;
double y2 = 2.0f * (double)Math.Cos(x2 / 10.0f * (double)Math.PI);
EdgeShape shape = new EdgeShape(new Vector2(x1, y1), new Vector2(x2, y2));
ground.CreateFixture(shape);
x1 = x2;
y1 = y2;
}
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[0] = new PolygonShape(vertices, 20);
}
{
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.1f, 0.0f));
vertices.Add(new Vector2(0.1f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
_polygons[1] = new PolygonShape(vertices, 20);
}
{
const double w = 1.0f;
double b = w / (2.0f + (double)Math.Sqrt(2.0f));
double s = (double)Math.Sqrt(2.0f) * b;
Vertices vertices = new Vertices(8);
vertices.Add(new Vector2(0.5f * s, 0.0f));
vertices.Add(new Vector2(0.5f * w, b));
vertices.Add(new Vector2(0.5f * w, b + s));
vertices.Add(new Vector2(0.5f * s, w));
vertices.Add(new Vector2(-0.5f * s, w));
vertices.Add(new Vector2(-0.5f * w, b + s));
vertices.Add(new Vector2(-0.5f * w, b));
vertices.Add(new Vector2(-0.5f * s, 0.0f));
_polygons[2] = new PolygonShape(vertices, 20);
}
{
_polygons[3] = new PolygonShape(20);
_polygons[3].Vertices = PolygonTools.CreateRectangle(0.5f, 0.5f);
}
{
_circle = new CircleShape(0.5f, 1);
}
_bodyIndex = 0;
_angle = 0.0f;
}
private TheoJansenTest()
{
_offset = new Vector2(0.0f, 8.0f);
_motorSpeed = 2.0f;
_motorOn = true;
Vector2 pivot = new Vector2(0.0f, 0.8f);
// Ground
{
Body ground = World.CreateEdge(new Vector2(-50.0f, 0.0f), new Vector2(50.0f, 0.0f));
ground.CreateEdge(new Vector2(-50.0f, 0.0f), new Vector2(-50.0f, 10.0f));
ground.CreateEdge(new Vector2(50.0f, 0.0f), new Vector2(50.0f, 10.0f));
}
// Balls
for (int i = 0; i < 40; ++i)
{
CircleShape shape = new CircleShape(0.25f, 1);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-40.0f + 2.0f * i, 0.5f);
body.CreateFixture(shape);
}
// Chassis
{
PolygonShape shape = new PolygonShape(1);
shape.Vertices = PolygonTools.CreateRectangle(2.5f, 1.0f);
_chassis = World.CreateBody();
_chassis.BodyType = BodyType.Dynamic;
_chassis.Position = pivot + _offset;
Fixture fixture = _chassis.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
CircleShape shape = new CircleShape(1.6f, 1);
_wheel = World.CreateBody();
_wheel.BodyType = BodyType.Dynamic;
_wheel.Position = pivot + _offset;
Fixture fixture = _wheel.CreateFixture(shape);
fixture.CollisionGroup = -1;
}
{
_motorJoint = new RevoluteJoint(_wheel, _chassis, _chassis.Position, true);
_motorJoint.CollideConnected = false;
_motorJoint.MotorSpeed = _motorSpeed;
_motorJoint.MaxMotorTorque = 400.0f;
_motorJoint.MotorEnabled = _motorOn;
World.Add(_motorJoint);
}
Vector2 wheelAnchor = pivot + new Vector2(0.0f, -0.8f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, 120.0f * MathHelper.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
_wheel.SetTransform(_wheel.Position, -120.0f * MathHelper.Pi / 180.0f);
CreateLeg(-1.0f, wheelAnchor);
CreateLeg(1.0f, wheelAnchor);
}
PinballTest()
{
// Ground body
Body ground;
{
ground = BodyFactory.CreateBody(World);
Vertices vertices = new Vertices(5);
vertices.Add(new Vector2(0.0f, -2.0f));
vertices.Add(new Vector2(8.0f, 6.0f));
vertices.Add(new Vector2(8.0f, 20.0f));
vertices.Add(new Vector2(-8.0f, 20.0f));
vertices.Add(new Vector2(-8.0f, 6.0f));
ChainShape chain = new ChainShape(vertices, true);
ground.CreateFixture(chain);
}
// Flippers
{
Vector2 p1 = new Vector2(-2.0f, 0f);
Vector2 p2 = new Vector2(2.0f, 0f);
Body leftFlipper = BodyFactory.CreateBody(World, p1);
leftFlipper.BodyType = BodyType.Dynamic;
Body rightFlipper = BodyFactory.CreateBody(World, p2);
rightFlipper.BodyType = BodyType.Dynamic;
PolygonShape box = new PolygonShape(1);
box.Vertices = PolygonTools.CreateRectangle(1.75f, 0.1f);
leftFlipper.CreateFixture(box);
rightFlipper.CreateFixture(box);
_leftJoint = new RevoluteJoint(ground, leftFlipper, p1, Vector2.Zero);
_leftJoint.MaxMotorTorque = 1000.0f;
_leftJoint.LimitEnabled = true;
_leftJoint.MotorEnabled = true;
_leftJoint.MotorSpeed = 0.0f;
_leftJoint.LowerLimit = -30.0f * Alt.FarseerPhysics.Settings.Pi / 180.0f;
_leftJoint.UpperLimit = 5.0f * Alt.FarseerPhysics.Settings.Pi / 180.0f;
World.AddJoint(_leftJoint);
_rightJoint = new RevoluteJoint(ground, rightFlipper, p2, Vector2.Zero);
_rightJoint.MaxMotorTorque = 1000.0f;
_rightJoint.LimitEnabled = true;
_rightJoint.MotorEnabled = true;
_rightJoint.MotorSpeed = 0.0f;
_rightJoint.LowerLimit = -5.0f * Alt.FarseerPhysics.Settings.Pi / 180.0f;
_rightJoint.UpperLimit = 30.0f * Alt.FarseerPhysics.Settings.Pi / 180.0f;
World.AddJoint(_rightJoint);
}
// Circle character
{
_ball = BodyFactory.CreateBody(World, new Vector2(1.0f, 15.0f));
_ball.BodyType = BodyType.Dynamic;
_ball.IsBullet = true;
_ball.CreateFixture(new CircleShape(0.2f, 1.0f));
}
}
private CompoundShapesTest()
{
World.CreateEdge(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
{
CircleShape circle1 = new CircleShape(0.5f, 2);
circle1.Position = new Vector2(-0.5f, 0.5f);
CircleShape circle2 = new CircleShape(0.5f, 0);
circle2.Position = new Vector2(0.5f, 0.5f);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x + 5.0f, 1.05f + 2.5f * i);
body.Rotation = Rand.RandomFloat(-MathHelper.Pi, MathHelper.Pi);
body.CreateFixture(circle1);
body.CreateFixture(circle2);
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 0.5f);
PolygonShape polygon1 = new PolygonShape(box, 2);
box = PolygonTools.CreateRectangle(0.25f, 0.5f, new Vector2(0.0f, -0.5f), 0.5f * MathHelper.Pi);
PolygonShape polygon2 = new PolygonShape(box, 2);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x - 5.0f, 1.05f + 2.5f * i);
body.Rotation = Rand.RandomFloat(-MathHelper.Pi, MathHelper.Pi);
body.CreateFixture(polygon1);
body.CreateFixture(polygon2);
}
}
{
Transform xf1 = new Transform(new Vector2(1.0f, 0.0f), Complex.One);
Transform.Multiply(ref xf1, Complex.FromAngle(0.3524f * MathHelper.Pi), out xf1);
Vertices vertices = new Vertices(3);
vertices.Add(Transform.Multiply(new Vector2(-1.0f, 0.0f), ref xf1));
vertices.Add(Transform.Multiply(new Vector2(1.0f, 0.0f), ref xf1));
vertices.Add(Transform.Multiply(new Vector2(0.0f, 0.5f), ref xf1));
PolygonShape triangle1 = new PolygonShape(vertices, 2);
Transform xf2 = new Transform(new Vector2(-1.0f, 0.0f), Complex.One);
Transform.Multiply(ref xf2, Complex.FromAngle(-0.3524f * MathHelper.Pi), out xf2);
vertices[0] = Transform.Multiply(new Vector2(-1.0f, 0.0f), ref xf2);
vertices[1] = Transform.Multiply(new Vector2(1.0f, 0.0f), ref xf2);
vertices[2] = Transform.Multiply(new Vector2(0.0f, 0.5f), ref xf2);
PolygonShape triangle2 = new PolygonShape(vertices, 2);
for (int i = 0; i < 10; ++i)
{
float x = Rand.RandomFloat(-0.1f, 0.1f);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(x, 2.05f + 2.5f * i);
body.CreateFixture(triangle1);
body.CreateFixture(triangle2);
}
}
{
Vertices box = PolygonTools.CreateRectangle(1.5f, 0.15f);
PolygonShape bottom = new PolygonShape(box, 4);
box = PolygonTools.CreateRectangle(0.15f, 2.7f, new Vector2(-1.45f, 2.35f), 0.2f);
PolygonShape left = new PolygonShape(box, 4);
box = PolygonTools.CreateRectangle(0.15f, 2.7f, new Vector2(1.45f, 2.35f), -0.2f);
PolygonShape right = new PolygonShape(box, 4);
Body body = World.CreateBody();
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 2.0f);
body.CreateFixture(bottom);
body.CreateFixture(left);
body.CreateFixture(right);
}
}
public Objects(World world, Vector2 startPosition, Vector2 endPosition, int count, float radius, ObjectType type, float toothHeight = 1f)
{
_bodyRadius = radius;
BodyList = new List <Body>(count);
for (int i = 0; i < count; i++)
{
switch (type)
{
case ObjectType.Circle:
BodyList.Add(world.CreateCircle(radius, 1f));
break;
case ObjectType.Rectangle:
BodyList.Add(world.CreateRectangle(radius, radius, 1f));
_bodyRadius = radius / 2f;
break;
case ObjectType.Star:
BodyList.Add(world.CreateGear(radius, 10, 0f, toothHeight, 1f));
_bodyRadius = radius * 2.7f;
break;
case ObjectType.Gear:
BodyList.Add(world.CreateGear(radius, 10, 100f, toothHeight, 1f));
_bodyRadius = radius * 2.7f;
break;
}
}
for (int i = 0; i < BodyList.Count; i++)
{
Body body = BodyList[i];
body.BodyType = BodyType.Dynamic;
body.Position = Vector2.Lerp(startPosition, endPosition, i / (float)(count - 1));
foreach (Fixture fixture in body.FixtureList)
{
fixture.Restitution = 0.7f;
fixture.Friction = 0.2f;
}
}
//GFX
switch (type)
{
case ObjectType.Circle:
_object = new Sprite(ContentWrapper.CircleTexture(radius, ContentWrapper.Gold, ContentWrapper.Grey, 24f));
break;
case ObjectType.Rectangle:
_object = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateRectangle(radius / 2f, radius / 2f), ContentWrapper.Red, ContentWrapper.Grey, 24f));
break;
case ObjectType.Star:
_object = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateGear(radius, 10, 0f, toothHeight), ContentWrapper.Brown, ContentWrapper.Black, 24f));
break;
case ObjectType.Gear:
_object = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateGear(radius, 10, 100f, toothHeight), ContentWrapper.Orange, ContentWrapper.Grey, 24f));
break;
}
}
public FSCollisionBox(float width, float height)
{
_width = width;
_height = height;
_verts = PolygonTools.CreateRectangle(FSConvert.DisplayToSim * _width / 2, FSConvert.DisplayToSim * _height / 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;
}