internal b2DistanceJoint(b2DistanceJointDef def) : base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_length = def.length;
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_impulse = 0.0f;
m_gamma = 0.0f;
m_bias = 0.0f;
}
public Web()
{
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-5.0f, 5.0f);
m_bodies[0] = m_world.CreateBody(bd);
m_bodies[0].CreateFixture(shape, 5.0f);
bd.position.Set(5.0f, 5.0f);
m_bodies[1] = m_world.CreateBody(bd);
m_bodies[1].CreateFixture(shape, 5.0f);
bd.position.Set(5.0f, 15.0f);
m_bodies[2] = m_world.CreateBody(bd);
m_bodies[2].CreateFixture(shape, 5.0f);
bd.position.Set(-5.0f, 15.0f);
m_bodies[3] = m_world.CreateBody(bd);
m_bodies[3].CreateFixture(shape, 5.0f);
b2DistanceJointDef jd = new b2DistanceJointDef();
b2Vec2 p1 = new b2Vec2();
b2Vec2 p2 = new b2Vec2();
b2Vec2 d = new b2Vec2();
jd.frequencyHz = 2.0f;
jd.dampingRatio = 0.0f;
jd.BodyA = ground;
jd.BodyB = m_bodies[0];
jd.localAnchorA.Set(-10.0f, 0.0f);
jd.localAnchorB.Set(-0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[0] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[1];
jd.localAnchorA.Set(10.0f, 0.0f);
jd.localAnchorB.Set(0.5f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[1] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[2];
jd.localAnchorA.Set(10.0f, 20.0f);
jd.localAnchorB.Set(0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[2] = m_world.CreateJoint(jd);
jd.BodyA = ground;
jd.BodyB = m_bodies[3];
jd.localAnchorA.Set(-10.0f, 20.0f);
jd.localAnchorB.Set(-0.5f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[3] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[0];
jd.BodyB = m_bodies[1];
jd.localAnchorA.Set(0.5f, 0.0f);
jd.localAnchorB.Set(-0.5f, 0.0f);
;
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[4] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[1];
jd.BodyB = m_bodies[2];
jd.localAnchorA.Set(0.0f, 0.5f);
jd.localAnchorB.Set(0.0f, -0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[5] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[2];
jd.BodyB = m_bodies[3];
jd.localAnchorA.Set(-0.5f, 0.0f);
jd.localAnchorB.Set(0.5f, 0.0f);
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[6] = m_world.CreateJoint(jd);
jd.BodyA = m_bodies[3];
jd.BodyB = m_bodies[0];
jd.localAnchorA.Set(0.0f, -0.5f);
jd.localAnchorB.Set(0.0f, 0.5f);
p1 = jd.BodyA.GetWorldPoint(jd.localAnchorA);
p2 = jd.BodyB.GetWorldPoint(jd.localAnchorB);
d = p2 - p1;
jd.length = d.Length;
m_joints[7] = m_world.CreateJoint(jd);
}
}
public Dominos()
{
b2Body b1;
{
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
b2BodyDef bd = new b2BodyDef();
b1 = m_world.CreateBody(bd);
b1.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(6.0f, 0.25f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(-1.5f, 10.0f);
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
fd.friction = 0.1f;
for (int i = 0; i < 10; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-6.0f + 1.0f * i, 11.25f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(7.0f, 0.25f, b2Vec2.Zero, 0.3f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(1.0f, 6.0f);
b2Body ground = m_world.CreateBody(bd);
ground.CreateFixture(shape, 0.0f);
}
b2Body b2;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.25f, 1.5f);
b2BodyDef bd = new b2BodyDef();
bd.position.Set(-7.0f, 4.0f);
b2 = m_world.CreateBody(bd);
b2.CreateFixture(shape, 0.0f);
}
b2Body b3;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(6.0f, 0.125f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-0.9f, 1.0f);
bd.angle = -0.15f;
b3 = m_world.CreateBody(bd);
b3.CreateFixture(shape, 10.0f);
}
b2RevoluteJointDef jd = new b2RevoluteJointDef();
b2Vec2 anchor = new b2Vec2();
anchor.Set(-2.0f, 1.0f);
jd.Initialize(b1, b3, anchor);
jd.CollideConnected = true;
m_world.CreateJoint(jd);
b2Body b4;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.25f, 0.25f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-10.0f, 15.0f);
b4 = m_world.CreateBody(bd);
b4.CreateFixture(shape, 10.0f);
}
anchor.Set(-7.0f, 15.0f);
jd.Initialize(b2, b4, anchor);
m_world.CreateJoint(jd);
b2Body b5;
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(6.5f, 3.0f);
b5 = m_world.CreateBody(bd);
b2PolygonShape shape = new b2PolygonShape();
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 10.0f;
fd.friction = 0.1f;
shape.SetAsBox(1.0f, 0.1f, new b2Vec2(0.0f, -0.9f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new b2Vec2(-0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
shape.SetAsBox(0.1f, 1.0f, new b2Vec2(0.9f, 0.0f), 0.0f);
b5.CreateFixture(fd);
}
anchor.Set(6.0f, 2.0f);
jd.Initialize(b1, b5, anchor);
m_world.CreateJoint(jd);
b2Body b6;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.0f, 0.1f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(6.5f, 4.1f);
b6 = m_world.CreateBody(bd);
b6.CreateFixture(shape, 30.0f);
}
anchor.Set(7.5f, 4.0f);
jd.Initialize(b5, b6, anchor);
m_world.CreateJoint(jd);
b2Body b7;
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.1f, 1.0f);
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(7.4f, 1.0f);
b7 = m_world.CreateBody(bd);
b7.CreateFixture(shape, 10.0f);
}
b2DistanceJointDef djd = new b2DistanceJointDef();
djd.BodyA = b3;
djd.BodyB = b7;
djd.localAnchorA.Set(6.0f, 0.0f);
djd.localAnchorB.Set(0.0f, -1.0f);
b2Vec2 d = djd.BodyB.GetWorldPoint(djd.localAnchorB) - djd.BodyA.GetWorldPoint(djd.localAnchorA);
djd.length = d.Length;
m_world.CreateJoint(djd);
{
float radius = 0.2f;
b2CircleShape shape = new b2CircleShape();
shape.Radius = radius;
for (int i = 0; i < 4; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(5.9f + 2.0f * radius * i, 2.4f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(shape, 10.0f);
}
}
}
public void CreateLeg(float s, b2Vec2 wheelAnchor)
{
b2Vec2 p1 = new b2Vec2(5.4f * s, -6.1f);
b2Vec2 p2 = new b2Vec2(7.2f * s, -1.2f);
b2Vec2 p3 = new b2Vec2(4.3f * s, -1.9f);
b2Vec2 p4 = new b2Vec2(3.1f * s, 0.8f);
b2Vec2 p5 = new b2Vec2(6.0f * s, 1.5f);
b2Vec2 p6 = new b2Vec2(2.5f * s, 3.7f);
b2FixtureDef fd1 = new b2FixtureDef();
b2FixtureDef fd2 = new b2FixtureDef();
fd1.filter.groupIndex = -1;
fd2.filter.groupIndex = -1;
fd1.density = 1.0f;
fd2.density = 1.0f;
b2PolygonShape poly1 = new b2PolygonShape();
b2PolygonShape poly2 = new b2PolygonShape();
if (s > 0.0f)
{
b2Vec2[] vertices = new b2Vec2[3];
vertices[0] = p1;
vertices[1] = p2;
vertices[2] = p3;
poly1.Set(vertices, 3);
vertices[0] = b2Vec2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices, 3);
}
else
{
b2Vec2[] vertices = new b2Vec2[3];
vertices[0] = p1;
vertices[1] = p3;
vertices[2] = p2;
poly1.Set(vertices, 3);
vertices[0] = b2Vec2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices, 3);
}
fd1.shape = poly1;
fd2.shape = poly2;
b2BodyDef bd1 = new b2BodyDef();
b2BodyDef bd2 = new b2BodyDef();
bd1.type = b2BodyType.b2_dynamicBody;
bd2.type = b2BodyType.b2_dynamicBody;
bd1.position = m_offset;
bd2.position = p4 + m_offset;
bd1.angularDamping = 10.0f;
bd2.angularDamping = 10.0f;
b2Body body1 = m_world.CreateBody(bd1);
b2Body body2 = m_world.CreateBody(bd2);
body1.CreateFixture(fd1);
body2.CreateFixture(fd2);
b2DistanceJointDef djd = new b2DistanceJointDef();
// Using a soft distance constraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
djd.dampingRatio = 0.5f;
djd.frequencyHz = 10.0f;
djd.Initialize(body1, body2, p2 + m_offset, p5 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, body2, p3 + m_offset, p4 + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body1, m_wheel, p3 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
djd.Initialize(body2, m_wheel, p6 + m_offset, wheelAnchor + m_offset);
m_world.CreateJoint(djd);
b2RevoluteJointDef rjd = new b2RevoluteJointDef();
rjd.Initialize(body2, m_chassis, p4 + m_offset);
m_world.CreateJoint(rjd);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(b2DistanceJointDef obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
