示例#1
0
        private WheelJointTest()
        {
            Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));

            {
                PolygonShape shape = new PolygonShape(1);
                shape.Vertices = PolygonTools.CreateRectangle(0.5f, 2.0f);

                Body body = new Body(World);
                body.BodyType = BodyType.Dynamic;
                body.Position = new Vector2(0.0f, 7.0f);

                body.CreateFixture(shape);

                Vector2 axis = new Vector2(-1000.0f, -2.0f);
                axis.Normalize();

                WheelJoint jd = new WheelJoint(ground, body, new Vector2(0, 8.5f), axis);
                jd.MotorSpeed = 1.0f;
                jd.MaxMotorTorque = 1000.0f;
                jd.MotorEnabled = true;
                jd.SpringFrequencyHz = 1.0f;
                jd.SpringDampingRatio = 0.2f;
                World.AddJoint(jd);

                PolygonShape shape2 = new PolygonShape(1);
                shape2.Vertices = PolygonTools.CreateRectangle(0.5f, 2.0f);
                Body body2 = BodyFactory.CreatePolygon(World, shape2.Vertices, 0.5f);
                body2.BodyType = BodyType.Dynamic;
                body2.Position = new Vector2(10.0f, 7.0f);
            }
        }
示例#2
0
        public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
        {
            WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);

            world.Add(joint);
            return(joint);
        }
示例#3
0
        public void Deserialize(World world, Stream stream)
        {
            world.Clear();

            XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);

            if (root.Name.ToLower() != "world")
                throw new Exception();

            foreach (XMLFragmentElement main in root.Elements)
            {
                if (main.Name.ToLower() == "gravity")
                {
                    world.Gravity = ReadVector(main);
                }
            }

            foreach (XMLFragmentElement shapeElement in root.Elements)
            {
                if (shapeElement.Name.ToLower() == "shapes")
                {
                    foreach (XMLFragmentElement n in shapeElement.Elements)
                    {
                        if (n.Name.ToLower() != "shape")
                            throw new Exception();

                        ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true);

                        switch (type)
                        {
                            case ShapeType.Circle:
                                {
                                    CircleShape shape = new CircleShape();

                                    foreach (XMLFragmentElement sn in n.Elements)
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "radius":
                                                shape.Radius = float.Parse(sn.Value);
                                                break;
                                            case "position":
                                                shape.Position = ReadVector(sn);
                                                break;
                                            default:
                                                throw new Exception();
                                        }
                                    }

                                    _shapes.Add(shape);
                                }
                                break;
                            case ShapeType.Polygon:
                                {
                                    PolygonShape shape = new PolygonShape();

                                    foreach (XMLFragmentElement sn in n.Elements)
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "vertices":
                                                {
                                                    List<Vector2> verts = new List<Vector2>();

                                                    foreach (XMLFragmentElement vert in sn.Elements)
                                                        verts.Add(ReadVector(vert));

                                                    shape.Vertices = new Vertices(verts);
                                                }
                                                break;
                                            case "centroid":
                                                shape.MassData.Centroid = ReadVector(sn);
                                                break;
                                        }
                                    }

                                    _shapes.Add(shape);
                                }
                                break;
                            case ShapeType.Edge:
                                {
                                    EdgeShape shape = new EdgeShape();
                                    foreach (XMLFragmentElement sn in n.Elements)
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "hasvertex0":
                                                shape.HasVertex0 = bool.Parse(sn.Value);
                                                break;
                                            case "hasvertex3":
                                                shape.HasVertex0 = bool.Parse(sn.Value);
                                                break;
                                            case "vertex0":
                                                shape.Vertex0 = ReadVector(sn);
                                                break;
                                            case "vertex1":
                                                shape.Vertex1 = ReadVector(sn);
                                                break;
                                            case "vertex2":
                                                shape.Vertex2 = ReadVector(sn);
                                                break;
                                            case "vertex3":
                                                shape.Vertex3 = ReadVector(sn);
                                                break;
                                            default:
                                                throw new Exception();
                                        }
                                    }
                                    _shapes.Add(shape);
                                }
                                break;
                        }
                    }
                }
            }

            foreach (XMLFragmentElement fixtureElement in root.Elements)
            {
                if (fixtureElement.Name.ToLower() == "fixtures")
                {
                    foreach (XMLFragmentElement n in fixtureElement.Elements)
                    {
                        Fixture fixture = new Fixture();

                        if (n.Name.ToLower() != "fixture")
                            throw new Exception();

                        foreach (XMLFragmentElement sn in n.Elements)
                        {
                            switch (sn.Name.ToLower())
                            {
                                case "shape":
                                    fixture.Shape = _shapes[int.Parse(sn.Value)];
                                    break;
                                case "density":
                                    fixture.Shape.Density = float.Parse(sn.Value);
                                    break;
                                case "filterdata":
                                    foreach (XMLFragmentElement ssn in sn.Elements)
                                    {
                                        switch (ssn.Name.ToLower())
                                        {
                                            case "categorybits":
                                                fixture._collisionCategories = (Category)int.Parse(ssn.Value);
                                                break;
                                            case "maskbits":
                                                fixture._collidesWith = (Category)int.Parse(ssn.Value);
                                                break;
                                            case "groupindex":
                                                fixture._collisionGroup = short.Parse(ssn.Value);
                                                break;
                                        }
                                    }

                                    break;
                                case "friction":
                                    fixture.Friction = float.Parse(sn.Value);
                                    break;
                                case "issensor":
                                    fixture.IsSensor = bool.Parse(sn.Value);
                                    break;
                                case "restitution":
                                    fixture.Restitution = float.Parse(sn.Value);
                                    break;
                                case "userdata":
                                    fixture.UserData = ReadSimpleType(sn, null, false);
                                    break;
                            }
                        }

                        _fixtures.Add(fixture);
                    }
                }
            }

            foreach (XMLFragmentElement bodyElement in root.Elements)
            {
                if (bodyElement.Name.ToLower() == "bodies")
                {
                    foreach (XMLFragmentElement n in bodyElement.Elements)
                    {
                        Body body = new Body(world);

                        if (n.Name.ToLower() != "body")
                            throw new Exception();

                        body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true);

                        foreach (XMLFragmentElement sn in n.Elements)
                        {
                            switch (sn.Name.ToLower())
                            {
                                case "active":
                                    if (bool.Parse(sn.Value))
                                        body.Flags |= BodyFlags.Enabled;
                                    else
                                        body.Flags &= ~BodyFlags.Enabled;
                                    break;
                                case "allowsleep":
                                    body.SleepingAllowed = bool.Parse(sn.Value);
                                    break;
                                case "angle":
                                    {
                                        Vector2 position = body.Position;
                                        body.SetTransformIgnoreContacts(ref position, float.Parse(sn.Value));
                                    }
                                    break;
                                case "angulardamping":
                                    body.AngularDamping = float.Parse(sn.Value);
                                    break;
                                case "angularvelocity":
                                    body.AngularVelocity = float.Parse(sn.Value);
                                    break;
                                case "awake":
                                    body.Awake = bool.Parse(sn.Value);
                                    break;
                                case "bullet":
                                    body.IsBullet = bool.Parse(sn.Value);
                                    break;
                                case "fixedrotation":
                                    body.FixedRotation = bool.Parse(sn.Value);
                                    break;
                                case "lineardamping":
                                    body.LinearDamping = float.Parse(sn.Value);
                                    break;
                                case "linearvelocity":
                                    body.LinearVelocity = ReadVector(sn);
                                    break;
                                case "position":
                                    {
                                        float rotation = body.Rotation;
                                        Vector2 position = ReadVector(sn);
                                        body.SetTransformIgnoreContacts(ref position, rotation);
                                    }
                                    break;
                                case "userdata":
                                    body.UserData = ReadSimpleType(sn, null, false);
                                    break;
                                case "fixtures":
                                    {
                                        foreach (XMLFragmentElement v in sn.Elements)
                                        {
                                            Fixture blueprint = _fixtures[int.Parse(v.Value)];
                                            Fixture f = new Fixture(body, blueprint.Shape);
                                            f.Restitution = blueprint.Restitution;
                                            f.UserData = blueprint.UserData;
                                            f.Friction = blueprint.Friction;
                                            f.CollidesWith = blueprint.CollidesWith;
                                            f.CollisionCategories = blueprint.CollisionCategories;
                                            f.CollisionGroup = blueprint.CollisionGroup;
                                            f.IsSensor = blueprint.IsSensor;
                                        }
                                        break;
                                    }
                            }
                        }

                        _bodies.Add(body);
                    }
                }
            }

            foreach (XMLFragmentElement jointElement in root.Elements)
            {
                if (jointElement.Name.ToLower() == "joints")
                {
                    foreach (XMLFragmentElement n in jointElement.Elements)
                    {
                        Joint joint;

                        if (n.Name.ToLower() != "joint")
                            throw new Exception();

                        JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true);

                        int bodyAIndex = -1, bodyBIndex = -1;
                        bool collideConnected = false;
                        object userData = null;

                        foreach (XMLFragmentElement sn in n.Elements)
                        {
                            switch (sn.Name.ToLower())
                            {
                                case "bodya":
                                    bodyAIndex = int.Parse(sn.Value);
                                    break;
                                case "bodyb":
                                    bodyBIndex = int.Parse(sn.Value);
                                    break;
                                case "collideconnected":
                                    collideConnected = bool.Parse(sn.Value);
                                    break;
                                case "userdata":
                                    userData = ReadSimpleType(sn, null, false);
                                    break;
                            }
                        }

                        Body bodyA = _bodies[bodyAIndex];
                        Body bodyB = _bodies[bodyBIndex];

                        switch (type)
                        {
                            case JointType.Distance:
                                joint = new DistanceJoint();
                                break;
                            case JointType.Friction:
                                joint = new FrictionJoint();
                                break;
                            case JointType.Wheel:
                                joint = new WheelJoint();
                                break;
                            case JointType.Prismatic:
                                joint = new PrismaticJoint();
                                break;
                            case JointType.Pulley:
                                joint = new PulleyJoint();
                                break;
                            case JointType.Revolute:
                                joint = new RevoluteJoint();
                                break;
                            case JointType.Weld:
                                joint = new WeldJoint();
                                break;
                            case JointType.Rope:
                                joint = new RopeJoint();
                                break;
                            //case JointType.Angle: //TODO
                            //    joint = new AngleJoint();
                            //    break;
                            //case JointType.Slider:
                            //    joint = new SliderJoint();
                            //    break;
                            case JointType.Gear:
                                throw new Exception("GearJoint is not supported.");
                            default:
                                throw new Exception("Invalid or unsupported joint.");
                        }

                        joint.CollideConnected = collideConnected;
                        joint.UserData = userData;
                        joint.BodyA = bodyA;
                        joint.BodyB = bodyB;
                        _joints.Add(joint);
                        world.AddJoint(joint);

                        foreach (XMLFragmentElement sn in n.Elements)
                        {
                            // check for specific nodes
                            switch (type)
                            {
                                case JointType.Distance:
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "dampingratio":
                                                ((DistanceJoint)joint).DampingRatio = float.Parse(sn.Value);
                                                break;
                                            case "frequencyhz":
                                                ((DistanceJoint)joint).Frequency = float.Parse(sn.Value);
                                                break;
                                            case "length":
                                                ((DistanceJoint)joint).Length = float.Parse(sn.Value);
                                                break;
                                            case "localanchora":
                                                ((DistanceJoint)joint).LocalAnchorA = ReadVector(sn);
                                                break;
                                            case "localanchorb":
                                                ((DistanceJoint)joint).LocalAnchorB = ReadVector(sn);
                                                break;
                                        }
                                    }
                                    break;
                                case JointType.Friction:
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "localanchora":
                                                ((FrictionJoint)joint).LocalAnchorA = ReadVector(sn);
                                                break;
                                            case "localanchorb":
                                                ((FrictionJoint)joint).LocalAnchorB = ReadVector(sn);
                                                break;
                                            case "maxforce":
                                                ((FrictionJoint)joint).MaxForce = float.Parse(sn.Value);
                                                break;
                                            case "maxtorque":
                                                ((FrictionJoint)joint).MaxTorque = float.Parse(sn.Value);
                                                break;
                                        }
                                    }
                                    break;
                                //case JointType.Wheel:
                                //    {
                                //        switch (sn.Name.ToLower())
                                //        {
                                //            case "enablemotor":
                                //                ((WheelJoint)joint).MotorEnabled = bool.Parse(sn.Value);
                                //                break;
                                //            case "localanchora":
                                //                ((WheelJoint)joint).LocalAnchorA = ReadVector(sn);
                                //                break;
                                //            case "localanchorb":
                                //                ((WheelJoint)joint).LocalAnchorB = ReadVector(sn);
                                //                break;
                                //            case "motorspeed":
                                //                ((WheelJoint)joint).MotorSpeed = float.Parse(sn.Value);
                                //                break;
                                //            case "dampingratio":
                                //                ((WheelJoint)joint).DampingRatio = float.Parse(sn.Value);
                                //                break;
                                //            case "maxmotortorque":
                                //                ((WheelJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
                                //                break;
                                //            case "frequencyhz":
                                //                ((WheelJoint)joint).Frequency = float.Parse(sn.Value);
                                //                break;
                                //            case "localxaxis":
                                //                ((WheelJoint)joint).LocalXAxis = ReadVector(sn);
                                //                break;
                                //        }
                                //    }
                                //    break;
                                case JointType.Prismatic:
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "enablelimit":
                                                ((PrismaticJoint)joint).LimitEnabled = bool.Parse(sn.Value);
                                                break;
                                            case "enablemotor":
                                                ((PrismaticJoint)joint).MotorEnabled = bool.Parse(sn.Value);
                                                break;
                                            case "localanchora":
                                                ((PrismaticJoint)joint).LocalAnchorA = ReadVector(sn);
                                                break;
                                            case "localanchorb":
                                                ((PrismaticJoint)joint).LocalAnchorB = ReadVector(sn);
                                                break;
                                            case "local1axis1":
                                                ((PrismaticJoint)joint).LocalXAxisA = ReadVector(sn);
                                                break;
                                            case "maxmotorforce":
                                                ((PrismaticJoint)joint).MaxMotorForce = float.Parse(sn.Value);
                                                break;
                                            case "motorspeed":
                                                ((PrismaticJoint)joint).MotorSpeed = float.Parse(sn.Value);
                                                break;
                                            case "lowertranslation":
                                                ((PrismaticJoint)joint).LowerLimit = float.Parse(sn.Value);
                                                break;
                                            case "uppertranslation":
                                                ((PrismaticJoint)joint).UpperLimit = float.Parse(sn.Value);
                                                break;
                                            case "referenceangle":
                                                ((PrismaticJoint)joint).ReferenceAngle = float.Parse(sn.Value);
                                                break;
                                        }
                                    }
                                    break;
                                //case JointType.Pulley:
                                //    {
                                //        switch (sn.Name.ToLower())
                                //        {
                                //            case "groundanchora":
                                //                ((PulleyJoint)joint).GroundAnchorA = ReadVector(sn);
                                //                break;
                                //            case "groundanchorb":
                                //                ((PulleyJoint)joint).GroundAnchorB = ReadVector(sn);
                                //                break;
                                //            case "lengtha":
                                //                ((PulleyJoint)joint).LengthA = float.Parse(sn.Value);
                                //                break;
                                //            case "lengthb":
                                //                ((PulleyJoint)joint).LengthB = float.Parse(sn.Value);
                                //                break;
                                //            case "localanchora":
                                //                ((PulleyJoint)joint).LocalAnchorA = ReadVector(sn);
                                //                break;
                                //            case "localanchorb":
                                //                ((PulleyJoint)joint).LocalAnchorB = ReadVector(sn);
                                //                break;
                                //            case "maxlengtha":
                                //                ((PulleyJoint)joint).MaxLengthA = float.Parse(sn.Value);
                                //                break;
                                //            case "maxlengthb":
                                //                ((PulleyJoint)joint).MaxLengthB = float.Parse(sn.Value);
                                //                break;
                                //            case "ratio":
                                //                ((PulleyJoint)joint).Ratio = float.Parse(sn.Value);
                                //                break;
                                //        }
                                //    }
                                //    break;
                                case JointType.Revolute:
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "enablelimit":
                                                ((RevoluteJoint)joint).LimitEnabled = bool.Parse(sn.Value);
                                                break;
                                            case "enablemotor":
                                                ((RevoluteJoint)joint).MotorEnabled = bool.Parse(sn.Value);
                                                break;
                                            case "localanchora":
                                                ((RevoluteJoint)joint).LocalAnchorA = ReadVector(sn);
                                                break;
                                            case "localanchorb":
                                                ((RevoluteJoint)joint).LocalAnchorB = ReadVector(sn);
                                                break;
                                            case "maxmotortorque":
                                                ((RevoluteJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
                                                break;
                                            case "motorspeed":
                                                ((RevoluteJoint)joint).MotorSpeed = float.Parse(sn.Value);
                                                break;
                                            case "lowerangle":
                                                ((RevoluteJoint)joint).LowerLimit = float.Parse(sn.Value);
                                                break;
                                            case "upperangle":
                                                ((RevoluteJoint)joint).UpperLimit = float.Parse(sn.Value);
                                                break;
                                            case "referenceangle":
                                                ((RevoluteJoint)joint).ReferenceAngle = float.Parse(sn.Value);
                                                break;
                                        }
                                    }
                                    break;
                                case JointType.Weld:
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "localanchora":
                                                ((WeldJoint)joint).LocalAnchorA = ReadVector(sn);
                                                break;
                                            case "localanchorb":
                                                ((WeldJoint)joint).LocalAnchorB = ReadVector(sn);
                                                break;
                                        }
                                    }
                                    break;
                                case JointType.Rope:
                                    {
                                        switch (sn.Name.ToLower())
                                        {
                                            case "localanchora":
                                                ((RopeJoint)joint).LocalAnchorA = ReadVector(sn);
                                                break;
                                            case "localanchorb":
                                                ((RopeJoint)joint).LocalAnchorB = ReadVector(sn);
                                                break;
                                            case "maxlength":
                                                ((RopeJoint)joint).MaxLength = float.Parse(sn.Value);
                                                break;
                                        }
                                    }
                                    break;
                                case JointType.Gear:
                                    throw new Exception("Gear joint is unsupported");
                                //case JointType.Angle: //TODO
                                //    {
                                //        switch (sn.Name.ToLower())
                                //        {
                                //            case "biasfactor":
                                //                ((AngleJoint)joint).BiasFactor = float.Parse(sn.Value);
                                //                break;
                                //            case "maximpulse":
                                //                ((AngleJoint)joint).MaxImpulse = float.Parse(sn.Value);
                                //                break;
                                //            case "softness":
                                //                ((AngleJoint)joint).Softness = float.Parse(sn.Value);
                                //                break;
                                //            case "targetangle":
                                //                ((AngleJoint)joint).TargetAngle = float.Parse(sn.Value);
                                //                break;
                                //        }
                                //    }
                                //    break;
                                //case JointType.Slider:
                                //    {
                                //        switch (sn.Name.ToLower())
                                //        {
                                //            case "dampingratio":
                                //                ((SliderJoint)joint).DampingRatio = float.Parse(sn.Value);
                                //                break;
                                //            case "frequencyhz":
                                //                ((SliderJoint)joint).Frequency = float.Parse(sn.Value);
                                //                break;
                                //            case "maxlength":
                                //                ((SliderJoint)joint).MaxLength = float.Parse(sn.Value);
                                //                break;
                                //            case "minlength":
                                //                ((SliderJoint)joint).MinLength = float.Parse(sn.Value);
                                //                break;
                                //            case "localanchora":
                                //                ((SliderJoint)joint).LocalAnchorA = ReadVector(sn);
                                //                break;
                                //            case "localanchorb":
                                //                ((SliderJoint)joint).LocalAnchorB = ReadVector(sn);
                                //                break;
                                //        }
                                //    }
                                //    break;
                            }
                        }
                    }
                }
            }
        }
示例#4
0
        public override void LoadContent()
        {
            base.LoadContent();

            World.Gravity = new Vector2(0f, 10f);

            HasCursor = false;
            EnableCameraControl = true;
            HasVirtualStick = true;

            #if WINDOWS_PHONE
            _scale = 2f / 3f;
            #else
            _scale = 1f;
            #endif

            // 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(PolygonTools.CreateRectangle(10, 0.25f), 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 * 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(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 = 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(PolygonTools.CreateRectangle(0.5f, 0.5f), 1f);
                _box = new Sprite(ScreenManager.Assets.TextureFromShape(box, MaterialType.Squares, Color.SaddleBrown, 2f));

                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, 2);
                CircleShape wheelShape = new CircleShape(0.5f, 0.8f);

                _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);
                _wheelBack.CreateFixture(wheelShape);
                _wheelBack.Friction = 0.9f;

                wheelShape.Density = 1;
                _wheelFront = new Body(World);
                _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.AddJoint(_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.AddJoint(_springFront);

                _carBody = new Sprite(ScreenManager.Content.Load<Texture2D>("Samples/car"), AssetCreator.CalculateOrigin(_car) / _scale);
                _wheel = new Sprite(ScreenManager.Content.Load<Texture2D>("Samples/wheel"));
            }

            Camera.MinRotation = -0.05f;
            Camera.MaxRotation = 0.05f;

            Camera.TrackingBody = _car;
            Camera.EnableTracking = true;
        }
示例#5
0
        private CarTest()
        {
            _hz = 4.0f;
            _zeta = 0.7f;
            _speed = 50.0f;

            Body ground = new Body(World);
            {
                EdgeShape shape = new EdgeShape(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
                ground.CreateFixture(shape);

                float[] hs = new[] { 0.25f, 1.0f, 4.0f, 0.0f, 0.0f, -1.0f, -2.0f, -2.0f, -1.25f, 0.0f };

                float x = 20.0f, y1 = 0.0f;
                const float dx = 5.0f;

                for (int i = 0; i < 10; ++i)
                {
                    float y2 = hs[i];
                    FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
                    y1 = y2;
                    x += dx;
                }

                for (int i = 0; i < 10; ++i)
                {
                    float y2 = hs[i];
                    FixtureFactory.AttachEdge(new Vector2(x, y1), new Vector2(x + dx, y2), ground);
                    y1 = y2;
                    x += dx;
                }

                FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);

                x += 80.0f;
                FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);

                x += 40.0f;
                FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 10.0f, 5.0f), ground);

                x += 20.0f;
                FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x + 40.0f, 0.0f), ground);

                x += 40.0f;
                FixtureFactory.AttachEdge(new Vector2(x, 0.0f), new Vector2(x, 20.0f), ground);

                ground.Friction = 0.6f;
            }

            // Teeter
            {
                Body body = new Body(World);
                body.BodyType = BodyType.Dynamic;
                body.Position = new Vector2(140.0f, 1.0f);

                PolygonShape box = new PolygonShape(1);
                box.SetAsBox(10.0f, 0.25f);
                body.CreateFixture(box);

                RevoluteJoint jd = JointFactory.CreateRevoluteJoint(ground, body, Vector2.Zero);
                jd.LowerLimit = -8.0f * Settings.Pi / 180.0f;
                jd.UpperLimit = 8.0f * Settings.Pi / 180.0f;
                jd.LimitEnabled = true;
                World.AddJoint(jd);

                body.ApplyAngularImpulse(100.0f);
            }

            //Bridge
            {
                const int N = 20;
                PolygonShape shape = new PolygonShape(1);
                shape.SetAsBox(1.0f, 0.125f);

                Body prevBody = ground;
                for (int i = 0; i < N; ++i)
                {
                    Body body = new Body(World);
                    body.BodyType = BodyType.Dynamic;
                    body.Position = new Vector2(161.0f + 2.0f * i, -0.125f);
                    Fixture fix = body.CreateFixture(shape);
                    fix.Friction = 0.6f;

                    Vector2 anchor = new Vector2(-1, 0);
                    JointFactory.CreateRevoluteJoint(World, prevBody, body, anchor);

                    prevBody = body;
                }

                Vector2 anchor2 = new Vector2(1.0f, 0);
                JointFactory.CreateRevoluteJoint(World, ground, prevBody, anchor2);
            }

            // Boxes
            {
                PolygonShape box = new PolygonShape(0.5f);
                box.SetAsBox(0.5f, 0.5f);

                Body body = new Body(World);
                body.BodyType = BodyType.Dynamic;
                body.Position = new Vector2(230.0f, 0.5f);
                body.CreateFixture(box);

                body = new Body(World);
                body.BodyType = BodyType.Dynamic;
                body.Position = new Vector2(230.0f, 1.5f);
                body.CreateFixture(box);

                body = new Body(World);
                body.BodyType = BodyType.Dynamic;
                body.Position = new Vector2(230.0f, 2.5f);
                body.CreateFixture(box);

                body = new Body(World);
                body.BodyType = BodyType.Dynamic;
                body.Position = new Vector2(230.0f, 3.5f);
                body.CreateFixture(box);

                body = new Body(World);
                body.BodyType = BodyType.Dynamic;
                body.Position = new Vector2(230.0f, 4.5f);
                body.CreateFixture(box);
            }

            // Car
            {
                Vertices vertices = new Vertices(8);
                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));

                PolygonShape chassis = new PolygonShape(vertices, 1);

                CircleShape circle = new CircleShape(0.4f, 1);

                _car = new Body(World);
                _car.BodyType = BodyType.Dynamic;
                _car.Position = new Vector2(0.0f, 1.0f);
                _car.CreateFixture(chassis);

                _wheel1 = new Body(World);
                _wheel1.BodyType = BodyType.Dynamic;
                _wheel1.Position = new Vector2(-1.0f, 0.35f);
                Fixture fix = _wheel1.CreateFixture(circle);
                fix.Friction = 0.9f;

                _wheel2 = new Body(World);
                _wheel2.BodyType = BodyType.Dynamic;
                _wheel2.Position = new Vector2(1.0f, 0.4f);
                _wheel2.CreateFixture(circle);

                Vector2 axis = new Vector2(0.0f, 1.0f);
                _spring1 = new WheelJoint(_car, _wheel1, _wheel1.Position, axis);
                _spring1.MotorSpeed = 0.0f;
                _spring1.MaxMotorTorque = 20.0f;
                _spring1.MotorEnabled = true;
                _spring1.Frequency = _hz;
                _spring1.DampingRatio = _zeta;
                World.AddJoint(_spring1);

                _spring2 = new WheelJoint(_car, _wheel2, _wheel2.Position, axis);
                _spring2.MotorSpeed = 0.0f;
                _spring2.MaxMotorTorque = 10.0f;
                _spring2.MotorEnabled = false;
                _spring2.Frequency = _hz;
                _spring2.DampingRatio = _zeta;
                World.AddJoint(_spring2);
            }
        }
示例#6
0
文件: FSJointDef.cs 项目: prime31/Nez
		public override Joint createJoint()
		{
			var joint = new WheelJoint( bodyA, bodyB, anchor * FSConvert.displayToSim, axis );
			joint.collideConnected = collideConnected;
			joint.axis = axis;
			joint.motorEnabled = motorEnabled;
			joint.motorSpeed = motorSpeed;
			joint.maxMotorTorque = maxMotorTorque;
			joint.frequency = frequency;
			joint.dampingRatio = dampingRatio;
			return joint;
		}
示例#7
0
 public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
 {
     WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);
     world.AddJoint(joint);
     return joint;
 }
示例#8
0
        //public static FixedPrismaticJoint CreateFixedPrismaticJoint(World world, Body body, Vector2 worldAnchor,
        //                                                            Vector2 axis)
        //{
        //    FixedPrismaticJoint joint = new FixedPrismaticJoint(body, worldAnchor, axis);
        //    world.AddJoint(joint);
        //    return joint;
        //}

        #endregion

        #region Wheel Joint

        /// <summary>
        /// Creates a Wheel Joint and adds it to the world
        /// </summary>
        public static WheelJoint CreateWheelJoint(World world, Body bodyA, Body bodyB, Vector2 anchorB, Vector2 axis)
        {
            WheelJoint joint = new WheelJoint(bodyA, bodyB, anchorB, axis);
            world.AddJoint(joint);
            return joint;
        }
示例#9
0
        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;
        }
示例#10
0
 /// <summary>
 /// Creates a Wheel Joint
 /// </summary>
 /// <param name="bodyA"></param>
 /// <param name="bodyB"></param>
 /// <param name="anchor"></param>
 /// <param name="axis"></param>
 /// <returns></returns>
 public static WheelJoint CreateWheelJoint(Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis)
 {
     WheelJoint joint = new WheelJoint(bodyA, bodyB, anchor, axis);
     return joint;
 }