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109 lines (87 loc) · 3.85 KB
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// SPDX-FileCopyrightText: 2022 Erin Catto
// SPDX-FileCopyrightText: 2025 Ikpil Choi(ikpil@naver.com)
// SPDX-License-Identifier: MIT
using static Box2D.NET.B2Joints;
using static Box2D.NET.B2Types;
using static Box2D.NET.B2MathFunction;
using static Box2D.NET.B2Bodies;
using static Box2D.NET.B2Shapes;
using static Box2D.NET.B2Diagnostics;
namespace Box2D.NET.Samples.Samples;
public class Doohickey
{
private B2BodyId m_wheelId1;
private B2BodyId m_wheelId2;
private B2BodyId m_barId1;
private B2BodyId m_barId2;
private B2JointId m_axleId1;
private B2JointId m_axleId2;
private B2JointId m_sliderId;
private bool m_isSpawned;
public Doohickey()
{
}
public void Spawn(B2WorldId worldId, B2Vec2 position, float scale)
{
B2_ASSERT(m_isSpawned == false);
B2BodyDef bodyDef = b2DefaultBodyDef();
bodyDef.type = B2BodyType.b2_dynamicBody;
B2ShapeDef shapeDef = b2DefaultShapeDef();
shapeDef.material.rollingResistance = 0.1f;
B2Circle circle = new B2Circle(new B2Vec2(0.0f, 0.0f), 1.0f * scale);
B2Capsule capsule = new B2Capsule(new B2Vec2(-3.5f * scale, 0.0f), new B2Vec2(3.5f * scale, 0.0f), 0.15f * scale);
bodyDef.position = b2MulAdd(position, scale, new B2Vec2(-5.0f, 3.0f));
m_wheelId1 = b2CreateBody(worldId, bodyDef);
b2CreateCircleShape(m_wheelId1, shapeDef, circle);
bodyDef.position = b2MulAdd(position, scale, new B2Vec2(5.0f, 3.0f));
m_wheelId2 = b2CreateBody(worldId, bodyDef);
b2CreateCircleShape(m_wheelId2, shapeDef, circle);
bodyDef.position = b2MulAdd(position, scale, new B2Vec2(-1.5f, 3.0f));
m_barId1 = b2CreateBody(worldId, bodyDef);
b2CreateCapsuleShape(m_barId1, shapeDef, capsule);
bodyDef.position = b2MulAdd(position, scale, new B2Vec2(1.5f, 3.0f));
m_barId2 = b2CreateBody(worldId, bodyDef);
b2CreateCapsuleShape(m_barId2, shapeDef, capsule);
B2RevoluteJointDef revoluteDef = b2DefaultRevoluteJointDef();
revoluteDef.@base.bodyIdA = m_wheelId1;
revoluteDef.@base.bodyIdB = m_barId1;
revoluteDef.@base.localFrameA.p = new B2Vec2(0.0f, 0.0f);
revoluteDef.@base.localFrameB.p = new B2Vec2(-3.5f * scale, 0.0f);
revoluteDef.enableMotor = true;
revoluteDef.maxMotorTorque = 2.0f * scale;
b2CreateRevoluteJoint(worldId, revoluteDef);
revoluteDef.@base.bodyIdA = m_wheelId2;
revoluteDef.@base.bodyIdB = m_barId2;
revoluteDef.@base.localFrameA.p = new B2Vec2(0.0f, 0.0f);
revoluteDef.@base.localFrameB.p = new B2Vec2(3.5f * scale, 0.0f);
revoluteDef.enableMotor = true;
revoluteDef.maxMotorTorque = 2.0f * scale;
b2CreateRevoluteJoint(worldId, revoluteDef);
B2PrismaticJointDef prismaticDef = b2DefaultPrismaticJointDef();
prismaticDef.@base.bodyIdA = m_barId1;
prismaticDef.@base.bodyIdB = m_barId2;
prismaticDef.@base.localFrameA.p = new B2Vec2(2.0f * scale, 0.0f);
prismaticDef.@base.localFrameB.p = new B2Vec2(-2.0f * scale, 0.0f);
prismaticDef.lowerTranslation = -2.0f * scale;
prismaticDef.upperTranslation = 2.0f * scale;
prismaticDef.enableLimit = true;
prismaticDef.enableMotor = true;
prismaticDef.maxMotorForce = 2.0f * scale;
prismaticDef.enableSpring = true;
prismaticDef.hertz = 1.0f;
prismaticDef.dampingRatio = 0.5f;
b2CreatePrismaticJoint(worldId, prismaticDef);
}
public void Despawn()
{
B2_ASSERT(m_isSpawned == true);
b2DestroyJoint(m_axleId1, false);
b2DestroyJoint(m_axleId2, false);
b2DestroyJoint(m_sliderId, false);
b2DestroyBody(m_wheelId1);
b2DestroyBody(m_wheelId2);
b2DestroyBody(m_barId1);
b2DestroyBody(m_barId2);
m_isSpawned = false;
}
}