void Urho2DPhysicsRope::CreateScene()
{
scene_ = new Scene(context_);
scene_->CreateComponent<Octree>();
scene_->CreateComponent<DebugRenderer>();
// Create camera node
cameraNode_ = scene_->CreateChild("Camera");
// Set camera's position
cameraNode_->SetPosition(Vector3(0.0f, 5.0f, -10.0f));
Camera* camera = cameraNode_->CreateComponent<Camera>();
camera->SetOrthographic(true);
Graphics* graphics = GetSubsystem<Graphics>();
float width = (float)graphics->GetWidth();
float height = (float)graphics->GetHeight();
camera->SetOrthoSize(Vector2(width, height) * 0.05f);
// Create 2D physics world component
PhysicsWorld2D* physicsWorld = scene_->CreateComponent<PhysicsWorld2D>();
physicsWorld->SetDrawJoint(true);
// Create ground
Node* groundNode = scene_->CreateChild("Ground");
// Create 2D rigid body for gound
RigidBody2D* groundBody = groundNode->CreateComponent<RigidBody2D>();
// Create edge collider for ground
CollisionEdge2D* groundShape = groundNode->CreateComponent<CollisionEdge2D>();
groundShape->SetVertices(Vector2(-40.0f, 0.0f), Vector2(40.0f, 0.0f));
const float y = 15.0f;
RigidBody2D* prevBody = groundBody;
for (unsigned i = 0; i < NUM_OBJECTS; ++i)
{
Node* node = scene_->CreateChild("RigidBody");
// Create rigid body
RigidBody2D* body = node->CreateComponent<RigidBody2D>();
body->SetBodyType(BT_DYNAMIC);
// Create box
CollisionBox2D* box = node->CreateComponent<CollisionBox2D>();
// Set friction
box->SetFriction(0.2f);
// Set mask bits.
box->SetMaskBits(0xFFFF & ~0x0002);
if (i == NUM_OBJECTS - 1)
{
node->SetPosition(Vector3(1.0f * i, y, 0.0f));
body->SetAngularDamping(0.4f);
box->SetSize(3.0f, 3.0f);
box->SetDensity(100.0f);
box->SetCategoryBits(0x0002);
}
else
{
node->SetPosition(Vector3(0.5f + 1.0f * i, y, 0.0f));
box->SetSize(1.0f, 0.25f);
box->SetDensity(20.0f);
box->SetCategoryBits(0x0001);
}
ConstraintRevolute2D* joint = node->CreateComponent<ConstraintRevolute2D>();
joint->SetOtherBody(prevBody);
joint->SetAnchor(Vector2(float(i), y));
joint->SetCollideConnected(false);
prevBody = body;
}
ConstraintRope2D* constraintRope = groundNode->CreateComponent<ConstraintRope2D>();
constraintRope->SetOtherBody(prevBody);
constraintRope->SetOwnerBodyAnchor(Vector2(0.0f, y));
constraintRope->SetMaxLength(NUM_OBJECTS - 1.0f + 0.01f);
}
void Urho2DConstraints::CreateScene()
{
scene_ = new Scene(context_);
scene_->CreateComponent<Octree>();
scene_->CreateComponent<DebugRenderer>();
PhysicsWorld2D* physicsWorld = scene_->CreateComponent<PhysicsWorld2D>(); // Create 2D physics world component
physicsWorld->SetDrawJoint(true); // Display the joints (Note that DrawDebugGeometry() must be set to true to acually draw the joints)
drawDebug_ = true; // Set DrawDebugGeometry() to true
// Create camera
cameraNode_ = scene_->CreateChild("Camera");
// Set camera's position
cameraNode_->SetPosition(Vector3(0.0f, 0.0f, 0.0f)); // Note that Z setting is discarded; use camera.zoom instead (see MoveCamera() below for example)
camera_ = cameraNode_->CreateComponent<Camera>();
camera_->SetOrthographic(true);
Graphics* graphics = GetSubsystem<Graphics>();
camera_->SetOrthoSize((float)graphics->GetHeight() * PIXEL_SIZE);
camera_->SetZoom(1.2f);
// Set up a viewport to the Renderer subsystem so that the 3D scene can be seen
SharedPtr<Viewport> viewport(new Viewport(context_, scene_, camera_));
Renderer* renderer = GetSubsystem<Renderer>();
renderer->SetViewport(0, viewport);
Zone* zone = renderer->GetDefaultZone();
zone->SetFogColor(Color(0.1f, 0.1f, 0.1f)); // Set background color for the scene
// Create 4x3 grid
for (unsigned i = 0; i<5; ++i)
{
Node* edgeNode = scene_->CreateChild("VerticalEdge");
RigidBody2D* edgeBody = edgeNode->CreateComponent<RigidBody2D>();
if (!dummyBody)
dummyBody = edgeBody; // Mark first edge as dummy body (used by mouse pick)
CollisionEdge2D* edgeShape = edgeNode->CreateComponent<CollisionEdge2D>();
edgeShape->SetVertices(Vector2(i*2.5f -5.0f, -3.0f), Vector2(i*2.5f -5.0f, 3.0f));
edgeShape->SetFriction(0.5f); // Set friction
}
for (unsigned j = 0; j<4; ++j)
{
Node* edgeNode = scene_->CreateChild("HorizontalEdge");
RigidBody2D* edgeBody = edgeNode->CreateComponent<RigidBody2D>();
CollisionEdge2D* edgeShape = edgeNode->CreateComponent<CollisionEdge2D>();
edgeShape->SetVertices(Vector2(-5.0f, j*2.0f -3.0f), Vector2(5.0f, j*2.0f -3.0f));
edgeShape->SetFriction(0.5f); // Set friction
}
ResourceCache* cache = GetSubsystem<ResourceCache>();
// Create a box (will be cloned later)
Node* box = scene_->CreateChild("Box");
box->SetPosition(Vector3(0.8f, -2.0f, 0.0f));
StaticSprite2D* boxSprite = box->CreateComponent<StaticSprite2D>();
boxSprite->SetSprite(cache->GetResource<Sprite2D>("Urho2D/Box.png"));
RigidBody2D* boxBody = box->CreateComponent<RigidBody2D>();
boxBody->SetBodyType(BT_DYNAMIC);
boxBody->SetLinearDamping(0.0f);
boxBody->SetAngularDamping(0.0f);
CollisionBox2D* shape = box->CreateComponent<CollisionBox2D>(); // Create box shape
shape->SetSize(Vector2(0.32, 0.32)); // Set size
shape->SetDensity(1.0f); // Set shape density (kilograms per meter squared)
shape->SetFriction(0.5f); // Set friction
shape->SetRestitution(0.1f); // Set restitution (slight bounce)
// Create a ball (will be cloned later)
Node* ball = scene_->CreateChild("Ball");
ball->SetPosition(Vector3(1.8f, -2.0f, 0.0f));
StaticSprite2D* ballSprite = ball->CreateComponent<StaticSprite2D>();
ballSprite->SetSprite(cache->GetResource<Sprite2D>("Urho2D/Ball.png"));
RigidBody2D* ballBody = ball->CreateComponent<RigidBody2D>();
ballBody->SetBodyType(BT_DYNAMIC);
ballBody->SetLinearDamping(0.0f);
ballBody->SetAngularDamping(0.0f);
CollisionCircle2D* ballShape = ball->CreateComponent<CollisionCircle2D>(); // Create circle shape
ballShape->SetRadius(0.16f); // Set radius
ballShape->SetDensity(1.0f); // Set shape density (kilograms per meter squared)
ballShape->SetFriction(0.5f); // Set friction
ballShape->SetRestitution(0.6f); // Set restitution: make it bounce
// Create a polygon
Node* polygon = scene_->CreateChild("Polygon");
polygon->SetPosition(Vector3(1.6f, -2.0f, 0.0f));
polygon->SetScale(0.7f);
StaticSprite2D* polygonSprite = polygon->CreateComponent<StaticSprite2D>();
polygonSprite->SetSprite(cache->GetResource<Sprite2D>("Urho2D/Aster.png"));
RigidBody2D* polygonBody = polygon->CreateComponent<RigidBody2D>();
polygonBody->SetBodyType(BT_DYNAMIC);
CollisionPolygon2D* polygonShape = polygon->CreateComponent<CollisionPolygon2D>();
// TODO: create from PODVector<Vector2> using SetVertices()
polygonShape->SetVertexCount(6); // Set number of vertices (mandatory when using SetVertex())
polygonShape->SetVertex(0, Vector2(-0.8f, -0.3f));
polygonShape->SetVertex(1, Vector2(0.5f, -0.8f));
polygonShape->SetVertex(2, Vector2(0.8f, -0.3f));
polygonShape->SetVertex(3, Vector2(0.8f, 0.5f));
polygonShape->SetVertex(4, Vector2(0.5f, 0.9f));
polygonShape->SetVertex(5, Vector2(-0.5f, 0.7f));
polygonShape->SetDensity(1.0f); // Set shape density (kilograms per meter squared)
polygonShape->SetFriction(0.3f); // Set friction
polygonShape->SetRestitution(0.0f); // Set restitution (no bounce)
// Create a ConstraintDistance2D
CreateFlag("ConstraintDistance2D", -4.97f, 3.0f); // Display Text3D flag
Node* boxDistanceNode = box->Clone();
Node* ballDistanceNode = ball->Clone();
RigidBody2D* ballDistanceBody = ballDistanceNode->GetComponent<RigidBody2D>();
boxDistanceNode->SetPosition(Vector3(-4.5f, 2.0f, 0.0f));
ballDistanceNode->SetPosition(Vector3(-3.0f, 2.0f, 0.0f));
ConstraintDistance2D* constraintDistance = boxDistanceNode->CreateComponent<ConstraintDistance2D>(); // Apply ConstraintDistance2D to box
constraintDistance->SetOtherBody(ballDistanceBody); // Constrain ball to box
constraintDistance->SetOwnerBodyAnchor(Vector2(boxDistanceNode->GetPosition().x_, boxDistanceNode->GetPosition().y_));
constraintDistance->SetOtherBodyAnchor(Vector2(ballDistanceNode->GetPosition().x_, ballDistanceNode->GetPosition().y_));
// Make the constraint soft (comment to make it rigid, which is its basic behavior)
constraintDistance->SetFrequencyHz(4.0f);
constraintDistance->SetDampingRatio(0.5f);
// Create a ConstraintFriction2D ********** Not functional. From Box2d samples it seems that 2 anchors are required, Urho2D only provides 1, needs investigation ***********
CreateFlag("ConstraintFriction2D", 0.03f, 1.0f); // Display Text3D flag
Node* boxFrictionNode = box->Clone();
Node* ballFrictionNode = ball->Clone();
boxFrictionNode->SetPosition(Vector3(0.5f, 0.0f, 0.0f));
ballFrictionNode->SetPosition(Vector3(1.5f, 0.0f, 0.0f));
ConstraintFriction2D* constraintFriction = boxFrictionNode->CreateComponent<ConstraintFriction2D>(); // Apply ConstraintDistance2D to box
constraintFriction->SetOtherBody(ballFrictionNode->GetComponent<RigidBody2D>()); // Constraint ball to box
//constraintFriction->SetOwnerBodyAnchor(Vector2(boxNode->GetPosition().x_, boxNode->GetPosition().y_);
//constraintFriction->SetOtherBodyAnchor(Vector2(ballNode->GetPosition().x_, ballNode->GetPosition().y_);
//constraintFriction->SetMaxForce(10.0f); // ballBody.mass * gravity
//constraintDistance->SetMaxTorque(10.0f); // ballBody.mass * radius * gravity
// Create a ConstraintGear2D
CreateFlag("ConstraintGear2D", -4.97f, -1.0f); // Display Text3D flag
Node* baseNode = box->Clone();
RigidBody2D* tempBody = baseNode->GetComponent<RigidBody2D>(); // Get body to make it static
tempBody->SetBodyType(BT_STATIC);
baseNode->SetPosition(Vector3(-3.7f, -2.5f, 0.0f));
Node* ball1Node = ball->Clone();
ball1Node->SetPosition(Vector3(-4.5f, -2.0f, 0.0f));
RigidBody2D* ball1Body = ball1Node->GetComponent<RigidBody2D>();
Node* ball2Node = ball->Clone();
ball2Node->SetPosition(Vector3(-3.0f, -2.0f, 0.0f));
RigidBody2D* ball2Body = ball2Node->GetComponent<RigidBody2D>();
ConstraintRevolute2D* gear1 = baseNode->CreateComponent<ConstraintRevolute2D>(); // Apply constraint to baseBox
gear1->SetOtherBody(ball1Body); // Constrain ball1 to baseBox
gear1->SetAnchor(Vector2(ball1Node->GetPosition().x_, ball1Node->GetPosition().y_));
ConstraintRevolute2D* gear2 = baseNode->CreateComponent<ConstraintRevolute2D>(); // Apply constraint to baseBox
gear2->SetOtherBody(ball2Body); // Constrain ball2 to baseBox
gear2->SetAnchor(Vector2(ball2Node->GetPosition().x_, ball2Node->GetPosition().y_));
ConstraintGear2D* constraintGear = ball1Node->CreateComponent<ConstraintGear2D>(); // Apply constraint to ball1
constraintGear->SetOtherBody(ball2Body); // Constrain ball2 to ball1
constraintGear->SetOwnerConstraint(gear1);
constraintGear->SetOtherConstraint(gear2);
constraintGear->SetRatio(1.0f);
ball1Body->ApplyAngularImpulse(0.015f, true); // Animate
// Create a vehicle from a compound of 2 ConstraintWheel2Ds
CreateFlag("ConstraintWheel2Ds compound", -2.45f, -1.0f); // Display Text3D flag
Node* car = box->Clone();
car->SetScale(Vector3(4.0f, 1.0f, 0.0f));
car->SetPosition(Vector3(-1.2f, -2.3f, 0.0f));
StaticSprite2D* tempSprite = car->GetComponent<StaticSprite2D>(); // Get car Sprite in order to draw it on top
tempSprite->SetOrderInLayer(0); // Draw car on top of the wheels (set to -1 to draw below)
Node* ball1WheelNode = ball->Clone();
ball1WheelNode->SetPosition(Vector3(-1.6f, -2.5f, 0.0f));
Node* ball2WheelNode = ball->Clone();
ball2WheelNode->SetPosition(Vector3(-0.8f, -2.5f, 0.0f));
ConstraintWheel2D* wheel1 = car->CreateComponent<ConstraintWheel2D>();
wheel1->SetOtherBody(ball1WheelNode->GetComponent<RigidBody2D>());
wheel1->SetAnchor(Vector2(ball1WheelNode->GetPosition().x_, ball1WheelNode->GetPosition().y_));
wheel1->SetAxis(Vector2(0.0f, 1.0f));
wheel1->SetMaxMotorTorque(20.0f);
wheel1->SetFrequencyHz(4.0f);
wheel1->SetDampingRatio(0.4f);
ConstraintWheel2D* wheel2 = car->CreateComponent<ConstraintWheel2D>();
wheel2->SetOtherBody(ball2WheelNode->GetComponent<RigidBody2D>());
wheel2->SetAnchor(Vector2(ball2WheelNode->GetPosition().x_, ball2WheelNode->GetPosition().y_));
wheel2->SetAxis(Vector2(0.0f, 1.0f));
wheel2->SetMaxMotorTorque(10.0f);
wheel2->SetFrequencyHz(4.0f);
wheel2->SetDampingRatio(0.4f);
// ConstraintMotor2D
CreateFlag("ConstraintMotor2D", 2.53f, -1.0f); // Display Text3D flag
Node* boxMotorNode = box->Clone();
tempBody = boxMotorNode->GetComponent<RigidBody2D>(); // Get body to make it static
tempBody->SetBodyType(BT_STATIC);
Node* ballMotorNode = ball->Clone();
boxMotorNode->SetPosition(Vector3(3.8f, -2.1f, 0.0f));
ballMotorNode->SetPosition(Vector3(3.8f, -1.5f, 0.0f));
ConstraintMotor2D* constraintMotor = boxMotorNode->CreateComponent<ConstraintMotor2D>();
constraintMotor->SetOtherBody(ballMotorNode->GetComponent<RigidBody2D>()); // Constrain ball to box
constraintMotor->SetLinearOffset(Vector2(0.0f, 0.8f)); // Set ballNode position relative to boxNode position = (0,0)
constraintMotor->SetAngularOffset(0.1f);
constraintMotor->SetMaxForce(5.0f);
constraintMotor->SetMaxTorque(10.0f);
constraintMotor->SetCorrectionFactor(1.0f);
constraintMotor->SetCollideConnected(true); // doesn't work
// ConstraintMouse2D is demonstrated in HandleMouseButtonDown() function. It is used to "grasp" the sprites with the mouse.
CreateFlag("ConstraintMouse2D", 0.03f, -1.0f); // Display Text3D flag
// Create a ConstraintPrismatic2D
CreateFlag("ConstraintPrismatic2D", 2.53f, 3.0f); // Display Text3D flag
Node* boxPrismaticNode = box->Clone();
tempBody = boxPrismaticNode->GetComponent<RigidBody2D>(); // Get body to make it static
tempBody->SetBodyType(BT_STATIC);
Node* ballPrismaticNode = ball->Clone();
boxPrismaticNode->SetPosition(Vector3(3.3f, 2.5f, 0.0f));
ballPrismaticNode->SetPosition(Vector3(4.3f, 2.0f, 0.0f));
ConstraintPrismatic2D* constraintPrismatic = boxPrismaticNode->CreateComponent<ConstraintPrismatic2D>();
constraintPrismatic->SetOtherBody(ballPrismaticNode->GetComponent<RigidBody2D>()); // Constrain ball to box
constraintPrismatic->SetAxis(Vector2(1.0f, 1.0f)); // Slide from [0,0] to [1,1]
constraintPrismatic->SetAnchor(Vector2(4.0f, 2.0f));
constraintPrismatic->SetLowerTranslation(-1.0f);
constraintPrismatic->SetUpperTranslation(0.5f);
constraintPrismatic->SetEnableLimit(true);
constraintPrismatic->SetMaxMotorForce(1.0f);
constraintPrismatic->SetMotorSpeed(0.0f);
// ConstraintPulley2D
CreateFlag("ConstraintPulley2D", 0.03f, 3.0f); // Display Text3D flag
Node* boxPulleyNode = box->Clone();
Node* ballPulleyNode = ball->Clone();
boxPulleyNode->SetPosition(Vector3(0.5f, 2.0f, 0.0f));
ballPulleyNode->SetPosition(Vector3(2.0f, 2.0f, 0.0f));
ConstraintPulley2D* constraintPulley = boxPulleyNode->CreateComponent<ConstraintPulley2D>(); // Apply constraint to box
constraintPulley->SetOtherBody(ballPulleyNode->GetComponent<RigidBody2D>()); // Constrain ball to box
constraintPulley->SetOwnerBodyAnchor(Vector2(boxPulleyNode->GetPosition().x_, boxPulleyNode->GetPosition().y_));
constraintPulley->SetOtherBodyAnchor(Vector2(ballPulleyNode->GetPosition().x_, ballPulleyNode->GetPosition().y_));
constraintPulley->SetOwnerBodyGroundAnchor(Vector2(boxPulleyNode->GetPosition().x_, boxPulleyNode->GetPosition().y_ + 1));
constraintPulley->SetOtherBodyGroundAnchor(Vector2(ballPulleyNode->GetPosition().x_, ballPulleyNode->GetPosition().y_ + 1));
constraintPulley->SetRatio(1.0); // Weight ratio between ownerBody and otherBody
// Create a ConstraintRevolute2D
CreateFlag("ConstraintRevolute2D", -2.45f, 3.0f); // Display Text3D flag
Node* boxRevoluteNode = box->Clone();
tempBody = boxRevoluteNode->GetComponent<RigidBody2D>(); // Get body to make it static
tempBody->SetBodyType(BT_STATIC);
Node* ballRevoluteNode = ball->Clone();
boxRevoluteNode->SetPosition(Vector3(-2.0f, 1.5f, 0.0f));
ballRevoluteNode->SetPosition(Vector3(-1.0f, 2.0f, 0.0f));
ConstraintRevolute2D* constraintRevolute = boxRevoluteNode->CreateComponent<ConstraintRevolute2D>(); // Apply constraint to box
constraintRevolute->SetOtherBody(ballRevoluteNode->GetComponent<RigidBody2D>()); // Constrain ball to box
constraintRevolute->SetAnchor(Vector2(-1.0f, 1.5f));
constraintRevolute->SetLowerAngle(-1.0f); // In radians
constraintRevolute->SetUpperAngle(0.5f); // In radians
constraintRevolute->SetEnableLimit(true);
constraintRevolute->SetMaxMotorTorque(10.0f);
constraintRevolute->SetMotorSpeed(0.0f);
constraintRevolute->SetEnableMotor(true);
// Create a ConstraintRope2D
CreateFlag("ConstraintRope2D", -4.97f, 1.0f); // Display Text3D flag
Node* boxRopeNode = box->Clone();
tempBody = boxRopeNode->GetComponent<RigidBody2D>();
tempBody->SetBodyType(BT_STATIC);
Node* ballRopeNode = ball->Clone();
boxRopeNode->SetPosition(Vector3(-3.7f, 0.7f, 0.0f));
ballRopeNode->SetPosition(Vector3(-4.5f, 0.0f, 0.0f));
ConstraintRope2D* constraintRope = boxRopeNode->CreateComponent<ConstraintRope2D>();
constraintRope->SetOtherBody(ballRopeNode->GetComponent<RigidBody2D>()); // Constrain ball to box
constraintRope->SetOwnerBodyAnchor(Vector2(0.0f, -0.5f)); // Offset from box (OwnerBody) : the rope is rigid from OwnerBody center to this ownerBodyAnchor
constraintRope->SetMaxLength(0.9f); // Rope length
constraintRope->SetCollideConnected(true);
// Create a ConstraintWeld2D
CreateFlag("ConstraintWeld2D", -2.45f, 1.0f); // Display Text3D flag
Node* boxWeldNode = box->Clone();
Node* ballWeldNode = ball->Clone();
boxWeldNode->SetPosition(Vector3(-0.5f, 0.0f, 0.0f));
ballWeldNode->SetPosition(Vector3(-2.0f, 0.0f, 0.0f));
ConstraintWeld2D* constraintWeld = boxWeldNode->CreateComponent<ConstraintWeld2D>();
constraintWeld->SetOtherBody(ballWeldNode->GetComponent<RigidBody2D>()); // Constrain ball to box
constraintWeld->SetAnchor(Vector2(boxWeldNode->GetPosition().x_, boxWeldNode->GetPosition().y_));
constraintWeld->SetFrequencyHz(4.0f);
constraintWeld->SetDampingRatio(0.5f);
// Create a ConstraintWheel2D
CreateFlag("ConstraintWheel2D", 2.53f, 1.0f); // Display Text3D flag
Node* boxWheelNode = box->Clone();
Node* ballWheelNode = ball->Clone();
boxWheelNode->SetPosition(Vector3(3.8f, 0.0f, 0.0f));
ballWheelNode->SetPosition(Vector3(3.8f, 0.9f, 0.0f));
ConstraintWheel2D* constraintWheel = boxWheelNode->CreateComponent<ConstraintWheel2D>();
constraintWheel->SetOtherBody(ballWheelNode->GetComponent<RigidBody2D>()); // Constrain ball to box
constraintWheel->SetAnchor(Vector2(ballWheelNode->GetPosition().x_, ballWheelNode->GetPosition().y_));
constraintWheel->SetAxis(Vector2(0.0f, 1.0f));
constraintWheel->SetEnableMotor(true);
constraintWheel->SetMaxMotorTorque(1.0f);
constraintWheel->SetMotorSpeed(0.0f);
constraintWheel->SetFrequencyHz(4.0f);
constraintWheel->SetDampingRatio(0.5f);
constraintWheel->SetCollideConnected(true); // doesn't work
}
