コード例 #1
0
ファイル: Urho2DPhysicsRope.cpp プロジェクト: 3dicc/Urho3D
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);
}
コード例 #2
0
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
}