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#include "Biped.h"
#include "BipedDef.h"
Biped::Biped(b2World* w, const b2Vec2& position)
{
m_world = w;
BipedDef def;
b2BodyDef bd;
// create body parts
bd = def.LFootDef;
bd.position += position;
LFoot = w->CreateBody(&bd);
LFoot->CreateShape(&def.LFootPoly);
LFoot->SetMassFromShapes();
bd = def.RFootDef;
bd.position += position;
RFoot = w->CreateBody(&bd);
RFoot->CreateShape(&def.RFootPoly);
RFoot->SetMassFromShapes();
bd = def.LCalfDef;
bd.position += position;
LCalf = w->CreateBody(&bd);
LCalf->CreateShape(&def.LCalfPoly);
LCalf->SetMassFromShapes();
bd = def.RCalfDef;
bd.position += position;
RCalf = w->CreateBody(&bd);
RCalf->CreateShape(&def.RCalfPoly);
RCalf->SetMassFromShapes();
bd = def.LThighDef;
bd.position += position;
LThigh = w->CreateBody(&bd);
LThigh->CreateShape(&def.LThighPoly);
LThigh->SetMassFromShapes();
bd = def.RThighDef;
bd.position += position;
RThigh = w->CreateBody(&bd);
RThigh->CreateShape(&def.RThighPoly);
RThigh->SetMassFromShapes();
bd = def.PelvisDef;
bd.position += position;
Pelvis = w->CreateBody(&bd);
Pelvis->CreateShape(&def.PelvisPoly);
Pelvis->SetMassFromShapes();
bd = def.PelvisDef;
bd.position += position;
Stomach = w->CreateBody(&bd);
Stomach->CreateShape(&def.StomachPoly);
Stomach->SetMassFromShapes();
bd = def.ChestDef;
bd.position += position;
Chest = w->CreateBody(&bd);
Chest->CreateShape(&def.ChestPoly);
Chest->SetMassFromShapes();
bd = def.NeckDef;
bd.position += position;
Neck = w->CreateBody(&bd);
Neck->CreateShape(&def.NeckPoly);
Neck->SetMassFromShapes();
bd = def.HeadDef;
bd.position += position;
Head = w->CreateBody(&bd);
Head->CreateShape(&def.HeadCirc);
Head->SetMassFromShapes();
bd = def.LUpperArmDef;
bd.position += position;
LUpperArm = w->CreateBody(&bd);
LUpperArm->CreateShape(&def.LUpperArmPoly);
LUpperArm->SetMassFromShapes();
bd = def.RUpperArmDef;
bd.position += position;
RUpperArm = w->CreateBody(&bd);
RUpperArm->CreateShape(&def.RUpperArmPoly);
RUpperArm->SetMassFromShapes();
bd = def.LForearmDef;
bd.position += position;
LForearm = w->CreateBody(&bd);
LForearm->CreateShape(&def.LForearmPoly);
LForearm->SetMassFromShapes();
bd = def.RForearmDef;
bd.position += position;
RForearm = w->CreateBody(&bd);
RForearm->CreateShape(&def.RForearmPoly);
RForearm->SetMassFromShapes();
bd = def.LHandDef;
bd.position += position;
LHand = w->CreateBody(&bd);
LHand->CreateShape(&def.LHandPoly);
LHand->SetMassFromShapes();
bd = def.RHandDef;
bd.position += position;
RHand = w->CreateBody(&bd);
RHand->CreateShape(&def.RHandPoly);
RHand->SetMassFromShapes();
// link body parts
def.LAnkleDef.body1 = LFoot;
def.LAnkleDef.body2 = LCalf;
def.RAnkleDef.body1 = RFoot;
def.RAnkleDef.body2 = RCalf;
def.LKneeDef.body1 = LCalf;
def.LKneeDef.body2 = LThigh;
def.RKneeDef.body1 = RCalf;
def.RKneeDef.body2 = RThigh;
def.LHipDef.body1 = LThigh;
def.LHipDef.body2 = Pelvis;
def.RHipDef.body1 = RThigh;
def.RHipDef.body2 = Pelvis;
def.LowerAbsDef.body1 = Pelvis;
def.LowerAbsDef.body2 = Stomach;
def.UpperAbsDef.body1 = Stomach;
def.UpperAbsDef.body2 = Chest;
def.LowerNeckDef.body1 = Chest;
def.LowerNeckDef.body2 = Neck;
def.UpperNeckDef.body1 = Chest;
def.UpperNeckDef.body2 = Head;
def.LShoulderDef.body1 = Chest;
def.LShoulderDef.body2 = LUpperArm;
def.RShoulderDef.body1 = Chest;
def.RShoulderDef.body2 = RUpperArm;
def.LElbowDef.body1 = LForearm;
def.LElbowDef.body2 = LUpperArm;
def.RElbowDef.body1 = RForearm;
def.RElbowDef.body2 = RUpperArm;
def.LWristDef.body1 = LHand;
def.LWristDef.body2 = LForearm;
def.RWristDef.body1 = RHand;
def.RWristDef.body2 = RForearm;
// create joints
LAnkle = (b2RevoluteJoint*)w->CreateJoint(&def.LAnkleDef);
RAnkle = (b2RevoluteJoint*)w->CreateJoint(&def.RAnkleDef);
LKnee = (b2RevoluteJoint*)w->CreateJoint(&def.LKneeDef);
RKnee = (b2RevoluteJoint*)w->CreateJoint(&def.RKneeDef);
LHip = (b2RevoluteJoint*)w->CreateJoint(&def.LHipDef);
RHip = (b2RevoluteJoint*)w->CreateJoint(&def.RHipDef);
LowerAbs = (b2RevoluteJoint*)w->CreateJoint(&def.LowerAbsDef);
UpperAbs = (b2RevoluteJoint*)w->CreateJoint(&def.UpperAbsDef);
LowerNeck = (b2RevoluteJoint*)w->CreateJoint(&def.LowerNeckDef);
UpperNeck = (b2RevoluteJoint*)w->CreateJoint(&def.UpperNeckDef);
LShoulder = (b2RevoluteJoint*)w->CreateJoint(&def.LShoulderDef);
RShoulder = (b2RevoluteJoint*)w->CreateJoint(&def.RShoulderDef);
LElbow = (b2RevoluteJoint*)w->CreateJoint(&def.LElbowDef);
RElbow = (b2RevoluteJoint*)w->CreateJoint(&def.RElbowDef);
LWrist = (b2RevoluteJoint*)w->CreateJoint(&def.LWristDef);
RWrist = (b2RevoluteJoint*)w->CreateJoint(&def.RWristDef);
}
Biped::~Biped(void)
{
m_world->DestroyBody(LFoot);
m_world->DestroyBody(RFoot);
m_world->DestroyBody(LCalf);
m_world->DestroyBody(RCalf);
m_world->DestroyBody(LThigh);
m_world->DestroyBody(RThigh);
m_world->DestroyBody(Pelvis);
m_world->DestroyBody(Stomach);
m_world->DestroyBody(Chest);
m_world->DestroyBody(Neck);
m_world->DestroyBody(Head);
m_world->DestroyBody(LUpperArm);
m_world->DestroyBody(RUpperArm);
m_world->DestroyBody(LForearm);
m_world->DestroyBody(RForearm);
m_world->DestroyBody(LHand);
m_world->DestroyBody(RHand);
}
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