forked from: forked from: Box2d wheeled car
bounding box of our world
for vector(define gravity)
define bodies and define world
define our shapes
sprite class
/**
* Copyright yuewah ( http://wonderfl.net/user/yuewah )
* MIT License ( http://www.opensource.org/licenses/mit-license.php )
* Downloaded from: http://wonderfl.net/c/edgY
*/
// forked from aobyrne's forked from: Box2d wheeled car
package {
import flash.display.Sprite;
import Box2D.Collision.*;// bounding box of our world
import Box2D.Common.Math.*;// for vector(define gravity)
import Box2D.Dynamics.*;// define bodies and define world
import Box2D.Dynamics.Joints.*;
import Box2D.Collision.Shapes.*;// define our shapes
import flash.display.*;// sprite class
import flash.events.*;
import flash.ui.Keyboard;
import flash.text.TextField;
public class Box2DCar extends MovieClip {
public var body:b2Body;
public var leftWheel:b2Body;
public var rightWheel:b2Body;
public var leftRearWheel:b2Body;
public var rightRearWheel:b2Body;
public const MAX_STEER_ANGLE:Number = 3.14 / 6;
public const STEER_SPEED:Number = 1.5;
public const SIDEWAYS_FRICTION_FORCE:Number = 10;
public const HORSEPOWERS:Number = 40;
public const CAR_STARTING_POS:b2Vec2 = new b2Vec2(10,10);
public var engineSpeed:Number = -50;
public var steeringAngle:Number = 3.14 / 6;
public var myWorld:b2World;
public var leftJoint:b2RevoluteJoint;
public var rightJoint:b2RevoluteJoint;
public function Box2DCar() {
// write as3 code here..
stage.align = StageAlign.TOP_LEFT;
stage.scaleMode = StageScaleMode.NO_SCALE;
const leftRearWheelPosition:b2Vec2 = new b2Vec2(-1.5,1.90);
const rightRearWheelPosition:b2Vec2 = new b2Vec2(1.5,1.9);
const leftFrontWheelPosition:b2Vec2 = new b2Vec2(-1.5,-1.9);
const rightFrontWheelPosition:b2Vec2 = new b2Vec2(1.5,-1.9);
var worldBox:b2AABB = new b2AABB();
worldBox.lowerBound.Set(-100,-100);
worldBox.upperBound.Set(100,100);
myWorld = new b2World(worldBox, new b2Vec2(0, 0) , true);
myWorld.m_gravity
trace( "myWorld.m_gravity : " + myWorld.m_gravity.x,', ',myWorld.m_gravity.y );
//Create some static stuff
var staticDef:b2BodyDef = new b2BodyDef();
staticDef.position.Set(5,20);
var staticBox:b2PolygonDef = new b2PolygonDef();
staticBox.SetAsBox(5,5);
myWorld.CreateBody(staticDef).CreateShape(staticBox);
staticDef.position.x = 25;
myWorld.CreateBody(staticDef).CreateShape(staticBox);
staticDef.position.Set(15, 24);
myWorld.CreateBody(staticDef).CreateShape(staticBox);
// define our body
var bodyDef:b2BodyDef = new b2BodyDef();
bodyDef.linearDamping = 1;
bodyDef.angularDamping = 1;
bodyDef.position = CAR_STARTING_POS.Copy();
bodyDef.allowSleep = false;
body = myWorld.CreateBody(bodyDef);
body.SetMassFromShapes();
var leftWheelDef:b2BodyDef = new b2BodyDef();
leftWheelDef.position = CAR_STARTING_POS.Copy();
leftWheelDef.position.Add(leftFrontWheelPosition);
//var leftWheel:b2Body = myWorld.CreateBody(leftWheelDef);
leftWheel = myWorld.CreateBody(leftWheelDef);
var rightWheelDef:b2BodyDef = new b2BodyDef();
rightWheelDef.position = CAR_STARTING_POS.Copy();
rightWheelDef.position.Add(rightFrontWheelPosition);
//var rightWheel:b2Body = myWorld.CreateBody(rightWheelDef);
rightWheel = myWorld.CreateBody(rightWheelDef);
var leftRearWheelDef:b2BodyDef = new b2BodyDef();
leftRearWheelDef.position = CAR_STARTING_POS.Copy();
leftRearWheelDef.position.Add(leftRearWheelPosition);
//var leftRearWheel:b2Body = myWorld.CreateBody(leftRearWheelDef);
leftRearWheel = myWorld.CreateBody(leftRearWheelDef);
var rightRearWheelDef:b2BodyDef = new b2BodyDef();
rightRearWheelDef.position = CAR_STARTING_POS.Copy();
rightRearWheelDef.position.Add(rightRearWheelPosition);
//var rightRearWheel:b2Body = myWorld.CreateBody(rightRearWheelDef);
rightRearWheel = myWorld.CreateBody(rightRearWheelDef);
// define our shapes
var boxDef:b2PolygonDef = new b2PolygonDef();
boxDef.SetAsBox(1.5,2.5);
boxDef.density = 1;
body.CreateShape(boxDef);
//Left Wheel shape
var leftWheelShapeDef:b2PolygonDef = new b2PolygonDef();
leftWheelShapeDef.SetAsBox(0.2,0.5);
leftWheelShapeDef.density = 1;
leftWheel.CreateShape(leftWheelShapeDef);
//Right Wheel shape
var rightWheelShapeDef:b2PolygonDef = new b2PolygonDef();
rightWheelShapeDef.SetAsBox(0.2,0.5);
rightWheelShapeDef.density = 1;
rightWheel.CreateShape(rightWheelShapeDef);
//Left Wheel shape
var leftRearWheelShapeDef:b2PolygonDef = new b2PolygonDef();
leftRearWheelShapeDef.SetAsBox(0.2,0.5);
leftRearWheelShapeDef.density = 1;
leftRearWheel.CreateShape(leftRearWheelShapeDef);
//Right Wheel shape
var rightRearWheelShapeDef:b2PolygonDef = new b2PolygonDef();
rightRearWheelShapeDef.SetAsBox(0.2,0.5);
rightRearWheelShapeDef.density = 1;
rightRearWheel.CreateShape(rightRearWheelShapeDef);
body.SetMassFromShapes();
leftWheel.SetMassFromShapes();
rightWheel.SetMassFromShapes();
leftRearWheel.SetMassFromShapes();
rightRearWheel.SetMassFromShapes();
var leftJointDef:b2RevoluteJointDef = new b2RevoluteJointDef();
leftJointDef.Initialize(body, leftWheel, leftWheel.GetWorldCenter());
leftJointDef.enableMotor = true;
leftJointDef.maxMotorTorque = 100;
var rightJointDef:b2RevoluteJointDef = new b2RevoluteJointDef();
rightJointDef.Initialize(body, rightWheel, rightWheel.GetWorldCenter());
rightJointDef.enableMotor = true;
rightJointDef.maxMotorTorque = 100;
leftJoint = b2RevoluteJoint(myWorld.CreateJoint(leftJointDef));
rightJoint = b2RevoluteJoint(myWorld.CreateJoint(rightJointDef));
var leftRearJointDef:b2PrismaticJointDef = new b2PrismaticJointDef();
leftRearJointDef.Initialize(body, leftRearWheel, leftRearWheel.GetWorldCenter(), new b2Vec2(1,0));
leftRearJointDef.enableLimit = true;
leftRearJointDef.lowerTranslation = leftRearJointDef.upperTranslation = 0;
var rightRearJointDef:b2PrismaticJointDef = new b2PrismaticJointDef();
rightRearJointDef.Initialize(body, rightRearWheel, rightRearWheel.GetWorldCenter(), new b2Vec2(1,0));
rightRearJointDef.enableLimit = true;
rightRearJointDef.lowerTranslation = rightRearJointDef.upperTranslation = 0;
myWorld.CreateJoint(leftRearJointDef);
myWorld.CreateJoint(rightRearJointDef);
// debug draw
var dbgDraw:b2DebugDraw = new b2DebugDraw();
dbgDraw.m_sprite = new Sprite();
addChild(dbgDraw.m_sprite);
dbgDraw.m_drawScale = 20.0;
dbgDraw.m_fillAlpha = 1;
dbgDraw.m_lineThickness = 1.0;
dbgDraw.m_drawFlags = b2DebugDraw.e_shapeBit |b2DebugDraw.e_centerOfMassBit;
myWorld.SetDebugDraw(dbgDraw);
stage.addEventListener(KeyboardEvent.KEY_DOWN, keyPressed_handler);
stage.addEventListener(KeyboardEvent.KEY_UP, keyReleased_handler);
parent.stage.addEventListener(Event.ENTER_FRAME, Update, false, 0 , true);
}
public function killOrthogonalVelocity(targetBody:b2Body):void {
var localPoint:b2Vec2 = new b2Vec2(0,0);
var velocity:b2Vec2 = targetBody.GetLinearVelocityFromLocalPoint(localPoint);
var sidewaysAxis:b2Vec2 = targetBody.GetXForm().R.col2.Copy();
print(sidewaysAxis.x);
sidewaysAxis.Multiply(b2Math.b2Dot(velocity,sidewaysAxis))
targetBody.SetLinearVelocity(sidewaysAxis);//targetBody.GetWorldPoint(localPoint));
}
public function keyPressed_handler(e:KeyboardEvent):void {
if (e.keyCode == Keyboard.UP) {
body.WakeUp();
engineSpeed = -HORSEPOWERS;
}
if(e.keyCode == Keyboard.DOWN){
engineSpeed = HORSEPOWERS;
}
if(e.keyCode == Keyboard.RIGHT){
steeringAngle = MAX_STEER_ANGLE
}
if(e.keyCode == Keyboard.LEFT){
steeringAngle = -MAX_STEER_ANGLE
}
}
public function keyReleased_handler(e:KeyboardEvent):void {
if(e.keyCode == Keyboard.UP || e.keyCode == Keyboard.DOWN){
engineSpeed = 0;
}
if(e.keyCode == Keyboard.LEFT || e.keyCode == Keyboard.RIGHT){
steeringAngle = 0;
}
}
public function Update(e:Event):void {
myWorld.Step(1/30, 10);
killOrthogonalVelocity(leftWheel);
killOrthogonalVelocity(rightWheel);
killOrthogonalVelocity(leftRearWheel);
killOrthogonalVelocity(rightRearWheel);
//Driving
var ldirection:b2Vec2 = leftWheel.GetXForm().R.col2.Copy();
ldirection.Multiply(engineSpeed);
var rdirection:b2Vec2 = rightWheel.GetXForm().R.col2.Copy();
rdirection.Multiply(engineSpeed);
leftWheel.ApplyForce(ldirection, leftWheel.GetPosition());
rightWheel.ApplyForce(rdirection, rightWheel.GetPosition());
//Steering
var mspeed:Number;
mspeed = steeringAngle - leftJoint.GetJointAngle();
leftJoint.SetMotorSpeed(mspeed * STEER_SPEED);
mspeed = steeringAngle - rightJoint.GetJointAngle();
rightJoint.SetMotorSpeed(mspeed * STEER_SPEED);
}
public function print (value:Object):void {
//navigateToURL(new URLRequest('javascript:(function () {console.log(' + value.toString() + ');})()'));
var t:TextField = this.getChildByName("debug") as TextField;
if (t == null) {
t = new TextField();
t.name = "debug";
t.text = "";
t.width = 400;
t.height = 300;
this.addChild(t);
}
t.text = value.toString() ;
}
}
}