public GearJoint(GearJointDef def)
: base(def)
{
JointType type1 = def.Joint1.GetType();
JointType type2 = def.Joint2.GetType();
Box2DXDebug.Assert(type1 == JointType.RevoluteJoint || type1 == JointType.PrismaticJoint);
Box2DXDebug.Assert(type2 == JointType.RevoluteJoint || type2 == JointType.PrismaticJoint);
Box2DXDebug.Assert(def.Joint1.GetBody1().IsStatic());
Box2DXDebug.Assert(def.Joint2.GetBody1().IsStatic());
_revolute1 = null;
_prismatic1 = null;
_revolute2 = null;
_prismatic2 = null;
float coordinate1, coordinate2;
_ground1 = def.Joint1.GetBody1();
_body1 = def.Joint1.GetBody2();
if (type1 == JointType.RevoluteJoint)
{
_revolute1 = (RevoluteJoint)def.Joint1;
_groundAnchor1 = _revolute1._localAnchor1;
_localAnchor1 = _revolute1._localAnchor2;
coordinate1 = _revolute1.JointAngle;
}
else
{
_prismatic1 = (PrismaticJoint)def.Joint1;
_groundAnchor1 = _prismatic1._localAnchor1;
_localAnchor1 = _prismatic1._localAnchor2;
coordinate1 = _prismatic1.JointTranslation;
}
_ground2 = def.Joint2.GetBody1();
_body2 = def.Joint2.GetBody2();
if (type2 == JointType.RevoluteJoint)
{
_revolute2 = (RevoluteJoint)def.Joint2;
_groundAnchor2 = _revolute2._localAnchor1;
_localAnchor2 = _revolute2._localAnchor2;
coordinate2 = _revolute2.JointAngle;
}
else
{
_prismatic2 = (PrismaticJoint)def.Joint2;
_groundAnchor2 = _prismatic2._localAnchor1;
_localAnchor2 = _prismatic2._localAnchor2;
coordinate2 = _prismatic2.JointTranslation;
}
_ratio = def.Ratio;
_constant = coordinate1 + _ratio * coordinate2;
_impulse = 0.0f;
}
public GearJoint(GearJointDef def) : base(def)
{
JointType type = def.Joint1.GetType();
JointType type2 = def.Joint2.GetType();
Box2DXDebug.Assert(type == JointType.RevoluteJoint || type == JointType.PrismaticJoint);
Box2DXDebug.Assert(type2 == JointType.RevoluteJoint || type2 == JointType.PrismaticJoint);
Box2DXDebug.Assert(def.Joint1.GetBody1().IsStatic());
Box2DXDebug.Assert(def.Joint2.GetBody1().IsStatic());
this._revolute1 = null;
this._prismatic1 = null;
this._revolute2 = null;
this._prismatic2 = null;
this._ground1 = def.Joint1.GetBody1();
this._body1 = def.Joint1.GetBody2();
float num;
if (type == JointType.RevoluteJoint)
{
this._revolute1 = (RevoluteJoint)def.Joint1;
this._groundAnchor1 = this._revolute1._localAnchor1;
this._localAnchor1 = this._revolute1._localAnchor2;
num = this._revolute1.JointAngle;
}
else
{
this._prismatic1 = (PrismaticJoint)def.Joint1;
this._groundAnchor1 = this._prismatic1._localAnchor1;
this._localAnchor1 = this._prismatic1._localAnchor2;
num = this._prismatic1.JointTranslation;
}
this._ground2 = def.Joint2.GetBody1();
this._body2 = def.Joint2.GetBody2();
float num2;
if (type2 == JointType.RevoluteJoint)
{
this._revolute2 = (RevoluteJoint)def.Joint2;
this._groundAnchor2 = this._revolute2._localAnchor1;
this._localAnchor2 = this._revolute2._localAnchor2;
num2 = this._revolute2.JointAngle;
}
else
{
this._prismatic2 = (PrismaticJoint)def.Joint2;
this._groundAnchor2 = this._prismatic2._localAnchor1;
this._localAnchor2 = this._prismatic2._localAnchor2;
num2 = this._prismatic2.JointTranslation;
}
this._ratio = def.Ratio;
this._constant = num + this._ratio * num2;
this._impulse = 0f;
}
public GearJoint(GearJointDef def)
: base(def)
{
JointType type = def.Joint1.GetType();
JointType type2 = def.Joint2.GetType();
Box2DXDebug.Assert(type == JointType.RevoluteJoint || type == JointType.PrismaticJoint);
Box2DXDebug.Assert(type2 == JointType.RevoluteJoint || type2 == JointType.PrismaticJoint);
Box2DXDebug.Assert(def.Joint1.GetBody1().IsStatic());
Box2DXDebug.Assert(def.Joint2.GetBody1().IsStatic());
this._revolute1 = null;
this._prismatic1 = null;
this._revolute2 = null;
this._prismatic2 = null;
this._ground1 = def.Joint1.GetBody1();
this._body1 = def.Joint1.GetBody2();
float num;
if (type == JointType.RevoluteJoint)
{
this._revolute1 = (RevoluteJoint)def.Joint1;
this._groundAnchor1 = this._revolute1._localAnchor1;
this._localAnchor1 = this._revolute1._localAnchor2;
num = this._revolute1.JointAngle;
}
else
{
this._prismatic1 = (PrismaticJoint)def.Joint1;
this._groundAnchor1 = this._prismatic1._localAnchor1;
this._localAnchor1 = this._prismatic1._localAnchor2;
num = this._prismatic1.JointTranslation;
}
this._ground2 = def.Joint2.GetBody1();
this._body2 = def.Joint2.GetBody2();
float num2;
if (type2 == JointType.RevoluteJoint)
{
this._revolute2 = (RevoluteJoint)def.Joint2;
this._groundAnchor2 = this._revolute2._localAnchor1;
this._localAnchor2 = this._revolute2._localAnchor2;
num2 = this._revolute2.JointAngle;
}
else
{
this._prismatic2 = (PrismaticJoint)def.Joint2;
this._groundAnchor2 = this._prismatic2._localAnchor1;
this._localAnchor2 = this._prismatic2._localAnchor2;
num2 = this._prismatic2.JointTranslation;
}
this._ratio = def.Ratio;
this._constant = num + this._ratio * num2;
this._impulse = 0f;
}
public Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(50.0f, 0.0f), new Vec2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2._radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.Position.Set(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.Body1 = ground;
jd1.Body2 = body1;
jd1.LocalAnchor1 = ground.GetLocalPoint(bd1.Position);
jd1.LocalAnchor2 = body1.GetLocalPoint(bd1.Position);
jd1.ReferenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.Position.Set(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.Position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.Position.Set(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.Position, new Vec2(0.0f, 1.0f));
jd3.LowerTranslation = -5.0f;
jd3.UpperTranslation = 5.0f;
jd3.EnableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.Body1 = body1;
jd4.Body2 = body2;
jd4.Joint1 = _joint1;
jd4.Joint2 = _joint2;
jd4.Ratio = circle2._radius / circle1._radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.Body1 = body2;
jd5.Body2 = body3;
jd5.Joint1 = _joint2;
jd5.Joint2 = _joint3;
jd5.Ratio = -1.0f / circle2._radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
public GearJoint(GearJointDef def)
: base(def)
{
JointType type1 = def.Joint1.GetType();
JointType type2 = def.Joint2.GetType();
Box2DXDebug.Assert(type1 == JointType.RevoluteJoint || type1 == JointType.PrismaticJoint);
Box2DXDebug.Assert(type2 == JointType.RevoluteJoint || type2 == JointType.PrismaticJoint);
Box2DXDebug.Assert(def.Joint1.GetBody1().IsStatic());
Box2DXDebug.Assert(def.Joint2.GetBody1().IsStatic());
_revolute1 = null;
_prismatic1 = null;
_revolute2 = null;
_prismatic2 = null;
float coordinate1, coordinate2;
_ground1 = def.Joint1.GetBody1();
_body1 = def.Joint1.GetBody2();
if (type1 == JointType.RevoluteJoint)
{
_revolute1 = (RevoluteJoint)def.Joint1;
_groundAnchor1 = _revolute1._localAnchor1;
_localAnchor1 = _revolute1._localAnchor2;
coordinate1 = _revolute1.JointAngle;
}
else
{
_prismatic1 = (PrismaticJoint)def.Joint1;
_groundAnchor1 = _prismatic1._localAnchor1;
_localAnchor1 = _prismatic1._localAnchor2;
coordinate1 = _prismatic1.JointTranslation;
}
_ground2 = def.Joint2.GetBody1();
_body2 = def.Joint2.GetBody2();
if (type2 == JointType.RevoluteJoint)
{
_revolute2 = (RevoluteJoint)def.Joint2;
_groundAnchor2 = _revolute2._localAnchor1;
_localAnchor2 = _revolute2._localAnchor2;
coordinate2 = _revolute2.JointAngle;
}
else
{
_prismatic2 = (PrismaticJoint)def.Joint2;
_groundAnchor2 = _prismatic2._localAnchor1;
_localAnchor2 = _prismatic2._localAnchor2;
coordinate2 = _prismatic2.JointTranslation;
}
_ratio = def.Ratio;
_constant = coordinate1 + _ratio * coordinate2;
_impulse = 0.0f;
}
