// Use this for initialization
protected override IntPtr Init()
{
FrictionJointDef jd = new FrictionJointDef(other.body, body.body);
jd.Initialize(other.body, body.body, anchor);
jd.maxForce = maxForce;
jd.maxTorque = maxTorque;
return(API.CreateFrictionJoint(B2DWorld.instance.world, jd));
}
public FrictionJoint(FrictionJointDef def)
: base(def)
{
_localAnchorA = def.LocalAnchorA;
_localAnchorB = def.LocalAnchorB;
_maxForce = def.MaxForce;
_maxTorque = def.MaxTorque;
}
public Mirrors()
{
m_world.Gravity = new Vec2(0.0f, 0.0f);
{
Body body = m_world.CreateBody(new BodyDef());
}
{
float startY = 0;
FrictionJointDef jd = new FrictionJointDef();
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
PolygonShape shape = new PolygonShape(1.0f, 0.25f);
for (int i = 0; i < 20; ++i)
{
bd.Position = new Vec2(0, startY);
startY += 1.5f;
FixtureDef fix = new FixtureDef(shape, 1.0f);
var body = m_world.CreateBody(bd);
var ff = body.CreateFixture(fix);
float I = body.Inertia;
float mass = body.Mass; float radius = (float)Math.Sqrt(2.0f * I / mass);
jd.LocalAnchorA = jd.LocalAnchorB = Vec2.Empty;
jd.BodyA = m_groundBody;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = body.Mass * 10.0f;
jd.MaxTorque = body.Mass * radius * 10.0f;
m_world.CreateJoint(jd);
}
}
}
public ApplyForce()
{
World.Gravity = new Vector2(0.0f, 0.0f);
const float restitution = 0.4f;
Body ground;
{
var bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = World.CreateBody(bd);
var shape = new EdgeShape();
var sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = restitution;
// Left vertical
shape.Set(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.Set(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.Set(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.Set(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
var xf1 = new Transform();
xf1.Rotation.Set(0.3524f * Settings.Pi);
xf1.Position = xf1.Rotation.GetXAxis();
var vertices = new Vector2[3];
vertices[0] = MathUtils.Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf1, new Vector2(0.0f, 0.5f));
var poly1 = new PolygonShape();
poly1.Set(vertices);
var sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 2.0f;
var xf2 = new Transform();
xf2.Rotation.Set(-0.3524f * Settings.Pi);
xf2.Position = -xf2.Rotation.GetXAxis();
vertices[0] = MathUtils.Mul(xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(xf2, new Vector2(0.0f, 0.5f));
var poly2 = new PolygonShape();
poly2.Set(vertices);
var sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position = new Vector2(0.0f, 3.0f);
bd.Angle = Settings.Pi;
bd.AllowSleep = false;
_body = World.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
var gravity = 10.0f;
var I = _body.Inertia;
var mass = _body.Mass;
// Compute an effective radius that can be used to
// set the max torque for a friction joint
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.BodyA = ground;
jd.BodyB = _body;
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB = _body.GetLocalCenter();
jd.CollideConnected = true;
jd.MaxForce = 0.5f * mass * gravity;
jd.MaxTorque = 0.2f * mass * radius * gravity;
World.CreateJoint(jd);
}
{
var shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
var fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.3f;
for (var i = 0; i < 10; ++i)
{
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 7.0f + 1.54f * i);
var body = World.CreateBody(bd);
body.CreateFixture(fd);
var gravity = 10.0f;
var I = body.Inertia;
var mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
var radius = (float)Math.Sqrt(2.0f * I / mass);
var jd = new FrictionJointDef();
jd.LocalAnchorA.SetZero();
jd.LocalAnchorB.SetZero();
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = 0.1f * mass * radius * gravity;
World.CreateJoint(jd);
}
}
}
public ApplyForce()
{
_world.Gravity = new Vector2(0.0, 0.0);
const double k_restitution = 0.4;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 20.0f);
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Alt.Box2D.Transform xf1 = new Alt.Box2D.Transform();
xf1.R.Set(0.3524 * Alt.Box2D.Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.Set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Alt.Box2D.Transform xf2 = new Alt.Box2D.Transform();
xf2.R.Set(-0.3524 * Alt.Box2D.Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.Set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0.0f, 2.0f);
bd.angle = Alt.Box2D.Settings.b2_pi;
bd.allowSleep = false;
_body = _world.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 5.0f + 1.54f * i);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
double gravity = 10.0f;
double I = body.GetInertia();
double mass = body.GetMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
double radius = (double)Math.Sqrt(2.0 * (double)(I / mass));
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA = Vector2.Zero;
jd.localAnchorB = Vector2.Zero;
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
_world.CreateJoint(jd);
}
}
}
private ApplyForceTest()
{
World.Gravity = Vector2.Zero;
const float restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position = new Vector2(0.0f, 20.0f);
ground = BodyFactory.CreateFromDef(World, bd);
FixtureDef sd = new FixtureDef();
sd.Restitution = restitution;
// Left vertical
sd.Shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.AddFixture(sd);
// Right vertical
sd.Shape = new EdgeShape(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.AddFixture(sd);
// Top horizontal
sd.Shape = new EdgeShape(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.AddFixture(sd);
// Bottom horizontal
sd.Shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.AddFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * MathConstants.Pi);
xf1.p = xf1.q.GetXAxis();
Vertices vertices = new Vertices(3);
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f)));
PolygonShape poly1 = new PolygonShape(vertices, 2.0f);
FixtureDef sd1 = new FixtureDef();
sd1.Shape = poly1;
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * MathConstants.Pi);
xf2.p = -xf2.q.GetXAxis();
vertices[0] = MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape(vertices, 2.0f);
FixtureDef sd2 = new FixtureDef();
sd2.Shape = poly2;
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 3.0f);
bd.Angle = MathConstants.Pi;
bd.AllowSleep = false;
_body = BodyFactory.CreateFromDef(World, bd);
_body.AddFixture(sd1);
_body.AddFixture(sd2);
float gravity = 10.0f;
float I = _body.Inertia;
float mass = _body.Mass;
// Compute an effective radius that can be used to
// set the max torque for a friction joint
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = MathUtils.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.BodyA = ground;
jd.BodyB = _body;
jd.LocalAnchorA = Vector2.Zero;
jd.LocalAnchorB = _body.LocalCenter;
jd.CollideConnected = true;
jd.MaxForce = 0.5f * mass * gravity;
jd.MaxTorque = 0.2f * mass * radius * gravity;
JointFactory.CreateFromDef(World, jd);
}
{
PolygonShape shape = new PolygonShape(1.0f);
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
bd.Position = new Vector2(0.0f, 7.0f + 1.54f * i);
Body body = BodyFactory.CreateFromDef(World, bd);
body.AddFixture(fd);
float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = MathUtils.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.LocalAnchorA = Vector2.Zero;
jd.LocalAnchorB = Vector2.Zero;
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = 0.1f * mass * radius * gravity;
JointFactory.CreateFromDef(World, jd);
}
}
}
// Use this for initialization
protected override void Init()
{
API.SetGravity(world, Vector2.zero);
var ground = API.CreateBody(world, new Vector2(0, 20), 0, BodyType.STATIC_BODY);
ShapeDef sp = new ShapeDef(0);
sp.restitution = 0.4f;
API.AddEdgeShape(ground, new Vector2(-20, -20), new Vector2(-20, 20), sp);
API.AddEdgeShape(ground, new Vector2(20, -20), new Vector2(20, 20), sp);
API.AddEdgeShape(ground, new Vector2(-20, 20), new Vector2(20, 20), sp);
API.AddEdgeShape(ground, new Vector2(-20, -20), new Vector2(20, -20), sp);
BodyDef bd = new BodyDef(BodyType.DYNAMIC_BODY);
bd.allowSleep = false;
bd.angle = 3.14159265359f;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0, 2);
m_body = API.CreateBody(world, bd);
sp.restitution = 0.0f;
sp.density = 4.0f;
b2Transform xf1 = new b2Transform();
xf1.q = new b2Rot(0.3524f * Mathf.PI);
xf1.p = xf1.q.GetXAxis();
Vector2[] vertices = new Vector2[3];
vertices[0] = b2Math.b2Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf1, new Vector2(0.0f, 0.5f));
API.AddPolygonShape(m_body, vertices, vertices.Length, sp);
sp.density = 2.0f;
xf1.q = new b2Rot(-0.3524f * Mathf.PI);
xf1.p = -xf1.q.GetXAxis();
vertices[0] = b2Math.b2Mul(xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = b2Math.b2Mul(xf1, new Vector2(1.0f, 0.0f));
vertices[2] = b2Math.b2Mul(xf1, new Vector2(0.0f, 0.5f));
API.AddPolygonShape(m_body, vertices, vertices.Length, sp);
sp.density = 1.0f;
sp.friction = 0.3f;
float gravity = 10;
FrictionJointDef jd = new FrictionJointDef();
for (int i = 0; i < 10; ++i)
{
var b = API.CreateBody(world, new Vector2(0, 5.0f + 1.54f * i), 0, BodyType.DYNAMIC_BODY);
API.AddBoxShape(b, 0.5f, 0.5f, Vector2.zero, 0, sp);
float I = API.GetInertia(b);
float mass = API.GetMass(b);
float radius = Mathf.Sqrt(2.0f * I / mass);
jd.bodyA = ground;
jd.bodyB = b;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
API.CreateFrictionJoint(world, jd);
}
}
public ApplyForce()
{
_world.Gravity = new Vector2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.position = new Vector2(0.0f, 20.0f);
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R.Set(0.3524f * (float)Settings.b2_pi);
xf1.Position = MathUtils.Multiply(ref xf1.R, new Vector2(1.0f, 0.0f));
Vector2[] vertices = new Vector2[3];
vertices[0] = MathUtils.Multiply(ref xf1, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf1, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf1, new Vector2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.Set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.density = 4.0f;
Transform xf2 = new Transform();
xf2.R.Set(-0.3524f * (float)Settings.b2_pi);
xf2.Position = MathUtils.Multiply(ref xf2.R, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Multiply(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Multiply(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Multiply(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.Set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.position = new Vector2(0.0f, 2.0f);
bd.angle = (float)Settings.b2_pi;
bd.allowSleep = false;
_body = _world.CreateBody(bd);
_body.CreateFixture(sd1);
_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 5.0f + 1.54f * i);
Body body = _world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.GetInertia();
float mass = body.GetMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0 * (double)(I / mass));
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA = Vector2.Zero;
jd.localAnchorB = Vector2.Zero;
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
_world.CreateJoint(jd);
}
}
}
public WorldData Deserialize(Stream stream)
{
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
throw new Exception();
WorldData data = new WorldData();
if (root.Attributes.Count == 0)
throw new Exception("No version");
else if (int.Parse(root.Attributes[0].Value) != WorldXmlSerializer.XmlVersion)
throw new Exception("Wrong version XML file");
data.Version = int.Parse(root.Attributes[0].Value);
foreach (var main in root.Elements)
{
switch (main.Name.ToLower())
{
case "gravity":
{
data.Gravity = ReadVector(main);
}
break;
case "shapes":
{
foreach (var n in main.Elements)
{
if (n.Name.ToLower() != "shape")
throw new Exception();
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true);
string name = "";
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "radius":
shape.Radius = float.Parse(sn.Value);
break;
case "position":
shape.Position = ReadVector(sn);
break;
default:
throw new Exception();
}
}
_shapes.Add(new ShapeSerialized(shape, name));
}
break;
case ShapeType.Polygon:
{
PolygonShape shape = new PolygonShape();
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "vertices":
{
List<Vec2> verts = new List<Vec2>();
foreach (var vert in sn.Elements)
verts.Add(ReadVector(vert));
shape.Vertices = verts.ToArray();
}
break;
case "centroid":
shape.Centroid = ReadVector(sn);
break;
}
}
_shapes.Add(new ShapeSerialized(shape, name));
}
break;
}
}
}
break;
case "fixtures":
{
foreach (var n in main.Elements)
{
FixtureDef fixture = new FixtureDef();
if (n.Name.ToLower() != "fixture")
throw new Exception();
string name = "";
int id = 0;
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "shape":
id = int.Parse(sn.Value);
break;
case "density":
fixture.Density = float.Parse(sn.Value);
break;
case "filterdata":
fixture.Filter = (FilterData)ReadSimpleType(sn, typeof(FilterData), true);
break;
case "friction":
fixture.Friction = float.Parse(sn.Value);
break;
case "issensor":
fixture.IsSensor = bool.Parse(sn.Value);
break;
case "restitution":
fixture.Restitution = float.Parse(sn.Value);
break;
case "userdata":
fixture.UserData = ReadSimpleType(sn, null, false);
break;
}
}
fixture.Shape = _shapes[id].Shape;
_fixtures.Add(new FixtureDefSerialized(fixture, id, name));
}
}
break;
case "bodies":
{
foreach (var n in main.Elements)
{
BodyDef body = new BodyDef();
if (n.Name.ToLower() != "body")
throw new Exception();
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true);
List<int> fixtures = new List<int>();
string name = "";
foreach (var sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "active":
body.Active = bool.Parse(sn.Value);
break;
case "allowsleep":
body.AllowSleep = bool.Parse(sn.Value);
break;
case "angle":
body.Angle = float.Parse(sn.Value);
break;
case "angulardamping":
body.AngularDamping = float.Parse(sn.Value);
break;
case "angularvelocity":
body.AngularVelocity = float.Parse(sn.Value);
break;
case "awake":
body.Awake = bool.Parse(sn.Value);
break;
case "bullet":
body.Bullet = bool.Parse(sn.Value);
break;
case "fixedrotation":
body.FixedRotation = bool.Parse(sn.Value);
break;
case "inertiascale":
body.InertiaScale = float.Parse(sn.Value);
break;
case "lineardamping":
body.LinearDamping = float.Parse(sn.Value);
break;
case "linearvelocity":
body.LinearVelocity = ReadVector(sn);
break;
case "position":
body.Position = ReadVector(sn);
break;
case "userdata":
body.UserData = ReadSimpleType(sn, null, false);
break;
case "fixtures":
{
foreach (var v in sn.Elements)
fixtures.Add(int.Parse(v.Value));
break;
}
}
}
_bodies.Add(new BodyDefSerialized(null, body, fixtures, name));
}
}
break;
case "joints":
{
foreach (var n in main.Elements)
{
JointDef mainDef = null;
if (n.Name.ToLower() != "joint")
throw new Exception();
JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true);
int bodyA = -1, bodyB = -1;
bool collideConnected = false;
object userData = null;
string name = "";
switch (type)
{
case JointType.Distance:
mainDef = new DistanceJointDef();
break;
case JointType.Friction:
mainDef = new FrictionJointDef();
break;
case JointType.Line:
mainDef = new LineJointDef();
break;
case JointType.Prismatic:
mainDef = new PrismaticJointDef();
break;
case JointType.Pulley:
mainDef = new PulleyJointDef();
break;
case JointType.Revolute:
mainDef = new RevoluteJointDef();
break;
case JointType.Weld:
mainDef = new WeldJointDef();
break;
default:
throw new Exception("Invalid or unsupported joint");
}
foreach (var sn in n.Elements)
{
// check for specific nodes
switch (type)
{
case JointType.Distance:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((DistanceJointDef)mainDef).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((DistanceJointDef)mainDef).FrequencyHz = float.Parse(sn.Value);
break;
case "length":
((DistanceJointDef)mainDef).Length = float.Parse(sn.Value);
break;
case "localanchora":
((DistanceJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((DistanceJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Friction:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((FrictionJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((FrictionJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxforce":
((FrictionJointDef)mainDef).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((FrictionJointDef)mainDef).MaxTorque = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Line:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((LineJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((LineJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((LineJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((LineJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "localaxisa":
((LineJointDef)mainDef).LocalAxisA = ReadVector(sn);
break;
case "maxmotorforce":
((LineJointDef)mainDef).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((LineJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((LineJointDef)mainDef).LowerTranslation = float.Parse(sn.Value);
break;
case "uppertranslation":
((LineJointDef)mainDef).UpperTranslation = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Prismatic:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((PrismaticJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((PrismaticJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((PrismaticJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PrismaticJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "localaxisa":
((PrismaticJointDef)mainDef).LocalAxis = ReadVector(sn);
break;
case "maxmotorforce":
((PrismaticJointDef)mainDef).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((PrismaticJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((PrismaticJointDef)mainDef).LowerTranslation = float.Parse(sn.Value);
break;
case "uppertranslation":
((PrismaticJointDef)mainDef).UpperTranslation = float.Parse(sn.Value);
break;
case "referenceangle":
((PrismaticJointDef)mainDef).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Pulley:
{
switch (sn.Name.ToLower())
{
case "groundanchora":
((PulleyJointDef)mainDef).GroundAnchorA = ReadVector(sn);
break;
case "groundanchorb":
((PulleyJointDef)mainDef).GroundAnchorB = ReadVector(sn);
break;
case "lengtha":
((PulleyJointDef)mainDef).LengthA = float.Parse(sn.Value);
break;
case "lengthb":
((PulleyJointDef)mainDef).LengthB = float.Parse(sn.Value);
break;
case "localanchora":
((PulleyJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PulleyJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxlengtha":
((PulleyJointDef)mainDef).MaxLengthA = float.Parse(sn.Value);
break;
case "maxlengthb":
((PulleyJointDef)mainDef).MaxLengthB = float.Parse(sn.Value);
break;
case "ratio":
((PulleyJointDef)mainDef).Ratio = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Revolute:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((RevoluteJointDef)mainDef).EnableLimit = bool.Parse(sn.Value);
break;
case "enablemotor":
((RevoluteJointDef)mainDef).EnableMotor = bool.Parse(sn.Value);
break;
case "localanchora":
((RevoluteJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RevoluteJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
case "maxmotortorque":
((RevoluteJointDef)mainDef).MaxMotorTorque = float.Parse(sn.Value);
break;
case "motorspeed":
((RevoluteJointDef)mainDef).MotorSpeed = float.Parse(sn.Value);
break;
case "lowerangle":
((RevoluteJointDef)mainDef).LowerAngle = float.Parse(sn.Value);
break;
case "upperangle":
((RevoluteJointDef)mainDef).UpperAngle = float.Parse(sn.Value);
break;
case "referenceangle":
((RevoluteJointDef)mainDef).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Weld:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((WeldJointDef)mainDef).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WeldJointDef)mainDef).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Gear:
throw new Exception("Gear joint is unsupported");
}
switch (sn.Name.ToLower())
{
case "name":
name = sn.Value;
break;
case "bodya":
bodyA = int.Parse(sn.Value);
break;
case "bodyb":
bodyB = int.Parse(sn.Value);
break;
case "collideconnected":
collideConnected = bool.Parse(sn.Value);
break;
case "userdata":
userData = ReadSimpleType(sn, null, false);
break;
}
}
mainDef.CollideConnected = collideConnected;
mainDef.UserData = userData;
_joints.Add(new JointDefSerialized(mainDef, bodyA, bodyB, name));
}
}
break;
}
}
return data;
}
public ApplyForce()
{
m_world.Gravity = new Vec2(0.0f, 0.0f);
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position = new Vec2(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
FixtureDef sd = new FixtureDef();
sd.Shape = shape;
sd.Density = 0.0f;
sd.Restitution = k_restitution;
// Left vertical
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.SetAsEdge(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.SetAsEdge(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.SetAsEdge(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.R = new Mat22(0.3524f * (float)Math.PI);
xf1.Position = (xf1.R * new Vec2(1.0f, 0.0f));
Vec2[] vertices = new Vec2[3]
{
(xf1 * new Vec2(-1.0f, 0.0f)),
(xf1 * new Vec2(1.0f, 0.0f)),
(xf1 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly1 = new PolygonShape(vertices);
FixtureDef sd1 = new FixtureDef();
sd1.Shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.R = new Mat22(-0.3524f * (float)Math.PI);
xf2.Position = (xf2.R * new Vec2(-1.0f, 0.0f));
vertices = new Vec2[]
{
(xf2 * new Vec2(-1.0f, 0.0f)),
(xf2 * new Vec2(1.0f, 0.0f)),
(xf2 * new Vec2(0.0f, 0.5f))
};
PolygonShape poly2 = new PolygonShape(vertices);
FixtureDef sd2 = new FixtureDef();
sd2.Shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.AngularDamping = 5.0f;
bd.LinearDamping = 0.1f;
bd.Position = new Vec2(0.0f, 2.0f);
bd.Angle = (float)Math.PI;
bd.AllowSleep = false;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(sd1);
m_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.Shape = shape;
fd.Density = 1.0f;
fd.Friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.Dynamic;
bd.Position = new Vec2(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.LocalAnchorA = jd.LocalAnchorB = Vec2.Empty;
jd.BodyA = ground;
jd.BodyB = body;
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
public ApplyForce()
{
m_world.SetGravity(new Vec2(0.0f, 0.0f));
const float k_restitution = 0.4f;
Body ground;
{
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, 20.0f);
ground = m_world.CreateBody(bd);
EdgeShape shape = new EdgeShape();
FixtureDef sd = new FixtureDef();
sd.shape = shape;
sd.Density = 0.0f;
sd.restitution = k_restitution;
// Left vertical
shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(-20.0f, 20.0f));
ground.CreateFixture(sd);
// Right vertical
shape.Set(new Vec2(20.0f, -20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Top horizontal
shape.Set(new Vec2(-20.0f, 20.0f), new Vec2(20.0f, 20.0f));
ground.CreateFixture(sd);
// Bottom horizontal
shape.Set(new Vec2(-20.0f, -20.0f), new Vec2(20.0f, -20.0f));
ground.CreateFixture(sd);
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * (float)Math.PI);
xf1.p = xf1.q.GetXAxis();
Vec2[] vertices = new Vec2[3];
vertices[0] = Utilities.Mul(xf1, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf1, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf1, new Vec2(0.0f, 0.5f));
PolygonShape poly1 = new PolygonShape();
poly1.Set(vertices, 3);
FixtureDef sd1 = new FixtureDef();
sd1.shape = poly1;
sd1.Density = 4.0f;
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * (float)Math.PI);
xf2.p = -xf2.q.GetXAxis();
vertices[0] = Utilities.Mul(xf2, new Vec2(-1.0f, 0.0f));
vertices[1] = Utilities.Mul(xf2, new Vec2(1.0f, 0.0f));
vertices[2] = Utilities.Mul(xf2, new Vec2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape();
poly2.Set(vertices, 3);
FixtureDef sd2 = new FixtureDef();
sd2.shape = poly2;
sd2.Density = 2.0f;
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.angularDamping = 5.0f;
bd.linearDamping = 0.1f;
bd.Position.Set(0.0f, 2.0f);
bd.angle = (float)Math.PI;
bd.allowSleep = false;
m_body = m_world.CreateBody(bd);
m_body.CreateFixture(sd1);
m_body.CreateFixture(sd2);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 0.5f);
FixtureDef fd = new FixtureDef();
fd.shape = shape;
fd.Density = 1.0f;
fd.friction = 0.3f;
for (int i = 0; i < 10; ++i)
{
BodyDef bd = new BodyDef();
bd.type = BodyType._dynamicBody;
bd.Position.Set(0.0f, 5.0f + 1.54f * i);
Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
float gravity = 10.0f;
float I = body.GetInertia();
float mass = body.GetMass();
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0f * I / mass);
FrictionJointDef jd = new FrictionJointDef();
jd.localAnchorA.SetZero();
jd.localAnchorB.SetZero();
jd.bodyA = ground;
jd.bodyB = body;
jd.collideConnected = true;
jd.maxForce = mass * gravity;
jd.maxTorque = mass * radius * gravity;
m_world.CreateJoint(jd);
}
}
}
