public static RevoluteJoint CreateRevoluteJoint( World world, Body bodyA, Body bodyB, Vector2 anchor )
{
var localanchorA = bodyA.getLocalPoint( bodyB.getWorldPoint( anchor ) );
var joint = new RevoluteJoint( bodyA, bodyB, localanchorA, anchor );
world.addJoint( joint );
return joint;
}
public RopeGrabComponent(int entityId, RopeComponent ropeComponent, RevoluteJoint joint, float progress)
{
_entityId = entityId;
_ropeComponent = ropeComponent;
_joint = joint;
_progress = progress;
}
private void CreatePlayerPhysicsObjects(Vector2 gameWorldPosition)
{
MainFixture = FixtureFactory.CreateRectangle(Engine.Physics.World, 0.5f, 0.5f, 1);
MainFixture.CollisionFilter.CollisionCategories = (Category)(Global.CollisionCategories.Player);
Bodies.Add(MainFixture.Body);
MainFixture.Body.Position = Engine.Physics.PositionToPhysicsWorld(gameWorldPosition);
MainFixture.Body.BodyType = BodyType.Dynamic;
MainFixture.Body.SleepingAllowed = false;
WheelFixture = FixtureFactory.CreateCircle(Engine.Physics.World, 0.3f, 1.0f);
WheelFixture.CollisionFilter.CollisionCategories = (Category)(Global.CollisionCategories.Player);
Bodies.Add(WheelFixture.Body);
WheelFixture.Body.Position = MainFixture.Body.Position + new Vector2(0.0f, 0.6f);
WheelFixture.Body.BodyType = BodyType.Dynamic;
WheelFixture.Body.SleepingAllowed = false;
WheelFixture.Friction = 0.5f;
playerFAJ = JointFactory.CreateFixedAngleJoint(Engine.Physics.World, MainFixture.Body);
playerFAJ.BodyB = WheelFixture.Body;
wheelMotorRevJoint = JointFactory.CreateRevoluteJoint(MainFixture.Body, WheelFixture.Body, Vector2.Zero);
wheelMotorRevJoint.MaxMotorTorque = 10.0f;
wheelMotorRevJoint.MotorEnabled = true;
Engine.Physics.World.AddJoint(wheelMotorRevJoint);
}
/// <summary>
/// Creates a revolute joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchorB"></param>
/// <returns></returns>
public static RevoluteJoint CreateRevoluteJoint(World world, Body bodyA, Body bodyB, Vector2 anchorB)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(anchorB));
RevoluteJoint joint = new RevoluteJoint(bodyA, bodyB, localanchorA, anchorB);
world.AddJoint(joint);
return joint;
}
/// <summary>
/// Attaches the bodies with revolute joints.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="bodies">The bodies.</param>
/// <param name="localAnchorA">The local anchor A.</param>
/// <param name="localAnchorB">The local anchor B.</param>
/// <param name="connectFirstAndLast">if set to <c>true</c> [connect first and last].</param>
/// <param name="collideConnected">if set to <c>true</c> [collide connected].</param>
public static List<RevoluteJoint> AttachBodiesWithRevoluteJoint(World world, List<Body> bodies,
Vector2 localAnchorA,
Vector2 localAnchorB, bool connectFirstAndLast,
bool collideConnected)
{
List<RevoluteJoint> joints = new List<RevoluteJoint>(bodies.Count + 1);
for (int i = 1; i < bodies.Count; i++)
{
RevoluteJoint joint = new RevoluteJoint(bodies[i], bodies[i - 1], localAnchorA, localAnchorB);
joint.CollideConnected = collideConnected;
world.AddJoint(joint);
joints.Add(joint);
}
if (connectFirstAndLast)
{
RevoluteJoint lastjoint = new RevoluteJoint(bodies[0], bodies[bodies.Count - 1], localAnchorA,
localAnchorB);
lastjoint.CollideConnected = collideConnected;
world.AddJoint(lastjoint);
joints.Add(lastjoint);
}
return joints;
}
private Tumbler()
{
var ground = BodyFactory.CreateBody(World);
var body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 10.0f);
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(0.5f, 10.0f, new Vector2(10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(0.5f, 10.0f, new Vector2(-10.0f, 0.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, 10.0f), 0.0f);
body.CreateFixture(shape);
shape.SetAsBox(10.0f, 0.5f, new Vector2(0.0f, -10.0f), 0.0f);
body.CreateFixture(shape);
var jd = new RevoluteJoint(ground, body, new Vector2(0.0f, 10.0f), new Vector2(0.0f, 0.0f));
jd.ReferenceAngle = 0.0f;
jd.MotorSpeed = 0.05f * MathHelper.Pi;
jd.MaxMotorTorque = 1e8f;
jd.MotorEnabled = true;
World.AddJoint(jd);
}
public HumanoidBody(World world, Vector2 dimensions, object userData)
{
_torsoHeight = dimensions.Y - dimensions.X/2f;
Torso = BodyFactory.CreateRectangle(
world: world,
width: dimensions.X,
height: _torsoHeight,
density: 1f,
position: Vector2.UnitX*20,
userData: userData);
Torso.BodyType = BodyType.Dynamic;
Wheel = BodyFactory.CreateCircle(
world: world,
radius: dimensions.X/2f,
density: 1f,
position: Torso.Position + new Vector2(0, _torsoHeight/2),
userData: userData);
Wheel.BodyType = BodyType.Dynamic;
Wheel.Friction = float.MaxValue;
Wheel.Restitution = float.MinValue;
JointFactory.CreateFixedAngleJoint(world, Torso);
Motor = JointFactory.CreateRevoluteJoint(world, Torso, Wheel, Vector2.Zero);
Motor.MotorEnabled = true;
Motor.MaxMotorTorque = 10;
}
private ChainTest()
{
//Ground
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
const float y = 25.0f;
Body prevBody = ground;
for (int i = 0; i < 30; ++i)
{
Body body = BodyFactory.CreateRectangle(World, 1.2f, 0.25f, 20, new Vector2(0.5f + i, y));
body.BodyType = BodyType.Dynamic;
body.Friction = 0.2f;
Vector2 anchor = new Vector2(i, y);
RevoluteJoint joint = new RevoluteJoint(prevBody, body, anchor, true);
//The chain is breakable
joint.Breakpoint = 10000f;
World.AddJoint(joint);
prevBody = body;
}
}
}
public RopeNode(Body body, RevoluteJoint joint, float halfLength)
{
_ropeNodeTextures = ropeNodeTextures;
_body = body;
_joint = joint;
_halfLength = halfLength;
}
public CharacterComponent(int entityId, Body body, Body feet, RevoluteJoint feetJoint, CharacterClass characterClass)
{
_entityId = entityId;
_body = body;
_feet = feet;
_feetJoint = feetJoint;
_characterClass = characterClass;
}
public CompositePhysicsObject(World world, PhysicsObject physObA, PhysicsObject physObB, Vector2 relativeJointPosition)
{
this.physObA = physObA;
this.physObB = physObB;
revJoint = JointFactory.CreateRevoluteJoint(world, physObA.fixture.Body, physObB.fixture.Body, ConvertUnits.ToSimUnits(relativeJointPosition));
physObA.fixture.IgnoreCollisionWith(physObB.fixture);
physObB.fixture.IgnoreCollisionWith(physObA.fixture);
}
private RevoluteTest()
{
//Ground
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
Body bodyB = BodyFactory.CreateCircle(World, 0.5f, 5f, new Vector2(-10.0f, 20.0f));
bodyB.BodyType = BodyType.Dynamic;
const float w = 100.0f;
bodyB.AngularVelocity = w;
bodyB.LinearVelocity = new Vector2(-8.0f * w, 0.0f);
_joint = new RevoluteJoint(ground, bodyB, new Vector2(-10.0f, 12.0f), true);
_joint.MotorSpeed = 1.0f * Settings.Pi;
_joint.MaxMotorTorque = 10000.0f;
_joint.MotorEnabled = false;
_joint.LowerLimit = -0.25f * Settings.Pi;
_joint.UpperLimit = 0.5f * Settings.Pi;
_joint.LimitEnabled = true;
_joint.CollideConnected = true;
World.AddJoint(_joint);
}
{
Body ball = BodyFactory.CreateCircle(World, 3.0f, 5.0f, new Vector2(5.0f, 30.0f));
ball.BodyType = BodyType.Dynamic;
ball.CollisionCategories = Category.Cat1;
Vertices polygonVertices = PolygonTools.CreateRectangle(10.0f, 0.2f, new Vector2(-10.0f, 0.0f), 0.0f);
Body polygonBody = BodyFactory.CreatePolygon(World, polygonVertices, 2, new Vector2(20, 10));
polygonBody.BodyType = BodyType.Dynamic;
polygonBody.IsBullet = true;
RevoluteJoint joint = new RevoluteJoint(ground, polygonBody, new Vector2(20, 10), true);
joint.LowerLimit = -0.25f * Settings.Pi;
joint.UpperLimit = 0.0f * Settings.Pi;
joint.LimitEnabled = true;
World.AddJoint(joint);
}
// Tests mass computation of a small object far from the origin
{
Vertices verts = new Vertices(3);
verts.Add(new Vector2(17.63f, 36.31f));
verts.Add(new Vector2(17.52f, 36.69f));
verts.Add(new Vector2(17.19f, 36.36f));
Body polyShape = BodyFactory.CreatePolygon(World, verts, 1);
polyShape.BodyType = BodyType.Dynamic;
}
}
private RevoluteTest()
{
//Ground
var ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
//The big fixed wheel
CircleShape shape = new CircleShape(5.0f, 5);
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(-10.0f, 15.0f);
body.BodyType = BodyType.Dynamic;
body.CreateFixture(shape);
_fixedJoint = new FixedRevoluteJoint(body, Vector2.Zero, body.Position);
_fixedJoint.MotorSpeed = 0.25f * Settings.Pi;
_fixedJoint.MaxMotorTorque = 5000.0f;
_fixedJoint.MotorEnabled = true;
World.AddJoint(_fixedJoint);
// The small gear attached to the big one
Body body1 = BodyFactory.CreateGear(World, 1.5f, 10, 0.1f, 1, 1);
body1.Position = new Vector2(-10.0f, 12.0f);
body1.BodyType = BodyType.Dynamic;
_joint = new RevoluteJoint(body, body1, body.GetLocalPoint(body1.Position),
Vector2.Zero);
_joint.MotorSpeed = 1.0f * Settings.Pi;
_joint.MaxMotorTorque = 5000.0f;
_joint.MotorEnabled = true;
_joint.CollideConnected = false;
World.AddJoint(_joint);
CircleShape circle_shape = new CircleShape(3.0f, 5);
var circleBody = BodyFactory.CreateBody(World);
circleBody.Position = new Vector2(5.0f, 30.0f);
circleBody.BodyType = BodyType.Dynamic;
circleBody.CreateFixture(circle_shape);
PolygonShape polygonShape = new PolygonShape(2.0f);
polygonShape.SetAsBox(10.0f, 0.2f, new Vector2(-10.0f, 0.0f), 0.0f);
var polygon_body = BodyFactory.CreateBody(World);
polygon_body.Position = new Vector2(20.0f, 10.0f);
polygon_body.BodyType = BodyType.Dynamic;
polygon_body.IsBullet = true;
polygon_body.CreateFixture(polygonShape);
RevoluteJoint rjd = new RevoluteJoint(ground, polygon_body, new Vector2(20.0f, 10.0f));
rjd.LowerLimit = -0.25f * Settings.Pi;
rjd.UpperLimit = 0.0f;
rjd.LimitEnabled = true;
World.AddJoint(rjd);
}
}
private RopeTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
Body prevBody = ground;
PolygonShape largeShape = new PolygonShape(PolygonTools.CreateRectangle(1.5f, 1.5f), 100);
PolygonShape smallShape = new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.125f), 20);
const int N = 10;
const float y = 15;
for (int i = 0; i < N; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.5f + 1.0f * i, y);
if (i == N - 1)
{
Fixture fixture = body.CreateFixture(largeShape);
fixture.Friction = 0.2f;
fixture.CollisionCategories = Category.Cat2;
fixture.CollidesWith = Category.All & ~Category.Cat2;
body.Position = new Vector2(1.0f * i, y);
body.AngularDamping = 0.4f;
}
else
{
Fixture fixture = body.CreateFixture(smallShape);
fixture.Friction = 0.2f;
fixture.CollisionCategories = Category.Cat1;
fixture.CollidesWith = Category.All & ~Category.Cat2;
}
Vector2 anchor = new Vector2(i, y);
RevoluteJoint jd = new RevoluteJoint(prevBody, body, anchor, true);
jd.CollideConnected = false;
World.AddJoint(jd);
prevBody = body;
}
_rj = new RopeJoint(ground, prevBody, new Vector2(0, y), Vector2.Zero);
//FPE: The two following lines are actually not needed as FPE sets the MaxLength to a default value
const float extraLength = 0.01f;
_rj.MaxLength = N - 1.0f + extraLength;
World.AddJoint(_rj);
}
}
void physic_wheel_Initialysed(object sender, EventArgs e)
{
var RectangleA2 = BodyFactory.CreateRectangle(physic_wheel.world, 999999f, 999999f, 1.0f);
RectangleA2.BodyType = BodyType.Static;
RectangleA2.Position = new Vector2(0f, 0f);
RectangleA2.Rotation = 0f;
RectangleA2.CollisionCategories = Category.None;
var joint = new RevoluteJoint(physic_wheel.Body, RectangleA2, physic_wheel.physicWorld.UIToPhysic(wheel_cont,
new Point(wheel_cont.RenderSize.Width / 2.0, wheel_cont.RenderSize.Height / 2.0)), true)
{ MotorEnabled = true, MotorSpeed = -0.2f , MaxMotorTorque = 10};
physic_wheel.world.AddJoint(joint);
}
public override void InitJoint()
{
base.InitJoint ();
//
Vector3 p0 = BodyB.transform.TransformPoint(new Vector3(LocalAnchorB.x, LocalAnchorB.y, -5f));
joint = JointFactory.CreateRevoluteJoint(FSWorldComponent.PhysicsWorld, BodyA.PhysicsBody, BodyB.PhysicsBody, BodyB.PhysicsBody.GetLocalPoint(FSHelper.Vector3ToFVector2(p0)));
joint.CollideConnected = CollideConnected;
joint.LowerLimit = LowerLimit * Mathf.Deg2Rad;
joint.UpperLimit = UpperLimit * Mathf.Deg2Rad;
joint.LimitEnabled = LimitEnabled;
joint.MaxMotorTorque = MaxMotorTorque;
joint.MotorSpeed = MotorSpeed;
joint.MotorEnabled = MotorEnabled;
}
private BodyTypesTest()
{
//Ground
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
// Define attachment
{
_attachment = BodyFactory.CreateRectangle(World, 1, 4, 2);
_attachment.BodyType = BodyType.Dynamic;
_attachment.Position = new Vector2(0.0f, 3.0f);
}
// Define platform
{
_platform = BodyFactory.CreateRectangle(World, 8.0f, 1f, 2);
_platform.BodyType = BodyType.Dynamic;
_platform.Position = new Vector2(0.0f, 5.0f);
_platform.Friction = 0.6f;
RevoluteJoint rjd = new RevoluteJoint(_attachment, _platform, new Vector2(0, 5), true);
rjd.MaxMotorTorque = 50.0f;
rjd.MotorEnabled = true;
World.AddJoint(rjd);
PrismaticJoint pjd = new PrismaticJoint(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f), true);
pjd.MaxMotorForce = 1000.0f;
pjd.MotorEnabled = true;
pjd.LowerLimit = -10.0f;
pjd.UpperLimit = 10.0f;
pjd.LimitEnabled = true;
World.AddJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
Body body = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 2);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 8.0f);
body.Friction = 0.6f;
}
}
public SwingPlatform(World world, SwingPlatformData swingPlatformData)
{
width = swingPlatformData.Width;
height = swingPlatformData.Height;
body = BodyFactory.CreateRectangle(world, width, height, 1.0f);
body.Position = swingPlatformData.Center;
body.BodyType = BodyType.Dynamic;
anchor = BodyFactory.CreateCircle(world, 0.1f, 1.0f);
anchor.Position = swingPlatformData.Center;
anchor.BodyType = BodyType.Static;
RevoluteJoint revoluteJoint = new RevoluteJoint(body, anchor, new Vector2(0.0f, 0.0f), new Vector2(0.0f, 0.0f));
revoluteJoint.LowerLimit = -swingPlatformData.MaxAngle;
revoluteJoint.UpperLimit = swingPlatformData.MaxAngle;
revoluteJoint.LimitEnabled = true;
revoluteJoint.MaxMotorTorque = 10.0f;
revoluteJoint.MotorSpeed = 0.0f;
revoluteJoint.MotorEnabled = true;
world.AddJoint(revoluteJoint);
}
public Character(Game game, Scene scene, Vector2 position)
: base(game, scene)
{
texture = Game.Content.Load<Texture2D>("zombie");
ZBuffer = 0f;
width = Conversion.ToWorld(44);
height = Conversion.ToWorld(165);
body = BodyFactory.CreateCircle(scene.World, (width / 2f), 40);
body.Position = position - Vector2.UnitY * body.FixtureList[0].Shape.Radius / 2 + Vector2.UnitY * (height - width + width / 2.0f) / 2.0f;
body.BodyType = BodyType.Dynamic;
body.Friction = float.MaxValue;
body.UserData = this;
body.CollisionCategories = ElementCategory.CHARACTER;
body.SleepingAllowed = false;
body.OnCollision += new OnCollisionEventHandler(body_OnCollision);
body.OnSeparation += new OnSeparationEventHandler(body_OnSeparation);
torso = BodyFactory.CreateRectangle(scene.World, (width), (height - width + width / 2.0f), 40);
torso.Position = position - Vector2.UnitY * body.FixtureList[0].Shape.Radius / 2;
torso.BodyType = BodyType.Dynamic;
torso.FixedRotation = true;
torso.Friction = 0.0f;
torso.UserData = this;
torso.CollisionCategories = ElementCategory.CHARACTER;
torso.CollidesWith = Category.All & ~ElementCategory.ENERGY;
torso.SleepingAllowed = false;
//torso.OnCollision += new OnCollisionEventHandler(torso_OnCollision);
torso.OnSeparation += new OnSeparationEventHandler(torso_OnSeparation);
revoluteJoint = new RevoluteJoint(torso, body, new Vector2(0, (height - width + width / 2.0f) / 2.0f), Vector2.Zero);
revoluteJoint.CollideConnected = false;
scene.World.AddJoint(revoluteJoint);
State = new RunningCharacterState(scene, this);
}
public override Object PlacePhysicsObject(Microsoft.Xna.Framework.Vector2 position, FarseerPhysics.Dynamics.World world)
{
List<Fixture> list = world.TestPointAll(position);
if (pin.Checked && list.Count > 0)
{
FixedRevoluteJoint j = new FixedRevoluteJoint(list[0].Body, list[0].Body.GetLocalPoint(position), position);
if (motorEnabled.Checked)
{
j.MotorEnabled = true;
float speed;
float maxTorque;
if (float.TryParse(motorSpeed.Text, out speed)) j.MotorSpeed = speed;
if (float.TryParse(motorTorque.Text, out maxTorque)) j.MaxMotorTorque = maxTorque;
}
world.AddJoint(j);
return j;
}
if (list.Count > 1)
{
RevoluteJoint j = new RevoluteJoint(list[0].Body, list[1].Body, list[0].Body.GetLocalPoint(position), list[1].Body.GetLocalPoint(position));
if (motorEnabled.Checked)
{
j.MotorEnabled = true;
float speed;
float maxTorque;
if (float.TryParse(motorSpeed.Text, out speed)) j.MotorSpeed = speed;
if (float.TryParse(motorTorque.Text, out maxTorque)) j.MaxMotorTorque = maxTorque;
}
world.AddJoint(j);
return j;
}
return base.PlacePhysicsObject(position, world);
}
public Vehicle(Game game, World world, Vector2 position)
{
var chassisTexture = new TexturedGameEntity(game, position, 0, "Images/vehicle_body", 1);
parts = new List<PhysicsGameEntity>();
var chassisBody = BodyFactory.CreateRectangle(world, ConvertUnits.ToSimUnits(chassisTexture.Width), ConvertUnits.ToSimUnits(chassisTexture.Height), 10f, ConvertUnits.ToSimUnits(chassisTexture.Position));
body = new TexturedPhysicsEntity(game, world, CollisionCategoriesSettings.Vehicle, chassisTexture, chassisBody, new Vector2(chassisTexture.Width/2f, chassisTexture.Height/2f));
//var bodyVertices = new FileTextureReader(@"VerticesList\vehicle.txt").GetVertices();
//body = new TexturedPhysicsEntity(game,world,chassisTexture,bodyVertices,BodyType.Dynamic,10f);
float axisWidth = 5, axisHeight = 50;
Vector2 axisCentroid = new Vector2(axisWidth/2f, axisHeight/2f);
PhysicsGameEntity leftAxis = new PhysicsGameEntity(game, world, CollisionCategoriesSettings.Vehicle, BodyFactory.CreateRectangle(world, ConvertUnits.ToSimUnits(axisWidth), ConvertUnits.ToSimUnits(axisHeight), 10f, ConvertUnits.ToSimUnits(new Vector2(body.Position.X - 50, body.Position.Y + 15))), axisCentroid),
rightAxis = new PhysicsGameEntity(game, world, CollisionCategoriesSettings.Vehicle, BodyFactory.CreateRectangle(world, ConvertUnits.ToSimUnits(axisWidth), ConvertUnits.ToSimUnits(axisHeight), 10f, ConvertUnits.ToSimUnits(new Vector2(body.Position.X + 68, body.Position.Y + 15))), axisCentroid);
leftAxis.Angle = MathHelper.ToRadians(90);
leftWheel = new TexturedPhysicsEntity(game, world, CollisionCategoriesSettings.Vehicle, new TexturedGameEntity(game, new Vector2(leftAxis.Position.X, leftAxis.Position.Y + 20), 0, "Images/wheel_left", 1), 10f, BodyType.Static);
rightWheel = new TexturedPhysicsEntity(game, world, CollisionCategoriesSettings.Vehicle, new TexturedGameEntity(game, new Vector2(rightAxis.Position.X, rightAxis.Position.Y + 20), 0, "Images/wheel_right", 1), 10f, BodyType.Static);
ApplyToWheels();
parts.Add(body);
parts.Add(leftWheel);
parts.Add(rightWheel);
parts.Add(leftAxis);
parts.Add(rightAxis);
parts.ForEach(p => SetPartDynamics(p.Body));
leftAxisJoint = JointFactory.CreateRevoluteJoint(world, leftAxis.Body, leftWheel.Body, Vector2.Zero);
rightAxisJoint = JointFactory.CreateRevoluteJoint(world, rightAxis.Body, rightWheel.Body, Vector2.Zero);
//body.Body.BodyType = BodyType.Kinematic;
//JointFactory.CreateDistanceJoint(world, leftWheel.Body, rightWheel.Body, Vector2.Zero, Vector2.Zero);
JointFactory.CreateWeldJoint(world, body.Body, leftAxis.Body, ConvertUnits.ToSimUnits(leftAxis.Position));// ConvertUnits.ToSimUnits(new Vector2(axis1.Position.X - 40, axis1.Position.Y)), Vector2.Zero);// ConvertUnits.ToSimUnits(new Vector2(0,body.Position.Y)));
JointFactory.CreateWeldJoint(world, body.Body, rightAxis.Body, ConvertUnits.ToSimUnits(rightAxis.Position));//ConvertUnits.ToSimUnits(new Vector2(axis2.Position.X + 80, axis2.Position.Y)), Vector2.Zero);
}
private RevoluteTest()
{
//Ground
FixtureFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
//The big fixed wheel
CircleShape shape = new CircleShape(5.0f, 5);
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, 15.0f);
body.BodyType = BodyType.Dynamic;
body.CreateFixture(shape);
_fixedJoint = new FixedRevoluteJoint(body, Vector2.Zero, body.Position);
_fixedJoint.MotorSpeed = 0.25f*Settings.Pi;
_fixedJoint.MaxMotorTorque = 5000.0f;
_fixedJoint.MotorEnabled = true;
World.AddJoint(_fixedJoint);
// The small gear attached to the big one
List<Fixture> fixtures = FixtureFactory.CreateGear(World, 1.5f, 10, 0.1f, 1, 1);
fixtures[0].Body.Position = new Vector2(0.0f, 12.0f);
fixtures[0].Body.BodyType = BodyType.Dynamic;
_joint = new RevoluteJoint(body, fixtures[0].Body, body.GetLocalPoint(fixtures[0].Body.Position),
Vector2.Zero);
_joint.MotorSpeed = 1.0f*Settings.Pi;
_joint.MaxMotorTorque = 5000.0f;
_joint.MotorEnabled = true;
_joint.CollideConnected = false;
World.AddJoint(_joint);
}
}
public override void HandleInput()
{
InputHelper input = game.inputManager.inputHelper;
if (input.IsNewButtonPress(MouseButtons.LeftButton))
{
Vector2 position = ProjectionHelper.PixelToFarseer(input.MousePosition);
List<Fixture> list = game.farseerManager.world.TestPointAll(position);
if (list.Count > 1)
{
RevoluteJoint j = new RevoluteJoint(list[0].Body, list[1].Body, list[0].Body.GetLocalPoint(position), list[1].Body.GetLocalPoint(position));
game.farseerManager.world.AddJoint(j);
FormManager.Property.setSelectedObject(j);
}
}
}
private void CreateBody(World w, float x, float y)
{
world = w;
torso = BodyFactory.CreateRectangle(w, 60 * MainGame.PIXEL_TO_METER, 80 * MainGame.PIXEL_TO_METER, 1f);
torso.BodyType = BodyType.Dynamic;
torso.CollisionCategories = Category.Cat1;
torso.UserData = this;
legs = BodyFactory.CreateCircle(w, 32 * MainGame.PIXEL_TO_METER, 1f);
legs.BodyType = BodyType.Dynamic;
legs.Friction = 5.0f;
legs.CollisionCategories = Category.Cat1;
legs.UserData = this;
this.Position = new Vector2(x, y);
JointFactory.CreateFixedAngleJoint(w, torso);
axis = JointFactory.CreateRevoluteJoint(w, torso, legs, Vector2.Zero);
axis.CollideConnected = false;
axis.MotorEnabled = true;
axis.MotorSpeed = 0.0f;
axis.MaxMotorTorque = 10.0f;
}
private RopeTest()
{
Body ground;
{
ground = new Body(World);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
const float y = 15;
Body prevBody = ground;
PolygonShape largeShape = new PolygonShape(PolygonTools.CreateRectangle(1.5f, 1.5f), 100);
PolygonShape smallShape = new PolygonShape(PolygonTools.CreateRectangle(0.5f, 0.125f), 20);
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.5f + 1.0f * i, y);
if (i == Count - 1)
{
Fixture fixture = body.CreateFixture(largeShape);
fixture.Friction = 0.2f;
fixture.CollisionCategories = Category.Cat2;
fixture.CollidesWith = Category.All & ~Category.Cat2;
body.Position = new Vector2(1.0f * i, y);
body.AngularDamping = 0.4f;
}
else
{
Fixture fixture = body.CreateFixture(smallShape);
fixture.Friction = 0.2f;
fixture.CollisionCategories = Category.Cat1;
fixture.CollidesWith = Category.All & ~Category.Cat2;
}
Vector2 anchor = new Vector2(i, y);
RevoluteJoint jd = new RevoluteJoint(prevBody, body, prevBody.GetLocalPoint(ref anchor),
body.GetLocalPoint(ref anchor));
jd.CollideConnected = false;
World.AddJoint(jd);
prevBody = body;
}
_rj = new RopeJoint(ground, prevBody, new Vector2(0, y), Vector2.Zero);
const float extraLength = 0.01f;
_rj.MaxLength = Count - 1.0f + extraLength;
World.AddJoint(_rj);
}
}
public void Deserialize(World world, Stream stream)
{
world.Clear();
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
throw new Exception();
foreach (XMLFragmentElement main in root.Elements)
{
if (main.Name.ToLower() == "gravity")
{
world.Gravity = ReadVector(main);
}
}
foreach (XMLFragmentElement shapeElement in root.Elements)
{
if (shapeElement.Name.ToLower() == "shapes")
{
foreach (XMLFragmentElement n in shapeElement.Elements)
{
if (n.Name.ToLower() != "shape")
throw new Exception();
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true);
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "radius":
shape.Radius = float.Parse(sn.Value);
break;
case "position":
shape.Position = ReadVector(sn);
break;
default:
throw new Exception();
}
}
_shapes.Add(shape);
}
break;
case ShapeType.Polygon:
{
PolygonShape shape = new PolygonShape();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List<Vector2> verts = new List<Vector2>();
foreach (XMLFragmentElement vert in sn.Elements)
verts.Add(ReadVector(vert));
shape.Set(new Vertices(verts.ToArray()));
}
break;
case "centroid":
shape.MassData.Centroid = ReadVector(sn);
break;
}
}
_shapes.Add(shape);
}
break;
case ShapeType.Edge:
{
EdgeShape shape = new EdgeShape();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "hasvertex0":
shape.HasVertex0 = bool.Parse(sn.Value);
break;
case "hasvertex3":
shape.HasVertex0 = bool.Parse(sn.Value);
break;
case "vertex0":
shape.Vertex0 = ReadVector(sn);
break;
case "vertex1":
shape.Vertex1 = ReadVector(sn);
break;
case "vertex2":
shape.Vertex2 = ReadVector(sn);
break;
case "vertex3":
shape.Vertex3 = ReadVector(sn);
break;
default:
throw new Exception();
}
}
_shapes.Add(shape);
}
break;
}
}
}
}
foreach (XMLFragmentElement fixtureElement in root.Elements)
{
if (fixtureElement.Name.ToLower() == "fixtures")
{
foreach (XMLFragmentElement n in fixtureElement.Elements)
{
Fixture fixture = new Fixture();
if (n.Name.ToLower() != "fixture")
throw new Exception();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "shape":
fixture.Shape = _shapes[int.Parse(sn.Value)];
break;
case "density":
fixture.Shape.Density = float.Parse(sn.Value);
break;
case "filterdata":
foreach (XMLFragmentElement ssn in sn.Elements)
{
switch (ssn.Name.ToLower())
{
case "categorybits":
fixture._collisionCategories = (Category)int.Parse(ssn.Value);
break;
case "maskbits":
fixture._collidesWith = (Category)int.Parse(ssn.Value);
break;
case "groupindex":
fixture._collisionGroup = short.Parse(ssn.Value);
break;
}
}
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;
}
}
_fixtures.Add(fixture);
}
}
}
foreach (XMLFragmentElement bodyElement in root.Elements)
{
if (bodyElement.Name.ToLower() == "bodies")
{
foreach (XMLFragmentElement n in bodyElement.Elements)
{
Body body = new Body(world);
if (n.Name.ToLower() != "body")
throw new Exception();
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true);
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "active":
if (bool.Parse(sn.Value))
body.Flags |= BodyFlags.Enabled;
else
body.Flags &= ~BodyFlags.Enabled;
break;
case "allowsleep":
body.SleepingAllowed = bool.Parse(sn.Value);
break;
case "angle":
{
Vector2 position = body.Position;
body.SetTransformIgnoreContacts(ref position, 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.IsBullet = bool.Parse(sn.Value);
break;
case "fixedrotation":
body.FixedRotation = bool.Parse(sn.Value);
break;
case "lineardamping":
body.LinearDamping = float.Parse(sn.Value);
break;
case "linearvelocity":
body.LinearVelocity = ReadVector(sn);
break;
case "position":
{
float rotation = body.Rotation;
Vector2 position = ReadVector(sn);
body.SetTransformIgnoreContacts(ref position, rotation);
}
break;
case "userdata":
body.UserData = ReadSimpleType(sn, null, false);
break;
case "fixtures":
{
foreach (XMLFragmentElement v in sn.Elements)
{
Fixture blueprint = _fixtures[int.Parse(v.Value)];
Fixture f = new Fixture(body, blueprint.Shape, blueprint.CollisionCategories);
f.Restitution = blueprint.Restitution;
f.UserData = blueprint.UserData;
f.Friction = blueprint.Friction;
f.CollidesWith = blueprint.CollidesWith;
f.CollisionGroup = blueprint.CollisionGroup;
}
break;
}
}
}
_bodies.Add(body);
}
}
}
foreach (XMLFragmentElement jointElement in root.Elements)
{
if (jointElement.Name.ToLower() == "joints")
{
foreach (XMLFragmentElement n in jointElement.Elements)
{
Joint joint;
if (n.Name.ToLower() != "joint")
throw new Exception();
JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true);
int bodyAIndex = -1, bodyBIndex = -1;
bool collideConnected = false;
object userData = null;
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "bodya":
bodyAIndex = int.Parse(sn.Value);
break;
case "bodyb":
bodyBIndex = int.Parse(sn.Value);
break;
case "collideconnected":
collideConnected = bool.Parse(sn.Value);
break;
case "userdata":
userData = ReadSimpleType(sn, null, false);
break;
}
}
Body bodyA = _bodies[bodyAIndex];
Body bodyB = _bodies[bodyBIndex];
switch (type)
{
case JointType.Distance:
joint = new DistanceJoint();
break;
case JointType.Friction:
joint = new FrictionJoint();
break;
case JointType.Line:
joint = new LineJoint();
break;
case JointType.Prismatic:
joint = new PrismaticJoint();
break;
case JointType.Pulley:
joint = new PulleyJoint();
break;
case JointType.Revolute:
joint = new RevoluteJoint();
break;
case JointType.Weld:
joint = new WeldJoint();
break;
case JointType.Rope:
joint = new RopeJoint();
break;
case JointType.Angle:
joint = new AngleJoint();
break;
case JointType.Slider:
joint = new SliderJoint();
break;
case JointType.Gear:
throw new Exception("GearJoint is not supported.");
default:
throw new Exception("Invalid or unsupported joint.");
}
joint.CollideConnected = collideConnected;
joint.UserData = userData;
joint.BodyA = bodyA;
joint.BodyB = bodyB;
_joints.Add(joint);
world.AddJoint(joint);
foreach (XMLFragmentElement sn in n.Elements)
{
// check for specific nodes
switch (type)
{
case JointType.Distance:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((DistanceJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((DistanceJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "length":
((DistanceJoint)joint).Length = float.Parse(sn.Value);
break;
case "localanchora":
((DistanceJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((DistanceJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Friction:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((FrictionJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((FrictionJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxforce":
((FrictionJoint)joint).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((FrictionJoint)joint).MaxTorque = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Line:
{
switch (sn.Name.ToLower())
{
case "enablemotor":
((LineJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((LineJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((LineJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "motorspeed":
((LineJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "dampingratio":
((LineJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "maxmotortorque":
((LineJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "frequencyhz":
((LineJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "localxaxis":
((LineJoint)joint).LocalXAxis = ReadVector(sn);
break;
}
}
break;
case JointType.Prismatic:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((PrismaticJoint)joint).LimitEnabled = bool.Parse(sn.Value);
break;
case "enablemotor":
((PrismaticJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((PrismaticJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PrismaticJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "local1axis1":
((PrismaticJoint)joint).LocalXAxis1 = ReadVector(sn);
break;
case "maxmotorforce":
((PrismaticJoint)joint).MaxMotorForce = float.Parse(sn.Value);
break;
case "motorspeed":
((PrismaticJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "lowertranslation":
((PrismaticJoint)joint).LowerLimit = float.Parse(sn.Value);
break;
case "uppertranslation":
((PrismaticJoint)joint).UpperLimit = float.Parse(sn.Value);
break;
case "referenceangle":
((PrismaticJoint)joint).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Pulley:
{
switch (sn.Name.ToLower())
{
case "groundanchora":
((PulleyJoint)joint).GroundAnchorA = ReadVector(sn);
break;
case "groundanchorb":
((PulleyJoint)joint).GroundAnchorB = ReadVector(sn);
break;
case "lengtha":
((PulleyJoint)joint).LengthA = float.Parse(sn.Value);
break;
case "lengthb":
((PulleyJoint)joint).LengthB = float.Parse(sn.Value);
break;
case "localanchora":
((PulleyJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((PulleyJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxlengtha":
((PulleyJoint)joint).MaxLengthA = float.Parse(sn.Value);
break;
case "maxlengthb":
((PulleyJoint)joint).MaxLengthB = float.Parse(sn.Value);
break;
case "ratio":
((PulleyJoint)joint).Ratio = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Revolute:
{
switch (sn.Name.ToLower())
{
case "enablelimit":
((RevoluteJoint)joint).LimitEnabled = bool.Parse(sn.Value);
break;
case "enablemotor":
((RevoluteJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((RevoluteJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RevoluteJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxmotortorque":
((RevoluteJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "motorspeed":
((RevoluteJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "lowerangle":
((RevoluteJoint)joint).LowerLimit = float.Parse(sn.Value);
break;
case "upperangle":
((RevoluteJoint)joint).UpperLimit = float.Parse(sn.Value);
break;
case "referenceangle":
((RevoluteJoint)joint).ReferenceAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Weld:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((WeldJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WeldJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
case JointType.Rope:
{
switch (sn.Name.ToLower())
{
case "localanchora":
((RopeJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((RopeJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "maxlength":
((RopeJoint)joint).MaxLength = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Gear:
throw new Exception("Gear joint is unsupported");
case JointType.Angle:
{
switch (sn.Name.ToLower())
{
case "biasfactor":
((AngleJoint)joint).BiasFactor = float.Parse(sn.Value);
break;
case "maximpulse":
((AngleJoint)joint).MaxImpulse = float.Parse(sn.Value);
break;
case "softness":
((AngleJoint)joint).Softness = float.Parse(sn.Value);
break;
case "targetangle":
((AngleJoint)joint).TargetAngle = float.Parse(sn.Value);
break;
}
}
break;
case JointType.Slider:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((SliderJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((SliderJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "maxlength":
((SliderJoint)joint).MaxLength = float.Parse(sn.Value);
break;
case "minlength":
((SliderJoint)joint).MinLength = float.Parse(sn.Value);
break;
case "localanchora":
((SliderJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((SliderJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
}
}
}
}
}
}
private BodyTypesTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
// Define attachment
{
_attachment = BodyFactory.CreateBody(World);
_attachment.BodyType = BodyType.Dynamic;
_attachment.Position = new Vector2(0.0f, 3.0f);
Vertices box = PolygonTools.CreateRectangle(0.5f, 2.0f);
PolygonShape shape = new PolygonShape(box, 2);
_attachment.CreateFixture(shape);
}
// Define platform
{
_platform = BodyFactory.CreateBody(World);
_platform.BodyType = BodyType.Dynamic;
_platform.Position = new Vector2(0.0f, 5.0f);
Vertices box = PolygonTools.CreateRectangle(4.0f, 0.5f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = _platform.CreateFixture(shape);
fixture.Friction = 0.6f;
RevoluteJoint rjd = new RevoluteJoint(_attachment, _platform,
_attachment.GetLocalPoint(_platform.Position),
Vector2.Zero);
rjd.MaxMotorTorque = 50.0f;
rjd.MotorEnabled = true;
World.AddJoint(rjd);
//FixedPrismaticJoint pjd = new FixedPrismaticJoint(_platform, new Vector2(0.0f, 5.0f),
// new Vector2(1.0f, 0.0f));
//pjd.MaxMotorForce = 1000.0f;
//pjd.MotorEnabled = true;
//pjd.LowerLimit = -10.0f;
//pjd.UpperLimit = 10.0f;
//pjd.LimitEnabled = true;
//World.AddJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 8.0f);
Vertices box = PolygonTools.CreateRectangle(0.75f, 0.75f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.6f;
}
}
/// <summary>
/// Requires two existing revolute or prismatic joints (any combination will work).
/// The provided joints must attach a dynamic body to a static body.
/// </summary>
/// <param name="joint1">The first joint.</param>
/// <param name="joint2">The second joint.</param>
/// <param name="ratio">The ratio.</param>
public GearJoint(Joint joint1, Joint joint2, float ratio = 1f)
{
JointType = JointType.Gear;
Joint1 = joint1;
Joint2 = joint2;
Ratio = ratio;
_typeA = joint1.JointType;
_typeB = joint2.JointType;
Debug.Assert(_typeA == JointType.Revolute || _typeA == JointType.Prismatic || _typeA == JointType.FixedRevolute || _typeA == JointType.FixedPrismatic);
Debug.Assert(_typeB == JointType.Revolute || _typeB == JointType.Prismatic || _typeB == JointType.FixedRevolute || _typeB == JointType.FixedPrismatic);
float coordinateA, coordinateB;
// TODO_ERIN there might be some problem with the joint edges in b2Joint.
_bodyC = Joint1.BodyA;
_bodyA = Joint1.BodyB;
// Get geometry of joint1
Transform xfA = _bodyA.Xf;
float aA = _bodyA.Sweep.A;
Transform xfC = _bodyC.Xf;
float aC = _bodyC.Sweep.A;
if (_typeA == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)joint1;
_localAnchorC = revolute.LocalAnchorA;
_localAnchorA = revolute.LocalAnchorB;
_referenceAngleA = revolute.ReferenceAngle;
_localAxisC = Vector2.Zero;
coordinateA = aA - aC - _referenceAngleA;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)joint1;
_localAnchorC = prismatic.LocalAnchorA;
_localAnchorA = prismatic.LocalAnchorB;
_referenceAngleA = prismatic.ReferenceAngle;
_localAxisC = prismatic.LocalXAxisA;
Vector2 pC = _localAnchorC;
Vector2 pA = MathUtils.MulT(xfC.q, MathUtils.Mul(xfA.q, _localAnchorA) + (xfA.p - xfC.p));
coordinateA = Vector2.Dot(pA - pC, _localAxisC);
}
_bodyD = Joint2.BodyA;
_bodyB = Joint2.BodyB;
// Get geometry of joint2
Transform xfB = _bodyB.Xf;
float aB = _bodyB.Sweep.A;
Transform xfD = _bodyD.Xf;
float aD = _bodyD.Sweep.A;
if (_typeB == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)joint2;
_localAnchorD = revolute.LocalAnchorA;
_localAnchorB = revolute.LocalAnchorB;
_referenceAngleB = revolute.ReferenceAngle;
_localAxisD = Vector2.Zero;
coordinateB = aB - aD - _referenceAngleB;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)joint2;
_localAnchorD = prismatic.LocalAnchorA;
_localAnchorB = prismatic.LocalAnchorB;
_referenceAngleB = prismatic.ReferenceAngle;
_localAxisD = prismatic.LocalXAxisA;
Vector2 pD = _localAnchorD;
Vector2 pB = MathUtils.MulT(xfD.q, MathUtils.Mul(xfB.q, _localAnchorB) + (xfB.p - xfD.p));
coordinateB = Vector2.Dot(pB - pD, _localAxisD);
}
_ratio = ratio;
_constant = coordinateA + _ratio * coordinateB;
_impulse = 0.0f;
}
private PinballTest()
{
// Ground body
Body ground;
{
ground = BodyFactory.CreateBody(World);
Vertices vertices = new Vertices(5);
vertices.Add(new Vector2(0.0f, -2.0f));
vertices.Add(new Vector2(8.0f, 6.0f));
vertices.Add(new Vector2(8.0f, 20.0f));
vertices.Add(new Vector2(-8.0f, 20.0f));
vertices.Add(new Vector2(-8.0f, 6.0f));
ChainShape chain = new ChainShape(vertices, true);
ground.CreateFixture(chain);
}
// Flippers
{
Vector2 p1 = new Vector2(-2.0f, 0f);
Vector2 p2 = new Vector2(2.0f, 0f);
Body leftFlipper = BodyFactory.CreateBody(World, p1);
leftFlipper.BodyType = BodyType.Dynamic;
Body rightFlipper = BodyFactory.CreateBody(World, p2);
rightFlipper.BodyType = BodyType.Dynamic;
PolygonShape box = new PolygonShape(1);
box.Vertices = PolygonTools.CreateRectangle(1.75f, 0.1f);
leftFlipper.CreateFixture(box);
rightFlipper.CreateFixture(box);
_leftJoint = new RevoluteJoint(ground, leftFlipper, p1, Vector2.Zero);
_leftJoint.MaxMotorTorque = 1000.0f;
_leftJoint.LimitEnabled = true;
_leftJoint.MotorEnabled = true;
_leftJoint.MotorSpeed = 0.0f;
_leftJoint.LowerLimit = -30.0f * Settings.Pi / 180.0f;
_leftJoint.UpperLimit = 5.0f * Settings.Pi / 180.0f;
World.AddJoint(_leftJoint);
_rightJoint = new RevoluteJoint(ground, rightFlipper, p2, Vector2.Zero);
_rightJoint.MaxMotorTorque = 1000.0f;
_rightJoint.LimitEnabled = true;
_rightJoint.MotorEnabled = true;
_rightJoint.MotorSpeed = 0.0f;
_rightJoint.LowerLimit = -5.0f * Settings.Pi / 180.0f;
_rightJoint.UpperLimit = 30.0f * Settings.Pi / 180.0f;
World.AddJoint(_rightJoint);
}
// Circle character
{
_ball = BodyFactory.CreateBody(World, new Vector2(1.0f, 15.0f));
_ball.BodyType = BodyType.Dynamic;
_ball.IsBullet = true;
_ball.CreateFixture(new CircleShape(0.2f, 1.0f));
}
}
private BridgeTest()
{
Body ground;
{
ground = new Body(World);
PolygonShape shape = new PolygonShape(0);
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f*i, 5.0f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.2f;
Vector2 anchor = new Vector2(-0.5f, 0.0f);
RevoluteJoint jd = new RevoluteJoint(prevBody, body,
prevBody.GetLocalPoint(body.GetWorldPoint(anchor)), anchor);
World.AddJoint(jd);
prevBody = body;
}
Vector2 anchor2 = new Vector2(0.5f, 0.0f);
RevoluteJoint jd2 = new RevoluteJoint(ground, prevBody,
ground.GetLocalPoint(prevBody.GetWorldPoint(anchor2)), anchor2);
World.AddJoint(jd2);
}
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f*i, 12.0f);
body.CreateFixture(shape);
}
for (int i = 0; i < 3; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f*i, 10.0f);
body.CreateFixture(shape);
}
}
/// <summary>
/// Requires two existing revolute or prismatic joints (any combination will work).
/// The provided joints must attach a dynamic body to a static body.
/// </summary>
/// <param name="jointA">The first joint.</param>
/// <param name="jointB">The second joint.</param>
/// <param name="ratio">The ratio.</param>
/// <param name="bodyA">The first body</param>
/// <param name="bodyB">The second body</param>
public GearJoint(Body bodyA, Body bodyB, Joint jointA, Joint jointB, float ratio = 1f)
{
JointType = JointType.Gear;
BodyA = bodyA;
BodyB = bodyB;
JointA = jointA;
JointB = jointB;
Ratio = ratio;
_typeA = jointA.JointType;
_typeB = jointB.JointType;
Debug.Assert(_typeA == JointType.Revolute || _typeA == JointType.Prismatic || _typeA == JointType.FixedRevolute || _typeA == JointType.FixedPrismatic);
Debug.Assert(_typeB == JointType.Revolute || _typeB == JointType.Prismatic || _typeB == JointType.FixedRevolute || _typeB == JointType.FixedPrismatic);
float coordinateA, coordinateB;
// TODO_ERIN there might be some problem with the joint edges in b2Joint.
_bodyC = JointA.BodyA;
_bodyA = JointA.BodyB;
// Get geometry of joint1
Transform xfA = _bodyA._xf;
float aA = _bodyA._sweep.A;
Transform xfC = _bodyC._xf;
float aC = _bodyC._sweep.A;
if (_typeA == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)jointA;
_localAnchorC = revolute.LocalAnchorA;
_localAnchorA = revolute.LocalAnchorB;
_referenceAngleA = revolute.ReferenceAngle;
_localAxisC = Vector2.Zero;
coordinateA = aA - aC - _referenceAngleA;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)jointA;
_localAnchorC = prismatic.LocalAnchorA;
_localAnchorA = prismatic.LocalAnchorB;
_referenceAngleA = prismatic.ReferenceAngle;
_localAxisC = prismatic.LocalXAxis;
Vector2 pC = _localAnchorC;
Vector2 pA = Complex.Divide(Complex.Multiply(ref _localAnchorA, ref xfA.q) + (xfA.p - xfC.p), ref xfC.q);
coordinateA = Vector2.Dot(pA - pC, _localAxisC);
}
_bodyD = JointB.BodyA;
_bodyB = JointB.BodyB;
// Get geometry of joint2
Transform xfB = _bodyB._xf;
float aB = _bodyB._sweep.A;
Transform xfD = _bodyD._xf;
float aD = _bodyD._sweep.A;
if (_typeB == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)jointB;
_localAnchorD = revolute.LocalAnchorA;
_localAnchorB = revolute.LocalAnchorB;
_referenceAngleB = revolute.ReferenceAngle;
_localAxisD = Vector2.Zero;
coordinateB = aB - aD - _referenceAngleB;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)jointB;
_localAnchorD = prismatic.LocalAnchorA;
_localAnchorB = prismatic.LocalAnchorB;
_referenceAngleB = prismatic.ReferenceAngle;
_localAxisD = prismatic.LocalXAxis;
Vector2 pD = _localAnchorD;
Vector2 pB = Complex.Divide(Complex.Multiply(ref _localAnchorB, ref xfB.q) + (xfB.p - xfD.p), ref xfD.q);
coordinateB = Vector2.Dot(pB - pD, _localAxisD);
}
_ratio = ratio;
_constant = coordinateA + _ratio * coordinateB;
_impulse = 0.0f;
}
// Create servo bot entity
public static int createServoBot(int ownerId, int maxHp)
{
int entityId = EntityManager.createEntity();
PositionComponent ownerPositionComponent = EntityManager.getPositionComponent(ownerId);
FactionComponent ownerFactionComponent = EntityManager.getFactionComponent(ownerId);
Vector2 feetOffset = new Vector2(0, 0.25f);
Body body;
Body feet;
RevoluteJoint feetJoint;
World world = SystemManager.physicsSystem.world;
body = BodyFactory.CreateRectangle(world, 0.5f, 0.5f, 0.5f, ownerPositionComponent.position);
body.BodyType = BodyType.Dynamic;
body.UserData = entityId;
body.FixedRotation = true;
body.Friction = 0f;
body.UserData = entityId;
body.CollisionCategories = (ushort)CollisionCategory.Characters;
body.OnCollision += new OnCollisionEventHandler(playerCharacterBodyOnCollision);
feet = BodyFactory.CreateCircle(world, 0.25f, 1f, ownerPositionComponent.position + feetOffset);
feet.BodyType = BodyType.Dynamic;
feet.UserData = entityId;
feet.Friction = 5f;
feet.CollisionCategories = (ushort)CollisionCategory.CharacterFeet;
feet.CollidesWith = (ushort)CollisionCategory.Terrain;
feetJoint = new RevoluteJoint(body, feet, feetOffset, Vector2.Zero, false);
feetJoint.MotorEnabled = true;
feetJoint.MaxMotorTorque = 100f;
feetJoint.MotorSpeed = 0f;
world.AddJoint(feetJoint);
// Owner components
EntityManager.addComponent(ownerId, new HasProxyComponent(ownerId, entityId));
// Bot components
EntityManager.addComponent(entityId, new IsProxyComponent(entityId, ownerId));
EntityManager.addComponent(entityId, new CharacterComponent(entityId, body, feet, feetJoint, CharacterClass.Fighter));
EntityManager.addComponent(entityId, new StatsComponent(entityId, maxHp, maxHp, 10, 10, 10, 100));
EntityManager.addComponent(entityId, new PositionComponent(entityId, body));
EntityManager.addComponent(entityId, new IgnoreRopeRaycastComponent(entityId));
EntityManager.addComponent(entityId, new IgnoreBridgeRaycastComponent(entityId));
EntityManager.addComponent(entityId, new FactionComponent(entityId, ownerFactionComponent.faction, ownerFactionComponent.hostileFaction));
EntityManager.addComponent(entityId, new RenderHealthComponent(entityId));
EntityManager.addComponent(entityId, new PerformingSkillsComponent(entityId));
EntityManager.addComponent(entityId, new ExternalMovementSpeedsComponent(entityId));
EntityManager.addComponent(entityId, new AffectedBySpellEntitiesComponent(entityId));
EntityManager.addComponent(entityId, new PhysicsComponent(entityId, new List<Body>(new[] { body, feet })));
EntityManager.addComponent(entityId, new RestoreProxyPositionTargetComponent(entityId));
EntityManager.addComponent(entityId, new AnimationComponent(entityId, AnimationCategory.ServoBot, AnimationType.Idle, 3));
return entityId;
}
/// <summary>
/// Requires two existing revolute or prismatic joints (any combination will work).
/// The provided joints must attach a dynamic body to a static body.
/// </summary>
/// <param name="jointA">The first joint.</param>
/// <param name="jointB">The second joint.</param>
/// <param name="ratio">The ratio.</param>
public GearJoint(Joint jointA, Joint jointB, float ratio)
: base(jointA.BodyA, jointA.BodyA)
{
this.JointType = JointType.Gear;
this.JointA = jointA;
this.JointB = jointB;
this.Ratio = ratio;
JointType type1 = jointA.JointType;
JointType type2 = jointB.JointType;
// Make sure its the right kind of joint
Debug.Assert(type1 == JointType.Revolute ||
type1 == JointType.Prismatic);
Debug.Assert(type2 == JointType.Revolute ||
type2 == JointType.Prismatic);
// In the case of a prismatic and revolute joint, the first body must be static.
if (type1 == JointType.Revolute || type1 == JointType.Prismatic)
{
Debug.Assert(jointA.BodyB.BodyType == BodyType.Static);
}
if (type2 == JointType.Revolute || type2 == JointType.Prismatic)
{
Debug.Assert(jointB.BodyB.BodyType == BodyType.Static);
}
float coordinate1 = 0.0f, coordinate2 = 0.0f;
switch (type1)
{
case JointType.Revolute:
this.BodyA = jointA.BodyA;
this._revolute1 = (RevoluteJoint)jointA;
this.LocalAnchor1 = this._revolute1.LocalAnchorA;
coordinate1 = this._revolute1.JointAngle;
break;
case JointType.Prismatic:
this.BodyA = jointA.BodyA;
this._prismatic1 = (PrismaticJoint)jointA;
this.LocalAnchor1 = this._prismatic1.LocalAnchorA;
coordinate1 = this._prismatic1.JointTranslation;
break;
}
switch (type2)
{
case JointType.Revolute:
this.BodyB = jointB.BodyA;
this._revolute2 = (RevoluteJoint)jointB;
this.LocalAnchor2 = this._revolute2.LocalAnchorA;
coordinate2 = this._revolute2.JointAngle;
break;
case JointType.Prismatic:
this.BodyB = jointB.BodyA;
this._prismatic2 = (PrismaticJoint)jointB;
this.LocalAnchor2 = this._prismatic2.LocalAnchorA;
coordinate2 = this._prismatic2.JointTranslation;
break;
}
this._ant = coordinate1 + this.Ratio * coordinate2;
}
