protected override Joint CreateJoint(Body bodyA, Body bodyB)
{
if (bodyA == null || bodyB == null) return null;
RopeJoint joint = new RopeJoint(bodyA, bodyB, Vector2.Zero, Vector2.Zero);
Scene.PhysicsWorld.AddJoint(joint);
return joint;
}
public static RopeJoint CreateRopeJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false)
{
RopeJoint ropeJoint = new RopeJoint(bodyA, bodyB, anchorA, anchorB, useWorldCoordinates);
world.Add(ropeJoint);
return(ropeJoint);
}
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 > 0)
{
if (startBody == null)
{
startBody = list[0].Body;
startBodyLocal = startBody.GetLocalPoint(position);
}
else
{
Body endBody = list[0].Body;
Vector2 endBodyLocal = endBody.GetLocalPoint(position);
RopeJoint j = new RopeJoint(startBody, endBody, startBodyLocal, endBodyLocal);
j.CollideConnected = true;
game.farseerManager.world.AddJoint(j);
FormManager.Property.setSelectedObject(j);
startBody = null;
}
}
}
}
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;
}
}
}
}
}
}
void DefaultJoints()
{
//b.LAnkleDef.body1 = LFoot;
//b.LAnkleDef.body2 = LCalf;
//b.RAnkleDef.body1 = RFoot;
//b.RAnkleDef.body2 = RCalf;
{ // ankles
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(-.045f, -.75f);
Joints[(int)BipedJointIndex.LAnkle].LocalAnchorA = Joints[(int)BipedJointIndex.RAnkle].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.LFoot].Position;
Joints[(int)BipedJointIndex.LAnkle].LocalAnchorB = Joints[(int)BipedJointIndex.RAnkle].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.LCalf].Position;
Joints[(int)BipedJointIndex.LAnkle].ReferenceAngle = Joints[(int)BipedJointIndex.RAnkle].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LAnkle].LowerLimit = Joints[(int)BipedJointIndex.RAnkle].LowerLimit = ReverseAngle(-0.523598776f);
Joints[(int)BipedJointIndex.LAnkle].UpperLimit = Joints[(int)BipedJointIndex.RAnkle].UpperLimit = ReverseAngle(0.523598776f);
}
//b.LKneeDef.body1 = LCalf;
//b.LKneeDef.body2 = LThigh;
//b.RKneeDef.body1 = RCalf;
//b.RKneeDef.body2 = RThigh;
{ // knees
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(-.030f, -.355f);
Joints[(int)BipedJointIndex.LKnee].LocalAnchorA = Joints[(int)BipedJointIndex.RKnee].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.LCalf].Position;
Joints[(int)BipedJointIndex.LKnee].LocalAnchorB = Joints[(int)BipedJointIndex.RKnee].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.LThigh].Position;
Joints[(int)BipedJointIndex.LKnee].ReferenceAngle = Joints[(int)BipedJointIndex.RKnee].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LKnee].LowerLimit = Joints[(int)BipedJointIndex.RKnee].LowerLimit = ReverseAngle(0);
Joints[(int)BipedJointIndex.LKnee].UpperLimit = Joints[(int)BipedJointIndex.RKnee].UpperLimit = ReverseAngle(2.61799388f);
}
//b.LHipDef.body1 = LThigh;
//b.LHipDef.body2 = Pelvis;
//b.RHipDef.body1 = RThigh;
//b.RHipDef.body2 = Pelvis;
{ // hips
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(.005f, -.045f);
Joints[(int)BipedJointIndex.LHip].LocalAnchorA = Joints[(int)BipedJointIndex.RHip].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.LThigh].Position;
Joints[(int)BipedJointIndex.LHip].LocalAnchorB = Joints[(int)BipedJointIndex.RHip].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.Pelvis].Position;
Joints[(int)BipedJointIndex.LHip].ReferenceAngle = Joints[(int)BipedJointIndex.RHip].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LHip].LowerLimit = Joints[(int)BipedJointIndex.RHip].LowerLimit = ReverseAngle(-0.76892803f);
Joints[(int)BipedJointIndex.LHip].UpperLimit = Joints[(int)BipedJointIndex.RHip].UpperLimit = 0;
}
//b.LowerAbsDef.body1 = Pelvis;
//b.LowerAbsDef.body2 = Stomach;
{ // lower abs
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(.035f, .135f);
Joints[(int)BipedJointIndex.LowerAbs].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.Pelvis].Position;
Joints[(int)BipedJointIndex.LowerAbs].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.Stomach].Position;
Joints[(int)BipedJointIndex.LowerAbs].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LowerAbs].LowerLimit = ReverseAngle(-0.523598776f);
Joints[(int)BipedJointIndex.LowerAbs].UpperLimit = ReverseAngle(0.523598776f);
}
//b.UpperAbsDef.body1 = Stomach;
//b.UpperAbsDef.body2 = Chest;
{ // upper abs
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(.045f, .320f);
Joints[(int)BipedJointIndex.UpperAbs].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.Stomach].Position;
Joints[(int)BipedJointIndex.UpperAbs].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.Chest].Position;
Joints[(int)BipedJointIndex.UpperAbs].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.UpperAbs].LowerLimit = ReverseAngle(-0.523598776f);
Joints[(int)BipedJointIndex.UpperAbs].UpperLimit = ReverseAngle(0.174532925f);
}
//b.LowerNeckDef.body1 = Chest;
//b.LowerNeckDef.body2 = Neck;
{ // lower neck
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(-.015f, .575f);
Joints[(int)BipedJointIndex.LowerNeck].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.Chest].Position;
Joints[(int)BipedJointIndex.LowerNeck].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.Neck].Position;
Joints[(int)BipedJointIndex.LowerNeck].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LowerNeck].LowerLimit = ReverseAngle(-0.174532925f);
Joints[(int)BipedJointIndex.LowerNeck].UpperLimit = ReverseAngle(0.174532925f);
}
//b.UpperNeckDef.body1 = Chest;
//b.UpperNeckDef.body2 = Head;
{ // upper neck
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(-.005f, .630f);
Joints[(int)BipedJointIndex.UpperNeck].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.Chest].Position;
Joints[(int)BipedJointIndex.UpperNeck].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.Head].Position;
Joints[(int)BipedJointIndex.UpperNeck].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.UpperNeck].LowerLimit = ReverseAngle(-0.610865238f);
Joints[(int)BipedJointIndex.UpperNeck].UpperLimit = ReverseAngle(0.785398163f);
}
//b.LShoulderDef.body1 = Chest;
//b.LShoulderDef.body2 = LUpperArm;
//b.RShoulderDef.body1 = Chest;
//b.RShoulderDef.body2 = RUpperArm;
{ // shoulders
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(-.015f, .545f);
Joints[(int)BipedJointIndex.LShoulder].LocalAnchorA = Joints[(int)BipedJointIndex.RShoulder].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.Chest].Position;
Joints[(int)BipedJointIndex.LShoulder].LocalAnchorB = Joints[(int)BipedJointIndex.RShoulder].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.LUpperArm].Position;
Joints[(int)BipedJointIndex.LShoulder].ReferenceAngle = Joints[(int)BipedJointIndex.RShoulder].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LShoulder].LowerLimit = Joints[(int)BipedJointIndex.RShoulder].LowerLimit = ReverseAngle(-1.04719755f);
Joints[(int)BipedJointIndex.LShoulder].UpperLimit = Joints[(int)BipedJointIndex.RShoulder].UpperLimit = ReverseAngle(3.14159265f);
}
//b.LElbowDef.body1 = LForearm;
//b.LElbowDef.body2 = LUpperArm;
//b.RElbowDef.body1 = RForearm;
//b.RElbowDef.body2 = RUpperArm;
{ // elbows
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(-.005f, .290f);
Joints[(int)BipedJointIndex.LElbow].LocalAnchorA = Joints[(int)BipedJointIndex.RElbow].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.LForearm].Position;
Joints[(int)BipedJointIndex.LElbow].LocalAnchorB = Joints[(int)BipedJointIndex.RElbow].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.LUpperArm].Position;
Joints[(int)BipedJointIndex.LElbow].ReferenceAngle = Joints[(int)BipedJointIndex.RElbow].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LElbow].LowerLimit = Joints[(int)BipedJointIndex.RElbow].LowerLimit = ReverseAngle(-2.7925268f);
Joints[(int)BipedJointIndex.LElbow].UpperLimit = Joints[(int)BipedJointIndex.RElbow].UpperLimit = 0;
}
//b.LWristDef.body1 = LHand;
//b.LWristDef.body2 = LForearm;
//b.RWristDef.body1 = RHand;
//b.RWristDef.body2 = RForearm;
{ // wrists
Vector2 anchor = new Vector2(xScale, yScale) * new Vector2(-.010f, .045f);
Joints[(int)BipedJointIndex.LWrist].LocalAnchorA = Joints[(int)BipedJointIndex.RWrist].LocalAnchorA = anchor - Bodies[(int)BipedFixtureIndex.LHand].Position;
Joints[(int)BipedJointIndex.LWrist].LocalAnchorB = Joints[(int)BipedJointIndex.RWrist].LocalAnchorB = anchor - Bodies[(int)BipedFixtureIndex.LForearm].Position;
Joints[(int)BipedJointIndex.LWrist].ReferenceAngle = Joints[(int)BipedJointIndex.RWrist].ReferenceAngle = 0.0f;
Joints[(int)BipedJointIndex.LWrist].LowerLimit = Joints[(int)BipedJointIndex.RWrist].LowerLimit = ReverseAngle(-0.174532925f);
Joints[(int)BipedJointIndex.LWrist].UpperLimit = Joints[(int)BipedJointIndex.RWrist].UpperLimit = ReverseAngle(0.174532925f);
}
{
RopeJoint rj = new RopeJoint(Bodies[(int)BipedFixtureIndex.RUpperArm], Bodies[(int)BipedFixtureIndex.RHand], Vector2.Zero, Vector2.Zero);
rj = new RopeJoint(Bodies[(int)BipedFixtureIndex.LUpperArm], Bodies[(int)BipedFixtureIndex.LHand], Vector2.Zero, Vector2.Zero);
}
if (xScale < 0)
foreach (var j in Joints)
{
var old = j.UpperLimit;
j.UpperLimit = j.LowerLimit;
j.LowerLimit = old;
}
}
Joint j2b2Joint(World world, JObject jointValue)
{
Joint joint = null;
int bodyIndexA = (int)jointValue["bodyA"];
int bodyIndexB = (int)jointValue["bodyB"];
if (bodyIndexA >= m_bodies.Count || bodyIndexB >= m_bodies.Count)
return null;
// set features common to all joints
var bodyA = m_bodies[bodyIndexA];
var bodyB = m_bodies[bodyIndexB];
var collideConnected = jointValue["collideConnected"] == null ? false : (bool)jointValue["collideConnected"];
// keep these in scope after the if/else below
RevoluteJoint revoluteDef;
PrismaticJoint prismaticDef;
DistanceJoint distanceDef;
PulleyJoint pulleyDef;
FixedMouseJoint mouseDef;
GearJoint gearDef;
WheelJoint wheelDef;
WeldJoint weldDef;
FrictionJoint frictionDef;
RopeJoint ropeDef;
MotorJoint motorDef;
Vector2 mouseJointTarget = new Vector2(0, 0);
string type = jointValue["type"].ToString() == null ? "" : jointValue["type"].ToString();
if (type == "revolute")
{
joint = revoluteDef = JointFactory.CreateRevoluteJoint(world, bodyA, bodyB, jsonToVec("anchorB", jointValue));
revoluteDef.LocalAnchorA = jsonToVec("anchorA", jointValue);
revoluteDef.LocalAnchorB = jsonToVec("anchorB", jointValue);
revoluteDef.ReferenceAngle = jsonToFloat("refAngle", jointValue);
revoluteDef.LimitEnabled = jointValue["enableLimit"] == null ? false : (bool)jointValue["enableLimit"];
revoluteDef.LowerLimit = jsonToFloat("lowerLimit", jointValue);
revoluteDef.UpperLimit = jsonToFloat("upperLimit", jointValue);
revoluteDef.MotorEnabled = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
revoluteDef.MotorSpeed = jsonToFloat("motorSpeed", jointValue);
revoluteDef.MaxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
}
else if (type == "prismatic")
{
var localAxis = new Vector2();
var localAnchorA = jsonToVec("anchorA", jointValue);
var localAnchorB = jsonToVec("anchorB", jointValue);
if (jointValue["localAxisA"] != null)
localAxis = jsonToVec("localAxisA", jointValue);
else
localAxis = jsonToVec("localAxis1", jointValue);
joint = prismaticDef = JointFactory.CreatePrismaticJoint(world, bodyA, bodyB, localAnchorB, localAxis);
prismaticDef.LocalAnchorA = localAnchorA;
prismaticDef.ReferenceAngle = jsonToFloat("refAngle", jointValue);
prismaticDef.LimitEnabled = (bool)jointValue["enableLimit"];
prismaticDef.LowerLimit = jsonToFloat("lowerLimit", jointValue);
prismaticDef.UpperLimit = jsonToFloat("upperLimit", jointValue);
prismaticDef.MotorEnabled = (bool)jointValue["enableMotor"];
prismaticDef.MotorSpeed = jsonToFloat("motorSpeed", jointValue);
prismaticDef.MaxMotorForce = jsonToFloat("maxMotorForce", jointValue);
}
else if (type == "distance")
{
joint = distanceDef = JointFactory.CreateDistanceJoint(world, bodyA, bodyB, jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue));
distanceDef.LocalAnchorA = (jsonToVec("anchorA", jointValue));
distanceDef.LocalAnchorB = (jsonToVec("anchorB", jointValue));
distanceDef.Length = jsonToFloat("length", jointValue);
distanceDef.Frequency = jsonToFloat("frequency", jointValue);
distanceDef.DampingRatio = jsonToFloat("dampingRatio", jointValue);
}
else if (type == "pulley")
{
joint = pulleyDef = JointFactory.CreatePulleyJoint(world, bodyA, bodyB,
jsonToVec("groundAnchorA", jointValue), jsonToVec("groundAnchorB", jointValue),
jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue),
jsonToFloat("ratio", jointValue));
pulleyDef.LengthA = jsonToFloat("lengthA", jointValue);
pulleyDef.LengthB = jsonToFloat("lengthB", jointValue);
//pulleyDef.Ratio = jsonToFloat("ratio", jointValue);
}
else if (type == "mouse")
{
joint = mouseDef = JointFactory.CreateFixedMouseJoint(world, bodyA, jsonToVec("target", jointValue));
//mouseJointTarget = jsonToVec("target", jointValue);
//mouseDef.target.set(jsonToVec("anchorB", jointValue));// alter after creating joint
mouseDef.MaxForce = jsonToFloat("maxForce", jointValue);
mouseDef.Frequency = jsonToFloat("frequency", jointValue);
mouseDef.DampingRatio = jsonToFloat("dampingRatio", jointValue);
}
// Gear joints are apparently not implemented in JBox2D yet, but
// when they are, commenting out the following section should work.
else if (type == "gear")
{
int jointIndex1 = (int)jointValue["joint1"];
int jointIndex2 = (int)jointValue["joint2"];
var joint1 = m_joints[jointIndex1];
var joint2 = m_joints[jointIndex2];
var ratio = jsonToFloat("ratio", jointValue);
joint = gearDef = JointFactory.CreateGearJoint(world, joint1, joint2, ratio);
}
// Wheel joints are apparently not implemented in JBox2D yet, but
// when they are, commenting out the following section should work.
else if (type == "wheel")
{
var localAnchorA = jsonToVec("anchorA", jointValue);
var localAnchorB = (jsonToVec("anchorB", jointValue));
var localAxisA = (jsonToVec("localAxisA", jointValue));
var enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
var motorSpeed = jsonToFloat("motorSpeed", jointValue);
var maxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
var frequencyHz = jsonToFloat("springFrequency", jointValue);
var dampingRatio = jsonToFloat("springDampingRatio", jointValue);
joint = wheelDef = JointFactory.CreateWheelJoint(world, bodyA, bodyB, localAnchorB, localAxisA);
wheelDef.LocalAnchorA = localAnchorA;
wheelDef.LocalAnchorB = localAnchorB;
wheelDef.MotorEnabled = enableMotor;
wheelDef.MotorSpeed = motorSpeed;
wheelDef.SpringFrequencyHz = frequencyHz;
wheelDef.MaxMotorTorque = maxMotorTorque;
wheelDef.SpringDampingRatio = dampingRatio;
}
else if (type == "weld")
{
joint = weldDef = JointFactory.CreateWeldJoint(world, bodyA, bodyB, jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue));
weldDef.LocalAnchorA = jsonToVec("anchorA", jointValue);
weldDef.LocalAnchorB = jsonToVec("anchorB", jointValue);
weldDef.FrequencyHz = jsonToFloat("frequency", jointValue);
weldDef.DampingRatio = jsonToFloat("dampingRatio", jointValue);
}
else if (type == "friction")
{
joint = frictionDef = JointFactory.CreateFrictionJoint(world, bodyA, bodyB, jsonToVec("anchorA", jointValue));
frictionDef.LocalAnchorB = jsonToVec("anchorB", jointValue);
frictionDef.MaxForce = jsonToFloat("maxForce", jointValue);
frictionDef.MaxTorque = jsonToFloat("maxTorque", jointValue);
}
else if (type == "rope")
{
joint = ropeDef = new RopeJoint(bodyA, bodyB, jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue));
world.AddJoint(joint);
ropeDef.MaxLength = jsonToFloat("maxLength", jointValue);
}
else if (type == "motor")
{
var maxForce = jsonToFloat("maxForce", jointValue);
var maxMotorTorque = jsonToFloat("maxTorque", jointValue);
var angularOffset = jsonToFloat("refAngle", jointValue);
joint = motorDef = new MotorJoint(bodyA, bodyB);
world.AddJoint(joint);
motorDef.LinearOffset = jsonToVec("anchorA", jointValue);
motorDef.MaxForce = maxForce;
motorDef.MaxTorque = maxMotorTorque;
motorDef.AngularOffset = angularOffset;
}
if (null != joint)
{
// set features common to all joints
/*joint.BodyA = bodyA;
joint.BodyB = bodyB;*/
joint.CollideConnected = collideConnected;
string jointName = jointValue["name"] == null ? "" : jointValue["name"].ToString();
if (jointName != "")
{
SetJointName(joint, jointName);
}
}
return joint;
}
public override Joint createJoint()
{
var joint = new RopeJoint( bodyA, bodyB, ownerBodyAnchor * FSConvert.displayToSim, otherBodyAnchor * FSConvert.displayToSim );
joint.collideConnected = collideConnected;
joint.maxLength = maxLength * FSConvert.displayToSim;
return joint;
}
public static RopeJoint CreateRopeJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false)
{
RopeJoint ropeJoint = new RopeJoint(bodyA, bodyB, anchorA, anchorB, useWorldCoordinates);
world.AddJoint(ropeJoint);
return ropeJoint;
}
///// <summary>
///// Creates the fixed revolute joint.
///// </summary>
///// <param name="world">The world.</param>
///// <param name="body">The body.</param>
///// <param name="bodyAnchor">The body anchor.</param>
///// <param name="worldAnchor">The world anchor.</param>
///// <returns></returns>
//public static FixedRevoluteJoint CreateFixedRevoluteJoint(World world, Body body, Vector2 bodyAnchor,
// Vector2 worldAnchor)
//{
// FixedRevoluteJoint fixedRevoluteJoint = new FixedRevoluteJoint(body, bodyAnchor, worldAnchor);
// world.AddJoint(fixedRevoluteJoint);
// return fixedRevoluteJoint;
//}
#endregion
#region Rope Joint
/// <summary>
/// Creates a rope joint and adds it to the world
/// </summary>
public static RopeJoint CreateRopeJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB)
{
RopeJoint ropeJoint = new RopeJoint(bodyA, bodyB, anchorA, anchorB);
world.AddJoint(ropeJoint);
return ropeJoint;
}
public override void Update(float delta)
{
#if !EDITOR
Player playerInstance = Player.Instance;
#region Awaken Body
// If the body has fallen asleep, we need to wake it if the
// level rotates.
if (Camera.Instance.IsLevelRotating)
{
if (_pathBodies[_pathBodies.Count - 1].Awake == false)
{
this._pathBodies[_pathBodies.Count - 1].Awake = true;
}
}
#endregion
if (!_world.JointList.Contains(_ropeJoint))
{
if (playerInstance.PlayerState != PlayerState.Dead &&
InputManager.Instance.Grab(true) &&
_inRange)
{
int index = 0;
Body playerBody = playerInstance.GetWheelBody();
float smallestDistance = Math.Abs(
Vector2.Subtract(playerBody.Position,
_touchedRopeFixtures[0].Body.Position).Length());
// Starting it at 3 instead of 1 or 2 because they
// shouldn't really be able to grab the top ones
for(int i = 3; i < _touchedRopeFixtures.Count; i++)
{
float distance = Math.Abs(
Vector2.Subtract(playerBody.Position,
_touchedRopeFixtures[i].Body.Position).Length());
if (distance < smallestDistance)
{
smallestDistance = distance;
this._grabbedIndex = i;
}
}
this._ropePlayerJoint = new RevoluteJoint(_touchedRopeFixtures[index].Body,
playerInstance.GetMainBody(), Vector2.Zero, Vector2.Zero);
this._world.AddJoint(_ropePlayerJoint);
this._ropeJoint = new RopeJoint(_pathBodies[0],
playerInstance.GetMainBody(), Vector2.Zero, Vector2.Zero);
this._world.AddJoint(_ropeJoint);
playerInstance.GrabRope();
}
}
else
{
Vector2 ropeDims = _ropeJoint.WorldAnchorB - _ropeJoint.WorldAnchorA;
float rotation = (float)Math.Atan2(ropeDims.Y, ropeDims.X);
rotation -= MathHelper.PiOver2;
playerInstance.SetRotation(rotation);
if (InputManager.Instance.Jump(true) || InputManager.Instance.Grab(true) ||
playerInstance.PlayerState == PlayerState.Dead)
{
_world.RemoveJoint(_ropeJoint);
_world.RemoveJoint(_ropePlayerJoint);
if (playerInstance.PlayerState == PlayerState.Swinging)
{
playerInstance.ForceFall();
}
}
}
#endif
}
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);
}
}
private void AddBallAndChain(Body body)
{
// The chain will be divided into several segments along the following path
var chainPath = new Path();
chainPath.Add(ConvertUnits.ToSimUnits(332, 332));
chainPath.Add(ConvertUnits.ToSimUnits(332, 452));
// Creates the shape for the chain segments
var chainLinkShape = new PolygonShape(PolygonTools.CreateRectangle(ConvertUnits.ToSimUnits(1), ConvertUnits.ToSimUnits(2)), 0.5f);
// Creates the bodies for the chain segments
_chainBodies = PathManager.EvenlyDistributeShapesAlongPath(World, chainPath,
new[] {chainLinkShape}, BodyType.Dynamic, 30);
// Connects the chain segments
for (var i = 0; i < _chainBodies.Count - 1; i++)
{
var joint = new RevoluteJoint(_chainBodies[i], _chainBodies[i + 1], Vector2.Zero, Vector2.Zero);
World.AddJoint(joint);
}
// Connects the start of the chain to the ufo
var chainStartJoint = new RevoluteJoint(body, _chainBodies.First(), ConvertUnits.ToSimUnits(0, 25), Vector2.Zero);
World.AddJoint(chainStartJoint);
// Creates the ball at the end of the chain
_chainEndBall = BodyFactory.CreateCircle(World, ConvertUnits.ToSimUnits(10), 3f, bodyType: BodyType.Dynamic);
_chainEndBall.Position = ConvertUnits.ToSimUnits(332, 452);
_chainEndBall.OnCollision += ChainBallOnCollision;
// Adds the ball to the chain
var chainEndJoint = new RevoluteJoint(_chainBodies.Last(), _chainEndBall, Vector2.Zero, Vector2.Zero);
World.AddJoint(chainEndJoint);
// Adds a rope join that ensures that the chain won't stretch
var ropeJoint = new RopeJoint(body, _chainEndBall, ConvertUnits.ToSimUnits(0, 25), Vector2.Zero)
{
MaxLength = chainPath.GetLength()
};
World.AddJoint(ropeJoint);
}
private void CreateBaby()
{
_baby = _gameObjectManager.GetBaby();
_devil = _gameObjectManager.GetDevil();
_angel = _gameObjectManager.GetAngel();
jLeftArm = new RopeJoint(_devil.Body, _baby.Body, new Vector2(0f, 0f), new Vector2(-.01f, 0f));
jLeftArm.MaxLength = 2f;
_world.AddJoint(jLeftArm);
jRightArm = new RopeJoint(_angel.Body, _baby.Body, new Vector2(0f, 0f), new Vector2(.01f, 0f));
jRightArm.MaxLength = 2f;
_world.AddJoint(jRightArm);
//_ragdoll = new Ragdoll(_world, _baby.Body, _renderManager);
}
public static PayloadChain Connect(SpaceShip spaceShip, Payload payload, Vector2 payloadTarget)
{
var dynamicWorld = (DynamicEntityWorld)spaceShip.World;
var world = dynamicWorld.PhysicsWorld;
AABB spaceShipSize;
spaceShip.Body.FixtureList.First().GetAABB(out spaceShipSize, 0);
AABB payloadSize;
payload.Body.FixtureList.First().GetAABB(out payloadSize, 0);
var chainSize = new Vector2(1.0f);
var chainSizeSingle = Math.Max(chainSize.X, chainSize.Y);
var start = new Vector2(spaceShip.Position.X - spaceShipSize.Extents.Y, spaceShip.Position.Y);
var length = payloadTarget.Length();
var targetVector = payloadTarget / length;
var chainVector = targetVector * chainSizeSingle;
start += chainVector;
var chainCount = (int)Math.Ceiling(length / chainSizeSingle);
var lastBody = spaceShip.Body;
var chain = new PayloadChain(spaceShip.Name + "_Chain");
var elements = new List<ChainElement>();
for (var i = 0; i < chainCount; i++)
{
var chainBody = BodyFactory.CreateBody(world, start + i * chainVector);
chainBody.BodyType = BodyType.Dynamic;
var chainFixture = FixtureFactory.AttachRectangle(chainSize.X, chainSize.Y, 0.1f, Vector2.Zero, chainBody);
chainFixture.CollidesWith = Category.Cat2;
JointFactory.CreateRevoluteJoint(world, lastBody, chainBody, -chainVector / 2.0f);
lastBody = chainBody;
elements.Add(ChainElement.CreateFor(chain, elements.Count, dynamicWorld, chainBody));
}
payload.Position = new Vector3(start + chainCount * chainVector + targetVector * 2.5f, 0.0f);
JointFactory.CreateRevoluteJoint(world, lastBody, payload.Body, new Vector2(0.0f, -2.5f));
var ropeJoin = new RopeJoint(spaceShip.Body, payload.Body, new Vector2(0.0f, 3.0f), new Vector2(0.0f, -2.5f));
ropeJoin.CollideConnected = true;
world.AddJoint(ropeJoin);
return chain;
}
private static Joint DeserializeRopeJoint(XElement jointElement, Body bodyA, Body bodyB, World world)
{
RopeJoint joint = null;
Vector2 localAnchorA, localAnchorB;
float maxLength = 100.0f;
localAnchorA = bodyA.WorldCenter;
localAnchorB = bodyB.WorldCenter;
foreach (XElement element in jointElement.Elements())
{
switch (element.Name.ToString().ToLower())
{
case "maxlength":
float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out maxLength);
maxLength = ConvertUnits.ToSimUnits(maxLength);
break;
case "localanchora":
localAnchorA = localAnchorA.DeserializeOffset(element);
localAnchorA = ConvertUnits.ToSimUnits(localAnchorA);
break;
case "localanchorb":
localAnchorB = localAnchorB.DeserializeOffset(element);
localAnchorB = ConvertUnits.ToSimUnits(localAnchorB);
break;
}
}
joint = new RopeJoint(bodyA, bodyB, localAnchorA, localAnchorB);
joint.MaxLength = maxLength;
world.AddJoint(joint);
return joint;
}
