public override void Bind(Entity result, Main main, bool creating = false)
{
Property<Direction> dir = result.GetOrMakeProperty<Direction>("Direction", true);
Property<int> minimum = result.GetOrMakeProperty<int>("Minimum", true);
Property<int> maximum = result.GetOrMakeProperty<int>("Maximum", true);
Property<bool> locked = result.GetOrMakeProperty<bool>("Locked", true);
Property<float> speed = result.GetOrMakeProperty<float>("Speed", true, 5);
Property<float> maxForce = result.GetOrMakeProperty<float>("MaxForce", true);
Property<float> damping = result.GetOrMakeProperty<float>("Damping", true);
Property<float> stiffness = result.GetOrMakeProperty<float>("Stiffness", true);
Property<int> goal = result.GetOrMakeProperty<int>("Goal", true);
PrismaticJoint joint = null;
Action setLimits = delegate()
{
if (joint != null)
{
int min = minimum, max = maximum;
if (max > min)
{
joint.Limit.IsActive = true;
joint.Limit.Minimum = minimum;
joint.Limit.Maximum = maximum;
}
else
joint.Limit.IsActive = false;
}
};
result.Add(new NotifyBinding(setLimits, minimum, maximum));
Action setMaxForce = delegate()
{
if (joint != null)
{
if (maxForce > 0.001f)
joint.Motor.Settings.MaximumForce = maxForce * result.Get<DynamicMap>().PhysicsEntity.Mass;
else
joint.Motor.Settings.MaximumForce = float.MaxValue;
}
};
result.Add(new NotifyBinding(setMaxForce, maxForce));
Action setSpeed = delegate()
{
if (joint != null)
joint.Motor.Settings.Servo.BaseCorrectiveSpeed = speed;
};
result.Add(new NotifyBinding(setSpeed, speed));
Action setLocked = delegate()
{
if (joint != null)
joint.Motor.IsActive = locked;
};
result.Add(new NotifyBinding(setLocked, locked));
Action setGoal = delegate()
{
if (joint != null)
joint.Motor.Settings.Servo.Goal = goal;
};
result.Add(new NotifyBinding(setGoal, goal));
Action setDamping = delegate()
{
if (joint != null && damping != 0)
joint.Motor.Settings.Servo.SpringSettings.DampingConstant = damping;
};
result.Add(new NotifyBinding(setDamping, damping));
Action setStiffness = delegate()
{
if (joint != null && stiffness != 0)
joint.Motor.Settings.Servo.SpringSettings.StiffnessConstant = stiffness;
};
result.Add(new NotifyBinding(setStiffness, stiffness));
Func<BEPUphysics.Entities.Entity, BEPUphysics.Entities.Entity, Vector3, Vector3, Vector3, ISpaceObject> createJoint = delegate(BEPUphysics.Entities.Entity entity1, BEPUphysics.Entities.Entity entity2, Vector3 pos, Vector3 direction, Vector3 anchor)
{
joint = new PrismaticJoint(entity1, entity2, pos, -direction, anchor);
joint.Motor.Settings.Mode = MotorMode.Servomechanism;
setLimits();
setLocked();
setSpeed();
setMaxForce();
setGoal();
setDamping();
setStiffness();
return joint;
};
JointFactory.Bind(result, main, createJoint, false, creating);
result.Add("Forward", new Command
{
Action = delegate()
{
if (joint != null && locked)
goal.Value = maximum;
},
});
result.Add("Backward", new Command
{
Action = delegate()
{
if (joint != null && locked)
goal.Value = minimum;
},
});
Command hitMax = new Command();
result.Add("HitMax", hitMax);
Command hitMin = new Command();
result.Add("HitMin", hitMin);
bool lastLimitExceeded = false;
result.Add(new Updater
{
delegate(float dt)
{
if (joint != null)
{
bool limitExceeded = joint.Limit.IsLimitExceeded;
if (limitExceeded && !lastLimitExceeded)
{
if (joint.Limit.Error < 0)
hitMin.Execute();
else
hitMax.Execute();
}
lastLimitExceeded = limitExceeded;
}
}
});
}
public override void Bind(Entity result, Main main, bool creating = false)
{
Property<Direction> dir = result.GetOrMakeProperty<Direction>("Direction", true);
Property<float> minimum = result.GetOrMakeProperty<float>("Minimum", true);
Property<float> maximum = result.GetOrMakeProperty<float>("Maximum", true);
Property<bool> locked = result.GetOrMakeProperty<bool>("Locked", true);
Property<bool> servo = result.GetOrMakeProperty<bool>("Servo", true, true);
Property<float> speed = result.GetOrMakeProperty<float>("Speed", true, 5);
Property<float> goal = result.GetOrMakeProperty<float>("Goal", true);
RevoluteJoint joint = null;
Action setLimits = delegate()
{
if (joint != null)
{
float min = minimum, max = maximum;
if (max > min)
{
joint.Limit.IsActive = true;
joint.Limit.MinimumAngle = minimum;
joint.Limit.MaximumAngle = maximum;
}
else
joint.Limit.IsActive = false;
}
};
result.Add(new NotifyBinding(setLimits, minimum, maximum));
Action setSpeed = delegate()
{
if (joint != null)
{
joint.Motor.Settings.Servo.BaseCorrectiveSpeed = joint.Motor.Settings.Servo.MaxCorrectiveVelocity = speed;
joint.Motor.Settings.VelocityMotor.GoalVelocity = speed;
}
};
result.Add(new NotifyBinding(setSpeed, speed));
Action setGoal = delegate()
{
if (joint != null)
joint.Motor.Settings.Servo.Goal = goal;
};
result.Add(new NotifyBinding(setGoal, goal));
Action setLocked = delegate()
{
if (joint != null)
joint.Motor.IsActive = locked;
};
result.Add(new NotifyBinding(setLocked, locked));
DynamicMap map = result.Get<DynamicMap>();
Action setServo = delegate()
{
if (joint != null)
joint.Motor.Settings.Mode = servo ? MotorMode.Servomechanism : MotorMode.VelocityMotor;
};
result.Add(new NotifyBinding(setServo, servo));
Func<BEPUphysics.Entities.Entity, BEPUphysics.Entities.Entity, Vector3, Vector3, Vector3, ISpaceObject> createJoint = delegate(BEPUphysics.Entities.Entity entity1, BEPUphysics.Entities.Entity entity2, Vector3 pos, Vector3 direction, Vector3 anchor)
{
joint = new RevoluteJoint(entity1, entity2, pos, direction);
float multiplier = Math.Max(1.0f, map.PhysicsEntity.Mass);
joint.AngularJoint.SpringSettings.StiffnessConstant *= multiplier;
joint.Limit.SpringSettings.StiffnessConstant *= multiplier;
joint.Motor.Settings.Mode = MotorMode.Servomechanism;
setLimits();
setLocked();
setSpeed();
setServo();
setGoal();
return joint;
};
JointFactory.Bind(result, main, createJoint, true, creating);
result.Add("On", new Command
{
Action = delegate()
{
if (joint != null && locked)
servo.Value = false;
},
});
result.Add("Off", new Command
{
Action = delegate()
{
if (joint != null && locked)
{
BEPUphysics.Constraints.JointBasis2D basis = joint.Motor.Basis;
basis.RotationMatrix = joint.Motor.ConnectionA.OrientationMatrix;
Vector3 localTestAxis = joint.Motor.LocalTestAxis;
Vector3 worldTestAxis;
BEPUutilities.Matrix3x3 orientationMatrix = joint.Motor.ConnectionB.OrientationMatrix;
BEPUutilities.Matrix3x3.Transform(ref localTestAxis, ref orientationMatrix, out worldTestAxis);
float y, x;
Vector3 yAxis = Vector3.Cross(basis.PrimaryAxis, basis.XAxis);
Vector3.Dot(ref worldTestAxis, ref yAxis, out y);
x = Vector3.Dot(worldTestAxis, basis.XAxis);
goal.Value = (float)Math.Atan2(y, x);
servo.Value = true;
}
},
});
result.Add("Forward", new Command
{
Action = delegate()
{
if (joint != null && locked)
joint.Motor.Settings.Servo.Goal = maximum;
},
});
result.Add("Backward", new Command
{
Action = delegate()
{
if (joint != null && locked)
joint.Motor.Settings.Servo.Goal = minimum;
},
});
Command hitMax = new Command();
result.Add("HitMax", hitMax);
Command hitMin = new Command();
result.Add("HitMin", hitMin);
bool lastLimitExceeded = false;
result.Add(new Updater
{
delegate(float dt)
{
if (joint != null)
{
bool limitExceeded = joint.Limit.IsLimitExceeded;
if (limitExceeded && !lastLimitExceeded)
{
if (joint.Limit.Error.X > 0)
hitMin.Execute();
else
hitMax.Execute();
}
lastLimitExceeded = limitExceeded;
}
}
});
}
