public PinJoint CreatePinJoint(PhysicsSimulator physicsSimulator, Body body1, Vector2 anchor1, Body body2,
Vector2 anchor2)
{
PinJoint pinJoint = CreatePinJoint(body1, anchor1, body2, anchor2);
physicsSimulator.Add(pinJoint);
return(pinJoint);
}
public void PinJointProperties()
{
var anchorA = new Vect(1, 1);
var anchorB = new Vect(0.5, 0.5);
var constraint = new PinJoint(bodyA, bodyB, anchorA, anchorB);
constraint.Distance = 13;
Assert.IsTrue(PinJoint.IsPinJoint(constraint), "#0");
Assert.AreEqual(13, constraint.Distance, "#1");
}
private void DrawPinJoints(SpriteBatch spriteBatch)
{
for (int i = 0; i < _physicsSimulator.JointList.Count; i++)
{
if (_physicsSimulator.JointList[i] is PinJoint)
{
PinJoint pinJoint = (PinJoint)_physicsSimulator.JointList[i];
_pinJointRectangleBrush.Draw(spriteBatch, pinJoint.WorldAnchor1);
_pinJointRectangleBrush.Draw(spriteBatch, pinJoint.WorldAnchor2);
_pinJointLineBrush.Draw(spriteBatch, pinJoint.WorldAnchor1, pinJoint.WorldAnchor2);
}
}
}
public void ConstraintProperties()
{
var anchorA = new Vect(1, 1);
var anchorB = new Vect(0.5, 0.5);
var constraint = new PinJoint(bodyA, bodyB, anchorA, anchorB);
Assert.IsNull(constraint.Space, "#1");
space.AddConstraint(constraint);
Assert.AreSame(space, constraint.Space, "#1.2");
Assert.AreSame(bodyA, constraint.BodyA, "#2");
Assert.AreSame(bodyB, constraint.BodyB, "#3");
Assert.AreEqual(anchorA, constraint.AnchorA, "#2.1");
Assert.AreEqual(anchorB, constraint.AnchorB, "#3.1");
constraint.MaxForce = 1.2;
Assert.AreEqual(1.2, constraint.MaxForce, "#4");
constraint.ErrorBias = 10.0;
Assert.AreEqual(10.0, constraint.ErrorBias, "#5");
constraint.CollideBodies = false;
Assert.IsFalse(constraint.CollideBodies, "#6");
constraint.CollideBodies = true;
Assert.IsTrue(constraint.CollideBodies, "#7");
var sb = new StringBuilder();
constraint.PreSolve = (c, s) => sb.Append("PreSolve");
constraint.PostSolve = (c, s) => sb.Append("PostSolve");
space.Step(0.2);
constraint.PreSolve = null;
constraint.PostSolve = null;
space.Step(0.2);
string solve = sb.ToString();
Assert.AreEqual("PreSolvePostSolve", solve, "#8");
}
public void ManagedToNativeRoundtripAndObjectData()
{
var constraint = new PinJoint(bodyA, bodyB, Vect.Zero, Vect.Zero);
var objData = new object();
constraint.Data = objData;
cpConstraint handle = constraint.Handle;
var constraintFromHandle = Constraint.FromHandle(handle);
Assert.AreSame(constraint, constraintFromHandle, "#1");
Assert.AreSame(objData, constraintFromHandle.Data, "#2");
constraint.Dispose();
}
public PinJoint CreatePinJoint(Body body1, Vector2 anchor1, Body body2, Vector2 anchor2)
{
PinJoint pinJoint = new PinJoint(body1, anchor1, body2, anchor2);
return(pinJoint);
}
public void Load(GraphicsDevice graphicsDevice, PhysicsSimulator physicsSimulator)
{
const int offset = 2;
//Body
const int bodyYRadius = 34;
const int bodyXRadius = 18;
_bodyBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, bodyXRadius, bodyYRadius, 6);
_bodyBody.Position = _position;
_bodyGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _bodyBody, bodyXRadius, bodyYRadius, 14, 0);
_bodyBrush = new EllipseBrush(bodyXRadius, bodyYRadius, Color.White, Color.Black);
_bodyBrush.Load(graphicsDevice);
//Head
const int headYRadius = 14;
const int headXRadius = 10;
_headBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, headXRadius, headYRadius, 2);
_headBody.Position = _position - new Vector2(0, bodyYRadius + headYRadius + offset);
_headGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _headBody, headXRadius, headYRadius, 10);
_headBrush = new EllipseBrush(headXRadius, headYRadius, Color.White, Color.Black);
_headBrush.Load(graphicsDevice);
//Left upper arm
const int leftUpperArmYRadius = 10;
const int leftUpperArmXRadius = 6;
_leftUpperArmBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, leftUpperArmXRadius, leftUpperArmYRadius, 1);
_leftUpperArmBody.Position = _bodyBody.Position - new Vector2(bodyXRadius + leftUpperArmXRadius + offset, bodyYRadius / 2f);
_leftUpperArmGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _leftUpperArmBody, leftUpperArmXRadius, leftUpperArmYRadius, 8, 0);
_leftUpperArmBrush = new EllipseBrush(leftUpperArmXRadius, leftUpperArmYRadius, Color.White, Color.Black);
_leftUpperArmBrush.Load(graphicsDevice);
//Right upper arm
const int rightUpperArmYRadius = 10;
const int rightUpperArmXRadius = 6;
_rightUpperArmBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, rightUpperArmXRadius, rightUpperArmYRadius, 1);
_rightUpperArmBody.Position = _bodyBody.Position + new Vector2(bodyXRadius + rightUpperArmXRadius + offset, -bodyYRadius / 2f);
_rightUpperArmGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _rightUpperArmBody, rightUpperArmXRadius, rightUpperArmYRadius, 8, 0);
_rightUpperArmBrush = new EllipseBrush(rightUpperArmXRadius, rightUpperArmYRadius, Color.White, Color.Black);
_rightUpperArmBrush.Load(graphicsDevice);
//Left arm
const int leftArmYRadius = 12;
const int leftArmXRadius = 6;
_leftArmBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, leftArmXRadius, leftArmYRadius, 1);
_leftArmBody.Position = _leftUpperArmBody.Position + new Vector2(0, leftArmYRadius + leftArmYRadius);
_leftArmGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _leftArmBody, leftArmXRadius, leftArmYRadius, 8, 0);
_leftArmBrush = new EllipseBrush(leftArmXRadius, leftArmYRadius, Color.White, Color.Black);
_leftArmBrush.Load(graphicsDevice);
//Right arm
const int rightArmYRadius = 12;
const int rightArmXRadius = 6;
_rightArmBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, rightArmXRadius, rightArmYRadius, 1);
_rightArmBody.Position = _rightUpperArmBody.Position + new Vector2(0, rightArmYRadius + rightArmYRadius);
_rightArmGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _rightArmBody, rightArmXRadius, rightArmYRadius, 8, 0);
_rightArmBrush = new EllipseBrush(rightArmXRadius, rightArmYRadius, Color.White, Color.Black);
_rightArmBrush.Load(graphicsDevice);
//Left thigh
const int leftThighYRadius = 12;
const int leftThighXRadius = 6;
_leftThighBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, leftThighXRadius, leftThighYRadius, 2);
_leftThighBody.Position = _bodyBody.Position + new Vector2(bodyXRadius, bodyYRadius + leftThighYRadius);
_leftThighGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _leftThighBody, leftThighXRadius, leftThighYRadius, 8, 0);
_leftThighBrush = new EllipseBrush(leftThighXRadius, leftThighYRadius, Color.White, Color.Black);
_leftThighBrush.Load(graphicsDevice);
//right thigh
const int rightThighYRadius = 12;
const int rightThighXRadius = 6;
_rightThighBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, rightThighXRadius, rightThighYRadius, 2);
_rightThighBody.Position = _bodyBody.Position + new Vector2(-bodyXRadius, bodyYRadius + rightThighYRadius);
_rightThighGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _rightThighBody, rightThighXRadius, rightThighYRadius, 8, 0);
_rightThighBrush = new EllipseBrush(rightThighXRadius, rightThighYRadius, Color.White, Color.Black);
_rightThighBrush.Load(graphicsDevice);
//Left calf
const int leftCalfYRadius = 12;
const int leftCalfXRadius = 6;
_leftCalfBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, leftCalfXRadius, leftCalfYRadius, 2);
_leftCalfBody.Position = _leftThighBody.Position + new Vector2(0, leftThighYRadius + leftCalfYRadius);
_leftCalfGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _leftCalfBody, leftCalfXRadius, leftCalfYRadius, 8, 0);
_leftCalfBrush = new EllipseBrush(leftCalfXRadius, leftCalfYRadius, Color.White, Color.Black);
_leftCalfBrush.Load(graphicsDevice);
//Right calf
const int rightCalfYRadius = 12;
const int rightCalfXRadius = 6;
_rightCalfBody = BodyFactory.Instance.CreateEllipseBody(physicsSimulator, rightCalfXRadius, rightCalfYRadius, 2);
_rightCalfBody.Position = _rightThighBody.Position + new Vector2(0, rightThighYRadius + rightCalfYRadius);
_rightCalfGeom = GeomFactory.Instance.CreateEllipseGeom(physicsSimulator, _rightCalfBody, rightCalfXRadius, rightCalfYRadius, 8, 0);
_rightCalfBrush = new EllipseBrush(rightCalfXRadius, rightCalfYRadius, Color.White, Color.Black);
_rightCalfBrush.Load(graphicsDevice);
//Create joints
//Head -> body
JointFactory.Instance.CreatePinJoint(physicsSimulator, _headBody, new Vector2(0, headYRadius), _bodyBody, new Vector2(0, -bodyYRadius));
//Left upper arm -> body
PinJoint p = JointFactory.Instance.CreatePinJoint(physicsSimulator, _leftUpperArmBody, new Vector2(0, -leftUpperArmYRadius), _bodyBody, new Vector2(-bodyXRadius / 2f, -bodyYRadius + bodyXRadius / 2));
p.TargetDistance = 3;
//Right upper arm -> body
p = JointFactory.Instance.CreatePinJoint(physicsSimulator, _rightUpperArmBody, new Vector2(0, -rightUpperArmYRadius), _bodyBody, new Vector2(bodyXRadius / 2f, -bodyYRadius + bodyXRadius / 2));
p.TargetDistance = 3;
//Left arm -> left upper arm
JointFactory.Instance.CreatePinJoint(physicsSimulator, _leftArmBody, new Vector2(0, -leftArmYRadius), _leftUpperArmBody, new Vector2(0, leftUpperArmYRadius));
//Right arm -> right upper arm
JointFactory.Instance.CreatePinJoint(physicsSimulator, _rightArmBody, new Vector2(0, -rightArmYRadius), _rightUpperArmBody, new Vector2(0, rightUpperArmYRadius));
//Left thigh -> body
p = JointFactory.Instance.CreatePinJoint(physicsSimulator, _leftThighBody, new Vector2(0, -leftThighYRadius), _bodyBody, new Vector2(bodyXRadius / 2f, bodyYRadius - bodyXRadius / 2));
p.TargetDistance = 3;
//Right thigh -> body
p = JointFactory.Instance.CreatePinJoint(physicsSimulator, _rightThighBody, new Vector2(0, -rightThighYRadius), _bodyBody, new Vector2(-bodyXRadius / 2f, bodyYRadius - bodyXRadius / 2));
p.TargetDistance = 3;
//Left calf -> left thigh
JointFactory.Instance.CreatePinJoint(physicsSimulator, _leftCalfBody, new Vector2(0, -leftCalfYRadius), _leftThighBody, new Vector2(0, leftThighYRadius));
//Right calf -> right thigh
JointFactory.Instance.CreatePinJoint(physicsSimulator, _rightCalfBody, new Vector2(0, -rightCalfYRadius), _rightThighBody, new Vector2(0, rightThighYRadius));
}
