//--------------- Internals Below -------------------
/** @private */
public b2WeldJoint(b2WeldJointDef def) : base(def)
{
m_localAnchorA.SetV(def.localAnchorA);
m_localAnchorB.SetV(def.localAnchorB);
m_referenceAngle = def.referenceAngle;
m_impulse.SetZero();
m_mass = new b2Mat33();
}
public b2WeldJoint(b2WeldJointDef def)
: base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_referenceAngle = def.referenceAngle;
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_impulse.SetZero();
}
public b2WeldJoint(b2WeldJointDef def)
: base(def)
{
m_localAnchorA = def.localAnchorA;
m_localAnchorB = def.localAnchorB;
m_referenceAngle = def.referenceAngle;
m_frequencyHz = def.frequencyHz;
m_dampingRatio = def.dampingRatio;
m_impulse.SetZero();
}
public Cantilever()
{
b2Body ground = null;
{
b2BodyDef bd = new b2BodyDef();
ground = m_world.CreateBody(bd);
b2EdgeShape shape = new b2EdgeShape();
shape.Set(new b2Vec2(-40.0f, 0.0f), new b2Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
b2WeldJointDef jd = new b2WeldJointDef();
b2Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-14.5f + 1.0f * i, 5.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(-15.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(1.0f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
b2WeldJointDef jd = new b2WeldJointDef();
jd.frequencyHz = 5.0f;
jd.dampingRatio = 0.7f;
b2Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-14.0f + 2.0f * i, 15.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
b2Vec2 anchor = new b2Vec2(-15.0f + 2.0f * i, 15.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
prevBody = body;
}
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
b2WeldJointDef jd = new b2WeldJointDef();
b2Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-4.5f + 1.0f * i, 5.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
b2Vec2 anchor = new b2Vec2(-5.0f + 1.0f * i, 5.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
}
prevBody = body;
}
}
{
b2PolygonShape shape = new b2PolygonShape();
shape.SetAsBox(0.5f, 0.125f);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 20.0f;
b2WeldJointDef jd = new b2WeldJointDef();
jd.frequencyHz = 8.0f;
jd.dampingRatio = 0.7f;
b2Body prevBody = ground;
for (int i = 0; i < e_count; ++i)
{
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(5.5f + 1.0f * i, 10.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
if (i > 0)
{
b2Vec2 anchor = new b2Vec2(5.0f + 1.0f * i, 10.0f);
jd.Initialize(prevBody, body, anchor);
m_world.CreateJoint(jd);
}
prevBody = body;
}
}
for (int i = 0; i < 2; ++i)
{
b2Vec2[] vertices = new b2Vec2[3];
vertices[0].Set(-0.5f, 0.0f);
vertices[1].Set(0.5f, 0.0f);
vertices[2].Set(0.0f, 1.5f);
b2PolygonShape shape = new b2PolygonShape();
shape.Set(vertices, 3);
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-8.0f + 8.0f * i, 12.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
for (int i = 0; i < 2; ++i)
{
b2CircleShape shape = new b2CircleShape();
shape.Radius = 0.5f;
b2FixtureDef fd = new b2FixtureDef();
fd.shape = shape;
fd.density = 1.0f;
b2BodyDef bd = new b2BodyDef();
bd.type = b2BodyType.b2_dynamicBody;
bd.position.Set(-6.0f + 6.0f * i, 10.0f);
b2Body body = m_world.CreateBody(bd);
body.CreateFixture(fd);
}
}
// SIN REVISAR
b2Joint j2b2Joint(b2World world, JObject jointValue)
{
b2Joint 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
b2RevoluteJointDef revoluteDef;
b2PrismaticJointDef prismaticDef;
b2DistanceJointDef distanceDef;
b2PulleyJointDef pulleyDef;
b2MouseJointDef mouseDef;
b2GearJointDef gearDef;
//b2WheelJoint wheelDef;
b2WeldJointDef weldDef;
b2FrictionJointDef frictionDef;
b2RopeJointDef ropeDef;
//MotorJoint motorDef;
b2JointDef jointDef = null;
b2Vec2 mouseJointTarget = new b2Vec2(0, 0);
string type = jointValue["type"].ToString() == null ? "" : jointValue["type"].ToString();
if (type == "revolute")
{
jointDef = revoluteDef = new b2RevoluteJointDef(); // JointFactory.CreateRevoluteJoint(world, bodyA, bodyB, jsonToVec("anchorB", jointValue));
revoluteDef.localAnchorA = jsonToVec("anchorA", jointValue);
revoluteDef.localAnchorB = jsonToVec("anchorB", jointValue);
revoluteDef.referenceAngle = jsonToFloat("refAngle", jointValue);
revoluteDef.enableLimit = jointValue["enableLimit"] == null ? false : (bool)jointValue["enableLimit"];
revoluteDef.lowerAngle = jsonToFloat("lowerLimit", jointValue);
revoluteDef.upperAngle = jsonToFloat("upperLimit", jointValue);
revoluteDef.enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
revoluteDef.motorSpeed = jsonToFloat("motorSpeed", jointValue);
revoluteDef.maxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
}
else if (type == "prismatic")
{
jointDef = prismaticDef = new b2PrismaticJointDef(); //JointFactory.CreatePrismaticJoint(world, bodyA, bodyB, localAnchorB, localAxis);
prismaticDef.localAnchorA = jsonToVec("anchorA", jointValue);
prismaticDef.localAnchorB = jsonToVec("anchorB", jointValue);
if (jointValue["localAxisA"] != null)
prismaticDef.localAxisA = jsonToVec("localAxisA", jointValue);
else
prismaticDef.localAxisA = jsonToVec("localAxis1", jointValue);
prismaticDef.referenceAngle = jsonToFloat("refAngle", jointValue);
prismaticDef.enableLimit = jointValue["enableLimit"] == null ? false : (bool)jointValue["enableLimit"];
prismaticDef.lowerTranslation = jsonToFloat("lowerLimit", jointValue);
prismaticDef.upperTranslation = jsonToFloat("upperLimit", jointValue);
prismaticDef.enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
prismaticDef.motorSpeed = jsonToFloat("motorSpeed", jointValue);
prismaticDef.maxMotorForce = jsonToFloat("maxMotorForce", jointValue);
}
else if (type == "distance")
{
jointDef = distanceDef = new b2DistanceJointDef();
distanceDef.localAnchorA = jsonToVec("anchorA", jointValue);
distanceDef.localAnchorB = jsonToVec("anchorB", jointValue);
distanceDef.length = jsonToFloat("length", jointValue);
distanceDef.frequencyHz = jsonToFloat("frequency", jointValue);
distanceDef.dampingRatio = jsonToFloat("dampingRatio", jointValue);
}
else if (type == "pulley")
{
jointDef = pulleyDef = new b2PulleyJointDef();
pulleyDef.groundAnchorA = jsonToVec("groundAnchorA", jointValue);
pulleyDef.groundAnchorB = jsonToVec("groundAnchorB", jointValue);
pulleyDef.localAnchorA = jsonToVec("anchorA", jointValue);
pulleyDef.localAnchorB = jsonToVec("anchorB", jointValue);
pulleyDef.lengthA = jsonToFloat("lengthA", jointValue);
pulleyDef.lengthB = jsonToFloat("lengthB", jointValue);
pulleyDef.ratio = jsonToFloat("ratio", jointValue);
}
else if (type == "mouse")
{
jointDef = mouseDef = new b2MouseJointDef();
mouseJointTarget = jsonToVec("target", jointValue);
mouseDef.target = jsonToVec("anchorB", jointValue);// alter after creating joint
mouseDef.maxForce = jsonToFloat("maxForce", jointValue);
mouseDef.frequencyHz = 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")
{
jointDef = gearDef = new b2GearJointDef(); //JointFactory.CreateGearJoint(world, joint1, joint2, ratio);
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")
{
jointDef = revoluteDef = new b2RevoluteJointDef();
revoluteDef.localAnchorA = jsonToVec("anchorA", jointValue);
revoluteDef.localAnchorB = jsonToVec("anchorB", jointValue);
revoluteDef.enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
revoluteDef.motorSpeed = jsonToFloat("motorSpeed", jointValue);
revoluteDef.maxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
//jointDef = wheelDef = new b2WheelJointDef(); //JointFactory.CreateWheelJoint(world, bodyA, bodyB, localAnchorB, localAxisA);
//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);
//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")
{
jointDef = weldDef = new b2WeldJointDef();
weldDef.localAnchorA = jsonToVec("anchorA", jointValue);
weldDef.localAnchorB = jsonToVec("anchorB", jointValue);
weldDef.referenceAngle = 0;
}
else if (type == "friction")
{
jointDef = frictionDef = new b2FrictionJointDef();
frictionDef.localAnchorA = jsonToVec("anchorA", jointValue);
frictionDef.localAnchorB = jsonToVec("anchorB", jointValue);
frictionDef.maxForce = jsonToFloat("maxForce", jointValue);
frictionDef.maxTorque = jsonToFloat("maxTorque", jointValue);
}
else if (type == "rope")
{
jointDef = ropeDef = new b2RopeJointDef();
ropeDef.localAnchorA = jsonToVec("anchorA", jointValue);
ropeDef.localAnchorB = jsonToVec("anchorB", jointValue);
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 != jointDef)
{
// set features common to all joints
jointDef.BodyA = m_bodies[bodyIndexA];
jointDef.BodyB = m_bodies[bodyIndexB];
jointDef.CollideConnected = jointValue["collideConnected"] == null ? false : (bool)jointValue["collideConnected"];
joint = world.CreateJoint(jointDef);
if (type.Equals("mouse"))
((b2MouseJoint)joint).SetTarget(mouseJointTarget);
String jointName = jointValue["name"] == null ? "" : (string)jointValue["name"];
if (!jointName.Equals(""))
{
SetJointName(joint, jointName);
}
}
return joint;
}
