/// <summary>
/// Creates a fixed angle joint.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="body">The body.</param>
/// <returns></returns>
public static FixedAngleJoint CreateFixedAngleJoint(PhysicsWorld world, PhysicsBody body)
{
FixedAngleJoint angleJoint = new FixedAngleJoint(body);
world.AddJoint(angleJoint);
return angleJoint;
}
public static DistanceJoint CreateDistanceJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchorA,
Vector2 anchorB)
{
DistanceJoint distanceJoint = new DistanceJoint(bodyA, bodyB, anchorA, anchorB);
world.AddJoint(distanceJoint);
return distanceJoint;
}
public static FixedPrismaticJoint CreateFixedPrismaticJoint(PhysicsWorld world, PhysicsBody body, Vector2 worldAnchor,
Vector2 axis)
{
FixedPrismaticJoint joint = new FixedPrismaticJoint(body, worldAnchor, axis);
world.AddJoint(joint);
return joint;
}
public static FixedDistanceJoint CreateFixedDistanceJoint(PhysicsWorld world, PhysicsBody body, Vector2 localAnchor,
Vector2 worldAnchor)
{
FixedDistanceJoint distanceJoint = new FixedDistanceJoint(body, localAnchor, worldAnchor);
world.AddJoint(distanceJoint);
return distanceJoint;
}
/// <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(PhysicsWorld world, PhysicsBody body, Vector2 bodyAnchor,
Vector2 worldAnchor)
{
FixedRevoluteJoint fixedRevoluteJoint = new FixedRevoluteJoint(body, bodyAnchor, worldAnchor);
world.AddJoint(fixedRevoluteJoint);
return fixedRevoluteJoint;
}
/// <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>
/// <param name="minLength">Minimum length of the slider joint.</param>
/// <param name="maxLength">Maximum length of the slider joint.</param>
/// <returns></returns>
public static List<SliderJoint> AttachBodiesWithSliderJoint(PhysicsWorld world, List<PhysicsBody> bodies, Vector2 localAnchorA,
Vector2 localAnchorB, bool connectFirstAndLast,
bool collideConnected, float minLength,
float maxLength)
{
List<SliderJoint> joints = new List<SliderJoint>(bodies.Count + 1);
for (int i = 1; i < bodies.Count; i++)
{
SliderJoint joint = new SliderJoint(bodies[i], bodies[i - 1], localAnchorA, localAnchorB, minLength,
maxLength);
joint.CollideConnected = collideConnected;
world.AddJoint(joint);
joints.Add(joint);
}
if (connectFirstAndLast)
{
SliderJoint lastjoint = new SliderJoint(bodies[0], bodies[bodies.Count - 1], localAnchorA, localAnchorB,
minLength, maxLength);
lastjoint.CollideConnected = collideConnected;
world.AddJoint(lastjoint);
joints.Add(lastjoint);
}
return joints;
}
/// <summary>
/// Creates an angle joint.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="bodyA">The first body.</param>
/// <param name="bodyB">The second body.</param>
/// <returns></returns>
public static AngleJoint CreateAngleJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB)
{
AngleJoint angleJoint = new AngleJoint(bodyA, bodyB);
world.AddJoint(angleJoint);
return angleJoint;
}
public static void Deserialize(PhysicsWorld world, string filename)
{
using (FileStream fs = new FileStream(filename, FileMode.Open))
{
new WorldXmlDeserializer().Deserialize(world, fs);
}
}
/// <summary>
/// Creates a breakable body. You would want to remove collinear points before using this.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="vertices">The vertices.</param>
/// <param name="density">The density.</param>
/// <param name="position">The position.</param>
/// <returns></returns>
public static PhysicsBreakableBody CreateBreakableBody(PhysicsWorld world, Vertices vertices, float density, Vector2 position,
object userData)
{
List<Vertices> triangles = EarclipDecomposer.ConvexPartition(vertices);
PhysicsBreakableBody breakableBody = new PhysicsBreakableBody(triangles, world, density, userData);
breakableBody.MainBody.Position = position;
world.AddBreakableBody(breakableBody);
return breakableBody;
}
public PhysicsBreakableBody(IEnumerable<Vertices> vertices, PhysicsWorld world, float density, object userData)
{
_world = world;
_world.ContactManager.PostSolve += PostSolve;
MainBody = new PhysicsBody(_world);
MainBody.BodyType = BodyType.Dynamic;
foreach (Vertices part in vertices)
{
PolygonShape polygonShape = new PolygonShape(part, density);
Fixture fixture = MainBody.CreateFixture(polygonShape, userData);
Parts.Add(fixture);
}
}
/// <summary>
/// Creates a chain.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="start">The start.</param>
/// <param name="end">The end.</param>
/// <param name="linkWidth">The width.</param>
/// <param name="linkHeight">The height.</param>
/// <param name="fixStart">if set to <c>true</c> [fix start].</param>
/// <param name="fixEnd">if set to <c>true</c> [fix end].</param>
/// <param name="numberOfLinks">The number of links.</param>
/// <param name="linkDensity">The link density.</param>
/// <returns></returns>
public static Path CreateChain(PhysicsWorld world, Vector2 start, Vector2 end, float linkWidth, float linkHeight,
bool fixStart, bool fixEnd, int numberOfLinks, float linkDensity)
{
//Chain start / end
Path path = new Path();
path.Add(start);
path.Add(end);
//A single chainlink
PolygonShape shape = new PolygonShape(PolygonTools.CreateRectangle(linkWidth, linkHeight), linkDensity);
//Use PathManager to create all the chainlinks based on the chainlink created before.
List<PhysicsBody> chainLinks = PathManager.EvenlyDistributeShapesAlongPath(world, path, shape, BodyType.Dynamic,
numberOfLinks);
if (fixStart)
{
//Fix the first chainlink to the world
JointFactory.CreateFixedRevoluteJoint(world, chainLinks[0], new Vector2(0, -(linkHeight / 2)),
chainLinks[0].Position);
}
if (fixEnd)
{
//Fix the last chainlink to the world
JointFactory.CreateFixedRevoluteJoint(world, chainLinks[chainLinks.Count - 1],
new Vector2(0, (linkHeight / 2)),
chainLinks[chainLinks.Count - 1].Position);
}
//Attach all the chainlinks together with a revolute joint
PathManager.AttachBodiesWithRevoluteJoint(world, chainLinks, new Vector2(0, -linkHeight),
new Vector2(0, linkHeight),
false, false);
return (path);
}
public static PhysicsBreakableBody CreateBreakableBody(PhysicsWorld world, Vertices vertices, float density, Vector2 position)
{
return CreateBreakableBody(world, vertices, density, position, null);
}
public static List<PhysicsBody> EvenlyDistributeShapesAlongPath(PhysicsWorld world, Path path, Shape shape, BodyType type,
int copies)
{
return EvenlyDistributeShapesAlongPath(world, path, shape, type, copies, null);
}
/// <summary>
/// Duplicates the given Body along the given path for approximatly the given copies.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="path">The path.</param>
/// <param name="shape">The shape.</param>
/// <param name="type">The type.</param>
/// <param name="copies">The copies.</param>
/// <param name="userData">The user data.</param>
/// <returns></returns>
public static List<PhysicsBody> EvenlyDistributeShapesAlongPath(PhysicsWorld world, Path path, Shape shape, BodyType type,
int copies, object userData)
{
List<Shape> shapes = new List<Shape>(1);
shapes.Add(shape);
return EvenlyDistributeShapesAlongPath(world, path, shapes, type, copies, userData);
}
/// <summary>
/// Duplicates the given Body along the given path for approximatly the given copies.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="path">The path.</param>
/// <param name="shapes">The shapes.</param>
/// <param name="type">The type.</param>
/// <param name="copies">The copies.</param>
/// <param name="userData"></param>
/// <returns></returns>
public static List<PhysicsBody> EvenlyDistributeShapesAlongPath(PhysicsWorld world, Path path, IEnumerable<Shape> shapes,
BodyType type, int copies, object userData)
{
List<Vector3> centers = path.SubdivideEvenly(copies);
List<PhysicsBody> bodyList = new List<PhysicsBody>();
for (int i = 0; i < centers.Count; i++)
{
PhysicsBody b = new PhysicsBody(world);
// copy the type from original body
b.BodyType = type;
b.Position = new Vector2(centers[i].X, centers[i].Y);
b.Rotation = centers[i].Z;
foreach (Shape shape in shapes)
{
b.CreateFixture(shape, userData);
}
bodyList.Add(b);
}
return bodyList;
}
public PhysicsBody(PhysicsWorld world, object userData)
{
FixtureList = new List<Fixture>(32);
BodyId = _bodyIdCounter++;
World = world;
UserData = userData;
FixedRotation = false;
IsBullet = false;
SleepingAllowed = true;
Awake = true;
BodyType = BodyType.Static;
Enabled = true;
Xf.R.Set(0);
world.AddBody(this);
}
public static WeldJoint CreateWeldJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 localAnchorA,
Vector2 localAnchorB)
{
WeldJoint weldJoint = new WeldJoint(bodyA, bodyB, localAnchorA, localAnchorB);
world.AddJoint(weldJoint);
return weldJoint;
}
public PhysicsBreakableBody(IEnumerable<Vertices> vertices, PhysicsWorld world, float density)
: this(vertices, world, density, null)
{
}
public static FrictionJoint CreateFrictionJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchorA,
Vector2 anchorB)
{
FrictionJoint frictionJoint = new FrictionJoint(bodyA, bodyB, anchorA, anchorB);
world.AddJoint(frictionJoint);
return frictionJoint;
}
/// <summary>
/// Creates a capsule.
/// Note: Automatically decomposes the capsule if it contains too many vertices (controlled by Settings.MaxPolygonVertices)
/// </summary>
/// <param name="world">The world.</param>
/// <param name="height">The height.</param>
/// <param name="topRadius">The top radius.</param>
/// <param name="topEdges">The top edges.</param>
/// <param name="bottomRadius">The bottom radius.</param>
/// <param name="bottomEdges">The bottom edges.</param>
/// <param name="density">The density.</param>
/// <param name="position">The position.</param>
/// <returns></returns>
public static PhysicsBody CreateCapsule(PhysicsWorld world, float height, float topRadius, int topEdges,
float bottomRadius,
int bottomEdges, float density, Vector2 position, object userData)
{
Vertices verts = PolygonTools.CreateCapsule(height, topRadius, topEdges, bottomRadius, bottomEdges);
PhysicsBody body;
//There are too many vertices in the capsule. We decompose it.
if (verts.Count >= Settings.MaxPolygonVertices)
{
List<Vertices> vertList = EarclipDecomposer.ConvexPartition(verts);
body = CreateCompoundPolygon(world, vertList, density, userData);
body.Position = position;
return body;
}
body = CreatePolygon(world, verts, density, userData);
body.Position = position;
return body;
}
/// <summary>
/// This is a high-level function to cuts fixtures inside the given world, using the start and end points.
/// Note: We don't support cutting when the start or end is inside a shape.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="start">The startpoint.</param>
/// <param name="end">The endpoint.</param>
/// <param name="thickness">The thickness of the cut</param>
public static void Cut(PhysicsWorld world, Vector2 start, Vector2 end, float thickness)
{
List<Fixture> fixtures = new List<Fixture>();
List<Vector2> entryPoints = new List<Vector2>();
List<Vector2> exitPoints = new List<Vector2>();
//We don't support cutting when the start or end is inside a shape.
if (world.TestPoint(start) != null || world.TestPoint(end) != null)
return;
//Get the entry points
world.RayCast((f, p, n, fr) =>
{
fixtures.Add(f);
entryPoints.Add(p);
return 1;
}, start, end);
//Reverse the ray to get the exitpoints
world.RayCast((f, p, n, fr) =>
{
exitPoints.Add(p);
return 1;
}, end, start);
//We only have a single point. We need at least 2
if (entryPoints.Count + exitPoints.Count < 2)
return;
for (int i = 0; i < fixtures.Count; i++)
{
// can't cut circles yet !
if (fixtures[i].Shape.ShapeType != ShapeType.Polygon)
continue;
if (fixtures[i].Body.BodyType != BodyType.Static)
{
//Split the shape up into two shapes
Vertices first;
Vertices second;
SplitShape(fixtures[i], entryPoints[i], exitPoints[i], thickness, out first, out second);
//Delete the original shape and create two new. Retain the properties of the body.
if (SanityCheck(first))
{
PhysicsBody firstFixture = BodyFactory.CreatePolygon(world, first, fixtures[i].Shape.Density,
fixtures[i].Body.Position);
firstFixture.Rotation = fixtures[i].Body.Rotation;
firstFixture.LinearVelocity = fixtures[i].Body.LinearVelocity;
firstFixture.AngularVelocity = fixtures[i].Body.AngularVelocity;
firstFixture.BodyType = BodyType.Dynamic;
}
if (SanityCheck(second))
{
PhysicsBody secondFixture = BodyFactory.CreatePolygon(world, second, fixtures[i].Shape.Density,
fixtures[i].Body.Position);
secondFixture.Rotation = fixtures[i].Body.Rotation;
secondFixture.LinearVelocity = fixtures[i].Body.LinearVelocity;
secondFixture.AngularVelocity = fixtures[i].Body.AngularVelocity;
secondFixture.BodyType = BodyType.Dynamic;
}
world.RemoveBody(fixtures[i].Body);
}
}
}
/// <summary>
/// Creates a prismatic joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static PrismaticJoint CreatePrismaticJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 localanchorB,
Vector2 axis)
{
PrismaticJoint joint = CreatePrismaticJoint(bodyA, bodyB, localanchorB, axis);
world.AddJoint(joint);
return joint;
}
public static PulleyJoint CreatePulleyJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 groundAnchorA,
Vector2 groundAnchorB, Vector2 anchorA, Vector2 anchorB, float ratio)
{
PulleyJoint pulleyJoint = new PulleyJoint(bodyA, bodyB, groundAnchorA, groundAnchorB, anchorA, anchorB,
ratio);
world.AddJoint(pulleyJoint);
return pulleyJoint;
}
/// <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="anchor"></param>
/// <returns></returns>
public static RevoluteJoint CreateRevoluteJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchor)
{
RevoluteJoint joint = CreateRevoluteJoint(bodyA, bodyB, anchor);
world.AddJoint(joint);
return joint;
}
public static SliderJoint CreateSliderJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchorA,
Vector2 anchorB, float minLength, float maxLength)
{
SliderJoint sliderJoint = new SliderJoint(bodyA, bodyB, anchorA, anchorB, minLength, maxLength);
world.AddJoint(sliderJoint);
return sliderJoint;
}
public PhysicsLogic(PhysicsWorld world, PhysicsLogicType type)
{
_type = type;
World = world;
}
public static GearJoint CreateGearJoint(PhysicsWorld world, PhysicsJoint jointA, PhysicsJoint jointB, float ratio)
{
GearJoint gearJoint = new GearJoint(jointA, jointB, ratio);
world.AddJoint(gearJoint);
return gearJoint;
}
public PhysicsBody(PhysicsWorld world)
: this(world, null)
{
}
public static FixedFrictionJoint CreateFixedFrictionJoint(PhysicsWorld world, PhysicsBody body, Vector2 bodyAnchor)
{
FixedFrictionJoint frictionJoint = new FixedFrictionJoint(body, bodyAnchor);
world.AddJoint(frictionJoint);
return frictionJoint;
}
/// <summary>
/// Creates a weld joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <returns></returns>
public static WeldJoint CreateWeldJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 localanchorB)
{
WeldJoint joint = CreateWeldJoint(bodyA, bodyB, localanchorB);
world.AddJoint(joint);
return joint;
}
