public static MotorJoint CreateMotorJoint(World world, Body bodyA, Body bodyB, bool useWorldCoordinates = false) { var joint = new MotorJoint(bodyA, bodyB, useWorldCoordinates); world.addJoint(joint); return(joint); }
public Turret(Vector2 farseerLoc, World w, RagdollManager r, Fixture f) { DebugMaterial gray = new DebugMaterial(MaterialType.Blank) { Color = Color.DarkGray }; body = new Body(w); pivot = FixtureFactory.AttachCircle(.9f, 1, body, gray); FixtureFactory.AttachRectangle(barrelLength, .5f, 1, new Vector2(barrelLength / 2, 0), body, gray); body.Position = farseerLoc; body.BodyType = BodyType.Dynamic; //b.CollidesWith = Category.None; if (f == null) { motor = JointFactory.CreateFixedRevoluteJoint(w, body, Vector2.Zero, farseerLoc); } else { motor = new RevoluteJoint(body, f.Body, Vector2.Zero, f.Body.GetLocalPoint(farseerLoc)); w.AddJoint(motor); } motor.MotorEnabled = true; motor.MaxMotorTorque = 5000; Init(w, r); }
public static MotorJoint CreateMotorJoint(World world, Body bodyA, Body bodyB) { MotorJoint joint = new MotorJoint(bodyA, bodyB); world.AddJoint(joint); return(joint); }
public override Joint CreateJoint() { var joint = new MotorJoint(BodyA, BodyB); joint.CollideConnected = CollideConnected; joint.LinearOffset = LinearOffset * FSConvert.DisplayToSim; joint.MaxForce = MaxForce; joint.MaxTorque = MaxTorque; joint.AngularOffset = AngularOffset; return(joint); }
public override Joint createJoint() { var joint = new MotorJoint(bodyA, bodyB); joint.collideConnected = collideConnected; joint.linearOffset = linearOffset * FSConvert.displayToSim; joint.maxForce = maxForce; joint.maxTorque = maxTorque; joint.angularOffset = angularOffset; return(joint); }
public override Joint CreateJoint() { MotorJoint joint = new MotorJoint(BodyA, BodyB) { CollideConnected = CollideConnected, LinearOffset = LinearOffset * FSConvert.DisplayToSim, MaxForce = MaxForce, MaxTorque = MaxTorque, AngularOffset = AngularOffset }; return(joint); }
MotorJointTest() { Body ground = World.CreateEdge(new Vector2(-20, 0), new Vector2(20, 0)); // Define motorized body Body body = World.CreateRectangle(4, 1, 2, new Vector2(0, 8)); body.BodyType = BodyType.Dynamic; body.SetFriction(0.6f); _joint = new MotorJoint(ground, body); _joint.MaxForce = 1000.0f; _joint.MaxTorque = 1000.0f; World.Add(_joint); }
private MotorJointTest() { Body ground = BodyFactory.CreateEdge(World, new Vector2(-20, 0), new Vector2(20, 0)); // Define motorized body Body body = BodyFactory.CreateRectangle(World, 4, 1, 2, new Vector2(0, 8)); body.BodyType = BodyType.Dynamic; body.Friction = 0.6f; _joint = new MotorJoint(ground, body); _joint.MaxForce = 1000.0f; _joint.MaxTorque = 1000.0f; World.AddJoint(_joint); }
MotorJointTest() { Body ground = World.CreateBody(); ground.CreateEdge(new Vector2(-20, 0), new Vector2(20, 0)); // Define motorized body Body body = World.CreateBody(new Vector2(0, 8), 0, BodyType.Dynamic); var bfixture = body.CreateRectangle(4, 1, 2, Vector2.Zero); bfixture.Friction = 0.6f; _joint = new MotorJoint(ground, body); _joint.MaxForce = 1000.0f; _joint.MaxTorque = 1000.0f; World.Add(_joint); }
protected override void Create() { Body ground; { var bd = new BodyDef(); ground = World.CreateBody(bd); var shape = new EdgeShape(); shape.Set(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f)); var fd = new FixtureDef(); fd.Shape = shape; ground.CreateFixture(fd); } // Define motorized body { var bd = new BodyDef(); bd.BodyType = BodyType.DynamicBody; bd.Position.Set(0.0f, 8.0f); var body = World.CreateBody(bd); var shape = new PolygonShape(); shape.SetAsBox(2.0f, 0.5f); var fd = new FixtureDef(); fd.Shape = shape; fd.Friction = 0.6f; fd.Density = 2.0f; body.CreateFixture(fd); var mjd = new MotorJointDef(); mjd.Initialize(ground, body); mjd.MaxForce = 1000.0f; mjd.MaxTorque = 1000.0f; _joint = (MotorJoint)World.CreateJoint(mjd); } _go = false; _time = 0.0f; }
private MotorJointTest() { Body ground; { BodyDef bd = new BodyDef(); ground = BodyFactory.CreateFromDef(World, bd); EdgeShape shape = new EdgeShape(); shape.SetTwoSided(new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f)); FixtureDef fd = new FixtureDef(); fd.Shape = shape; ground.AddFixture(fd); } // Define motorized body { BodyDef bd = new BodyDef(); bd.Type = BodyType.Dynamic; bd.Position = new Vector2(0.0f, 8.0f); Body body = BodyFactory.CreateFromDef(World, bd); PolygonShape shape = new PolygonShape(2.0f); shape.SetAsBox(2.0f, 0.5f); FixtureDef fd = new FixtureDef(); fd.Shape = shape; fd.Friction = 0.6f; body.AddFixture(fd); MotorJointDef mjd = new MotorJointDef(); mjd.Initialize(ground, body); mjd.MaxForce = 1000.0f; mjd.MaxTorque = 1000.0f; _joint = (MotorJoint)JointFactory.CreateFromDef(World, mjd); } _go = false; _time = 0.0f; }
private SerializationTest() { Body ground = BodyFactory.CreateEdge(World, new Vector2(-20, 0), new Vector2(20, 0)); //Friction and distance joint { Body bodyA = BodyFactory.CreateCircle(World, 1, 1.5f, new Vector2(10, 25)); bodyA.BodyType = BodyType.Dynamic; Body bodyB = BodyFactory.CreateRectangle(World, 1, 1, 1, new Vector2(-1, 25)); bodyB.BodyType = BodyType.Dynamic; FrictionJoint frictionJoint = JointFactory.CreateFrictionJoint(World, bodyB, ground, Vector2.Zero); frictionJoint.CollideConnected = true; frictionJoint.MaxForce = 100; JointFactory.CreateDistanceJoint(World, bodyA, bodyB); } //Wheel joint { Vertices vertices = new Vertices(6); vertices.Add(new Vector2(-1.5f, -0.5f)); vertices.Add(new Vector2(1.5f, -0.5f)); vertices.Add(new Vector2(1.5f, 0.0f)); vertices.Add(new Vector2(0.0f, 0.9f)); vertices.Add(new Vector2(-1.15f, 0.9f)); vertices.Add(new Vector2(-1.5f, 0.2f)); Body carBody = BodyFactory.CreatePolygon(World, vertices, 1, new Vector2(0, 1)); carBody.BodyType = BodyType.Dynamic; Body wheel1 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(-1.0f, 0.35f)); wheel1.BodyType = BodyType.Dynamic; wheel1.Friction = 0.9f; Body wheel2 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(1.0f, 0.4f)); wheel2.BodyType = BodyType.Dynamic; wheel2.Friction = 0.9f; Vector2 axis = new Vector2(0.0f, 1.0f); WheelJoint spring1 = JointFactory.CreateWheelJoint(World, carBody, wheel1, axis); spring1.MotorSpeed = 0.0f; spring1.MaxMotorTorque = 20.0f; spring1.MotorEnabled = true; spring1.Frequency = 4; spring1.DampingRatio = 0.7f; WheelJoint spring2 = JointFactory.CreateWheelJoint(World, carBody, wheel2, axis); spring2.MotorSpeed = 0.0f; spring2.MaxMotorTorque = 10.0f; spring2.MotorEnabled = false; spring2.Frequency = 4; spring2.DampingRatio = 0.7f; } //Prismatic joint { Body body = BodyFactory.CreateRectangle(World, 2, 2, 5, new Vector2(-10.0f, 10.0f)); body.BodyType = BodyType.Dynamic; body.Rotation = 0.5f * Settings.Pi; Vector2 axis = new Vector2(2.0f, 1.0f); axis.Normalize(); PrismaticJoint joint = JointFactory.CreatePrismaticJoint(World, ground, body, Vector2.Zero, axis); joint.MotorSpeed = 5.0f; joint.MaxMotorForce = 1000.0f; joint.MotorEnabled = true; joint.LowerLimit = -10.0f; joint.UpperLimit = 20.0f; joint.LimitEnabled = true; } // Pulley joint { Body body1 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(-10.0f, 16.0f)); body1.BodyType = BodyType.Dynamic; Body body2 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(10.0f, 16.0f)); body2.BodyType = BodyType.Dynamic; Vector2 anchor1 = new Vector2(-10.0f, 16.0f + 2.0f); Vector2 anchor2 = new Vector2(10.0f, 16.0f + 2.0f); Vector2 worldAnchor1 = new Vector2(-10.0f, 16.0f + 2.0f + 12.0f); Vector2 worldAnchor2 = new Vector2(10.0f, 16.0f + 2.0f + 12.0f); JointFactory.CreatePulleyJoint(World, body1, body2, anchor1, anchor2, worldAnchor1, worldAnchor2, 1.5f, true); } //Revolute joint { Body ball = BodyFactory.CreateCircle(World, 3.0f, 5.0f, new Vector2(5.0f, 30.0f)); ball.BodyType = BodyType.Dynamic; Body polygonBody = BodyFactory.CreateRectangle(World, 20, 0.4f, 2, new Vector2(10, 10)); polygonBody.BodyType = BodyType.Dynamic; polygonBody.IsBullet = true; RevoluteJoint joint = JointFactory.CreateRevoluteJoint(World, ground, polygonBody, new Vector2(10, 0)); joint.LowerLimit = -0.25f * Settings.Pi; joint.UpperLimit = 0.0f * Settings.Pi; joint.LimitEnabled = true; } //Weld joint { PolygonShape shape = new PolygonShape(PolygonUtils.CreateRectangle(0.5f, 0.125f), 20); Body prevBody = ground; for (int i = 0; i < 10; ++i) { Body body = BodyFactory.CreateBody(World); body.BodyType = BodyType.Dynamic; body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f); body.CreateFixture(shape); Vector2 anchor = new Vector2(0.5f, 0); if (i == 0) { anchor = new Vector2(-15f, 5); } JointFactory.CreateWeldJoint(World, prevBody, body, anchor, new Vector2(-0.5f, 0)); prevBody = body; } } //Rope joint { LinkFactory.CreateChain(World, new Vector2(-10, 10), new Vector2(-20, 10), 0.1f, 0.5f, 10, 0.1f, true); } //Angle joint { Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4)); fA.BodyType = BodyType.Dynamic; fA.Rotation = (float)(Math.PI / 3); Body fB = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(5, 4)); fB.BodyType = BodyType.Dynamic; AngleJoint joint = new AngleJoint(fA, fB); joint.TargetAngle = (float)Math.PI / 2; World.AddJoint(joint); } //Motor joint { Body body = BodyFactory.CreateRectangle(World, 4, 1, 2, new Vector2(0, 35)); body.BodyType = BodyType.Dynamic; body.Friction = 0.6f; MotorJoint motorJoint = JointFactory.CreateMotorJoint(World, ground, body); motorJoint.MaxForce = 1000.0f; motorJoint.MaxTorque = 1000.0f; motorJoint.LinearOffset = new Vector2(0, 35); motorJoint.AngularOffset = (float)(Math.PI / 3f); } }
private static void Deserialize(World world, Stream stream) { List <Body> bodies = new List <Body>(); List <Fixture> fixtures = new List <Fixture>(); List <Joint> joints = new List <Joint>(); List <Shape> shapes = new List <Shape>(); XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream); if (root.Name.ToLower() != "world") { throw new Exception(); } //Read gravity foreach (XMLFragmentElement element in root.Elements) { if (element.Name.ToLower() == "gravity") { world.Gravity = ReadVector(element); break; } } //Read shapes foreach (XMLFragmentElement shapeElement in root.Elements) { if (shapeElement.Name.ToLower() == "shapes") { foreach (XMLFragmentElement element in shapeElement.Elements) { if (element.Name.ToLower() != "shape") { throw new Exception(); } ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), element.Attributes[0].Value, true); float density = float.Parse(element.Attributes[1].Value); switch (type) { case ShapeType.Circle: { CircleShape shape = new CircleShape(); shape._density = density; foreach (XMLFragmentElement sn in element.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(); shape._density = density; foreach (XMLFragmentElement sn in element.Elements) { switch (sn.Name.ToLower()) { case "vertices": { List <Vector2> verts = new List <Vector2>(sn.Elements.Count); foreach (XMLFragmentElement vert in sn.Elements) { verts.Add(ReadVector(vert)); } shape.Vertices = new Vertices(verts); } break; case "centroid": shape.MassData.Centroid = ReadVector(sn); break; } } shapes.Add(shape); } break; case ShapeType.Edge: { EdgeShape shape = new EdgeShape(); shape._density = density; foreach (XMLFragmentElement sn in element.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; case ShapeType.Chain: { ChainShape shape = new ChainShape(); shape._density = density; foreach (XMLFragmentElement sn in element.Elements) { switch (sn.Name.ToLower()) { case "vertices": { List <Vector2> verts = new List <Vector2>(sn.Elements.Count); foreach (XMLFragmentElement vert in sn.Elements) { verts.Add(ReadVector(vert)); } shape.Vertices = new Vertices(verts); } break; case "nextvertex": shape.NextVertex = ReadVector(sn); break; case "prevvertex": shape.PrevVertex = ReadVector(sn); break; default: throw new Exception(); } } shapes.Add(shape); } break; } } } } //Read fixtures foreach (XMLFragmentElement fixtureElement in root.Elements) { if (fixtureElement.Name.ToLower() == "fixtures") { foreach (XMLFragmentElement element in fixtureElement.Elements) { Fixture fixture = new Fixture(); if (element.Name.ToLower() != "fixture") { throw new Exception(); } fixture.FixtureId = int.Parse(element.Attributes[0].Value); foreach (XMLFragmentElement sn in element.Elements) { switch (sn.Name.ToLower()) { 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; case "CollisionIgnores": string[] split = ssn.Value.Split('|'); foreach (string s in split) { fixture._collisionIgnores.Add(int.Parse(s)); } 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); } } } //Read bodies foreach (XMLFragmentElement bodyElement in root.Elements) { if (bodyElement.Name.ToLower() == "bodies") { foreach (XMLFragmentElement element in bodyElement.Elements) { Body body = new Body(world); if (element.Name.ToLower() != "body") { throw new Exception(); } body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), element.Attributes[0].Value, true); foreach (XMLFragmentElement sn in element.Elements) { switch (sn.Name.ToLower()) { case "active": bool enabled = bool.Parse(sn.Value); if (enabled) { 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 "bindings": { foreach (XMLFragmentElement pair in sn.Elements) { Fixture fix = fixtures[int.Parse(pair.Attributes[0].Value)]; fix.Shape = shapes[int.Parse(pair.Attributes[1].Value)].Clone(); fix.CloneOnto(body); } break; } } } bodies.Add(body); } } } //Read joints 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.FixedMouse: // joint = new FixedMouseJoint(); // break; //case JointType.FixedRevolute: // break; //case JointType.FixedDistance: // break; //case JointType.FixedLine: // break; //case JointType.FixedPrismatic: // break; //case JointType.FixedAngle: // break; //case JointType.FixedFriction: // break; case JointType.Distance: joint = new DistanceJoint(); break; case JointType.Friction: joint = new FrictionJoint(); break; case JointType.Wheel: joint = new WheelJoint(); 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.Motor: joint = new MotorJoint(); 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.Wheel: { switch (sn.Name.ToLower()) { case "enablemotor": ((WheelJoint)joint).MotorEnabled = bool.Parse(sn.Value); break; case "localanchora": ((WheelJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((WheelJoint)joint).LocalAnchorB = ReadVector(sn); break; case "motorspeed": ((WheelJoint)joint).MotorSpeed = float.Parse(sn.Value); break; case "dampingratio": ((WheelJoint)joint).DampingRatio = float.Parse(sn.Value); break; case "maxmotortorque": ((WheelJoint)joint).MaxMotorTorque = float.Parse(sn.Value); break; case "frequencyhz": ((WheelJoint)joint).Frequency = float.Parse(sn.Value); break; case "axis": ((WheelJoint)joint).Axis = 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 "axis": ((PrismaticJoint)joint).Axis = 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 "worldanchora": ((PulleyJoint)joint).WorldAnchorA = ReadVector(sn); break; case "worldanchorb": ((PulleyJoint)joint).WorldAnchorB = 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 "ratio": ((PulleyJoint)joint).Ratio = float.Parse(sn.Value); break; case "constant": ((PulleyJoint)joint).Constant = 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.Motor: switch (sn.Name.ToLower()) { case "angularoffset": ((MotorJoint)joint).AngularOffset = float.Parse(sn.Value); break; case "linearoffset": ((MotorJoint)joint).LinearOffset = ReadVector(sn); break; case "maxforce": ((MotorJoint)joint).MaxForce = float.Parse(sn.Value); break; case "maxtorque": ((MotorJoint)joint).MaxTorque = float.Parse(sn.Value); break; case "correctionfactor": ((MotorJoint)joint).CorrectionFactor = float.Parse(sn.Value); break; } break; } } } } } world.ProcessChanges(); }
private static void SerializeJoint(List <Body> bodies, Joint joint) { _writer.WriteStartElement("Joint"); _writer.WriteAttributeString("Type", joint.JointType.ToString()); WriteElement("BodyA", FindIndex(bodies, joint.BodyA)); WriteElement("BodyB", FindIndex(bodies, joint.BodyB)); WriteElement("CollideConnected", joint.CollideConnected); WriteElement("Breakpoint", joint.Breakpoint); if (joint.UserData != null) { _writer.WriteStartElement("UserData"); WriteDynamicType(joint.UserData.GetType(), joint.UserData); _writer.WriteEndElement(); } switch (joint.JointType) { case JointType.Distance: { DistanceJoint distanceJoint = (DistanceJoint)joint; WriteElement("DampingRatio", distanceJoint.DampingRatio); WriteElement("FrequencyHz", distanceJoint.Frequency); WriteElement("Length", distanceJoint.Length); WriteElement("LocalAnchorA", distanceJoint.LocalAnchorA); WriteElement("LocalAnchorB", distanceJoint.LocalAnchorB); } break; case JointType.Friction: { FrictionJoint frictionJoint = (FrictionJoint)joint; WriteElement("LocalAnchorA", frictionJoint.LocalAnchorA); WriteElement("LocalAnchorB", frictionJoint.LocalAnchorB); WriteElement("MaxForce", frictionJoint.MaxForce); WriteElement("MaxTorque", frictionJoint.MaxTorque); } break; case JointType.Gear: throw new Exception("Gear joint not supported by serialization"); case JointType.Wheel: { WheelJoint wheelJoint = (WheelJoint)joint; WriteElement("EnableMotor", wheelJoint.MotorEnabled); WriteElement("LocalAnchorA", wheelJoint.LocalAnchorA); WriteElement("LocalAnchorB", wheelJoint.LocalAnchorB); WriteElement("MotorSpeed", wheelJoint.MotorSpeed); WriteElement("DampingRatio", wheelJoint.DampingRatio); WriteElement("MaxMotorTorque", wheelJoint.MaxMotorTorque); WriteElement("FrequencyHz", wheelJoint.Frequency); WriteElement("Axis", wheelJoint.Axis); } break; case JointType.Prismatic: { //NOTE: Does not conform with Box2DScene PrismaticJoint prismaticJoint = (PrismaticJoint)joint; WriteElement("EnableLimit", prismaticJoint.LimitEnabled); WriteElement("EnableMotor", prismaticJoint.MotorEnabled); WriteElement("LocalAnchorA", prismaticJoint.LocalAnchorA); WriteElement("LocalAnchorB", prismaticJoint.LocalAnchorB); WriteElement("Axis", prismaticJoint.Axis); WriteElement("LowerTranslation", prismaticJoint.LowerLimit); WriteElement("UpperTranslation", prismaticJoint.UpperLimit); WriteElement("MaxMotorForce", prismaticJoint.MaxMotorForce); WriteElement("MotorSpeed", prismaticJoint.MotorSpeed); } break; case JointType.Pulley: { PulleyJoint pulleyJoint = (PulleyJoint)joint; WriteElement("WorldAnchorA", pulleyJoint.WorldAnchorA); WriteElement("WorldAnchorB", pulleyJoint.WorldAnchorB); WriteElement("LengthA", pulleyJoint.LengthA); WriteElement("LengthB", pulleyJoint.LengthB); WriteElement("LocalAnchorA", pulleyJoint.LocalAnchorA); WriteElement("LocalAnchorB", pulleyJoint.LocalAnchorB); WriteElement("Ratio", pulleyJoint.Ratio); WriteElement("Constant", pulleyJoint.Constant); } break; case JointType.Revolute: { RevoluteJoint revoluteJoint = (RevoluteJoint)joint; WriteElement("EnableLimit", revoluteJoint.LimitEnabled); WriteElement("EnableMotor", revoluteJoint.MotorEnabled); WriteElement("LocalAnchorA", revoluteJoint.LocalAnchorA); WriteElement("LocalAnchorB", revoluteJoint.LocalAnchorB); WriteElement("LowerAngle", revoluteJoint.LowerLimit); WriteElement("MaxMotorTorque", revoluteJoint.MaxMotorTorque); WriteElement("MotorSpeed", revoluteJoint.MotorSpeed); WriteElement("ReferenceAngle", revoluteJoint.ReferenceAngle); WriteElement("UpperAngle", revoluteJoint.UpperLimit); } break; case JointType.Weld: { WeldJoint weldJoint = (WeldJoint)joint; WriteElement("LocalAnchorA", weldJoint.LocalAnchorA); WriteElement("LocalAnchorB", weldJoint.LocalAnchorB); } break; // // Not part of Box2DScene // case JointType.Rope: { RopeJoint ropeJoint = (RopeJoint)joint; WriteElement("LocalAnchorA", ropeJoint.LocalAnchorA); WriteElement("LocalAnchorB", ropeJoint.LocalAnchorB); WriteElement("MaxLength", ropeJoint.MaxLength); } break; case JointType.Angle: { AngleJoint angleJoint = (AngleJoint)joint; WriteElement("BiasFactor", angleJoint.BiasFactor); WriteElement("MaxImpulse", angleJoint.MaxImpulse); WriteElement("Softness", angleJoint.Softness); WriteElement("TargetAngle", angleJoint.TargetAngle); } break; case JointType.Motor: { MotorJoint motorJoint = (MotorJoint)joint; WriteElement("AngularOffset", motorJoint.AngularOffset); WriteElement("LinearOffset", motorJoint.LinearOffset); WriteElement("MaxForce", motorJoint.MaxForce); WriteElement("MaxTorque", motorJoint.MaxTorque); WriteElement("CorrectionFactor", motorJoint.CorrectionFactor); } break; default: throw new Exception("Joint not supported"); } _writer.WriteEndElement(); }