protected override void OnRender()
{
var ratio = _joint4.GetRatio();
var value = _joint1.GetJointAngle() + ratio * _joint2.GetJointAngle();
DrawString($"theta1 + {ratio:F2} * theta2 ={value:F2}");
ratio = _joint5.GetRatio();
value = _joint2.GetJointAngle() + ratio * _joint3.GetJointTranslation();
DrawString($"theta2 + {ratio:F2} * delta = {value:F2}");
}
public override void Step(Framework.Settings settings)
{
base.Step(settings);
double ratio = 0.0;
double value = 0.0;
ratio = _joint4.GetRatio();
value = _joint1.GetJointAngle() + ratio * _joint2.GetJointAngle();
_debugDraw.DrawString(50, _textLine, "theta1 + {0:n} * theta2 = {1:n}", (double)ratio, (double)value);
_textLine += 15;
ratio = _joint5.GetRatio();
value = _joint2.GetJointAngle() + ratio * _joint3.GetJointTranslation();
_debugDraw.DrawString(50, _textLine, "theta2 + {0:n} * delta = {1:n}", (double)ratio, (double)value);
_textLine += 15;
}
internal GearJoint(GearJointDef def)
: base(def)
{
JointType type1 = def.joint1.JointType;
JointType type2 = def.joint2.JointType;
Debug.Assert(type1 == JointType.Revolute || type1 == JointType.Prismatic);
Debug.Assert(type2 == JointType.Revolute || type2 == JointType.Prismatic);
Debug.Assert(def.joint1.GetBody1().IsStatic);
Debug.Assert(def.joint2.GetBody1().IsStatic);
_revolute1 = null;
_prismatic1 = null;
_revolute2 = null;
_prismatic2 = null;
float coordinate1, coordinate2;
_ground1 = def.joint1.GetBody1();
_bodyA = def.joint1.GetBody2();
if (type1 == JointType.Revolute)
{
_revolute1 = (RevoluteJoint)def.joint1;
_groundAnchor1 = _revolute1._localAnchor1;
_localAnchor1 = _revolute1._localAnchor2;
coordinate1 = _revolute1.GetJointAngle();
}
else
{
_prismatic1 = (PrismaticJoint)def.joint1;
_groundAnchor1 = _prismatic1._localAnchor1;
_localAnchor1 = _prismatic1._localAnchor2;
coordinate1 = _prismatic1.GetJointTranslation();
}
_ground2 = def.joint2.GetBody1();
_bodyB = def.joint2.GetBody2();
if (type2 == JointType.Revolute)
{
_revolute2 = (RevoluteJoint)def.joint2;
_groundAnchor2 = _revolute2._localAnchor1;
_localAnchor2 = _revolute2._localAnchor2;
coordinate2 = _revolute2.GetJointAngle();
}
else
{
_prismatic2 = (PrismaticJoint)def.joint2;
_groundAnchor2 = _prismatic2._localAnchor1;
_localAnchor2 = _prismatic2._localAnchor2;
coordinate2 = _prismatic2.GetJointTranslation();
}
_ratio = def.ratio;
_ant = coordinate1 + _ratio * coordinate2;
_impulse = 0.0f;
}