Exemple #1
0
        internal static Joint Create(JointDef def)
        {
            Joint joint = null;

            switch (def.type)
            {
            case JointType.Distance:
            {
                joint = new DistanceJoint((DistanceJointDef)def);
            }
            break;

            case JointType.Mouse:
            {
                joint = new MouseJoint((MouseJointDef)def);
            }
            break;

            case JointType.Prismatic:
            {
                joint = new PrismaticJoint((PrismaticJointDef)def);
            }
            break;

            case JointType.Revolute:
            {
                joint = new RevoluteJoint((RevoluteJointDef)def);
            }
            break;

            case JointType.Pulley:
            {
                joint = new PulleyJoint((PulleyJointDef)def);
            }
            break;

            case JointType.Gear:
            {
                joint = new GearJoint((GearJointDef)def);
            }
            break;

            case JointType.Line:
            {
                joint = new LineJoint((LineJointDef)def);
            }
            break;

            case JointType.Weld:
            {
                joint = new WeldJoint((WeldJointDef)def);
            }
            break;

            case JointType.Friction:
            {
                joint = new FrictionJoint((FrictionJointDef)def);
            }
            break;

            case JointType.MaxDistance:
            {
                joint = new MaxDistanceJoint((MaxDistanceJointDef)def);
            }
            break;

            default:
                //Debug.Assert(false);
                break;
            }

            return(joint);
        }
Exemple #2
0
        internal static Joint Create(JointDef def)
        {
            Joint joint = null;

            switch (def.type)
            {
            case JointType.e_distanceJoint:
            {
                joint = new DistanceJoint((DistanceJointDef)def);
            }
            break;

            case JointType.e_mouseJoint:
            {
                joint = new MouseJoint((MouseJointDef)def);
            }
            break;

            case JointType.e_prismaticJoint:
            {
                joint = new PrismaticJoint((PrismaticJointDef)def);
            }
            break;

            case JointType.e_revoluteJoint:
            {
                joint = new RevoluteJoint((RevoluteJointDef)def);
            }
            break;

            case JointType.e_pulleyJoint:
            {
                joint = new PulleyJoint((PulleyJointDef)def);
            }
            break;

            case JointType.e_gearJoint:
            {
                joint = new GearJoint((GearJointDef)def);
            }
            break;

            case JointType.e_wheelJoint:
            {
                joint = new WheelJoint((WheelJointDef)def);
            }
            break;

            case JointType.e_weldJoint:
            {
                joint = new WeldJoint((WeldJointDef)def);
            }
            break;

            case JointType.e_frictionJoint:
            {
                joint = new FrictionJoint((FrictionJointDef)def);
            }
            break;

            case JointType.e_ropeJoint:
            {
                throw new NotImplementedException();
                //joint = new RopeJoint((RopeJointDef)def);
            }
            break;

            case JointType.e_motorJoint:
            {
                joint = new MotorJoint((MotorJointDef)def);
            }
            break;

            default:
                Utilities.Assert(false);
                break;
            }

            return(joint);
        }
Exemple #3
0
		internal static Joint Create(JointDef def){
			Joint joint = null;

			switch (def.type)
			{
			case JointType.e_distanceJoint:
			    {
					joint = new DistanceJoint((DistanceJointDef)def);
			    }
			    break;

			case JointType.e_mouseJoint:
			    {
			        joint = new MouseJoint((MouseJointDef)def);
			    }
			    break;

			case JointType.e_prismaticJoint:
			    {
			        joint = new PrismaticJoint((PrismaticJointDef)def);
			    }
			    break;

			case JointType.e_revoluteJoint:
			    {
					joint = new RevoluteJoint((RevoluteJointDef)def);
			    }
			    break;

			case JointType.e_pulleyJoint:
			    {
					joint = new PulleyJoint((PulleyJointDef)def);
			    }
			    break;

			case JointType.e_gearJoint:
			    {
					joint = new GearJoint((GearJointDef)def);
			    }
			    break;

			case JointType.e_wheelJoint:
			    {
					joint = new WheelJoint((WheelJointDef)def);
			    }
			    break;

			case JointType.e_weldJoint:
			    {
					joint = new WeldJoint((WeldJointDef)def);
			    }
			    break;
        
			case JointType.e_frictionJoint:
			    {
			        joint = new FrictionJoint((FrictionJointDef)def);
			    }
			    break;

			case JointType.e_ropeJoint:
			    {
					throw new NotImplementedException();
					//joint = new RopeJoint((RopeJointDef)def);
			    }
			    break;

			case JointType.e_motorJoint:
			    {
			        joint = new MotorJoint((MotorJointDef)def);
			    }
			    break;

			default:
			    Utilities.Assert(false);
			    break;
			}

			return joint;
		}
Exemple #4
0
        internal GearJoint(GearJointDef def) : base(def)
        {
            m_joint1 = def.joint1;
            m_joint2 = def.joint2;

            m_typeA = m_joint1.GetJointType();
            m_typeB = m_joint2.GetJointType();

            Utilities.Assert(m_typeA == JointType.e_revoluteJoint || m_typeA == JointType.e_prismaticJoint);
            Utilities.Assert(m_typeB == JointType.e_revoluteJoint || m_typeB == JointType.e_prismaticJoint);

            float coordinateA, coordinateB;

            // TODO_ERIN there might be some problem with the joint edges in Joint.

            m_bodyC = m_joint1.GetBodyA();
            m_bodyA = m_joint1.GetBodyB();

            // Get geometry of joint1
            Transform xfA = m_bodyA.m_xf;
            float     aA  = m_bodyA.m_sweep.a;
            Transform xfC = m_bodyC.m_xf;
            float     aC  = m_bodyC.m_sweep.a;

            if (m_typeA == JointType.e_revoluteJoint)
            {
                RevoluteJoint revolute = (RevoluteJoint)def.joint1;
                m_localAnchorC    = revolute.m_localAnchorA;
                m_localAnchorA    = revolute.m_localAnchorB;
                m_referenceAngleA = revolute.m_referenceAngle;
                m_localAxisC.SetZero();

                coordinateA = aA - aC - m_referenceAngleA;
            }
            else
            {
                PrismaticJoint prismatic = (PrismaticJoint)def.joint1;
                m_localAnchorC    = prismatic.m_localAnchorA;
                m_localAnchorA    = prismatic.m_localAnchorB;
                m_referenceAngleA = prismatic.m_referenceAngle;
                m_localAxisC      = prismatic.m_localXAxisA;

                Vec2 pC = m_localAnchorC;
                Vec2 pA = Utilities.MulT(xfC.q, Utilities.Mul(xfA.q, m_localAnchorA) + (xfA.p - xfC.p));
                coordinateA = Utilities.Dot(pA - pC, m_localAxisC);
            }

            m_bodyD = m_joint2.GetBodyA();
            m_bodyB = m_joint2.GetBodyB();

            // Get geometry of joint2
            Transform xfB = m_bodyB.m_xf;
            float     aB  = m_bodyB.m_sweep.a;
            Transform xfD = m_bodyD.m_xf;
            float     aD  = m_bodyD.m_sweep.a;

            if (m_typeB == JointType.e_revoluteJoint)
            {
                RevoluteJoint revolute = (RevoluteJoint)def.joint2;
                m_localAnchorD    = revolute.m_localAnchorA;
                m_localAnchorB    = revolute.m_localAnchorB;
                m_referenceAngleB = revolute.m_referenceAngle;
                m_localAxisD.SetZero();

                coordinateB = aB - aD - m_referenceAngleB;
            }
            else
            {
                PrismaticJoint prismatic = (PrismaticJoint)def.joint2;
                m_localAnchorD    = prismatic.m_localAnchorA;
                m_localAnchorB    = prismatic.m_localAnchorB;
                m_referenceAngleB = prismatic.m_referenceAngle;
                m_localAxisD      = prismatic.m_localXAxisA;

                Vec2 pD = m_localAnchorD;
                Vec2 pB = Utilities.MulT(xfD.q, Utilities.Mul(xfB.q, m_localAnchorB) + (xfB.p - xfD.p));
                coordinateB = Utilities.Dot(pB - pD, m_localAxisD);
            }

            m_ratio = def.ratio;

            m_constant = coordinateA + m_ratio * coordinateB;

            m_impulse = 0.0f;
        }