public PulleyJoint(PulleyJointDef def) : base(def)
{
this._ground = this._body1.GetWorld().GetGroundBody();
this._groundAnchor1 = def.GroundAnchor1 - this._ground.GetXForm().Position;
this._groundAnchor2 = def.GroundAnchor2 - this._ground.GetXForm().Position;
this._localAnchor1 = def.LocalAnchor1;
this._localAnchor2 = def.LocalAnchor2;
Box2DXDebug.Assert(def.Ratio != 0f);
this._ratio = def.Ratio;
this._constant = def.Length1 + this._ratio * def.Length2;
this._maxLength1 = Box2DX.Common.Math.Min(def.MaxLength1, this._constant - this._ratio * PulleyJoint.MinPulleyLength);
this._maxLength2 = Box2DX.Common.Math.Min(def.MaxLength2, (this._constant - PulleyJoint.MinPulleyLength) / this._ratio);
this._impulse = 0f;
this._limitImpulse1 = 0f;
this._limitImpulse2 = 0f;
}
public PulleyJoint(PulleyJointDef def)
: base(def)
{
this._ground = this._body1.GetWorld().GetGroundBody();
this._groundAnchor1 = def.GroundAnchor1 - this._ground.GetXForm().Position;
this._groundAnchor2 = def.GroundAnchor2 - this._ground.GetXForm().Position;
this._localAnchor1 = def.LocalAnchor1;
this._localAnchor2 = def.LocalAnchor2;
Box2DXDebug.Assert(def.Ratio != 0f);
this._ratio = def.Ratio;
this._constant = def.Length1 + this._ratio * def.Length2;
this._maxLength1 = Box2DX.Common.Math.Min(def.MaxLength1, this._constant - this._ratio * PulleyJoint.MinPulleyLength);
this._maxLength2 = Box2DX.Common.Math.Min(def.MaxLength2, (this._constant - PulleyJoint.MinPulleyLength) / this._ratio);
this._impulse = 0f;
this._limitImpulse1 = 0f;
this._limitImpulse2 = 0f;
}
public Pulleys()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
float a = 2.0f;
float b = 4.0f;
float y = 16.0f;
float L = 12.0f;
PolygonDef sd = new PolygonDef();
sd.SetAsBox(a, b);
sd.Density = 5.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, y);
Body body1 = _world.CreateBody(bd);
body1.CreateShape(sd);
body1.SetMassFromShapes();
bd.Position.Set(10.0f, y);
Body body2 = _world.CreateBody(bd);
body2.CreateShape(sd);
body2.SetMassFromShapes();
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
public PulleyJoint(PulleyJointDef def)
: base(def)
{
_groundAnchor1 = def.GroundAnchor1;
_groundAnchor2 = def.GroundAnchor2;
_localAnchor1 = def.LocalAnchor1;
_localAnchor2 = def.LocalAnchor2;
Box2DXDebug.Assert(def.Ratio != 0.0f);
_ratio = def.Ratio;
_constant = def.Length1 + _ratio * def.Length2;
_maxLength1 = Common.Math.Min(def.MaxLength1, _constant - _ratio * PulleyJoint.MinPulleyLength);
_maxLength2 = Common.Math.Min(def.MaxLength2, (_constant - PulleyJoint.MinPulleyLength) / _ratio);
_impulse = 0.0f;
_limitImpulse1 = 0.0f;
_limitImpulse2 = 0.0f;
}
public Pulleys()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vec2(-40.0f, 0.0f), new Vec2(40.0f, 0.0f));
ground.CreateFixture(shape, 0);
}
{
float a = 2.0f;
float b = 4.0f;
float y = 16.0f;
float L = 12.0f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, y);
Body body1 = _world.CreateBody(bd);
body1.CreateFixture(shape, 5.0f);
bd.Position.Set(10.0f, y);
Body body2 = _world.CreateBody(bd);
body2.CreateFixture(shape, 5.0f);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
public PulleyJoint(PulleyJointDef def)
: base(def)
{
_ground = _body1.GetWorld().GetGroundBody();
_groundAnchor1 = def.GroundAnchor1 - _ground.GetTransform().position;
_groundAnchor2 = def.GroundAnchor2 - _ground.GetTransform().position;
_localAnchor1 = def.LocalAnchor1;
_localAnchor2 = def.LocalAnchor2;
Box2DXDebug.Assert(def.Ratio != 0.0f);
_ratio = def.Ratio;
_constant = def.Length1 + _ratio * def.Length2;
_maxLength1 = Common.Math.Min(def.MaxLength1, _constant - _ratio * PulleyJoint.MinPulleyLength);
_maxLength2 = Common.Math.Min(def.MaxLength2, (_constant - PulleyJoint.MinPulleyLength) / _ratio);
_impulse = 0.0f;
_limitImpulse1 = 0.0f;
_limitImpulse2 = 0.0f;
}
public PulleyJoint(PulleyJointDef def)
: base(def)
{
_ground = _body1.GetWorld().GetGroundBody();
_groundAnchor1 = def.GroundAnchor1 - _ground.GetXForm().Position;
_groundAnchor2 = def.GroundAnchor2 - _ground.GetXForm().Position;
_localAnchor1 = def.LocalAnchor1;
_localAnchor2 = def.LocalAnchor2;
Box2DXDebug.Assert(def.Ratio != 0.0f);
_ratio = def.Ratio;
_constant = def.Length1 + _ratio * def.Length2;
_maxLength1 = Common.Math.Min(def.MaxLength1, _constant - _ratio * PulleyJoint.MinPulleyLength);
_maxLength2 = Common.Math.Min(def.MaxLength2, (_constant - PulleyJoint.MinPulleyLength) / _ratio);
_impulse = 0.0f;
_limitImpulse1 = 0.0f;
_limitImpulse2 = 0.0f;
}
