/// <summary>
/// Creates the from def using the specified world
/// </summary>
/// <param name="world">The world</param>
/// <param name="def">The def</param>
/// <returns>The joint</returns>
public static Joint CreateFromDef(World world, JointDef def)
{
Joint joint = Joint.Create(def);
world.AddJoint(joint);
return(joint);
}
protected Joint(JointDef def) : this(def.Type)
{
Debug.Assert(def.BodyA != def.BodyB);
_jointType = def.Type;
_bodyA = def.BodyA;
_bodyB = def.BodyB;
_collideConnected = def.CollideConnected;
_islandFlag = false;
_userData = def.UserData;
}
public static Joint AddJoint(this IJointable ithis, V2DJoint joint, float offsetX, float offsetY)
{
Joint result = null;
JointDef jointDef = null;
//Body targ0 = ithis.VScreen.bodyMap[joint.Body1];
//Body targ1 = ithis.VScreen.bodyMap[joint.Body2];
Body targ0 = GetBody(ithis, joint.Body1);
Body targ1 = GetBody(ithis, joint.Body2);
// gears need the first body static
if (targ0 != null && targ1 != null && targ1.GetType() == BodyType.Static && targ0.GetType() != BodyType.Static)
{
Body temp = targ0;
targ0 = targ1;
targ1 = temp;
}
Vector2 pt0 = new Vector2(joint.X + offsetX, joint.Y + offsetY);
string name = joint.Name;
Vector2 anchor0 = new Vector2(pt0.X / V2DScreen.WorldScale, pt0.Y / V2DScreen.WorldScale);
Vector2 anchor1 = new Vector2();
switch (joint.Type)
{
case V2DJointKind.Distance:
Vector2 pt1 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt1.X / V2DScreen.WorldScale, pt1.Y / V2DScreen.WorldScale);
DistanceJointDef dj = new DistanceJointDef();
dj.Initialize(targ0, targ1, anchor0, anchor1);
dj.collideConnected = joint.CollideConnected;
dj.dampingRatio = joint.DampingRatio;
dj.frequencyHz = joint.FrequencyHz;
if (joint.Length != -1)
{
dj.length = joint.Length / V2DScreen.WorldScale;
}
jointDef = dj;
break;
case V2DJointKind.Revolute:
float rot0 = joint.Min; //(typeof(joint["min"]) == "string") ? parseFloat(joint["min"]) / 180 * Math.PI : joint["min"];
float rot1 = joint.Max; //(typeof(joint["max"]) == "string") ? parseFloat(joint["max"]) / 180 * Math.PI : joint["max"];
RevoluteJointDef rj = new RevoluteJointDef();
rj.Initialize(targ0, targ1, anchor0);
rj.lowerAngle = rot0;
rj.upperAngle = rot1;
rj.enableLimit = rot0 != 0 && rot1 != 0;
rj.maxMotorTorque = joint.MaxMotorTorque;
rj.motorSpeed = joint.MotorSpeed;
rj.enableMotor = joint.EnableMotor;
jointDef = rj;
break;
case V2DJointKind.Prismatic:
float axisX = joint.AxisX;
float axisY = joint.AxisY;
float min = joint.Min;
float max = joint.Max;
PrismaticJointDef pj = new PrismaticJointDef();
Vector2 worldAxis = new Vector2(axisX, axisY);
pj.Initialize(targ0, targ1, anchor0, worldAxis);
pj.lowerTranslation = min / V2DScreen.WorldScale;
pj.upperTranslation = max / V2DScreen.WorldScale;
pj.enableLimit = joint.EnableLimit;
pj.maxMotorForce = joint.MaxMotorTorque;
pj.motorSpeed = joint.MotorSpeed;
pj.enableMotor = joint.EnableMotor;
jointDef = pj;
break;
case V2DJointKind.Pully:
Vector2 pt2 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt2.X / V2DScreen.WorldScale, pt2.Y / V2DScreen.WorldScale);
Vector2 groundAnchor0 = new Vector2(joint.GroundAnchor1X / V2DScreen.WorldScale, joint.GroundAnchor1Y / V2DScreen.WorldScale);
Vector2 groundAnchor1 = new Vector2(joint.GroundAnchor2X / V2DScreen.WorldScale, joint.GroundAnchor2Y / V2DScreen.WorldScale);
float max0 = joint.MaxLength1;
float max1 = joint.MaxLength2;
float rat = joint.Ratio;
PulleyJointDef puj = new PulleyJointDef();
puj.Initialize(targ0, targ1, groundAnchor0, groundAnchor1, anchor0, anchor1, rat);
puj.maxLengthA = (max0 + max1) / V2DScreen.WorldScale;
puj.maxLengthB = (max0 + max1) / V2DScreen.WorldScale;
puj.collideConnected = joint.CollideConnected;
jointDef = puj;
break;
case V2DJointKind.Gear:
GearJointDef gj = new GearJointDef();
gj.bodyA = targ0;
gj.bodyB = targ1;
gj.joint1 = GetFirstGearableJoint(targ0.GetJointList());
gj.joint2 = GetFirstGearableJoint(targ1.GetJointList());
gj.ratio = joint.Ratio;
jointDef = gj;
break;
}
if (jointDef != null)
{
result = SetJointWithReflection(ithis, name, jointDef);
if (result != null)
{
Dictionary <string, string> dict = new Dictionary <string, string>();
dict["name"] = name;
result.SetUserData(dict);
}
}
return(result);
}
public static Joint SetJointWithReflection(this IJointable ithis, string instName, JointDef jointDef)
{
Joint result = null;
Type t = ithis.GetType();
int index = -1;
FieldInfo fi = t.GetField(instName, BindingFlags.Public | BindingFlags.NonPublic | BindingFlags.Instance);
if (fi == null)
{
Match m = lastDigits.Match(instName);
if (m.Groups.Count > 2 && t.GetField(instName) == null)
{
instName = m.Groups[1].Value;
index = int.Parse(m.Groups[2].Value, System.Globalization.NumberStyles.None);
fi = t.GetField(instName, BindingFlags.Public | BindingFlags.NonPublic | BindingFlags.Instance);
}
}
if (fi != null)
{
Type ft = fi.FieldType;
// apply attributes
System.Attribute[] attrs = System.Attribute.GetCustomAttributes(fi); // reflection
foreach (System.Attribute attr in attrs)
{
if (jointDef is DistanceJointDef && attr is DistanceJointAttribute)
{
((DistanceJointAttribute)attr).ApplyAttribtues((DistanceJointDef)jointDef);
}
else if (jointDef is GearJointDef && attr is GearJointAttribute)
{
((GearJointAttribute)attr).ApplyAttribtues((GearJointDef)jointDef);
}
else if (jointDef is LineJointDef && attr is LineJointAttribute)
{
((LineJointAttribute)attr).ApplyAttribtues((LineJointDef)jointDef);
}
else if (jointDef is PrismaticJointDef && attr is PrismaticJointAttribute)
{
((PrismaticJointAttribute)attr).ApplyAttribtues((PrismaticJointDef)jointDef);
}
else if (jointDef is PulleyJointDef && attr is PulleyJointAttribute)
{
((PulleyJointAttribute)attr).ApplyAttribtues((PulleyJointDef)jointDef);
}
else if (jointDef is RevoluteJointDef && attr is RevoluteJointAttribute)
{
((RevoluteJointAttribute)attr).ApplyAttribtues((RevoluteJointDef)jointDef);
}
}
result = ithis.VScreen.world.CreateJoint(jointDef);
if (ft.IsArray)
{
object array = fi.GetValue(ithis);
Type elementType = ft.GetElementType();
if (array == null)
{
int arrayLength = GetJointArrayLength(ithis, instName);
array = Array.CreateInstance(elementType, arrayLength);
fi.SetValue(ithis, array);
}
MethodInfo mi = array.GetType().GetMethod("SetValue", new Type[] { elementType, index.GetType() });
mi.Invoke(array, new object[] { result, index });
}
else if (typeof(System.Collections.ICollection).IsAssignableFrom(ft))
{
Type[] genTypes = ft.GetGenericArguments();
if (genTypes.Length == 1) // only support single type generics (eg List<>) for now
{
Type gt = genTypes[0];
object collection = fi.GetValue(ithis);
if (collection == null) // ensure list created
{
ConstructorInfo ci = ft.GetConstructor(new Type[] { });
collection = ci.Invoke(new object[] { });
fi.SetValue(ithis, collection);
}
PropertyInfo cm = collection.GetType().GetProperty("Count");
int cnt = (int)cm.GetValue(collection, new object[] { });
// pad with nulls if needs to skip indexes (order is based on flash depth, not index)
while (index > cnt)
{
MethodInfo mia = collection.GetType().GetMethod("Add");
mia.Invoke(collection, new object[] { null });
cnt = (int)cm.GetValue(collection, new object[] { });
}
if (index < cnt)
{
MethodInfo mia = collection.GetType().GetMethod("RemoveAt");
mia.Invoke(collection, new object[] { index });
}
MethodInfo mi = collection.GetType().GetMethod("Insert");
mi.Invoke(collection, new object[] { index, result });
}
}
else if (ft.Equals(typeof(Joint)) || ft.IsSubclassOf(typeof(Joint)))
{
fi.SetValue(ithis, result);
}
else
{
throw new ArgumentException("Not supported field type. " + ft.ToString() + " " + instName);
}
}
else
{
result = ithis.VScreen.world.CreateJoint(jointDef);
}
return(result);
}
public void AddJoint(JointDef joint)
{
_joints.Add(new JointDefSerialized(joint, IndexOfDerivedBody(joint.BodyA), IndexOfDerivedBody(joint.BodyB), null));
}
public JointDefSerialized(JointDef joint, int bodyA, int bodyB, string name)
{
Joint = joint;
BodyAIndex = bodyA;
BodyBIndex = bodyB;
Name = name;
}
public Joint CreateJoint(JointDef jointDef)
{
return(world.CreateJoint(jointDef));
}
