public static DistanceJoint CreateDistanceJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA,
Vector2 anchorB)
{
DistanceJoint distanceJoint = new DistanceJoint(bodyA, bodyB, anchorA, anchorB);
world.AddJoint(distanceJoint);
return distanceJoint;
}
public static DistanceJoint CreateDistanceJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false)
{
DistanceJoint distanceJoint = new DistanceJoint(bodyA, bodyB, anchorA, anchorB, useWorldCoordinates);
world.Add(distanceJoint);
return(distanceJoint);
}
public void Release()
{
if (_joint != null)
{
Physic.World.RemoveJoint(_joint);
_joint = null;
}
}
public override Joint createJoint()
{
var joint = new DistanceJoint( bodyA, bodyB, ownerBodyAnchor * FSConvert.displayToSim, otherBodyAnchor * FSConvert.displayToSim );
joint.collideConnected = collideConnected;
joint.frequency = frequency;
joint.dampingRatio = dampingRatio;
return joint;
}
public override void InitJoint ()
{
base.InitJoint ();
joint = FarseerPhysics.Factories.JointFactory.CreateDistanceJoint(FSWorldComponent.PhysicsWorld,
BodyA.PhysicsBody,
BodyB.PhysicsBody,
Microsoft.Xna.Framework.FVector2.Zero,
Microsoft.Xna.Framework.FVector2.Zero);
joint.CollideConnected = CollideConnected;
joint.Frequency = Frequency;
//joint.DampingRatio = 0.5f;
}
private float HandleRaycast(Fixture fixture, Vector2 point, Vector2 normal, float fraction)
{
if (fixture.CollisionCategories == _type.Category || Body.FixtureList.Any(f => f.CollisionCategories == fixture.CollisionCategories))
return fraction;
var other = fixture.Body;
_joint = Physic.World.CreateDistanceJoint(other, Body, other.GetLocalPoint(point), new Vector2(0, 0));
_joint.Frequency = 1f;
_joint.CollideConnected = true;
return 0;
}
public PendulumPhysicsComponent(Engine engine, Point gameWorldPivotPosition, Point gameWorldWeightPosition)
: base(engine)
{
pivotFixture = FixtureFactory.CreateRectangle(Engine.Physics.World, 0.8f, 0.8f, 1.0f);
MainFixture = FixtureFactory.CreateRectangle(Engine.Physics.World, 0.8f, 0.8f, 1.0f);
MainFixture.Body.Mass = 100.0f;
pivotFixture.Body.Position = Engine.Physics.PositionToPhysicsWorld(new Vector2(gameWorldPivotPosition.X, gameWorldPivotPosition.Y));
MainFixture.Body.Position = Engine.Physics.PositionToPhysicsWorld(new Vector2(gameWorldWeightPosition.X, gameWorldWeightPosition.Y));
pivotFixture.CollisionFilter.CollidesWith = Category.Cat31;
MainFixture.Body.BodyType = BodyType.Dynamic;
distanceJoint = JointFactory.CreateDistanceJoint(Engine.Physics.World, pivotFixture.Body, MainFixture.Body, Vector2.Zero, MainFixture.Body.LocalCenter - new Vector2(0.0f, 0.4f));
}
private float SilkSlingLeft(Fixture f, Vector2 p, Vector2 n, float fr)
{
if (f.Body == ragdoll._lowerLeftArm) return -1;
Vector2 handAnchor = getHandAnchor(false);
UndoSilk(false);
leftSilk = new DistanceJoint(ragdoll._lowerLeftArm, f.Body, ragdoll._lowerLeftArm.GetLocalPoint(handAnchor), f.Body.GetLocalPoint(p));
leftSilk.Frequency = silkForce;
leftSilk.DampingRatio = .5f;
leftSilk.Length = 0;
leftSilk.CollideConnected = true;
world.AddJoint(leftSilk);
return fr;
}
private bool LoadJoint()
{
var otherObject = GameObject.Scene.GameObjects.FirstOrDefault(g => g.Id == OtherObjectId) as GameObject;
if (otherObject == null) return false;
var otherRigidBody = otherObject.Components.FirstOrDefault(c => c is RigidBodyFarseerComponent) as RigidBodyFarseerComponent;
if (otherRigidBody == null) return false;
if (!otherObject.IsLoaded) otherObject.Load();
if (!otherRigidBody.IsLoaded) return false;
var myRigidBody = GameObject.Components.FirstOrDefault(c => c is RigidBodyFarseerComponent) as RigidBodyFarseerComponent;
if (!myRigidBody.IsLoaded) myRigidBody.Load();
if (!myRigidBody.IsLoaded) return false;
var world = GameObject.Scene.Physics.GetWorld() as World;
if (world == null) throw new InvalidOperationException("Not a farseer physics world.");
_joint = JointFactory.CreateDistanceJoint(world, myRigidBody.RigidBody, otherRigidBody.RigidBody, Vector2.Zero, Vector2.Zero);
//world.AddJoint(_joint);
return true;
}
public static DistanceJoint CreateDistanceJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false)
{
DistanceJoint distanceJoint = new DistanceJoint(bodyA, bodyB, anchorA, anchorB, useWorldCoordinates);
world.AddJoint(distanceJoint);
return distanceJoint;
}
private void UndoSilk(bool rightHand)
{
if (rightHand)
{
if (rightSilk != null)
{
world.RemoveJoint(rightSilk);
rightSilk = null;
}
}
else
{
if (leftSilk != null)
{
world.RemoveJoint(leftSilk);
leftSilk = null;
}
}
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 20f);
_border = new Border(World, Lines, Framework.GraphicsDevice);
_obstacles = new Body(World);
FixtureFactory.AttachEdge(new Vector2(-16f, -1f), new Vector2(-14f, 1f), _obstacles);
FixtureFactory.AttachEdge(new Vector2(-14f, 1f), new Vector2(-12f, -1f), _obstacles);
FixtureFactory.AttachEdge(new Vector2(14f, -1f), new Vector2(12f, 5f), _obstacles);
FixtureFactory.AttachEdge(new Vector2(14f, -1f), new Vector2(16f, 5f), _obstacles);
_angleBody[0] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_angleBody[0].BodyType = BodyType.Dynamic;
_angleBody[0].Friction = 0.7f;
_angleBody[0].Position = new Vector2(-15f, -5f);
_angleBody[1] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_angleBody[1].BodyType = BodyType.Dynamic;
_angleBody[1].Friction = 0.7f;
_angleBody[1].Position = new Vector2(-18f, 5f);
_angleBody[2] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_angleBody[2].BodyType = BodyType.Dynamic;
_angleBody[2].Friction = 0.7f;
_angleBody[2].Position = new Vector2(-10f, 5f);
World.AddJoint(new AngleJoint(_angleBody[0], _angleBody[1]));
World.AddJoint(new AngleJoint(_angleBody[0], _angleBody[2]));
_distanceBody[0] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[0].BodyType = BodyType.Dynamic;
_distanceBody[0].Friction = 0.7f;
_distanceBody[0].Position = new Vector2(11.5f, -4f);
_distanceBody[1] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[1].BodyType = BodyType.Dynamic;
_distanceBody[1].Friction = 0.7f;
_distanceBody[1].Position = new Vector2(16.5f, -4f);
_distanceBody[2] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[2].BodyType = BodyType.Dynamic;
_distanceBody[2].Friction = 0.7f;
_distanceBody[2].Position = new Vector2(11.5f, -6f);
_distanceBody[3] = BodyFactory.CreateRectangle(World, 1.5f, 1.5f, 1f);
_distanceBody[3].BodyType = BodyType.Dynamic;
_distanceBody[3].Friction = 0.7f;
_distanceBody[3].Position = new Vector2(16.5f, -6f);
DistanceJoint softDistance = new DistanceJoint(_distanceBody[0], _distanceBody[1], Vector2.Zero, Vector2.Zero, false);
softDistance.DampingRatio = 0.3f;
softDistance.Frequency = 5f;
World.AddJoint(softDistance);
World.AddJoint(new DistanceJoint(_distanceBody[2], _distanceBody[3], Vector2.Zero, Vector2.Zero, false));
// create sprites based on bodies
_angleCube = new Sprite(ContentWrapper.TextureFromShape(_angleBody[0].FixtureList[0].Shape, "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Grey, 1f));
_distanceCube = new Sprite(ContentWrapper.TextureFromShape(_distanceBody[0].FixtureList[0].Shape, "Stripe", ContentWrapper.Red, ContentWrapper.Blue, ContentWrapper.Grey, 4f));
}
private void CreateLeg(float s, Vector2 wheelAnchor)
{
Vector2 p1 = new Vector2(5.4f * s, -6.1f);
Vector2 p2 = new Vector2(7.2f * s, -1.2f);
Vector2 p3 = new Vector2(4.3f * s, -1.9f);
Vector2 p4 = new Vector2(3.1f * s, 0.8f);
Vector2 p5 = new Vector2(6.0f * s, 1.5f);
Vector2 p6 = new Vector2(2.5f * s, 3.7f);
PolygonShape poly1 = new PolygonShape(1);
PolygonShape poly2 = new PolygonShape(1);
Vertices vertices = new Vertices(3);
if (s > 0.0f)
{
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Vertices = vertices;
}
else
{
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
poly1.Vertices = vertices;
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Vertices = vertices;
}
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = _offset;
body1.AngularDamping = 10.0f;
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = p4 + _offset;
body2.AngularDamping = 10.0f;
Fixture f1 = body1.CreateFixture(poly1);
f1.CollisionGroup = -1;
Fixture f2 = body2.CreateFixture(poly2);
f2.CollisionGroup = -1;
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
DistanceJoint djd = new DistanceJoint(body1, body2, p2 + _offset, p5 + _offset, true);
djd.DampingRatio = 0.5f;
djd.Frequency = 10.0f;
World.AddJoint(djd);
DistanceJoint djd2 = new DistanceJoint(body1, body2, p3 + _offset, p4 + _offset, true);
djd2.DampingRatio = 0.5f;
djd2.Frequency = 10.0f;
World.AddJoint(djd2);
DistanceJoint djd3 = new DistanceJoint(body1, _wheel, p3 + _offset, wheelAnchor + _offset, true);
djd3.DampingRatio = 0.5f;
djd3.Frequency = 10.0f;
World.AddJoint(djd3);
DistanceJoint djd4 = new DistanceJoint(body2, _wheel, p6 + _offset, wheelAnchor + _offset, true);
djd4.DampingRatio = 0.5f;
djd4.Frequency = 10.0f;
World.AddJoint(djd4);
Vector2 anchor = p4 - new Vector2(0.0f, 0.8f) /*+ _offset*/;
RevoluteJoint rjd = new RevoluteJoint(body2, _chassis, p4 + _offset, true);
World.AddJoint(rjd);
}
private void CreateLeg(World world, float s, Vector2 wheelAnchor, int index)
{
Vector2 p1 = new Vector2(5.4f * s, 6.1f);
Vector2 p2 = new Vector2(7.2f * s, 1.2f);
Vector2 p3 = new Vector2(4.3f * s, 1.9f);
Vector2 p4 = new Vector2(3.1f * s, -0.8f);
Vector2 p5 = new Vector2(6.0f * s, -1.5f);
Vector2 p6 = new Vector2(2.5f * s, -3.7f);
PolygonShape poly1 = new PolygonShape(1f);
PolygonShape poly2 = new PolygonShape(2f);
Vertices vertices = new Vertices(3);
if (s < 0f)
{
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
poly2.Set(vertices);
}
else
{
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
poly1.Set(vertices);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
poly2.Set(vertices);
}
Body body1 = BodyFactory.CreateBody(world);
body1.BodyType = BodyType.Dynamic;
body1.Position = _position;
body1.AngularDamping = 10f;
if (s < 0f)
{
_leftLegs[index] = body1;
}
else
{
_rightLegs[index] = body1;
}
Body body2 = BodyFactory.CreateBody(world);
body2.BodyType = BodyType.Dynamic;
body2.Position = p4 + _position;
body2.AngularDamping = 10f;
if (s < 0f)
{
_leftShoulders[index] = body2;
}
else
{
_rightShoulders[index] = body2;
}
Fixture f1 = body1.CreateFixture(poly1);
f1.CollisionGroup = -1;
Fixture f2 = body2.CreateFixture(poly2);
f2.CollisionGroup = -1;
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
DistanceJoint djd = new DistanceJoint(body1, body2, body1.GetLocalPoint(p2 + _position),
body2.GetLocalPoint(p5 + _position));
djd.DampingRatio = 0.5f;
djd.Frequency = 10f;
world.AddJoint(djd);
_walkerJoints.Add(djd);
DistanceJoint djd2 = new DistanceJoint(body1, body2, body1.GetLocalPoint(p3 + _position),
body2.GetLocalPoint(p4 + _position));
djd2.DampingRatio = 0.5f;
djd2.Frequency = 10f;
world.AddJoint(djd2);
_walkerJoints.Add(djd2);
DistanceJoint djd3 = new DistanceJoint(body1, _wheel, body1.GetLocalPoint(p3 + _position),
_wheel.GetLocalPoint(wheelAnchor + _position));
djd3.DampingRatio = 0.5f;
djd3.Frequency = 10f;
world.AddJoint(djd3);
_walkerJoints.Add(djd3);
DistanceJoint djd4 = new DistanceJoint(body2, _wheel, body2.GetLocalPoint(p6 + _position),
_wheel.GetLocalPoint(wheelAnchor + _position));
djd4.DampingRatio = 0.5f;
djd4.Frequency = 10f;
world.AddJoint(djd4);
_walkerJoints.Add(djd4);
Vector2 anchor = p4 - new Vector2(0f, -0.8f);
RevoluteJoint rjd = new RevoluteJoint(body2, _chassis, body2.GetLocalPoint(_chassis.GetWorldPoint(anchor)),
anchor);
world.AddJoint(rjd);
}
private void CreateLeg(World world, float direction, Vector2 wheelAnchor, int index)
{
Vector2[] points = {
new Vector2(5.4f * direction, 6.1f),
new Vector2(7.2f * direction, 1.2f),
new Vector2(4.3f * direction, 1.9f),
new Vector2(3.1f * direction, -0.8f),
new Vector2(6.0f * direction, -1.5f),
new Vector2(2.5f * direction, -3.7f)
};
PolygonShape legPolygon = new PolygonShape(1f);
PolygonShape shoulderPolygon = new PolygonShape(1f);
if (direction < 0f)
{
legPolygon.Vertices = new Vertices(new[] { points[0], points[1], points[2] });
shoulderPolygon.Vertices = new Vertices(new[] { Vector2.Zero, points[4] - points[3], points[5] - points[3] });
}
if (direction > 0f)
{
legPolygon.Vertices = new Vertices(new[] { points[0], points[2], points[1] });
shoulderPolygon.Vertices = new Vertices(new[] { Vector2.Zero, points[5] - points[3], points[4] - points[3] });
}
Body leg = BodyFactory.CreateBody(world);
leg.BodyType = BodyType.Dynamic;
leg.Position = _position;
leg.AngularDamping = 10f;
if (direction < 0f)
_leftLegs[index] = leg;
if (direction > 0f)
_rightLegs[index] = leg;
Body shoulder = BodyFactory.CreateBody(world);
shoulder.BodyType = BodyType.Dynamic;
shoulder.Position = points[3] + _position;
shoulder.AngularDamping = 10f;
if (direction < 0f)
_leftShoulders[index] = shoulder;
if (direction > 0f)
_rightShoulders[index] = shoulder;
Fixture legFixture = leg.CreateFixture(legPolygon);
legFixture.CollisionGroup = -1;
Fixture shoulderFixture = shoulder.CreateFixture(shoulderPolygon);
shoulderFixture.CollisionGroup = -1;
// Using a soft distancejoint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
DistanceJoint djd = new DistanceJoint(leg, shoulder, points[1] + _position, points[4] + _position, true);
djd.DampingRatio = 0.5f;
djd.Frequency = 10f;
world.AddJoint(djd);
_walkerJoints.Add(djd);
DistanceJoint djd2 = new DistanceJoint(leg, shoulder, points[2] + _position, points[3] + _position, true);
djd2.DampingRatio = 0.5f;
djd2.Frequency = 10f;
world.AddJoint(djd2);
_walkerJoints.Add(djd2);
DistanceJoint djd3 = new DistanceJoint(leg, _wheel, points[2] + _position, wheelAnchor + _position, true);
djd3.DampingRatio = 0.5f;
djd3.Frequency = 10f;
world.AddJoint(djd3);
_walkerJoints.Add(djd3);
DistanceJoint djd4 = new DistanceJoint(shoulder, _wheel, points[5] + _position, wheelAnchor + _position, true);
djd4.DampingRatio = 0.5f;
djd4.Frequency = 10f;
world.AddJoint(djd4);
_walkerJoints.Add(djd4);
RevoluteJoint rjd = new RevoluteJoint(shoulder, _chassis, points[3] + _position, true);
world.AddJoint(rjd);
}
/// <summary>
/// Adds a Physics Joint to the simulation
/// </summary>
/// <param name="joint"></param>
public void AddPhysicsJoint(PhysicsJoint joint)
{
string bodyOne = joint.BodyOne;
string bodyTwo = joint.BodyTwo;
short collisionGroup = Convert.ToInt16(joint.CollisionGroup);
bool isAngleSpringEnabled = joint.AngleSpringEnabled;
float springConstant = (float)joint.AngleSpringConstant;
float angleLowerLimit = (float)joint.AngleLowerLimit;
float angleUpperLimit = (float)joint.AngleUpperLimit;
Point center = joint.GetCenter();
xna.Vector2 ptCollisionCenter = new xna.Vector2((float)center.X, (float)center.Y);
if (!PhysicsObjects.ContainsKey(bodyOne))
throw new Exception("Cannot add joint for an invalid BodyOne value of '" + bodyOne + "'. If using Behaviors, did you forgot to add a PhysicsObjectBehavior?");
if (!PhysicsObjects.ContainsKey(bodyTwo))
throw new Exception("Cannot add joint for an invalid BodyTwo value of '" + bodyTwo + "'. If using Behaviors, did you forgot to add a PhysicsObjectBehavior?");
Body body1 = PhysicsObjects[bodyOne].BodyObject;
Body body2 = PhysicsObjects[bodyTwo].BodyObject;
xna.Vector2 ptCollisionCenterA = _boundaryHelper.ScreenToWorld(ptCollisionCenter);
xna.Vector2 ptCollisionCenterB = _boundaryHelper.ScreenToWorld(ptCollisionCenter);
// account for offset within body
ptCollisionCenterA -= body1.Position;
ptCollisionCenterB -= body2.Position;
// DEMO: (5) Create Joints
if (joint.IsWeldJoint)
{
WeldJoint weldJoint = new WeldJoint(body1, body2, ptCollisionCenterA, ptCollisionCenterB);
Simulator.AddJoint(weldJoint);
}
else
if (joint.IsDistanceJoint)
{
DistanceJoint distanceJoint = new DistanceJoint(body1, body2, ptCollisionCenterA, ptCollisionCenterB);
Simulator.AddJoint(distanceJoint);
}
else
{
RevoluteJoint revoluteJoint = new RevoluteJoint(body1, body2, ptCollisionCenterA, ptCollisionCenterB);
Simulator.AddJoint(revoluteJoint);
if (isAngleSpringEnabled)
{
AngleJoint aj = new AngleJoint(body1, body2);
aj.TargetAngle = 0;
aj.Softness = springConstant;
Simulator.AddJoint(aj);
}
if (angleUpperLimit != -1 && angleLowerLimit != -1)
{
float upperAngle = (float)PhysicsUtilities.DegreesToRadians(angleUpperLimit);
float lowerAngle = (float)PhysicsUtilities.DegreesToRadians(angleLowerLimit);
revoluteJoint.LimitEnabled = true;
revoluteJoint.LowerLimit = lowerAngle;
revoluteJoint.UpperLimit = upperAngle;
}
}
if (collisionGroup > 0)
{
foreach (Fixture f in PhysicsObjects[bodyOne].BodyObject.FixtureList)
{
f.CollisionGroup = collisionGroup;
}
foreach (Fixture f in PhysicsObjects[bodyTwo].BodyObject.FixtureList)
{
f.CollisionGroup = collisionGroup;
}
}
// get rid of the UI representation of the joint
joint.Visibility = Visibility.Collapsed;
}
private void CreateJoints(World world)
{
const float dampingRatio = 1;
const float frequency = 25;
//head -> body
DistanceJoint jHeadBody = new DistanceJoint(_head.Body, _body[0].Body,
new Vector2(0, -1), new Vector2(0, 2));
jHeadBody.CollideConnected = true;
jHeadBody.DampingRatio = dampingRatio;
jHeadBody.Frequency = frequency;
jHeadBody.Length = 0.025f;
world.AddJoint(jHeadBody);
//lowerLeftArm -> upperLeftArm
DistanceJoint jLeftArm = new DistanceJoint(_lowerLeftArm[0].Body, _upperLeftArm[0].Body,
new Vector2(0, 1), new Vector2(0, -1));
jLeftArm.CollideConnected = true;
jLeftArm.DampingRatio = dampingRatio;
jLeftArm.Frequency = frequency;
jLeftArm.Length = 0.02f;
world.AddJoint(jLeftArm);
//upperLeftArm -> body
DistanceJoint jLeftArmBody = new DistanceJoint(_upperLeftArm[0].Body, _body[0].Body,
new Vector2(0, 1), new Vector2(-1, 1.5f));
jLeftArmBody.CollideConnected = true;
jLeftArmBody.DampingRatio = dampingRatio;
jLeftArmBody.Frequency = frequency;
jLeftArmBody.Length = 0.02f;
world.AddJoint(jLeftArmBody);
//lowerRightArm -> upperRightArm
DistanceJoint jRightArm = new DistanceJoint(_lowerRightArm[0].Body, _upperRightArm[0].Body,
new Vector2(0, 1), new Vector2(0, -1));
jRightArm.CollideConnected = true;
jRightArm.DampingRatio = dampingRatio;
jRightArm.Frequency = frequency;
jRightArm.Length = 0.02f;
world.AddJoint(jRightArm);
//upperRightArm -> body
DistanceJoint jRightArmBody = new DistanceJoint(_upperRightArm[0].Body, _body[0].Body,
new Vector2(0, 1), new Vector2(1, 1.5f));
jRightArmBody.CollideConnected = true;
jRightArmBody.DampingRatio = dampingRatio;
jRightArmBody.Frequency = 25;
jRightArmBody.Length = 0.02f;
world.AddJoint(jRightArmBody);
//lowerLeftLeg -> upperLeftLeg
DistanceJoint jLeftLeg = new DistanceJoint(_lowerLeftLeg[0].Body, _upperLeftLeg[0].Body,
new Vector2(0, 1.1f), new Vector2(0, -1));
jLeftLeg.CollideConnected = true;
jLeftLeg.DampingRatio = dampingRatio;
jLeftLeg.Frequency = frequency;
jLeftLeg.Length = 0.05f;
world.AddJoint(jLeftLeg);
//upperLeftLeg -> body
DistanceJoint jLeftLegBody = new DistanceJoint(_upperLeftLeg[0].Body, _body[0].Body,
new Vector2(0, 1.1f), new Vector2(-0.8f, -1.9f));
jLeftLegBody.CollideConnected = true;
jLeftLegBody.DampingRatio = dampingRatio;
jLeftLegBody.Frequency = frequency;
jLeftLegBody.Length = 0.02f;
world.AddJoint(jLeftLegBody);
//lowerRightleg -> upperRightleg
DistanceJoint jRightLeg = new DistanceJoint(_lowerRightLeg[0].Body, _upperRightLeg[0].Body,
new Vector2(0, 1.1f), new Vector2(0, -1));
jRightLeg.CollideConnected = true;
jRightLeg.DampingRatio = dampingRatio;
jRightLeg.Frequency = frequency;
jRightLeg.Length = 0.05f;
world.AddJoint(jRightLeg);
//upperRightleg -> body
DistanceJoint jRightLegBody = new DistanceJoint(_upperRightLeg[0].Body, _body[0].Body,
new Vector2(0, 1.1f), new Vector2(0.8f, -1.9f));
jRightLegBody.CollideConnected = true;
jRightLegBody.DampingRatio = dampingRatio;
jRightLegBody.Frequency = frequency;
jRightLegBody.Length = 0.02f;
world.AddJoint(jRightLegBody);
}
public WebOfGoo(World world, Vector2 position, float radius, int rings, int sides)
{
_ringBodys = new List<List<Body>>(rings);
_ringJoints = new List<DistanceJoint>();
for (int i = 1; i < rings; i++)
{
Vertices vertices = PolygonTools.CreateCircle(i * 2.9f, sides);
vertices.Translate(ref position);
List<Body> bodies = new List<Body>(sides);
//Create the first goo
Body previous = BodyFactory.CreateCircle(world, radius, 0.2f, vertices[0]);
previous.BodyType = BodyType.Dynamic;
bodies.Add(previous);
//Connect the first goo to the next
for (int j = 1; j < vertices.Count; j++)
{
Body current = BodyFactory.CreateCircle(world, radius, 0.2f, vertices[j]);
current.BodyType = BodyType.Dynamic;
DistanceJoint joint = new DistanceJoint(previous, current, Vector2.Zero, Vector2.Zero);
joint.Frequency = 4.0f;
joint.DampingRatio = 0.5f;
joint.Breakpoint = Breakpoint;
world.AddJoint(joint);
_ringJoints.Add(joint);
previous = current;
bodies.Add(current);
}
//Connect the first and the last goo
DistanceJoint jointClose = new DistanceJoint(bodies[0], bodies[bodies.Count - 1], Vector2.Zero, Vector2.Zero);
jointClose.Frequency = 4.0f;
jointClose.DampingRatio = 0.5f;
jointClose.Breakpoint = Breakpoint;
world.AddJoint(jointClose);
_ringJoints.Add(jointClose);
_ringBodys.Add(bodies);
}
//Create an outer ring
Vertices frame = PolygonTools.CreateCircle(rings * 2.9f - 0.9f, sides);
frame.Translate(ref position);
Body anchor = new Body(world, position);
anchor.BodyType = BodyType.Static;
//Attach the outer ring to the anchor
for (int i = 0; i < _ringBodys[rings - 2].Count; i++)
{
DistanceJoint joint = new DistanceJoint(anchor, _ringBodys[rings - 2][i], frame[i], _ringBodys[rings - 2][i].Position, true);
joint.Frequency = 8.0f;
joint.DampingRatio = 0.5f;
joint.Breakpoint = Breakpoint;
world.AddJoint(joint);
_ringJoints.Add(joint);
}
//Interconnect the rings
for (int i = 1; i < _ringBodys.Count; i++)
{
for (int j = 0; j < sides; j++)
{
DistanceJoint joint = new DistanceJoint(_ringBodys[i - 1][j], _ringBodys[i][j], Vector2.Zero, Vector2.Zero);
joint.Frequency = 4.0f;
joint.DampingRatio = 0.5f;
joint.Breakpoint = Breakpoint;
world.AddJoint(joint);
_ringJoints.Add(joint);
}
}
_link = new Sprite(ContentWrapper.GetTexture("Link"));
_goo = new Sprite(ContentWrapper.GetTexture("Goo"));
}
private WebTest()
{
World.JointRemoved += JointRemovedFired;
World.BodyRemoved += BodyRemovedFired;
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
{
_bodies[0] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(-5.0f, 5.0f));
_bodies[0].BodyType = BodyType.Dynamic;
_bodies[1] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(5.0f, 5.0f));
_bodies[1].BodyType = BodyType.Dynamic;
_bodies[2] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(5.0f, 15.0f));
_bodies[2].BodyType = BodyType.Dynamic;
_bodies[3] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(-5.0f, 15.0f));
_bodies[3].BodyType = BodyType.Dynamic;
DistanceJoint dj = new DistanceJoint(ground, _bodies[0], new Vector2(-10.0f, 0.0f), new Vector2(-0.5f, -0.5f), false);
_joints[0] = dj;
//dj.Length = (dj.BodyB.GetWorldPoint(ref dj.LocalAnchorB) - dj.BodyA.GetWorldPoint(ref dj.LocalAnchorA)).Length();
dj.Frequency = 2.0f;
dj.DampingRatio = 0.0f;
World.AddJoint(_joints[0]);
DistanceJoint dj1 = new DistanceJoint(ground, _bodies[1], new Vector2(10.0f, 0.0f), new Vector2(0.5f, -0.5f), false);
_joints[1] = dj1;
//dj1.Length = (dj1.BodyB.GetWorldPoint(ref dj1.LocalAnchorB) - dj1.BodyA.GetWorldPoint(ref dj1.LocalAnchorA)).Length();
dj1.Frequency = 2.0f;
dj1.DampingRatio = 0.0f;
World.AddJoint(_joints[1]);
DistanceJoint dj2 = new DistanceJoint(ground, _bodies[2], new Vector2(10.0f, 20.0f), new Vector2(0.5f, 0.5f), false);
_joints[2] = dj2;
//dj2.Length = (dj2.BodyB.GetWorldPoint(ref dj2.LocalAnchorB) - dj2.BodyA.GetWorldPoint(ref dj2.LocalAnchorA)).Length();
dj2.Frequency = 2.0f;
dj2.DampingRatio = 0.0f;
World.AddJoint(_joints[2]);
DistanceJoint dj3 = new DistanceJoint(ground, _bodies[3], new Vector2(-10.0f, 20.0f), new Vector2(-0.5f, 0.5f), false);
_joints[3] = dj3;
//dj3.Length = (dj3.BodyB.GetWorldPoint(ref dj3.LocalAnchorB) - dj3.BodyA.GetWorldPoint(ref dj3.LocalAnchorA)).Length();
dj3.Frequency = 2.0f;
dj3.DampingRatio = 0.0f;
World.AddJoint(_joints[3]);
DistanceJoint dj4 = new DistanceJoint(_bodies[0], _bodies[1], new Vector2(0.5f, 0.0f), new Vector2(-0.5f, 0.0f), false);
_joints[4] = dj4;
// dj4.Length = (dj4.BodyB.GetWorldPoint(ref dj4.LocalAnchorB) - dj4.BodyA.GetWorldPoint(ref dj4.LocalAnchorA)).Length();
dj4.Frequency = 2.0f;
dj4.DampingRatio = 0.0f;
World.AddJoint(_joints[4]);
DistanceJoint dj5 = new DistanceJoint(_bodies[1], _bodies[2], new Vector2(0.0f, 0.5f), new Vector2(0.0f, -0.5f), false);
_joints[5] = dj5;
// dj5.Length = (dj5.BodyB.GetWorldPoint(ref dj5.LocalAnchorB) - dj5.BodyA.GetWorldPoint(ref dj5.LocalAnchorA)).Length();
dj5.Frequency = 2.0f;
dj5.DampingRatio = 0.0f;
World.AddJoint(_joints[5]);
DistanceJoint dj6 = new DistanceJoint(_bodies[2], _bodies[3], new Vector2(-0.5f, 0.0f), new Vector2(0.5f, 0.0f), false);
_joints[6] = dj6;
//dj6.Length = (dj6.BodyB.GetWorldPoint(ref dj6.LocalAnchorB) - dj6.BodyA.GetWorldPoint(ref dj6.LocalAnchorA)).Length();
dj6.Frequency = 2.0f;
dj6.DampingRatio = 0.0f;
World.AddJoint(_joints[6]);
DistanceJoint dj7 = new DistanceJoint(_bodies[3], _bodies[0], new Vector2(0.0f, -0.5f), new Vector2(0.0f, 0.5f), false);
_joints[7] = dj7;
// dj7.Length = (dj7.BodyB.GetWorldPoint(ref dj7.LocalAnchorB) - dj7.BodyA.GetWorldPoint(ref dj7.LocalAnchorA)).Length();
dj7.Frequency = 2.0f;
dj7.DampingRatio = 0.0f;
World.AddJoint(_joints[7]);
}
}
private void RemovePlayerJoint()
{
if (_playerBodyJoint != null)
{
PlayWindow.World.RemoveJoint(_playerBodyJoint);
_playerBodyJoint = null;
}
}
private void CreatePlayerJoint(Body playerBody)
{
_playerBodyJoint = JointFactory.CreateDistanceJoint(PlayWindow.World, Body, playerBody, Vector2.Zero, Vector2.Zero);
_playerBodyJoint.Frequency = 5.5f;
_playerBodyJoint.DampingRatio = 1.5f;
_playerBodyJoint.Length = 0.01f;
_playerBodyJoint.CollideConnected = true;
}
public Player(Vector2 spawn)
{
// To locomote the player, we're going to create a model like this:
// +-----+
// | |
// |torso| <-- Rectangle
// |/---\|
// |legs | <-- circle
// \---/
// With the torso having a fixed angle joint, and the legs having a motorized joint.
var torsoWidth = playerWidth + 0.25f;
var torsoHeight = playerHeight - playerWidth;
Torso.Body = BodyFactory.CreateRectangle(PhysicsSubsystem.Instance.World, torsoWidth, playerHeight - playerWidth / 4, 0.1f, spawn);
Torso.Body.IgnoreGravity = true;
Torso.Body.BodyType = BodyType.Dynamic;
Torso.Body.FixedRotation = true;
Torso.Body.Friction = 0;
Torso.Body.UserData = this;
Legs.Body = BodyFactory.CreateCircle(PhysicsSubsystem.Instance.World, playerWidth/2, 4f, new Vector2(spawn.X, spawn.Y + torsoHeight / 2 + playerWidth / 4));
Legs.Body.BodyType = BodyType.Dynamic;
Legs.Body.Friction = 1000;
Piston.Body = BodyFactory.CreateRectangle(PhysicsSubsystem.Instance.World, playerWidth, playerHeight / 2,
0.5f, spawn);
Piston.Body.BodyType = BodyType.Dynamic;
axis = JointFactory.CreateRevoluteJoint(PhysicsSubsystem.Instance.World, Torso.Body, Legs.Body, Vector2.Zero);
axis.CollideConnected = false;
axis.MotorEnabled = true;
axis.MaxMotorTorque = 20;
//prismatic = JointFactory.CreatePrismaticJoint(PhysicsSubsystem.Instance.World, Piston.Body, Torso.Body,
// Vector2.Zero, -Vector2.UnitY);
spring = JointFactory.CreateDistanceJoint(PhysicsSubsystem.Instance.World, Piston.Body, Torso.Body);
spring.Frequency = 10f;
spring.DampingRatio = 1f;
spring.CollideConnected = false;
prismatic = JointFactory.CreatePrismaticJoint(PhysicsSubsystem.Instance.World, Piston.Body, Torso.Body,
Vector2.Zero, Vector2.UnitY);
prismatic.CollideConnected = false;
Piston.Body.IgnoreCollisionWith(Legs.Body);
Graphics.Sprite = new Sprite(Content.Player);
Graphics.Animation = standingAnimation;
Graphics.FrameSize = new Vector2i(64, 64);
Graphics.Sprite.Origin = new Vector2f(32, 40);
Slicing = 45;
bool jumpInProgress = false, canJump = true, attacking = false, canAttack = true; // 1WEEK
// Map the input to the legs
Input.NoInput += () =>
{
axis.MotorSpeed = 0;
if (!jumpInProgress && !attacking)
Graphics.Animation = standingAnimation;
};
Input.KeyEvents[Keyboard.Key.A] = (key, mods, time) =>
{
if (attacking) return;
if (!jumpInProgress)
{
axis.MotorSpeed = -playerSpeed;
Graphics.Animation = walkingAnimation;
}
else
Legs.Body.ApplyLinearImpulse(new Vector2(-playerAirSpeed * (float)time, 0));
Graphics.Sprite.Scale = new Vector2f(-1, 1); // just flip it
};
Input.KeyEvents[Keyboard.Key.D] = (key, mods, time) =>
{
if (attacking) return;
if (!jumpInProgress)
{
axis.MotorSpeed = playerSpeed;
Graphics.Animation = walkingAnimation;
}
else
Legs.Body.ApplyLinearImpulse(new Vector2(playerAirSpeed * (float)time, 0));
Graphics.Sprite.Scale = new Vector2f(1, 1); // flip it good
};
Input.KeyEvents[Keyboard.Key.W] = (key, mods, time) =>
{
if (canJump)// && !jumpInProgress && !attacking)
{
jumpInProgress = true;
canJump = false;
//Legs.Body.ApplyLinearImpulse(new Vector2(0, -playerJumpForce));
//Piston.Body.ApplyLinearImpulse(new Vector2(0, -playerJumpForce));
spring.Length = playerJumpForce;
axis.MotorSpeed = 0;
Legs.Body.Friction = 0;
jumpTimer.Start();
springResetTimer.Start();
}
};
Input.MouseInput += (btn) =>
{
Vector2 mousePos, position, direction, endPos;
switch (btn)
{
case Mouse.Button.Left:
if (!canAttack) break;
canAttack = false;
Graphics.Animation = jumpInProgress ? vSwingAerialAnimation : vSwingAnimation;
axis.MotorSpeed = 0;
attacking = true;
attackTimer.Start();
mousePos = new Vector2(ConvertUnits.ToSimUnits(Input.MousePosition.X),
ConvertUnits.ToSimUnits(Input.MousePosition.Y));
position = new Vector2(Torso.Position.X, Torso.Position.Y);
direction = mousePos - position;
direction.Normalize();
endPos = position + (direction * 2.5f);
PhysicsSubsystem.Instance.World.RayCast((f, p, n, fr) =>
{
var candy = f.Body.UserData as CandyObject;
if (candy != null && candy.HitPoints > 0)
{
candy.Hit(1, p, direction);
return 0;
}
if (f.Body.UserData is PlatformObject)
return 0;
return 1;
}, position, endPos);
break;
case Mouse.Button.Middle:
break;
case Mouse.Button.Right:
if (!canAttack || Slicing <= 0) break;
canAttack = false;
Graphics.Animation = jumpInProgress ? hSwingAerialAnimation : hSwingAnimation;
axis.MotorSpeed = 0;
attacking = true;
attackTimer.Start();
mousePos = new Vector2(ConvertUnits.ToSimUnits(Input.MousePosition.X),
ConvertUnits.ToSimUnits(Input.MousePosition.Y));
position = new Vector2(Torso.Position.X, Torso.Position.Y);
direction = mousePos - position;
direction.Normalize();
direction *= 2.5f;
endPos = position + direction;
// Find the first thing hit, and if it's a candy, keep track of it.
List<Fixture> fixtures = new List<Fixture>();
List<Vector2> entryPoints = new List<Vector2>();
List<Vector2> exitPoints = new List<Vector2>();
//Get the entry points
PhysicsSubsystem.Instance.World.RayCast((f, p, n, fr) =>
{
if (f.Body.UserData is PlatformObject)
{
return 0;
}
if (f.Body.UserData is CandyObject)
{
fixtures.Add(f);
entryPoints.Add(p);
}
return 1;
}, position, endPos);
if (!entryPoints.Any())
return;
//Reverse the ray to get the exitpoints
PhysicsSubsystem.Instance.World.RayCast((f, p, n, fr) =>
{
if(f.Body.UserData is CandyObject)
exitPoints.Add(p);
return 1;
}, endPos, position);
while (fixtures.Count > exitPoints.Count)
{
fixtures.Remove(fixtures.Last());
entryPoints.Remove(entryPoints.Last());
}
GameplayState.Score += fixtures.Count * 500;
if (fixtures.Count > 0)
Content.SliceSound.Play();
for (int i = 0; i < fixtures.Count; i++)
{
if (fixtures[i].Body.Mass < 2.5) continue;
var originalCandy = fixtures[i].Body.UserData as CandyObject;
Debug.Assert(originalCandy != null);
Slicing = Math.Max(Slicing - originalCandy.Physics.Body.Mass, 0);
originalCandy.Slice(entryPoints[i], exitPoints[i]);
}
break;
}
};
#if DEBUG
Input.KeyEvents[Keyboard.Key.RShift] = (key, mod) => Framework.Graphics.TakeScreenshot();
#endif
Torso.OnFalling += (isFalling) =>
{
if (isFalling)
{
if (!attacking)
Graphics.Animation = fallingAnimation;
jumpInProgress = true;
}
};
Legs.Body.OnCollision += (a, b, c) =>
{
var userData = (a.Body.UserData ?? b.Body.UserData) as WallObject;
if (userData == null)
{
jumpInProgress = false;
Legs.Body.Friction = c.Friction = 1000;
if (!attacking)
Graphics.Animation = standingAnimation;
}
return true;
};
Piston.Body.OnCollision += (a, b, c) =>
{
Graphics.Animation = jumpingAnimation;
Content.JumpSound.Play();
return true;
};
var swingFinished = new EventHandler((sender, args) =>
{
attacking = false;
Graphics.Animation = jumpInProgress ? aerialAnimation : standingAnimation;
});
vSwingAnimation.Finished += swingFinished;
vSwingAerialAnimation.Finished += swingFinished;
hSwingAnimation.Finished += swingFinished;
hSwingAerialAnimation.Finished += swingFinished;
attackTimer.DingDingDing += (sender, args) => canAttack = true;
jumpTimer.DingDingDing += (sender, args) => canJump = true;
springResetTimer.DingDingDing += (sender, args) => spring.Length = 0;
}
private void CreateLeg(World world, float direction, Vector2 wheelAnchor, int index)
{
Vector2 p1 = new Vector2(5.4f * direction, 6.1f);
Vector2 p2 = new Vector2(7.2f * direction, 1.2f);
Vector2 p3 = new Vector2(4.3f * direction, 1.9f);
Vector2 p4 = new Vector2(3.1f * direction, -0.8f);
Vector2 p5 = new Vector2(6.0f * direction, -1.5f);
Vector2 p6 = new Vector2(2.5f * direction, -3.7f);
PolygonShape shoulderPolygon;
PolygonShape legPolygon;
Vertices vertices = new Vertices(3);
if (direction < 0f)
{
vertices.Add(p1);
vertices.Add(p2);
vertices.Add(p3);
shoulderPolygon = new PolygonShape(vertices, 1);
vertices[0] = Vector2.Zero;
vertices[1] = p5 - p4;
vertices[2] = p6 - p4;
legPolygon = new PolygonShape(vertices, 2);
}
else
{
vertices.Add(p1);
vertices.Add(p3);
vertices.Add(p2);
shoulderPolygon = new PolygonShape(vertices, 1);
vertices[0] = Vector2.Zero;
vertices[1] = p6 - p4;
vertices[2] = p5 - p4;
legPolygon = new PolygonShape(vertices, 2);
}
Body leg = BodyFactory.CreateBody(world);
leg.BodyType = BodyType.Dynamic;
leg.Position = _position;
leg.AngularDamping = 10f;
if (direction < 0f)
_leftLegs[index] = leg;
else
_rightLegs[index] = leg;
Body shoulder = BodyFactory.CreateBody(world);
shoulder.BodyType = BodyType.Dynamic;
shoulder.Position = p4 + _position;
shoulder.AngularDamping = 10f;
if (direction < 0f)
_leftShoulders[index] = shoulder;
else
_rightShoulders[index] = shoulder;
Fixture f1 = leg.CreateFixture(shoulderPolygon);
f1.CollisionGroup = -1;
Fixture f2 = shoulder.CreateFixture(legPolygon);
f2.CollisionGroup = -1;
// Using a soft distanceraint can reduce some jitter.
// It also makes the structure seem a bit more fluid by
// acting like a suspension system.
DistanceJoint djd = new DistanceJoint(leg, shoulder, leg.GetLocalPoint(p2 + _position), shoulder.GetLocalPoint(p5 + _position));
djd.DampingRatio = 0.5f;
djd.Frequency = 10f;
world.AddJoint(djd);
_walkerJoints.Add(djd);
DistanceJoint djd2 = new DistanceJoint(leg, shoulder, leg.GetLocalPoint(p3 + _position), shoulder.GetLocalPoint(p4 + _position));
djd2.DampingRatio = 0.5f;
djd2.Frequency = 10f;
world.AddJoint(djd2);
_walkerJoints.Add(djd2);
DistanceJoint djd3 = new DistanceJoint(leg, _wheel, leg.GetLocalPoint(p3 + _position), _wheel.GetLocalPoint(wheelAnchor + _position));
djd3.DampingRatio = 0.5f;
djd3.Frequency = 10f;
world.AddJoint(djd3);
_walkerJoints.Add(djd3);
DistanceJoint djd4 = new DistanceJoint(shoulder, _wheel, shoulder.GetLocalPoint(p6 + _position), _wheel.GetLocalPoint(wheelAnchor + _position));
djd4.DampingRatio = 0.5f;
djd4.Frequency = 10f;
world.AddJoint(djd4);
_walkerJoints.Add(djd4);
Vector2 anchor = p4 - new Vector2(0f, -0.8f);
RevoluteJoint rjd = new RevoluteJoint(shoulder, _chassis, shoulder.GetLocalPoint(_chassis.GetWorldPoint(anchor)), anchor);
world.AddJoint(rjd);
}
public Player(Game1 Doc, float X, float Y, float Z)
: base(Doc,X,Y,Z,Doc.LoadTex("Character"))
{
Global.Player = this;
scale = 0.5f;
//Point = new Obj(doc
createRecBody(10, 0, 1f, true,false);
obj = new Obj(doc, x + 200, y + 200, z, doc.LoadTex("Square"));
obj.createRecBody(1,0.5f,0.3f, true, true);
obj2 = new Obj(doc, x + 800, y + 400, z, doc.LoadTex("Square"));
obj2.createRecBody(1, 0.5f, 0.3f, true, true);
obj.type = obj2.type = Obj.PointType.SwingPoint;
//body.JointList = new JointEdge();
//JointFactory.CreateDistanceJoint(doc.getWorld(), body, obj.body, /*ConvertUnits.ToSimUnits(pos.ToVector2() + new Vector2(0,400))*/body.Position, obj.body.Position);
//r = JointFactory.CreateRevoluteJoint(doc.World, body, obj.body, obj.body.Position);
/*f = JointFactory.CreateDistanceJoint(doc.World, body, obj.body, obj.body.Position, obj.body.Position);
f.Frequency = 100;*/
//Console.WriteLine(r.MotorEnabled);
//body.JointList.Other = obj.body;
//body.JointList.Other
whip = new Obj[7];
for (int i = 0; i < whip.Length; i++)
{
Obj w = new Obj(doc, x + 50 + (i * 50), y, z, doc.LoadTex("Square"));
whip[i] = w;
w.Scale.X = 0.5f;
w.Scale.Y = 0.5f;
w.createRecBody(1, 0, 0, true, false);
w.body.IgnoreCollisionWith(body);
if (i > 0)
{
for (int o = i - 1; o >= 0; o--)
{
w.body.IgnoreCollisionWith(whip[i].body);
}
}
if (i == 0)
{
f = JointFactory.CreateDistanceJoint(doc.World, body, w.body, w.body.Position, w.body.Position);
f.DampingRatio = 1f;
f.Length = ConvertUnits.ToSimUnits(150);
}
else
{
f = JointFactory.CreateDistanceJoint(doc.World, w.body, whip[i - 1].body, whip[i - 1].body.Position, whip[i - 1].body.Position);
f.DampingRatio = 1f;
f.Frequency = 20;
f.Length = ConvertUnits.ToSimUnits(50);
}
if (i == whip.Length - 1)
{
w.body.Position = obj.body.Position;
whipPoint = w;
whipJoint = JointFactory.CreateDistanceJoint(doc.World, w.body, obj.body, obj.body.Position, obj.body.Position);
Console.WriteLine(whipJoint.Frequency);
whipJoint.Frequency = 10f;
whipJoint.Length = ConvertUnits.ToSimUnits(10);
whipJoint.DampingRatio = 1;
}
}
}
public Ragdoll(World world, Vector2 position)
{
// Physics
// Head
_head = BodyFactory.CreateCircle(world, 0.75f, 10f);
_head.BodyType = BodyType.Dynamic;
_head.AngularDamping = LimbAngularDamping;
_head.Mass = 2f;
_head.Position = position;
// Torso
_upperBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_upperBody.BodyType = BodyType.Dynamic;
_upperBody.Mass = 1f;
_upperBody.SetTransform(position + new Vector2(0f, 1.75f), MathHelper.Pi / 2f);
_middleBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_middleBody.BodyType = BodyType.Dynamic;
_middleBody.Mass = 1f;
_middleBody.SetTransform(position + new Vector2(0f, 3f), MathHelper.Pi / 2f);
_lowerBody = BodyFactory.CreateCapsule(world, 0.5f, 0.75f, LegDensity);
_lowerBody.BodyType = BodyType.Dynamic;
_lowerBody.Mass = 1f;
_lowerBody.SetTransform(position + new Vector2(0f, 4.25f), MathHelper.Pi / 2f);
// Left Arm
_lowerLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerLeftArm.BodyType = BodyType.Dynamic;
_lowerLeftArm.AngularDamping = LimbAngularDamping;
_lowerLeftArm.Mass = 2f;
_lowerLeftArm.Rotation = 1.4f;
_lowerLeftArm.Position = position + new Vector2(-4f, 2.2f);
_upperLeftArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperLeftArm.BodyType = BodyType.Dynamic;
_upperLeftArm.AngularDamping = LimbAngularDamping;
_upperLeftArm.Mass = 2f;
_upperLeftArm.Rotation = 1.4f;
_upperLeftArm.Position = position + new Vector2(-2f, 1.8f);
// Right Arm
_lowerRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_lowerRightArm.BodyType = BodyType.Dynamic;
_lowerRightArm.AngularDamping = LimbAngularDamping;
_lowerRightArm.Mass = 2f;
_lowerRightArm.Rotation = -1.4f;
_lowerRightArm.Position = position + new Vector2(4f, 2.2f);
_upperRightArm = BodyFactory.CreateCapsule(world, 1f, 0.45f, ArmDensity);
_upperRightArm.BodyType = BodyType.Dynamic;
_upperRightArm.AngularDamping = LimbAngularDamping;
_upperRightArm.Mass = 2f;
_upperRightArm.Rotation = -1.4f;
_upperRightArm.Position = position + new Vector2(2f, 1.8f);
// Left Leg
_lowerLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerLeftLeg.BodyType = BodyType.Dynamic;
_lowerLeftLeg.AngularDamping = LimbAngularDamping;
_lowerLeftLeg.Mass = 2f;
_lowerLeftLeg.Position = position + new Vector2(-0.6f, 8f);
_upperLeftLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperLeftLeg.BodyType = BodyType.Dynamic;
_upperLeftLeg.AngularDamping = LimbAngularDamping;
_upperLeftLeg.Mass = 2f;
_upperLeftLeg.Position = position + new Vector2(-0.6f, 6f);
// Right Leg
_lowerRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_lowerRightLeg.BodyType = BodyType.Dynamic;
_lowerRightLeg.AngularDamping = LimbAngularDamping;
_lowerRightLeg.Mass = 2f;
_lowerRightLeg.Position = position + new Vector2(0.6f, 8f);
_upperRightLeg = BodyFactory.CreateCapsule(world, 1f, 0.5f, LegDensity);
_upperRightLeg.BodyType = BodyType.Dynamic;
_upperRightLeg.AngularDamping = LimbAngularDamping;
_upperRightLeg.Mass = 2f;
_upperRightLeg.Position = position + new Vector2(0.6f, 6f);
// head -> upper body
DistanceJoint jointHeadBody = new DistanceJoint(_head, _upperBody, new Vector2(0f, 1f), new Vector2(-0.75f, 0f));
jointHeadBody.CollideConnected = true;
jointHeadBody.DampingRatio = DampingRatio;
jointHeadBody.Frequency = Frequency;
jointHeadBody.Length = 0.025f;
world.AddJoint(jointHeadBody);
// lowerLeftArm -> upperLeftArm
DistanceJoint jointLeftArm = new DistanceJoint(_lowerLeftArm, _upperLeftArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
jointLeftArm.CollideConnected = true;
jointLeftArm.DampingRatio = DampingRatio;
jointLeftArm.Frequency = Frequency;
jointLeftArm.Length = 0.02f;
world.AddJoint(jointLeftArm);
// upperLeftArm -> upper body
DistanceJoint jointLeftArmBody = new DistanceJoint(_upperLeftArm, _upperBody, new Vector2(0f, -1f), new Vector2(-0.15f, 1f));
jointLeftArmBody.DampingRatio = DampingRatio;
jointLeftArmBody.Frequency = Frequency;
jointLeftArmBody.Length = 0.02f;
world.AddJoint(jointLeftArmBody);
// lowerRightArm -> upperRightArm
DistanceJoint jointRightArm = new DistanceJoint(_lowerRightArm, _upperRightArm, new Vector2(0f, -1f), new Vector2(0f, 1f));
jointRightArm.CollideConnected = true;
jointRightArm.DampingRatio = DampingRatio;
jointRightArm.Frequency = Frequency;
jointRightArm.Length = 0.02f;
world.AddJoint(jointRightArm);
// upperRightArm -> upper body
DistanceJoint jointRightArmBody = new DistanceJoint(_upperRightArm, _upperBody, new Vector2(0f, -1f), new Vector2(-0.15f, -1f));
jointRightArmBody.DampingRatio = DampingRatio;
jointRightArmBody.Frequency = 25;
jointRightArmBody.Length = 0.02f;
world.AddJoint(jointRightArmBody);
// lowerLeftLeg -> upperLeftLeg
DistanceJoint jointLeftLeg = new DistanceJoint(_lowerLeftLeg, _upperLeftLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
jointLeftLeg.CollideConnected = true;
jointLeftLeg.DampingRatio = DampingRatio;
jointLeftLeg.Frequency = Frequency;
jointLeftLeg.Length = 0.05f;
world.AddJoint(jointLeftLeg);
// upperLeftLeg -> lower body
DistanceJoint jointLeftLegBody = new DistanceJoint(_upperLeftLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, 0.8f));
jointLeftLegBody.CollideConnected = true;
jointLeftLegBody.DampingRatio = DampingRatio;
jointLeftLegBody.Frequency = Frequency;
jointLeftLegBody.Length = 0.02f;
world.AddJoint(jointLeftLegBody);
// lowerRightleg -> upperRightleg
DistanceJoint jointRightLeg = new DistanceJoint(_lowerRightLeg, _upperRightLeg, new Vector2(0f, -1.1f), new Vector2(0f, 1f));
jointRightLeg.CollideConnected = true;
jointRightLeg.DampingRatio = DampingRatio;
jointRightLeg.Frequency = Frequency;
jointRightLeg.Length = 0.05f;
world.AddJoint(jointRightLeg);
// upperRightleg -> lower body
DistanceJoint jointRightLegBody = new DistanceJoint(_upperRightLeg, _lowerBody, new Vector2(0f, -1.1f), new Vector2(0.7f, -0.8f));
jointRightLegBody.CollideConnected = true;
jointRightLegBody.DampingRatio = DampingRatio;
jointRightLegBody.Frequency = Frequency;
jointRightLegBody.Length = 0.02f;
world.AddJoint(jointRightLegBody);
// upper body -> middle body
RevoluteJoint jointUpperTorso = new RevoluteJoint(_upperBody, _middleBody, _upperBody.Position + new Vector2(0f, 0.625f), true);
jointUpperTorso.LimitEnabled = true;
jointUpperTorso.SetLimits(-MathHelper.Pi / 16f, MathHelper.Pi / 16f);
world.AddJoint(jointUpperTorso);
// middle body -> lower body
RevoluteJoint jointLowerTorso = new RevoluteJoint(_middleBody, _lowerBody, _middleBody.Position + new Vector2(0f, 0.625f), true);
jointLowerTorso.LimitEnabled = true;
jointLowerTorso.SetLimits(-MathHelper.Pi / 8f, MathHelper.Pi / 8f);
world.AddJoint(jointLowerTorso);
// GFX
_face = new Sprite(ContentWrapper.CircleTexture(0.75f, "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Grey, 1f));
_torso = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateRoundedRectangle(1.5f, 2f, 0.75f, 0.75f, 2), "Stripe", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 2.0f));
_upperLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateCapsule(1.9f, 0.45f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f));
_lowerLimb = new Sprite(ContentWrapper.PolygonTexture(PolygonTools.CreateCapsule(2f, 0.5f, 16), "Square", ContentWrapper.Gold, ContentWrapper.Orange, ContentWrapper.Black, 1f));
}
private DominosTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
Vertices box = PolygonTools.CreateRectangle(6.0f, 0.25f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(-1.5f, 10.0f);
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 20);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 1.0f * i, 11.25f);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.1f;
}
}
{
Vertices box = PolygonTools.CreateRectangle(7.0f, 0.25f, Vector2.Zero, 0.3f);
PolygonShape shape = new PolygonShape(box, 0);
Body ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(1.0f, 6.0f);
ground.CreateFixture(shape);
}
Body b2;
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 1.5f);
PolygonShape shape = new PolygonShape(box, 0);
b2 = BodyFactory.CreateBody(World);
b2.Position = new Vector2(-7.0f, 4.0f);
b2.CreateFixture(shape);
}
Body b3;
{
Vertices box = PolygonTools.CreateRectangle(6.0f, 0.125f);
PolygonShape shape = new PolygonShape(box, 10);
b3 = BodyFactory.CreateBody(World);
b3.BodyType = BodyType.Dynamic;
b3.Position = new Vector2(-0.9f, 1.0f);
b3.Rotation = -0.15f;
b3.CreateFixture(shape);
}
Vector2 anchor = new Vector2(-2.0f, 1.0f);
FixedRevoluteJoint jd = new FixedRevoluteJoint(b3, b3.GetLocalPoint(anchor), anchor);
jd.CollideConnected = true;
World.AddJoint(jd);
Body b4;
{
Vertices box = PolygonTools.CreateRectangle(0.25f, 0.25f);
PolygonShape shape = new PolygonShape(box, 10);
b4 = BodyFactory.CreateBody(World);
b4.BodyType = BodyType.Dynamic;
b4.Position = new Vector2(-10.0f, 15.0f);
b4.CreateFixture(shape);
}
anchor = new Vector2(-7.0f, 15.0f);
FixedRevoluteJoint jd2 = new FixedRevoluteJoint(b4, b4.GetLocalPoint(anchor), anchor);
World.AddJoint(jd2);
Body b5;
{
b5 = BodyFactory.CreateBody(World);
b5.BodyType = BodyType.Dynamic;
b5.Position = new Vector2(6.5f, 3.0f);
Vertices vertices = PolygonTools.CreateRectangle(1.0f, 0.1f, new Vector2(0.0f, -0.9f), 0.0f);
PolygonShape shape = new PolygonShape(vertices, 10);
Fixture fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonTools.CreateRectangle(0.1f, 1.0f, new Vector2(-0.9f, 0.0f), 0.0f);
shape.Set(vertices);
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
vertices = PolygonTools.CreateRectangle(0.1f, 1.0f, new Vector2(0.9f, 0.0f), 0.0f);
shape.Set(vertices);
fix = b5.CreateFixture(shape);
fix.Friction = 0.1f;
}
anchor = new Vector2(6.0f, 2.0f);
FixedRevoluteJoint jd3 = new FixedRevoluteJoint(b5, b5.GetLocalPoint(anchor), anchor);
World.AddJoint(jd3);
Body b6;
{
Vertices box = PolygonTools.CreateRectangle(1.0f, 0.1f);
PolygonShape shape = new PolygonShape(box, 30);
b6 = BodyFactory.CreateBody(World);
b6.BodyType = BodyType.Dynamic;
b6.Position = new Vector2(6.5f, 4.1f);
b6.CreateFixture(shape);
}
anchor = new Vector2(1.0f, -0.1f);
RevoluteJoint jd4 = new RevoluteJoint(b5, b6, b5.GetLocalPoint(b6.GetWorldPoint(anchor)), anchor);
jd4.CollideConnected = true;
World.AddJoint(jd4);
Body b7;
{
Vertices box = PolygonTools.CreateRectangle(0.1f, 1.0f);
PolygonShape shape = new PolygonShape(box, 10);
b7 = BodyFactory.CreateBody(World);
b7.BodyType = BodyType.Dynamic;
b7.Position = new Vector2(7.4f, 1.0f);
b7.CreateFixture(shape);
}
DistanceJoint djd = new DistanceJoint(b3, b7, new Vector2(6.0f, 0.0f), new Vector2(0.0f, -1.0f));
Vector2 d = djd.BodyB.GetWorldPoint(djd.LocalAnchorB) - djd.BodyA.GetWorldPoint(djd.LocalAnchorA);
djd.Length = d.Length();
World.AddJoint(djd);
{
const float radius = 0.2f;
CircleShape shape = new CircleShape(radius, 10);
for (int i = 0; i < 4; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.9f + 2.0f * radius * i, 2.4f);
Fixture fix = body.CreateFixture(shape);
fix.OnCollision += BallCollision;
}
}
}
private WebTest()
{
World.JointRemoved += JointRemovedFired;
World.BodyRemoved += BodyRemovedFired;
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
{
_bodies[0] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(-5.0f, 5.0f));
_bodies[0].BodyType = BodyType.Dynamic;
_bodies[1] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(5.0f, 5.0f));
_bodies[1].BodyType = BodyType.Dynamic;
_bodies[2] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(5.0f, 15.0f));
_bodies[2].BodyType = BodyType.Dynamic;
_bodies[3] = BodyFactory.CreateRectangle(World, 1f, 1f, 5, new Vector2(-5.0f, 15.0f));
_bodies[3].BodyType = BodyType.Dynamic;
DistanceJoint dj = new DistanceJoint(ground, _bodies[0], new Vector2(-10.0f, 0.0f), new Vector2(-0.5f, -0.5f));
_joints[0] = dj;
dj.Frequency = 2.0f;
dj.DampingRatio = 0.0f;
World.AddJoint(_joints[0]);
DistanceJoint dj1 = new DistanceJoint(ground, _bodies[1], new Vector2(10.0f, 0.0f), new Vector2(0.5f, -0.5f));
_joints[1] = dj1;
dj1.Frequency = 2.0f;
dj1.DampingRatio = 0.0f;
World.AddJoint(_joints[1]);
DistanceJoint dj2 = new DistanceJoint(ground, _bodies[2], new Vector2(10.0f, 20.0f), new Vector2(0.5f, 0.5f));
_joints[2] = dj2;
dj2.Frequency = 2.0f;
dj2.DampingRatio = 0.0f;
World.AddJoint(_joints[2]);
DistanceJoint dj3 = new DistanceJoint(ground, _bodies[3], new Vector2(-10.0f, 20.0f), new Vector2(-0.5f, 0.5f));
_joints[3] = dj3;
dj3.Frequency = 2.0f;
dj3.DampingRatio = 0.0f;
World.AddJoint(_joints[3]);
DistanceJoint dj4 = new DistanceJoint(_bodies[0], _bodies[1], new Vector2(0.5f, 0.0f), new Vector2(-0.5f, 0.0f));
_joints[4] = dj4;
dj4.Frequency = 2.0f;
dj4.DampingRatio = 0.0f;
World.AddJoint(_joints[4]);
DistanceJoint dj5 = new DistanceJoint(_bodies[1], _bodies[2], new Vector2(0.0f, 0.5f), new Vector2(0.0f, -0.5f));
_joints[5] = dj5;
dj5.Frequency = 2.0f;
dj5.DampingRatio = 0.0f;
World.AddJoint(_joints[5]);
DistanceJoint dj6 = new DistanceJoint(_bodies[2], _bodies[3], new Vector2(-0.5f, 0.0f), new Vector2(0.5f, 0.0f));
_joints[6] = dj6;
dj6.Frequency = 2.0f;
dj6.DampingRatio = 0.0f;
World.AddJoint(_joints[6]);
DistanceJoint dj7 = new DistanceJoint(_bodies[3], _bodies[0], new Vector2(0.0f, -0.5f), new Vector2(0.0f, 0.5f));
_joints[7] = dj7;
dj7.Frequency = 2.0f;
dj7.DampingRatio = 0.0f;
World.AddJoint(_joints[7]);
}
}
private WebTest()
{
World.JointRemoved += JointRemovedFired;
World.BodyRemoved += BodyRemovedFired;
{
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(0.5f, 0.5f);
_bodies[0] = BodyFactory.CreateBody(World);
_bodies[0].BodyType = BodyType.Dynamic;
_bodies[0].Position = new Vector2(-5.0f, 5.0f);
_bodies[0].CreateFixture(shape);
_bodies[1] = BodyFactory.CreateBody(World);
_bodies[1].BodyType = BodyType.Dynamic;
_bodies[1].Position = new Vector2(5.0f, 5.0f);
_bodies[1].CreateFixture(shape);
_bodies[2] = BodyFactory.CreateBody(World);
_bodies[2].BodyType = BodyType.Dynamic;
_bodies[2].Position = new Vector2(5.0f, 15.0f);
_bodies[2].CreateFixture(shape);
_bodies[3] = BodyFactory.CreateBody(World);
_bodies[3].BodyType = BodyType.Dynamic;
_bodies[3].Position = new Vector2(-5.0f, 15.0f);
_bodies[3].CreateFixture(shape);
FixedDistanceJoint dj = new FixedDistanceJoint(_bodies[0], new Vector2(-0.5f, -0.5f),
new Vector2(-10.0f, 0.0f));
_joints[0] = dj;
dj.Frequency = 2.0f;
dj.DampingRatio = 0.0f;
World.AddJoint(_joints[0]);
FixedDistanceJoint dj1 = new FixedDistanceJoint(_bodies[1], new Vector2(0.5f, -0.5f),
new Vector2(10.0f, 0.0f));
_joints[1] = dj1;
dj1.Frequency = 2.0f;
dj1.DampingRatio = 0.0f;
World.AddJoint(_joints[1]);
FixedDistanceJoint dj2 = new FixedDistanceJoint(_bodies[2], new Vector2(0.5f, 0.5f),
new Vector2(10.0f, 20.0f));
_joints[2] = dj2;
dj2.Frequency = 2.0f;
dj2.DampingRatio = 0.0f;
World.AddJoint(_joints[2]);
FixedDistanceJoint dj3 = new FixedDistanceJoint(_bodies[3], new Vector2(-0.5f, 0.5f),
new Vector2(-10.0f, 20.0f));
_joints[3] = dj3;
dj3.Frequency = 2.0f;
dj3.DampingRatio = 0.0f;
World.AddJoint(_joints[3]);
DistanceJoint dj4 = new DistanceJoint(_bodies[0], _bodies[1], Vector2.Zero,
Vector2.Zero);
_joints[4] = dj4;
dj4.Frequency = 2.0f;
dj4.DampingRatio = 0.0f;
World.AddJoint(_joints[4]);
DistanceJoint dj5 = new DistanceJoint(_bodies[1], _bodies[2], Vector2.Zero,
Vector2.Zero);
_joints[5] = dj5;
dj5.Frequency = 2.0f;
dj5.DampingRatio = 0.0f;
World.AddJoint(_joints[5]);
DistanceJoint dj6 = new DistanceJoint(_bodies[2], _bodies[3], Vector2.Zero,
Vector2.Zero);
_joints[6] = dj6;
dj6.Frequency = 2.0f;
dj6.DampingRatio = 0.0f;
World.AddJoint(_joints[6]);
DistanceJoint dj7 = new DistanceJoint(_bodies[3], _bodies[0], Vector2.Zero,
Vector2.Zero);
_joints[7] = dj7;
dj7.Frequency = 2.0f;
dj7.DampingRatio = 0.0f;
World.AddJoint(_joints[7]);
}
}
public void Deserialize(World world, Stream stream)
{
world.Clear();
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
throw new Exception();
foreach (XMLFragmentElement main in root.Elements)
{
if (main.Name.ToLower() == "gravity")
{
world.Gravity = ReadVector(main);
}
}
foreach (XMLFragmentElement shapeElement in root.Elements)
{
if (shapeElement.Name.ToLower() == "shapes")
{
foreach (XMLFragmentElement n in shapeElement.Elements)
{
if (n.Name.ToLower() != "shape")
throw new Exception();
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true);
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
foreach (XMLFragmentElement sn in n.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();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List<Vector2> verts = new List<Vector2>();
foreach (XMLFragmentElement vert in sn.Elements)
verts.Add(ReadVector(vert));
shape.Set(new Vertices(verts.ToArray()));
}
break;
case "centroid":
shape.MassData.Centroid = ReadVector(sn);
break;
}
}
_shapes.Add(shape);
}
break;
case ShapeType.Edge:
{
EdgeShape shape = new EdgeShape();
foreach (XMLFragmentElement sn in n.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;
}
}
}
}
foreach (XMLFragmentElement fixtureElement in root.Elements)
{
if (fixtureElement.Name.ToLower() == "fixtures")
{
foreach (XMLFragmentElement n in fixtureElement.Elements)
{
Fixture fixture = new Fixture();
if (n.Name.ToLower() != "fixture")
throw new Exception();
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "shape":
fixture.Shape = _shapes[int.Parse(sn.Value)];
break;
case "density":
fixture.Shape.Density = float.Parse(sn.Value);
break;
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;
}
}
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);
}
}
}
foreach (XMLFragmentElement bodyElement in root.Elements)
{
if (bodyElement.Name.ToLower() == "bodies")
{
foreach (XMLFragmentElement n in bodyElement.Elements)
{
Body body = new Body(world);
if (n.Name.ToLower() != "body")
throw new Exception();
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true);
foreach (XMLFragmentElement sn in n.Elements)
{
switch (sn.Name.ToLower())
{
case "active":
if (bool.Parse(sn.Value))
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 "fixtures":
{
foreach (XMLFragmentElement v in sn.Elements)
{
Fixture blueprint = _fixtures[int.Parse(v.Value)];
Fixture f = new Fixture(body, blueprint.Shape, blueprint.CollisionCategories);
f.Restitution = blueprint.Restitution;
f.UserData = blueprint.UserData;
f.Friction = blueprint.Friction;
f.CollidesWith = blueprint.CollidesWith;
f.CollisionGroup = blueprint.CollisionGroup;
}
break;
}
}
}
_bodies.Add(body);
}
}
}
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.Distance:
joint = new DistanceJoint();
break;
case JointType.Friction:
joint = new FrictionJoint();
break;
case JointType.Line:
joint = new LineJoint();
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.Slider:
joint = new SliderJoint();
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.Line:
{
switch (sn.Name.ToLower())
{
case "enablemotor":
((LineJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((LineJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((LineJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "motorspeed":
((LineJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "dampingratio":
((LineJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "maxmotortorque":
((LineJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "frequencyhz":
((LineJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "localxaxis":
((LineJoint)joint).LocalXAxis = 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 "local1axis1":
((PrismaticJoint)joint).LocalXAxis1 = 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 "groundanchora":
((PulleyJoint)joint).GroundAnchorA = ReadVector(sn);
break;
case "groundanchorb":
((PulleyJoint)joint).GroundAnchorB = 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 "maxlengtha":
((PulleyJoint)joint).MaxLengthA = float.Parse(sn.Value);
break;
case "maxlengthb":
((PulleyJoint)joint).MaxLengthB = float.Parse(sn.Value);
break;
case "ratio":
((PulleyJoint)joint).Ratio = 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.Slider:
{
switch (sn.Name.ToLower())
{
case "dampingratio":
((SliderJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "frequencyhz":
((SliderJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "maxlength":
((SliderJoint)joint).MaxLength = float.Parse(sn.Value);
break;
case "minlength":
((SliderJoint)joint).MinLength = float.Parse(sn.Value);
break;
case "localanchora":
((SliderJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((SliderJoint)joint).LocalAnchorB = ReadVector(sn);
break;
}
}
break;
}
}
}
}
}
}
public static Joint CopyJoint(Joint joint, Body bodyA, Body bodyB, World world)
{
Joint newJoint = null;
switch (joint.JointType)
{
case JointType.Angle:
newJoint = JointFactory.CreateAngleJoint(world, bodyA, bodyB);
break;
case JointType.Distance:
newJoint = new DistanceJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
case JointType.FixedAngle:
newJoint = new FixedAngleJoint(bodyA);
break;
case JointType.FixedDistance:
newJoint = new FixedDistanceJoint(bodyA, bodyA.WorldCenter, Vector2.Zero);
break;
case JointType.FixedFriction:
newJoint = new FixedFrictionJoint(bodyA, bodyA.WorldCenter);
break;
case JointType.FixedPrismatic:
var fpJoint = joint as FixedPrismaticJoint;
var fpAxis = fpJoint.LocalXAxis1;
newJoint = new FixedPrismaticJoint(bodyA, bodyA.WorldCenter, fpAxis);
break;
case JointType.FixedRevolute:
newJoint = new FixedRevoluteJoint(bodyA, bodyA.WorldCenter, Vector2.Zero);
break;
case JointType.Friction:
newJoint = new FrictionJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
case JointType.Line:
var lineJoint = joint as LineJoint;
var axis = lineJoint.LocalXAxis;
newJoint = new LineJoint(bodyA, bodyB, bodyA.WorldCenter, axis);
break;
case JointType.Prismatic:
var pJoint = joint as PrismaticJoint;
var pAxis = pJoint.LocalXAxis1;
newJoint = new PrismaticJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter, pAxis);
((PrismaticJoint)newJoint).LimitEnabled = pJoint.LimitEnabled;
((PrismaticJoint)newJoint).MotorEnabled = pJoint.MotorEnabled;
((PrismaticJoint)newJoint).MaxMotorForce = pJoint.MaxMotorForce;
((PrismaticJoint)newJoint).MotorSpeed = pJoint.MotorSpeed;
((PrismaticJoint)newJoint).LowerLimit = pJoint.LowerLimit;
((PrismaticJoint)newJoint).UpperLimit = pJoint.UpperLimit;
((PrismaticJoint)newJoint).ReferenceAngle = pJoint.ReferenceAngle;
((PrismaticJoint)newJoint).LocalXAxis1 = pJoint.LocalXAxis1;
break;
case JointType.Pulley:
var pulleyJoint = joint as PulleyJoint;
var ratio = pulleyJoint.Ratio;
newJoint = new PulleyJoint(bodyA, bodyB, Vector2.Zero, Vector2.Zero, bodyA.WorldCenter, bodyB.WorldCenter, ratio);
break;
case JointType.Revolute:
newJoint = new RevoluteJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
case JointType.Slider:
var sliderJoint = joint as SliderJoint;
var minLength = sliderJoint.MinLength;
var maxLength = sliderJoint.MaxLength;
newJoint = new SliderJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter, minLength, maxLength);
break;
case JointType.Weld:
newJoint = new WeldJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
}
var data = new FarseerJointUserData();
data.BodyAName = ((FarseerJointUserData) joint.UserData).BodyAName;
data.BodyBName = ((FarseerJointUserData) joint.UserData).BodyBName;
joint.UserData = data;
return newJoint;
}
