public static FrictionJoint CreateFrictionJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, bool useWorldCoordinates = false)
{
var frictionJoint = new FrictionJoint(bodyA, bodyB, anchor, useWorldCoordinates);
world.addJoint(frictionJoint);
return(frictionJoint);
}
//public static FixedDistanceJoint CreateFixedDistanceJoint(World world, Body body, Vector2 localAnchor,
// Vector2 worldAnchor)
//{
// FixedDistanceJoint distanceJoint = new FixedDistanceJoint(body, localAnchor, worldAnchor);
// world.AddJoint(distanceJoint);
// return distanceJoint;
//}
#endregion
#region Friction Joint
public static FrictionJoint CreateFrictionJoint(World world, Body bodyA, Body bodyB, Vector2 anchor)
{
FrictionJoint frictionJoint = new FrictionJoint(bodyA, bodyB, anchor);
world.AddJoint(frictionJoint);
return(frictionJoint);
}
public override Joint CreateJoint()
{
var joint = new FrictionJoint(BodyA, BodyB, Anchor);
joint.CollideConnected = CollideConnected;
joint.MaxForce = MaxForce;
joint.MaxTorque = MaxTorque;
return(joint);
}
public override Joint createJoint()
{
var joint = new FrictionJoint(bodyA, bodyB, anchor);
joint.collideConnected = collideConnected;
joint.maxForce = maxForce;
joint.maxTorque = maxTorque;
return(joint);
}
public override Joint CreateJoint()
{
FrictionJoint joint = new FrictionJoint(BodyA, BodyB, Anchor)
{
CollideConnected = CollideConnected,
MaxForce = MaxForce,
MaxTorque = MaxTorque
};
return(joint);
}
protected override void LoadContent()
{
// Initialize camera controls
_view = Matrix.Identity;
_cameraPosition = Vector2.Zero;
_screenCenter = new Vector2(_graphics.GraphicsDevice.Viewport.Width / 2f, _graphics.GraphicsDevice.Viewport.Height / 2f);
_batch = new SpriteBatch(_graphics.GraphicsDevice);
_font = Content.Load <SpriteFont>("font");
// Load sprites
_circleSprite = Content.Load <Texture2D>("CircleSprite"); // 96px x 96px => 1.5m x 1.5m
// _groundSprite = Content.Load<Texture2D>("GroundSprite"); // 512px x 64px => 8m x 1m
/* We need XNA to draw the ground and circle at the center of the shapes */
// _groundOrigin = new Vector2(_groundSprite.Width / 2f, _groundSprite.Height / 2f);
_circleOrigin = new Vector2(_circleSprite.Width / 2f, _circleSprite.Height / 2f);
// Velcro Physics expects objects to be scaled to MKS (meters, kilos, seconds)
// 1 meters equals 64 pixels here
ConvertUnits.SetDisplayUnitToSimUnitRatio(64f);
/* Circle */
// Convert screen center from pixels to meters
Vector2 circlePosition = ConvertUnits.ToSimUnits(_screenCenter) + new Vector2(0, -1.5f);
// Create the circle fixture
_circleBody = BodyFactory.CreateCircle(_world, ConvertUnits.ToSimUnits(96 / 2f), 1f, circlePosition, BodyType.Dynamic);
// Give it some bounce and friction
_circleBody.Restitution = 0.3f;
_circleBody.Friction = 0.5f;
/* Ground */
// Vector2 groundPosition = ConvertUnits.ToSimUnits(_screenCenter) + new Vector2(0, 1.25f);
// Create the ground fixture
// _groundBody = BodyFactory.CreateRectangle(_world, ConvertUnits.ToSimUnits(512f), ConvertUnits.ToSimUnits(64f), 1f, groundPosition);
// _groundBody.BodyType = BodyType.Static;
// _groundBody.Restitution = 0.3f;
// _groundBody.Friction = 0.5f;
var floor = BodyFactory.CreateBody(_world);
_joint = JointFactory.CreateFrictionJoint(_world, floor, _circleBody);
_joint.MaxForce = 5;
_joint.MaxTorque = 5;
}
internal override void UpdateJoint()
{
base.UpdateJoint();
if (this.joint == null)
{
return;
}
FrictionJoint j = this.joint as FrictionJoint;
j.LocalAnchorA = GetFarseerPoint(this.BodyA, this.localAnchorA);
j.LocalAnchorB = GetFarseerPoint(this.BodyB, this.localAnchorB);
j.MaxForce = PhysicsConvert.ToPhysicalUnit(this.maxForce) / Time.SPFMult;
j.MaxTorque = PhysicsConvert.ToPhysicalUnit(this.maxTorque) / Time.SPFMult;
}
internal override void UpdateJoint()
{
base.UpdateJoint();
if (this.joint == null)
{
return;
}
FrictionJoint j = this.joint as FrictionJoint;
j.LocalAnchorA = GetFarseerPoint(this.ParentBody, this.localAnchorA);
j.LocalAnchorB = GetFarseerPoint(this.OtherBody, this.localAnchorB);
j.MaxForce = PhysicsUnit.ForceToPhysical * this.maxForce;
j.MaxTorque = PhysicsUnit.TorqueToPhysical * this.maxTorque;
}
private ApplyForceTest()
{
World.Gravity = Vector2.Zero;
const float restitution = 0.4f;
Body ground;
{
ground = BodyFactory.CreateBody(World);
ground.Position = new Vector2(0.0f, 20.0f);
EdgeShape shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f));
// Left vertical
Fixture fixture = ground.CreateFixture(shape);
fixture.Restitution = restitution;
// Right vertical
shape = new EdgeShape(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Top horizontal
shape = new EdgeShape(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f));
ground.CreateFixture(shape);
// Bottom horizontal
shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f));
ground.CreateFixture(shape);
}
{
Transform xf1 = new Transform();
xf1.q.Set(0.3524f * Settings.Pi);
xf1.p = MathUtils.Mul(ref xf1.q, new Vector2(1.0f, 0.0f));
Vertices vertices = new Vertices(3);
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f)));
vertices.Add(MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f)));
PolygonShape poly1 = new PolygonShape(vertices, 4);
Transform xf2 = new Transform();
xf2.q.Set(-0.3524f * Settings.Pi);
xf2.p = MathUtils.Mul(ref xf2.q, new Vector2(-1.0f, 0.0f));
vertices[0] = MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f));
vertices[1] = MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f));
vertices[2] = MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f));
PolygonShape poly2 = new PolygonShape(vertices, 2);
_body = BodyFactory.CreateBody(World);
_body.BodyType = BodyType.Dynamic;
_body.Position = new Vector2(0.0f, 2.0f);
_body.Rotation = Settings.Pi;
_body.AngularDamping = 5.0f;
_body.LinearDamping = 0.8f;
_body.SleepingAllowed = true;
_body.CreateFixture(poly1);
_body.CreateFixture(poly2);
}
{
Vertices box = PolygonUtils.CreateRectangle(0.5f, 0.5f);
PolygonShape shape = new PolygonShape(box, 1);
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.Position = new Vector2(0.0f, 5.0f + 1.54f * i);
body.BodyType = BodyType.Dynamic;
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.3f;
const float gravity = 10.0f;
float I = body.Inertia;
float mass = body.Mass;
// For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m)
float radius = (float)Math.Sqrt(2.0 * (I / mass));
FrictionJoint jd = new FrictionJoint(ground, body, Vector2.Zero);
jd.CollideConnected = true;
jd.MaxForce = mass * gravity;
jd.MaxTorque = mass * radius * gravity;
World.AddJoint(jd);
}
}
}
private SerializationTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20, 0), new Vector2(20, 0));
//Friction and distance joint
{
Body bodyA = BodyFactory.CreateCircle(World, 1, 1.5f, new Vector2(10, 25));
bodyA.BodyType = BodyType.Dynamic;
Body bodyB = BodyFactory.CreateRectangle(World, 1, 1, 1, new Vector2(-1, 25));
bodyB.BodyType = BodyType.Dynamic;
FrictionJoint frictionJoint = JointFactory.CreateFrictionJoint(World, bodyB, ground, Vector2.Zero);
frictionJoint.CollideConnected = true;
frictionJoint.MaxForce = 100;
JointFactory.CreateDistanceJoint(World, bodyA, bodyB);
}
//Wheel joint
{
Vertices vertices = new Vertices(6);
vertices.Add(new Vector2(-1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, -0.5f));
vertices.Add(new Vector2(1.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 0.9f));
vertices.Add(new Vector2(-1.15f, 0.9f));
vertices.Add(new Vector2(-1.5f, 0.2f));
Body carBody = BodyFactory.CreatePolygon(World, vertices, 1, new Vector2(0, 1));
carBody.BodyType = BodyType.Dynamic;
Body wheel1 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(-1.0f, 0.35f));
wheel1.BodyType = BodyType.Dynamic;
wheel1.Friction = 0.9f;
Body wheel2 = BodyFactory.CreateCircle(World, 0.4f, 1, new Vector2(1.0f, 0.4f));
wheel2.BodyType = BodyType.Dynamic;
wheel2.Friction = 0.9f;
Vector2 axis = new Vector2(0.0f, 1.0f);
WheelJoint spring1 = JointFactory.CreateWheelJoint(World, carBody, wheel1, axis);
spring1.MotorSpeed = 0.0f;
spring1.MaxMotorTorque = 20.0f;
spring1.MotorEnabled = true;
spring1.Frequency = 4;
spring1.DampingRatio = 0.7f;
WheelJoint spring2 = JointFactory.CreateWheelJoint(World, carBody, wheel2, axis);
spring2.MotorSpeed = 0.0f;
spring2.MaxMotorTorque = 10.0f;
spring2.MotorEnabled = false;
spring2.Frequency = 4;
spring2.DampingRatio = 0.7f;
}
//Prismatic joint
{
Body body = BodyFactory.CreateRectangle(World, 2, 2, 5, new Vector2(-10.0f, 10.0f));
body.BodyType = BodyType.Dynamic;
body.Rotation = 0.5f * Settings.Pi;
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
PrismaticJoint joint = JointFactory.CreatePrismaticJoint(World, ground, body, Vector2.Zero, axis);
joint.MotorSpeed = 5.0f;
joint.MaxMotorForce = 1000.0f;
joint.MotorEnabled = true;
joint.LowerLimit = -10.0f;
joint.UpperLimit = 20.0f;
joint.LimitEnabled = true;
}
// Pulley joint
{
Body body1 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(-10.0f, 16.0f));
body1.BodyType = BodyType.Dynamic;
Body body2 = BodyFactory.CreateRectangle(World, 2, 4, 5, new Vector2(10.0f, 16.0f));
body2.BodyType = BodyType.Dynamic;
Vector2 anchor1 = new Vector2(-10.0f, 16.0f + 2.0f);
Vector2 anchor2 = new Vector2(10.0f, 16.0f + 2.0f);
Vector2 worldAnchor1 = new Vector2(-10.0f, 16.0f + 2.0f + 12.0f);
Vector2 worldAnchor2 = new Vector2(10.0f, 16.0f + 2.0f + 12.0f);
JointFactory.CreatePulleyJoint(World, body1, body2, anchor1, anchor2, worldAnchor1, worldAnchor2, 1.5f, true);
}
//Revolute joint
{
Body ball = BodyFactory.CreateCircle(World, 3.0f, 5.0f, new Vector2(5.0f, 30.0f));
ball.BodyType = BodyType.Dynamic;
Body polygonBody = BodyFactory.CreateRectangle(World, 20, 0.4f, 2, new Vector2(10, 10));
polygonBody.BodyType = BodyType.Dynamic;
polygonBody.IsBullet = true;
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(World, ground, polygonBody, new Vector2(10, 0));
joint.LowerLimit = -0.25f * Settings.Pi;
joint.UpperLimit = 0.0f * Settings.Pi;
joint.LimitEnabled = true;
}
//Weld joint
{
PolygonShape shape = new PolygonShape(PolygonUtils.CreateRectangle(0.5f, 0.125f), 20);
Body prevBody = ground;
for (int i = 0; i < 10; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(0.5f, 0);
if (i == 0)
{
anchor = new Vector2(-15f, 5);
}
JointFactory.CreateWeldJoint(World, prevBody, body, anchor, new Vector2(-0.5f, 0));
prevBody = body;
}
}
//Rope joint
{
LinkFactory.CreateChain(World, new Vector2(-10, 10), new Vector2(-20, 10), 0.1f, 0.5f, 10, 0.1f, true);
}
//Angle joint
{
Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
fA.Rotation = (float)(Math.PI / 3);
Body fB = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(5, 4));
fB.BodyType = BodyType.Dynamic;
AngleJoint joint = new AngleJoint(fA, fB);
joint.TargetAngle = (float)Math.PI / 2;
World.AddJoint(joint);
}
//Motor joint
{
Body body = BodyFactory.CreateRectangle(World, 4, 1, 2, new Vector2(0, 35));
body.BodyType = BodyType.Dynamic;
body.Friction = 0.6f;
MotorJoint motorJoint = JointFactory.CreateMotorJoint(World, ground, body);
motorJoint.MaxForce = 1000.0f;
motorJoint.MaxTorque = 1000.0f;
motorJoint.LinearOffset = new Vector2(0, 35);
motorJoint.AngularOffset = (float)(Math.PI / 3f);
}
}
//private static Joint DeserializeSliderJoint(XElement jointElement, Body bodyA, Body bodyB, World world)
//{
// SliderJoint joint = null;
// Vector2 localAnchorA, localAnchorB;
// float minLength = 0.0f, maxLength = 100.0f, dampingRatio = 0.0f, frequency = 0.0f;
// localAnchorA = bodyA.WorldCenter;
// localAnchorB = bodyB.WorldCenter;
// foreach (XElement element in jointElement.Elements())
// {
// switch (element.Name.ToString().ToLower())
// {
// case "minlength":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out minLength);
// break;
// case "maxlength":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out maxLength);
// break;
// case "dampingratio":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out dampingRatio);
// break;
// case "frequency":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out frequency);
// break;
// case "localanchora":
// localAnchorA = localAnchorA.DeserializeOffset(element);
// localAnchorA = ConvertUnits.ToSimUnits(localAnchorA);
// break;
// case "localanchorb":
// localAnchorB = localAnchorB.DeserializeOffset(element);
// localAnchorB = ConvertUnits.ToSimUnits(localAnchorB);
// break;
// }
// }
// joint = JointFactory.CreateSliderJoint(world, bodyA, bodyB, localAnchorA, localAnchorB, minLength, maxLength);
// joint.DampingRatio = dampingRatio;
// joint.Frequency = frequency;
// return joint;
//}
#endregion
#endregion
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 FarseerPhysics.Factories.JointFactory().(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.FixedLine:
* 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.LocalXAxis;
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).LocalXAxis = pJoint.LocalXAxis;
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);
}
private static void Deserialize(World world, Stream stream)
{
List <Body> bodies = new List <Body>();
List <Fixture> fixtures = new List <Fixture>();
List <Joint> joints = new List <Joint>();
List <Shape> shapes = new List <Shape>();
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
{
throw new Exception();
}
//Read gravity
foreach (XMLFragmentElement element in root.Elements)
{
if (element.Name.ToLower() == "gravity")
{
world.Gravity = ReadVector(element);
break;
}
}
//Read shapes
foreach (XMLFragmentElement shapeElement in root.Elements)
{
if (shapeElement.Name.ToLower() == "shapes")
{
foreach (XMLFragmentElement element in shapeElement.Elements)
{
if (element.Name.ToLower() != "shape")
{
throw new Exception();
}
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), element.Attributes[0].Value, true);
float density = float.Parse(element.Attributes[1].Value);
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.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();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
foreach (XMLFragmentElement vert in sn.Elements)
{
verts.Add(ReadVector(vert));
}
shape.Vertices = new Vertices(verts);
}
break;
case "centroid":
shape.MassData.Centroid = ReadVector(sn);
break;
}
}
shapes.Add(shape);
}
break;
case ShapeType.Edge:
{
EdgeShape shape = new EdgeShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.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;
case ShapeType.Chain:
{
ChainShape shape = new ChainShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
foreach (XMLFragmentElement vert in sn.Elements)
{
verts.Add(ReadVector(vert));
}
shape.Vertices = new Vertices(verts);
}
break;
case "nextvertex":
shape.NextVertex = ReadVector(sn);
break;
case "prevvertex":
shape.PrevVertex = ReadVector(sn);
break;
default:
throw new Exception();
}
}
shapes.Add(shape);
}
break;
}
}
}
}
//Read fixtures
foreach (XMLFragmentElement fixtureElement in root.Elements)
{
if (fixtureElement.Name.ToLower() == "fixtures")
{
foreach (XMLFragmentElement element in fixtureElement.Elements)
{
Fixture fixture = new Fixture();
if (element.Name.ToLower() != "fixture")
{
throw new Exception();
}
fixture.FixtureId = int.Parse(element.Attributes[0].Value);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
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;
case "CollisionIgnores":
string[] split = ssn.Value.Split('|');
foreach (string s in split)
{
fixture._collisionIgnores.Add(int.Parse(s));
}
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);
}
}
}
//Read bodies
foreach (XMLFragmentElement bodyElement in root.Elements)
{
if (bodyElement.Name.ToLower() == "bodies")
{
foreach (XMLFragmentElement element in bodyElement.Elements)
{
Body body = new Body(world);
if (element.Name.ToLower() != "body")
{
throw new Exception();
}
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), element.Attributes[0].Value, true);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "active":
bool enabled = bool.Parse(sn.Value);
if (enabled)
{
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 "bindings":
{
foreach (XMLFragmentElement pair in sn.Elements)
{
Fixture fix = fixtures[int.Parse(pair.Attributes[0].Value)];
fix.Shape = shapes[int.Parse(pair.Attributes[1].Value)].Clone();
fix.CloneOnto(body);
}
break;
}
}
}
bodies.Add(body);
}
}
}
//Read joints
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.FixedMouse:
// joint = new FixedMouseJoint();
// break;
//case JointType.FixedRevolute:
// break;
//case JointType.FixedDistance:
// break;
//case JointType.FixedLine:
// break;
//case JointType.FixedPrismatic:
// break;
//case JointType.FixedAngle:
// break;
//case JointType.FixedFriction:
// break;
case JointType.Distance:
joint = new DistanceJoint();
break;
case JointType.Friction:
joint = new FrictionJoint();
break;
case JointType.Wheel:
joint = new WheelJoint();
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.Motor:
joint = new MotorJoint();
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.Wheel:
{
switch (sn.Name.ToLower())
{
case "enablemotor":
((WheelJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((WheelJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WheelJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "motorspeed":
((WheelJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "dampingratio":
((WheelJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "maxmotortorque":
((WheelJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "frequencyhz":
((WheelJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "axis":
((WheelJoint)joint).Axis = 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 "axis":
((PrismaticJoint)joint).Axis = 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 "worldanchora":
((PulleyJoint)joint).WorldAnchorA = ReadVector(sn);
break;
case "worldanchorb":
((PulleyJoint)joint).WorldAnchorB = 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 "ratio":
((PulleyJoint)joint).Ratio = float.Parse(sn.Value);
break;
case "constant":
((PulleyJoint)joint).Constant = 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.Motor:
switch (sn.Name.ToLower())
{
case "angularoffset":
((MotorJoint)joint).AngularOffset = float.Parse(sn.Value);
break;
case "linearoffset":
((MotorJoint)joint).LinearOffset = ReadVector(sn);
break;
case "maxforce":
((MotorJoint)joint).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((MotorJoint)joint).MaxTorque = float.Parse(sn.Value);
break;
case "correctionfactor":
((MotorJoint)joint).CorrectionFactor = float.Parse(sn.Value);
break;
}
break;
}
}
}
}
}
world.ProcessChanges();
}
private static void SerializeJoint(List <Body> bodies, Joint joint)
{
_writer.WriteStartElement("Joint");
_writer.WriteAttributeString("Type", joint.JointType.ToString());
WriteElement("BodyA", FindIndex(bodies, joint.BodyA));
WriteElement("BodyB", FindIndex(bodies, joint.BodyB));
WriteElement("CollideConnected", joint.CollideConnected);
WriteElement("Breakpoint", joint.Breakpoint);
if (joint.UserData != null)
{
_writer.WriteStartElement("UserData");
WriteDynamicType(joint.UserData.GetType(), joint.UserData);
_writer.WriteEndElement();
}
switch (joint.JointType)
{
case JointType.Distance:
{
DistanceJoint distanceJoint = (DistanceJoint)joint;
WriteElement("DampingRatio", distanceJoint.DampingRatio);
WriteElement("FrequencyHz", distanceJoint.Frequency);
WriteElement("Length", distanceJoint.Length);
WriteElement("LocalAnchorA", distanceJoint.LocalAnchorA);
WriteElement("LocalAnchorB", distanceJoint.LocalAnchorB);
}
break;
case JointType.Friction:
{
FrictionJoint frictionJoint = (FrictionJoint)joint;
WriteElement("LocalAnchorA", frictionJoint.LocalAnchorA);
WriteElement("LocalAnchorB", frictionJoint.LocalAnchorB);
WriteElement("MaxForce", frictionJoint.MaxForce);
WriteElement("MaxTorque", frictionJoint.MaxTorque);
}
break;
case JointType.Gear:
throw new Exception("Gear joint not supported by serialization");
case JointType.Wheel:
{
WheelJoint wheelJoint = (WheelJoint)joint;
WriteElement("EnableMotor", wheelJoint.MotorEnabled);
WriteElement("LocalAnchorA", wheelJoint.LocalAnchorA);
WriteElement("LocalAnchorB", wheelJoint.LocalAnchorB);
WriteElement("MotorSpeed", wheelJoint.MotorSpeed);
WriteElement("DampingRatio", wheelJoint.DampingRatio);
WriteElement("MaxMotorTorque", wheelJoint.MaxMotorTorque);
WriteElement("FrequencyHz", wheelJoint.Frequency);
WriteElement("Axis", wheelJoint.Axis);
}
break;
case JointType.Prismatic:
{
//NOTE: Does not conform with Box2DScene
PrismaticJoint prismaticJoint = (PrismaticJoint)joint;
WriteElement("EnableLimit", prismaticJoint.LimitEnabled);
WriteElement("EnableMotor", prismaticJoint.MotorEnabled);
WriteElement("LocalAnchorA", prismaticJoint.LocalAnchorA);
WriteElement("LocalAnchorB", prismaticJoint.LocalAnchorB);
WriteElement("Axis", prismaticJoint.Axis);
WriteElement("LowerTranslation", prismaticJoint.LowerLimit);
WriteElement("UpperTranslation", prismaticJoint.UpperLimit);
WriteElement("MaxMotorForce", prismaticJoint.MaxMotorForce);
WriteElement("MotorSpeed", prismaticJoint.MotorSpeed);
}
break;
case JointType.Pulley:
{
PulleyJoint pulleyJoint = (PulleyJoint)joint;
WriteElement("WorldAnchorA", pulleyJoint.WorldAnchorA);
WriteElement("WorldAnchorB", pulleyJoint.WorldAnchorB);
WriteElement("LengthA", pulleyJoint.LengthA);
WriteElement("LengthB", pulleyJoint.LengthB);
WriteElement("LocalAnchorA", pulleyJoint.LocalAnchorA);
WriteElement("LocalAnchorB", pulleyJoint.LocalAnchorB);
WriteElement("Ratio", pulleyJoint.Ratio);
WriteElement("Constant", pulleyJoint.Constant);
}
break;
case JointType.Revolute:
{
RevoluteJoint revoluteJoint = (RevoluteJoint)joint;
WriteElement("EnableLimit", revoluteJoint.LimitEnabled);
WriteElement("EnableMotor", revoluteJoint.MotorEnabled);
WriteElement("LocalAnchorA", revoluteJoint.LocalAnchorA);
WriteElement("LocalAnchorB", revoluteJoint.LocalAnchorB);
WriteElement("LowerAngle", revoluteJoint.LowerLimit);
WriteElement("MaxMotorTorque", revoluteJoint.MaxMotorTorque);
WriteElement("MotorSpeed", revoluteJoint.MotorSpeed);
WriteElement("ReferenceAngle", revoluteJoint.ReferenceAngle);
WriteElement("UpperAngle", revoluteJoint.UpperLimit);
}
break;
case JointType.Weld:
{
WeldJoint weldJoint = (WeldJoint)joint;
WriteElement("LocalAnchorA", weldJoint.LocalAnchorA);
WriteElement("LocalAnchorB", weldJoint.LocalAnchorB);
}
break;
//
// Not part of Box2DScene
//
case JointType.Rope:
{
RopeJoint ropeJoint = (RopeJoint)joint;
WriteElement("LocalAnchorA", ropeJoint.LocalAnchorA);
WriteElement("LocalAnchorB", ropeJoint.LocalAnchorB);
WriteElement("MaxLength", ropeJoint.MaxLength);
}
break;
case JointType.Angle:
{
AngleJoint angleJoint = (AngleJoint)joint;
WriteElement("BiasFactor", angleJoint.BiasFactor);
WriteElement("MaxImpulse", angleJoint.MaxImpulse);
WriteElement("Softness", angleJoint.Softness);
WriteElement("TargetAngle", angleJoint.TargetAngle);
}
break;
case JointType.Motor:
{
MotorJoint motorJoint = (MotorJoint)joint;
WriteElement("AngularOffset", motorJoint.AngularOffset);
WriteElement("LinearOffset", motorJoint.LinearOffset);
WriteElement("MaxForce", motorJoint.MaxForce);
WriteElement("MaxTorque", motorJoint.MaxTorque);
WriteElement("CorrectionFactor", motorJoint.CorrectionFactor);
}
break;
default:
throw new Exception("Joint not supported");
}
_writer.WriteEndElement();
}
