public override void Update(float deltaTime, Camera cam)
{
ApplyStatusEffects(ActionType.OnActive, deltaTime, null);
if (stickJoint != null && stickJoint.JointTranslation < 0.01f)
{
if (stickTarget != null)
{
try
{
item.body.FarseerBody.RestoreCollisionWith(stickTarget);
}
catch
{
//the body that the projectile was stuck to has been removed
}
stickTarget = null;
}
try
{
GameMain.World.RemoveJoint(stickJoint);
}
catch
{
//the body that the projectile was stuck to has been removed
}
stickJoint = null;
IsActive = false;
}
}
/// <summary>
/// Creates a prismatic joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static PrismaticJoint CreatePrismaticJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis)
{
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, anchor, axis);
world.AddJoint(joint);
return(joint);
}
private PrismaticTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
PolygonShape shape = new PolygonShape(5);
shape.Vertices = PolygonTools.CreateRectangle(2.0f, 0.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-10.0f, 10.0f);
body.Rotation = 0.5f * Settings.Pi;
body.CreateFixture(shape);
// Bouncy limit
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
_joint = new PrismaticJoint(ground, body, Vector2.Zero, Vector2.Zero, axis, true);
// Non-bouncy limit
//_joint = new PrismaticJoint(ground, body2, body2.Position, new Vector2(-10.0f, 10.0f), new Vector2(1.0f, 0.0f));
_joint.MotorSpeed = 5.0f;
_joint.MaxMotorForce = 1000.0f;
_joint.MotorEnabled = true;
_joint.LowerLimit = -10.0f;
_joint.UpperLimit = 20.0f;
_joint.LimitEnabled = true;
World.AddJoint(_joint);
}
/// <summary>
/// Creates a prsimatic joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static PrismaticJoint CreatePrismaticJoint(Body bodyA, Body bodyB, Vector2 localanchorB, Vector2 axis)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, localanchorA, localanchorB, axis);
return(joint);
}
public Paddle(PlayerIndex playerIndex, GameplayManager gm, Vector2 position, float width, float height, float maxTranslation, World world) : base(world)
{
this.playerIndex = playerIndex;
this.gm = gm;
this.width = width;
this.height = height;
this.maxTranslation = maxTranslation;
startPos = new Vector2(position.X, position.Y);
body = BodyFactory.CreateRectangle(world, width, height, 1, position);
body.BodyType = BodyType.Dynamic;
body.CollidesWith = Category.Cat1 | Category.Cat3;
body.CollisionCategories = Category.Cat2;
body.Restitution = 1.0f;
body.Friction = 0.0f;
body.UserData = this;
ground = BodyFactory.CreateRectangle(world, 1, 1, 1);
joint = JointFactory.CreatePrismaticJoint(world, ground, body, position, new Vector2(1, 0), true);
joint.LowerLimit = -maxTranslation + width / 2.0f;
joint.UpperLimit = maxTranslation - width / 2.0f;
joint.LimitEnabled = true;
body.LinearDamping = 7.0f;
}
internal DigitalRunePrismaticJoint(PrismaticJointDescriptor descriptor)
{
WrappedPrismaticJoint = new PrismaticJoint();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
{
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
}
WrappedPrismaticJoint.BodyA = ((RigidBody)descriptor.RigidBodyA).WrappedRigidBody;
_rigidBodyA = descriptor.RigidBodyA;
if (!(descriptor.RigidBodyB is RigidBody))
{
throw new ArgumentException("The type of the property 'RigidBodyB' must be 'System.Physics.DigitalRune.RigidBody'.");
}
WrappedPrismaticJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedPrismaticJoint.AnchorPoseALocal = descriptor.AnchorPoseALocal.ToDigitalRune();
WrappedPrismaticJoint.AnchorPoseBLocal = descriptor.AnchorPoseBLocal.ToDigitalRune();
WrappedPrismaticJoint.Maximum = descriptor.MaximumDistance;
WrappedPrismaticJoint.Minimum = descriptor.MinimumDistance;
Descriptor = descriptor;
}
private void DoLaunch(Vector2 impulse)
{
hits.Clear();
if (item.AiTarget != null)
{
item.AiTarget.SightRange = item.AiTarget.MaxSightRange;
item.AiTarget.SoundRange = item.AiTarget.MaxSoundRange;
}
item.Drop(null);
launchPos = item.SimPosition;
item.body.Enabled = true;
item.body.ApplyLinearImpulse(impulse, maxVelocity: NetConfig.MaxPhysicsBodyVelocity * 0.9f);
item.body.FarseerBody.OnCollision += OnProjectileCollision;
item.body.FarseerBody.IsBullet = true;
item.body.CollisionCategories = Physics.CollisionProjectile;
item.body.CollidesWith = Physics.CollisionCharacter | Physics.CollisionWall | Physics.CollisionLevel;
IsActive = true;
if (stickJoint == null)
{
return;
}
StickTarget = null;
GameMain.World.Remove(stickJoint);
stickJoint = null;
}
public static PrismaticJoint CreatePrismaticJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
{
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);
world.addJoint(joint);
return(joint);
}
private void StickToTarget(Body targetBody, Vector2 axis)
{
if (stickJoint != null)
{
return;
}
stickJoint = new PrismaticJoint(targetBody, item.body.FarseerBody, item.body.SimPosition, axis, true)
{
MotorEnabled = true,
MaxMotorForce = 30.0f,
LimitEnabled = true
};
if (item.Sprite != null)
{
stickJoint.LowerLimit = ConvertUnits.ToSimUnits(item.Sprite.size.X * -0.3f);
stickJoint.UpperLimit = ConvertUnits.ToSimUnits(item.Sprite.size.X * 0.3f);
}
persistentStickJointTimer = PersistentStickJointDuration;
item.body.FarseerBody.IgnoreCollisionWith(targetBody);
stickTarget = targetBody;
GameMain.World.AddJoint(stickJoint);
IsActive = true;
}
public override void Build()
{
AddGround();
RigidBody body1 = new RigidBody(new BoxShape(1, 1, 1));
RigidBody body2 = new RigidBody(new BoxShape(1, 1, 1));
body1.Position = new JVector(0, 7, 0);
body2.Position = new JVector(0, 4, 0);
// add a prismatic joint.
// the minimum allowed distance is 3
// the maximum allowed distance is also 3
// => the body should be fixed on the slider
PrismaticJoint pj = new PrismaticJoint(Demo.World, body1, body2, 3, 3);
// but we set very heigh softness (1.0f) to the minimum distance
// so we have something like a suspension effect.
pj.MaximumDistanceConstraint.Softness = 0.0f;
pj.MinimumDistanceConstraint.Softness = 1.0f;
pj.Activate();
Demo.World.AddBody(body1);
Demo.World.AddBody(body2);
}
private void addBaffleX(Body body)
{
try
{
if (body.GetUserData() == null)
{
return;
}
GizmoComponents myGizmo = (GizmoComponents)body.GetUserData();
//添加Shape
addPolygon(body);
BodyDef kinematicBodyDef = new BodyDef();
kinematicBodyDef.Position.Set(0, myGizmo.PositionY);
Body kinematicBody = myWorld.CreateBody(kinematicBodyDef);
PrismaticJointDef jointDef = new PrismaticJointDef();
Vec2 worldAxis = new Vec2(1, 0);
jointDef.Initialize(body, kinematicBody, kinematicBody.GetWorldCenter(), worldAxis);
jointDef.LowerTranslation = -100f;
jointDef.UpperTranslation = 100f;
jointDef.EnableLimit = true;
PrismaticJoint joint = (PrismaticJoint)myWorld.CreateJoint(jointDef);
}
catch (Exception e)
{
MessageBox.Show("PhysicalWorld-addBaffleX函数出错");
}
}
/// <summary>
/// Creates a prismatic joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static PrismaticJoint CreatePrismaticJoint(World world, Body bodyA, Body bodyB, FVector2 localanchorB,
FVector2 axis)
{
PrismaticJoint joint = CreatePrismaticJoint(bodyA, bodyB, localanchorB, axis);
world.AddJoint(joint);
return(joint);
}
public override PhysicsJoint CreateLineJoint(PhysicsBody bodyA, PhysicsBody bodyB,
Vector2D axis)
{
PrismaticJoint farseerJoint = JointFactory.CreatePrismaticJoint(((FarseerBody)bodyA).Body,
((FarseerBody)bodyB).Body, ((FarseerBody)bodyB).Body.Position, unitConverter.Convert(axis));
world.AddJoint(farseerJoint);
return(new FarseerJoint(farseerJoint, bodyA, bodyB));
}
public override void Update(float deltaTime, Camera cam)
{
ApplyStatusEffects(ActionType.OnActive, deltaTime, null);
if (item.body != null && item.body.FarseerBody.IsBullet)
{
if (item.body.LinearVelocity.LengthSquared() < ContinuousCollisionThreshold * ContinuousCollisionThreshold)
{
item.body.FarseerBody.IsBullet = false;
//projectiles with a stickjoint don't become inactive until the stickjoint is detached
if (stickJoint == null)
{
IsActive = false;
}
}
}
if (stickJoint == null)
{
return;
}
if (persistentStickJointTimer > 0.0f)
{
persistentStickJointTimer -= deltaTime;
return;
}
if (stickJoint.JointTranslation < stickJoint.LowerLimit * 0.9f || stickJoint.JointTranslation > stickJoint.UpperLimit * 0.9f)
{
if (stickTarget != null)
{
if (GameMain.World.BodyList.Contains(stickTarget))
{
item.body.FarseerBody.RestoreCollisionWith(stickTarget);
}
stickTarget = null;
}
if (stickJoint != null)
{
if (GameMain.World.JointList.Contains(stickJoint))
{
GameMain.World.RemoveJoint(stickJoint);
}
stickJoint = null;
}
if (!item.body.FarseerBody.IsBullet)
{
IsActive = false;
}
}
}
private PrismaticJoint CreateJoint()
{
if (useDistances)
{
var j = new PrismaticJoint(JPhysics.World, Body1.Body, Body2.Body, minDistance, maxDistance);
j.MinimumDistanceConstraint.Softness = minDistanceSoftness;
j.MaximumDistanceConstraint.Softness = maxDistanceSoftness;
return(j);
}
return(new PrismaticJoint(JPhysics.World, Body1.Body, Body2.Body));
}
private PrismaticTest()
{
Body ground;
{
ground = BodyFactory.CreateBody(World);
EdgeShape shape3 = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape3);
}
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(2.0f, 0.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 10.0f);
body.CreateFixture(shape);
_fixedJoint = new FixedPrismaticJoint(body, body.Position, new Vector2(0.5f, 1.0f));
_fixedJoint.MotorSpeed = 5.0f;
_fixedJoint.MaxMotorForce = 1000.0f;
_fixedJoint.MotorEnabled = true;
_fixedJoint.LowerLimit = -10.0f;
_fixedJoint.UpperLimit = 20.0f;
_fixedJoint.LimitEnabled = true;
World.AddJoint(_fixedJoint);
PolygonShape shape2 = new PolygonShape(5);
shape2.SetAsBox(2.0f, 0.5f);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, 10.0f);
body2.CreateFixture(shape2);
_joint = new PrismaticJoint(ground, body2, ground.GetLocalPoint(body2.Position), Vector2.Zero,
new Vector2(0.5f, 1.0f));
_joint.MotorSpeed = 5.0f;
_joint.MaxMotorForce = 1000.0f;
_joint.MotorEnabled = true;
_joint.LowerLimit = -10.0f;
_joint.UpperLimit = 20.0f;
_joint.LimitEnabled = true;
World.AddJoint(_joint);
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
public void joinBodies_Prismatic(Body b1, Body b2, Vector2 anchor, Vector2 axis)
{
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.upperTranslation = 1;
pjd.lowerTranslation = -1;
pjd.enableMotor = true;
pjd.maxMotorForce = 1000;
pjd.motorSpeed = 1;
pjd.Initialize(b1, b2, anchor, axis);
PrismaticJoint pj = physicsWorld.CreateJoint(pjd) as PrismaticJoint;
}
public override Joint CreateJoint()
{
var joint = new PrismaticJoint(BodyA, BodyB, OwnerBodyAnchor * FSConvert.DisplayToSim, OtherBodyAnchor * FSConvert.DisplayToSim);
joint.CollideConnected = CollideConnected;
joint.Axis = Axis;
joint.LimitEnabled = LimitEnabled;
joint.LowerLimit = LowerLimit;
joint.UpperLimit = UpperLimit;
joint.MotorEnabled = MotorEnabled;
joint.MotorSpeed = MotorSpeed;
joint.MaxMotorForce = MaxMotorForce;
joint.MotorImpulse = MotorImpulse;
return(joint);
}
private void CreatePrismaticJoint(JitterPhysics physicsManager)
{
Joint = new PrismaticJoint(physicsManager.jitterWorld, RigidBodyA, RigidBodyB,
ArrayExtensions.GetWithDefault <PropertyType, float>(Properties,
PropertyType.MinimumDistance),
ArrayExtensions.GetWithDefault <PropertyType, float>(Properties,
PropertyType.MaximumDistance));
float minimumSoftness = ArrayExtensions.GetWithDefault <PropertyType, float>(Properties,
PropertyType.MinimumSoftness);
float maximumSoftness = ArrayExtensions.GetWithDefault <PropertyType, float>(Properties,
PropertyType.MaximumSoftness);
(Joint as PrismaticJoint).MaximumDistanceConstraint.Softness = maximumSoftness;
(Joint as PrismaticJoint).MinimumDistanceConstraint.Softness = minimumSoftness;
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
/// <param name="uppertranslation"></param>
/// <param name="lowertranslation"></param>
/// <param name="motorspeed"></param>
public void joinBodies_Prismatic(Body b1, Body b2, Vector2 anchor, Vector2 axis, float uppertranslation, float lowertranslation, float motorspeed)
{
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(b1, b2, anchor, axis);
if (motorspeed != 0)
{
pjd.enableMotor = true;
}
pjd.motorSpeed = motorspeed;
pjd.lowerTranslation = lowertranslation;
pjd.upperTranslation = uppertranslation;
PrismaticJoint pj = physicsWorld.CreateJoint(pjd) as PrismaticJoint;
}
public override Joint createJoint()
{
var joint = new PrismaticJoint(bodyA, bodyB, ownerBodyAnchor * FSConvert.displayToSim, otherBodyAnchor * FSConvert.displayToSim);
joint.collideConnected = collideConnected;
joint.axis = axis;
joint.limitEnabled = limitEnabled;
joint.lowerLimit = lowerLimit;
joint.upperLimit = upperLimit;
joint.motorEnabled = motorEnabled;
joint.motorSpeed = motorSpeed;
joint.maxMotorForce = maxMotorForce;
joint.motorImpulse = motorImpulse;
return(joint);
}
protected override void RemoveComponentSpecific()
{
if (stickJoint != null)
{
try
{
GameMain.World.RemoveJoint(stickJoint);
}
catch
{
//the body that the projectile was stuck to has been removed
}
stickJoint = null;
}
}
public override void Update(GameTime dt)
{
if (Entity != null)
{
if (_permanent && _activatedOnce)
{
return;
}
PrismaticJoint j = Entity.PhysicsEntity.GetJoint(_jointName) as PrismaticJoint;
ButtonState = _inversed;
if (j.JointTranslation < (j.UpperLimit - j.LowerLimit) / 2f)
{
_activatedOnce = true;
ButtonState = !_inversed;
}
}
}
private void Launch(Vector2 impulse)
{
if (item.AiTarget != null)
{
item.AiTarget.SightRange = item.AiTarget.MaxSightRange;
item.AiTarget.SoundRange = item.AiTarget.MaxSoundRange;
}
item.Drop(null);
item.body.Enabled = true;
item.body.ApplyLinearImpulse(impulse, maxVelocity: NetConfig.MaxPhysicsBodyVelocity);
item.body.FarseerBody.OnCollision += OnProjectileCollision;
item.body.FarseerBody.IsBullet = true;
item.body.CollisionCategories = Physics.CollisionProjectile;
item.body.CollidesWith = Physics.CollisionCharacter | Physics.CollisionWall | Physics.CollisionLevel;
IsActive = true;
if (stickJoint == null)
{
return;
}
if (stickTarget != null)
{
#if DEBUG
try
{
#endif
item.body.FarseerBody.RestoreCollisionWith(stickTarget);
#if DEBUG
}
catch (Exception e)
{
DebugConsole.ThrowError("Failed to restore collision with stickTarget", e);
}
#endif
stickTarget = null;
}
GameMain.World.RemoveJoint(stickJoint);
stickJoint = null;
}
public static PrismaticJoint PrismaticJointWithLimit(Scene scene)
{
Actor actorA, actorB;
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
BodyDescription bodyDesc = new BodyDescription(10.0f);
bodyDesc.BodyFlags |= BodyFlag.Kinematic;
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
GlobalPose = Matrix.Translation(70, 25, -65),
Shapes = { boxShapeDesc }
};
actorA = scene.CreateActor(actorDesc);
}
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(70, 15, -65),
Shapes = { boxShapeDesc }
};
actorB = scene.CreateActor(actorDesc);
}
PrismaticJointDescription prismaticJointDesc = new PrismaticJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
};
prismaticJointDesc.SetGlobalAnchor(new Vector3(70, 20, -65));
prismaticJointDesc.SetGlobalAxis(new Vector3(0, 1, 0));
PrismaticJoint prismaticJoint = scene.CreateJoint(prismaticJointDesc) as PrismaticJoint;
LimitPlane limitPlane = new LimitPlane(new Vector3(0, 1, 0), new Vector3(-30, 8, -30), 0);
prismaticJoint.AddLimitPlane(limitPlane);
return(prismaticJoint);
}
public Laser(Vector3 position, Vector3 direction, int baseDamage)
: base(new Box(position, 0.25f, 2, 0.25f),
new ModelDrawingObject(new Accelerated_Delivery_Win.BaseModel(delegate { return(Program.Game.Loader.LaserModel); }, false, null, position)),
1)
{
damage = baseDamage;
PhysicsObject.IsAffectedByGravity = false;
PhysicsObject.CollisionInformation.Events.InitialCollisionDetected += onCollision;
// todo: rotate laser correctly
lineJoint = new PrismaticJoint(null, PhysicsObject, position, direction, position);
lineJoint.Motor.Settings.Servo.Goal = 1000000; // go for infinity
lineJoint.Motor.IsActive = true;
lineJoint.IsActive = true;
lineJoint.Motor.Settings.Servo.BaseCorrectiveSpeed = 1.5f;
}
public Prismatic()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(-10.0f, 10.0f);
bd.Angle = 0.5f * Settings.Pi;
bd.AllowSleep = false;
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
var pjd = new PrismaticJointDef();
// Bouncy limit
var axis = new Vector2(2.0f, 1.0f);
axis = Vector2.Normalize(axis);
pjd.Initialize(ground, body, new Vector2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vector2(-10.0f, 10.0f), new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = 10.0f;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = true;
pjd.LowerTranslation = 0.0f;
pjd.UpperTranslation = 20.0f;
pjd.EnableLimit = true;
_joint = (PrismaticJoint)World.CreateJoint(pjd);
}
}
public override void InitJoint()
{
base.InitJoint();
//Microsoft.Xna.Framework.FVector2 angleV = new Microsoft.Xna.Framework.FVector2(BodyB.PhysicsBody.Position.X - BodyA.PhysicsBody.Position.X, BodyB.PhysicsBody.Position.Y - BodyA.PhysicsBody.Position.Y);
float ang = Mathf.Atan2(BodyB.PhysicsBody.Position.Y - BodyA.PhysicsBody.Position.Y, BodyB.PhysicsBody.Position.X - BodyA.PhysicsBody.Position.X);
Microsoft.Xna.Framework.FVector2 angleV = new Microsoft.Xna.Framework.FVector2(Mathf.Cos(ang), Mathf.Sin(ang));
//angleV.Normalize();
joint = FarseerPhysics.Factories.JointFactory.CreatePrismaticJoint(FSWorldComponent.PhysicsWorld,
BodyA.PhysicsBody,
BodyB.PhysicsBody,
Microsoft.Xna.Framework.FVector2.Zero,
angleV);
joint.CollideConnected = CollideConnected;
//joint.Frequency = Frequency;
//joint.DampingRatio = 0.5f; d
}
public override Joint CreateJoint()
{
PrismaticJoint joint = new PrismaticJoint(BodyA, BodyB, OwnerBodyAnchor * FSConvert.DisplayToSim,
OtherBodyAnchor * FSConvert.DisplayToSim)
{
CollideConnected = CollideConnected,
Axis = Axis,
LimitEnabled = LimitEnabled,
LowerLimit = LowerLimit,
UpperLimit = UpperLimit,
MotorEnabled = MotorEnabled,
MotorSpeed = MotorSpeed,
MaxMotorForce = MaxMotorForce,
MotorImpulse = MotorImpulse
};
return(joint);
}
public PrismaticJointTestBase()
{
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var shape = new EdgeShape();
shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
EnableLimit = true;
EnableMotor = false;
MotorSpeed = 10.0f;
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.0f, 1.0f);
BodyDef bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
bd.Position.Set(0.0f, 10.0f);
bd.Angle = 0.5f * Settings.Pi;
bd.AllowSleep = false;
var body = World.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Horizontal
pjd.Initialize(ground, body, bd.Position, new Vector2(1.0f, 0.0f));
pjd.MotorSpeed = MotorSpeed;
pjd.MaxMotorForce = 10000.0f;
pjd.EnableMotor = EnableMotor;
pjd.LowerTranslation = -10.0f;
pjd.UpperTranslation = 10.0f;
pjd.EnableLimit = EnableLimit;
Joint = (PrismaticJoint)World.CreateJoint(pjd);
}
}
public Prismatic()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(2.0f, 0.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, 10.0f);
bd.angle = 0.5f * (float)Settings.b2_pi;
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 5.0f);
PrismaticJointDef pjd = new PrismaticJointDef();
// Bouncy limit
Vector2 axis = new Vector2(2, 1);
axis.Normalize();
pjd.Initialize(ground, body, new Vector2(0.0f, 0.0f), axis);
// Non-bouncy limit
//pjd.Initialize(ground, body, new Vector2(-10.0f, 10.0f), new Vector2(1.0f, 0.0f));
pjd.motorSpeed = 10.0f;
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
pjd.lowerTranslation = 0.0f;
pjd.upperTranslation = 20.0f;
pjd.enableLimit = true;
_joint = (PrismaticJoint)_world.CreateJoint(pjd);
}
}
public SliderCrank()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 2.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 7.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd = new RevoluteJointDef();
rjd.Initialize(prevBody, body, new Vector2(0.0f, 5.0f));
rjd.motorSpeed = 1.0f * (float)Settings.b2_pi;
rjd.maxMotorTorque = 10000.0f;
rjd.enableMotor = true;
_joint1 = (RevoluteJoint)_world.CreateJoint(rjd);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(0.5f, 4.0f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 13.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd3 = new RevoluteJointDef();
rjd3.Initialize(prevBody, body, new Vector2(0.0f, 9.0f));
rjd3.enableMotor = false;
_world.CreateJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 17.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
RevoluteJointDef rjd2 = new RevoluteJointDef();
rjd2.Initialize(prevBody, body, new Vector2(0.0f, 17.0f));
_world.CreateJoint(rjd2);
PrismaticJointDef pjd = new PrismaticJointDef();
pjd.Initialize(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
pjd.maxMotorForce = 1000.0f;
pjd.enableMotor = true;
_joint2 = (PrismaticJoint)_world.CreateJoint(pjd);
}
// Create a payload
{
PolygonShape shape = new PolygonShape();
shape.SetAsBox(1.5f, 1.5f);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(0.0f, 23.0f);
Body body = _world.CreateBody(bd);
body.CreateFixture(shape, 2.0f);
}
}
}
Gears()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
CircleShape circle1 = new CircleShape();
circle1._radius = 1.0f;
CircleShape circle2 = new CircleShape();
circle2._radius = 2.0f;
PolygonShape box = new PolygonShape();
box.SetAsBox(0.5f, 5.0f);
BodyDef bd1 = new BodyDef();
bd1.type = BodyType.Dynamic;
bd1.position = new Vector2(-3.0f, 12.0f);
Body body1 = _world.CreateBody(bd1);
body1.CreateFixture(circle1, 5.0f);
RevoluteJointDef jd1 = new RevoluteJointDef();
jd1.bodyA = ground;
jd1.bodyB = body1;
jd1.localAnchorA = ground.GetLocalPoint(bd1.position);
jd1.localAnchorB = body1.GetLocalPoint(bd1.position);
jd1.referenceAngle = body1.GetAngle() - ground.GetAngle();
_joint1 = (RevoluteJoint)_world.CreateJoint(jd1);
BodyDef bd2 = new BodyDef();
bd2.type = BodyType.Dynamic;
bd2.position = new Vector2(0.0f, 12.0f);
Body body2 = _world.CreateBody(bd2);
body2.CreateFixture(circle2, 5.0f);
RevoluteJointDef jd2 = new RevoluteJointDef();
jd2.Initialize(ground, body2, bd2.position);
_joint2 = (RevoluteJoint)_world.CreateJoint(jd2);
BodyDef bd3 = new BodyDef();
bd3.type = BodyType.Dynamic;
bd3.position = new Vector2(2.5f, 12.0f);
Body body3 = _world.CreateBody(bd3);
body3.CreateFixture(box, 5.0f);
PrismaticJointDef jd3 = new PrismaticJointDef();
jd3.Initialize(ground, body3, bd3.position, new Vector2(0.0f, 1.0f));
jd3.lowerTranslation = -5.0f;
jd3.upperTranslation = 5.0f;
jd3.enableLimit = true;
_joint3 = (PrismaticJoint)_world.CreateJoint(jd3);
GearJointDef jd4 = new GearJointDef();
jd4.bodyA = body1;
jd4.bodyB = body2;
jd4.joint1 = _joint1;
jd4.joint2 = _joint2;
jd4.ratio = circle2._radius / circle1._radius;
_joint4 = (GearJoint)_world.CreateJoint(jd4);
GearJointDef jd5 = new GearJointDef();
jd5.bodyA = body2;
jd5.bodyB = body3;
jd5.joint1 = _joint2;
jd5.joint2 = _joint3;
jd5.ratio = -1.0f / circle2._radius;
_joint5 = (GearJoint)_world.CreateJoint(jd5);
}
}
internal static Mechanism Create(XElement element)
{
var modelName = element.Attribute(XName.Get("model")).Value;
var manufacturer = (Manufacturers)Enum.Parse(typeof(Manufacturers), element.Attribute(XName.Get("manufacturer")).Value);
string fullName = $"{element.Name.LocalName}.{manufacturer.ToString()}.{modelName}";
bool movesRobot = false;
var movesRobotAttribute = element.Attribute(XName.Get("movesRobot"));
if (movesRobotAttribute != null) movesRobot = XmlConvert.ToBoolean(movesRobotAttribute.Value);
var meshes = GetMeshes(fullName);
double payload = Convert.ToDouble(element.Attribute(XName.Get("payload")).Value);
var baseMesh = meshes[0].DuplicateMesh();
XElement baseElement = element.Element(XName.Get("Base"));
double x = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("x")).Value);
double y = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("y")).Value);
double z = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("z")).Value);
double q1 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q1")).Value);
double q2 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q2")).Value);
double q3 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q3")).Value);
double q4 = XmlConvert.ToDouble(baseElement.Attribute(XName.Get("q4")).Value);
var basePlane = RobotCellAbb.QuaternionToPlane(x, y, z, q1, q2, q3, q4);
var jointElements = element.Element(XName.Get("Joints")).Descendants().ToArray();
Joint[] joints = new Joint[jointElements.Length];
for (int i = 0; i < jointElements.Length; i++)
{
var jointElement = jointElements[i];
double a = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("a")).Value);
double d = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("d")).Value);
string text = jointElement.Attribute(XName.Get("minrange")).Value;
double minRange = XmlConvert.ToDouble(text);
double maxRange = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("maxrange")).Value);
Interval range = new Interval(minRange, maxRange);
double maxSpeed = XmlConvert.ToDouble(jointElement.Attribute(XName.Get("maxspeed")).Value);
Mesh mesh = meshes[i + 1].DuplicateMesh();
int number = XmlConvert.ToInt32(jointElement.Attribute(XName.Get("number")).Value) - 1;
if (jointElement.Name == "Revolute")
joints[i] = new RevoluteJoint() { Index = i, Number = number, A = a, D = d, Range = range, MaxSpeed = maxSpeed.ToRadians(), Mesh = mesh };
else if (jointElement.Name == "Prismatic")
joints[i] = new PrismaticJoint() { Index = i, Number = number, A = a, D = d, Range = range, MaxSpeed = maxSpeed, Mesh = mesh };
}
switch (element.Name.ToString())
{
case ("RobotArm"):
{
switch (manufacturer)
{
case (Manufacturers.ABB):
return new RobotAbb(modelName, payload, basePlane, baseMesh, joints);
case (Manufacturers.KUKA):
return new RobotKuka(modelName, payload, basePlane, baseMesh, joints);
case (Manufacturers.UR):
return new RobotUR(modelName, payload, basePlane, baseMesh, joints);
default:
return null;
}
}
case ("Positioner"):
return new Positioner(modelName, manufacturer, payload, basePlane, baseMesh, joints, movesRobot);
case ("Track"):
return new Track(modelName, manufacturer, payload, basePlane, baseMesh, joints, movesRobot);
default:
return null;
}
}
