/// <summary>
/// Constructs a new constraint which restricts the linear and angular motion between two entities.
/// This constructs the internal constraints, but does not configure them. Before using a constraint constructed in this manner,
/// ensure that its active constituent constraints are properly configured. The entire group as well as all internal constraints are initially inactive (IsActive = false).
/// </summary>
public WeldJoint()
{
IsActive = false;
BallSocketJoint = new BallSocketJoint();
NoRotationJoint = new NoRotationJoint();
Add(BallSocketJoint);
Add(NoRotationJoint);
}
/// <summary>
/// Constructs a new constraint which restricts the linear and angular motion between two entities.
/// </summary>
/// <param name="connectionA">First entity of the constraint pair.</param>
/// <param name="connectionB">Second entity of the constraint pair.</param>
/// <param name="anchor">The location of the weld.</param>
public WeldJoint(Entity connectionA, Entity connectionB, Vector3 anchor)
{
if (connectionA == null)
connectionA = TwoEntityConstraint.WorldEntity;
if (connectionB == null)
connectionB = TwoEntityConstraint.WorldEntity;
BallSocketJoint = new BallSocketJoint(connectionA, connectionB, anchor);
NoRotationJoint = new NoRotationJoint(connectionA, connectionB);
Add(BallSocketJoint);
Add(NoRotationJoint);
}
/// <summary>
/// Constructs a new constraint which restricts the linear and angular motion between two entities.
/// </summary>
/// <param name="connectionA">First entity of the constraint pair.</param>
/// <param name="connectionB">Second entity of the constraint pair.</param>
public WeldJoint(Entity connectionA, Entity connectionB)
{
if (connectionA == null)
connectionA = TwoEntityConstraint.WorldEntity;
if (connectionB == null)
connectionB = TwoEntityConstraint.WorldEntity;
BallSocketJoint = new BallSocketJoint(connectionA, connectionB, (connectionA.position + connectionB.position) * .5f);
NoRotationJoint = new NoRotationJoint(connectionA, connectionB);
Add(BallSocketJoint);
Add(NoRotationJoint);
}
/// <summary>
/// Constructs a new constraint which restricts the linear and angular motion between two entities.
/// Uses the average of the two entity positions for the anchor.
/// </summary>
/// <param name="connectionA">First entity of the constraint pair.</param>
/// <param name="connectionB">Second entity of the constraint pair.</param>
public WeldJoint(Entity connectionA, Entity connectionB)
{
if( connectionA == null )
connectionA = TwoEntityConstraint.WorldEntity;
if( connectionB == null )
connectionB = TwoEntityConstraint.WorldEntity;
Vector3 anchor; GetAnchorGuess( connectionA, connectionB, out anchor );
BallSocketJoint = new BallSocketJoint( connectionA, connectionB, ref anchor );
NoRotationJoint = new NoRotationJoint( connectionA, connectionB );
Add( BallSocketJoint );
Add( NoRotationJoint );
}
/// <summary>
/// Constructs a new constraint which restricts two degrees of linear freedom and all three degrees of angular freedom.
/// This constructs the internal constraints, but does not configure them. Before using a constraint constructed in this manner,
/// ensure that its active constituent constraints are properly configured. The entire group as well as all internal constraints are initially inactive (IsActive = false).
/// </summary>
public PrismaticJoint()
{
IsActive = false;
PointOnLineJoint = new PointOnLineJoint();
AngularJoint = new NoRotationJoint();
Limit = new LinearAxisLimit();
Motor = new LinearAxisMotor();
Add(PointOnLineJoint);
Add(AngularJoint);
Add(Limit);
Add(Motor);
}
/// <summary>
/// Constructs a new constraint which restricts two degrees of linear freedom and all three degrees of angular freedom.
/// </summary>
/// <param name="connectionA">First entity of the constraint pair.</param>
/// <param name="connectionB">Second entity of the constraint pair.</param>
/// <param name="lineAnchor">Location of the anchor for the line to be attached to connectionA in world space.</param>
/// <param name="lineDirection">Axis in world space to be attached to connectionA along which connectionB can move.</param>
/// <param name="pointAnchor">Location of the anchor for the point to be attached to connectionB in world space.</param>
public PrismaticJoint(Entity connectionA, Entity connectionB, Vector3 lineAnchor, Vector3 lineDirection, Vector3 pointAnchor)
{
if (connectionA == null)
connectionA = TwoEntityConstraint.WorldEntity;
if (connectionB == null)
connectionB = TwoEntityConstraint.WorldEntity;
PointOnLineJoint = new PointOnLineJoint(connectionA, connectionB, lineAnchor, lineDirection, pointAnchor);
AngularJoint = new NoRotationJoint(connectionA, connectionB);
Limit = new LinearAxisLimit(connectionA, connectionB, lineAnchor, pointAnchor, lineDirection, 0, 0);
Motor = new LinearAxisMotor(connectionA, connectionB, lineAnchor, pointAnchor, lineDirection);
Limit.IsActive = false;
Motor.IsActive = false;
Add(PointOnLineJoint);
Add(AngularJoint);
Add(Limit);
Add(Motor);
}
public void GrabEntity()
{
if (_grabbing)
return;
if (!grabbedEntity.IsDynamic)
return;
EntityTag eT = lastTouched.Tag as EntityTag;
bsj = new BallSocketJoint(grabbedEntity, grabPairCollector, grabPairCollector.Position);
bsj.SpringSettings.StiffnessConstant = 2000000.0f;
nrj = new NoRotationJoint(grabbedEntity, grabPairCollector);
Space.Add(bsj);
Space.Add(nrj);
_grabbing = true;
eT.ParentComponent.Mesh.Highlight = true;
}
void BuildStick(Vector3 position)
{
//Set up a bone chain.
float fullLength = 20;
int linkCount = 20;
float linkLength = fullLength / linkCount;
float linkRadius = linkLength * 0.2f;
var previousBoneEntity = new Cylinder(position, linkLength, linkRadius, 100);
var previousBone = new Bone(previousBoneEntity.Position, previousBoneEntity.Orientation, previousBoneEntity.Radius, previousBoneEntity.Height);
bones.Add(new BoneRelationship(previousBone, previousBoneEntity));
Space.Add(previousBoneEntity);
for (int i = 1; i < linkCount; i++)
{
var boneEntity = new Cylinder(previousBone.Position + new Vector3(0, linkLength, 0), linkLength, linkRadius, 100);
var bone = new Bone(boneEntity.Position, boneEntity.Orientation, boneEntity.Radius, boneEntity.Height);
bones.Add(new BoneRelationship(bone, boneEntity));
Space.Add(boneEntity);
//Make a relationship between the two bones and entities.
CollisionRules.AddRule(previousBoneEntity, boneEntity, CollisionRule.NoBroadPhase);
Vector3 anchor = (previousBoneEntity.Position + boneEntity.Position) / 2;
var dynamicsBallSocketJoint = new BallSocketJoint(previousBoneEntity, boneEntity, anchor);
var dynamicsAngularFriction = new NoRotationJoint(previousBoneEntity, boneEntity);
Space.Add(dynamicsBallSocketJoint);
Space.Add(dynamicsAngularFriction);
var ikBallSocketJoint = new IKBallSocketJoint(previousBone, bone, anchor); //(the joint is auto-added to the bones; no solver-add is needed)
var ikAngularJoint = new IKAngularJoint(previousBone, bone);
joints.Add(ikBallSocketJoint);
joints.Add(ikAngularJoint);
previousBone = bone;
previousBoneEntity = boneEntity;
}
}
public override void Bind(Entity result, Main main, bool creating = false)
{
Property<float> maxForce = result.GetOrMakeProperty<float>("MaxForce", true, 150.0f);
Property<float> damping = result.GetOrMakeProperty<float>("Damping", true, 1.5f);
Property<float> stiffness = result.GetOrMakeProperty<float>("Stiffness", true, 15.0f);
NoRotationJoint joint = null;
EntityMover mover = null;
Action setMaxForce = delegate()
{
if (mover != null)
{
if (maxForce > 0.001f)
mover.LinearMotor.Settings.MaximumForce = maxForce * result.Get<DynamicMap>().PhysicsEntity.Mass;
else
mover.LinearMotor.Settings.MaximumForce = float.MaxValue;
}
};
result.Add(new NotifyBinding(setMaxForce, maxForce));
result.Add(new CommandBinding(result.Get<DynamicMap>().PhysicsUpdated, setMaxForce));
Action setDamping = delegate()
{
if (mover != null && damping != 0)
mover.LinearMotor.Settings.Servo.SpringSettings.DampingConstant = damping;
};
result.Add(new NotifyBinding(setDamping, damping));
Action setStiffness = delegate()
{
if (mover != null && stiffness != 0)
mover.LinearMotor.Settings.Servo.SpringSettings.StiffnessConstant = stiffness * result.Get<DynamicMap>().PhysicsEntity.Mass;
};
result.Add(new NotifyBinding(setStiffness, stiffness));
result.Add(new CommandBinding(result.Get<DynamicMap>().PhysicsUpdated, setStiffness));
Func<BEPUphysics.Entities.Entity, BEPUphysics.Entities.Entity, Vector3, Vector3, Vector3, ISpaceObject> createJoint = delegate(BEPUphysics.Entities.Entity entity1, BEPUphysics.Entities.Entity entity2, Vector3 pos, Vector3 direction, Vector3 anchor)
{
joint = new NoRotationJoint(entity1, entity2);
if (mover != null && mover.Space != null)
main.Space.Remove(mover);
mover = new EntityMover(entity1);
main.Space.Add(mover);
setMaxForce();
setDamping();
setStiffness();
return joint;
};
JointFactory.Bind(result, main, createJoint, true, creating);
result.Add(new CommandBinding(result.Get<DynamicMap>().OnSuspended, delegate()
{
if (mover != null && mover.Space != null)
main.Space.Remove(mover);
}));
result.Add(new CommandBinding(result.Get<DynamicMap>().OnResumed, delegate()
{
if (mover != null && mover.Space == null)
main.Space.Add(mover);
}));
result.Add(new CommandBinding(result.Delete, delegate()
{
if (mover != null && mover.Space != null)
{
main.Space.Remove(mover);
mover = null;
}
}));
Property<Entity.Handle> parent = result.GetOrMakeProperty<Entity.Handle>("Parent");
Property<Map.Coordinate> coord = result.GetOrMakeProperty<Map.Coordinate>("Coord");
Updater updater = null;
updater = new Updater
{
delegate(float dt)
{
Entity parentEntity = parent.Value.Target;
if (parentEntity != null && parentEntity.Active)
mover.TargetPosition = parentEntity.Get<Map>().GetAbsolutePosition(coord) + new Vector3(0, -0.01f, 0);
else
{
updater.Delete.Execute();
parent.Value = null;
if (mover != null && mover.Space != null)
{
main.Space.Remove(mover);
mover = null;
}
}
}
};
result.Add(updater);
}
