/// <summary>
/// Creates an angle joint.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="bodyA">The first body.</param>
/// <param name="bodyB">The second body.</param>
/// <returns></returns>
public static AngleJoint CreateAngleJoint(World world, Body bodyA, Body bodyB)
{
AngleJoint angleJoint = new AngleJoint(bodyA, bodyB);
world.AddJoint(angleJoint);
return angleJoint;
}
public Spider(World world, PhysicsGameScreen screen, Vector2 position)
{
//Load bodies
_circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
//Left upper leg
_leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
_circle.Position - new Vector2(SpiderBodyRadius, 0f) -
new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
//Left lower leg
_leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
_circle.Position - new Vector2(SpiderBodyRadius, 0f) -
new Vector2(_upperLegSize.X, 0f) -
new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
//Right upper leg
_rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
_circle.Position + new Vector2(SpiderBodyRadius, 0f) +
new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
//Right lower leg
_rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
_circle.Position + new Vector2(SpiderBodyRadius, 0f) +
new Vector2(_upperLegSize.X, 0f) +
new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
_screen = screen;
//GFX
AssetCreator creator = _screen.ScreenManager.Assets;
_torso = new Sprite(creator.CircleTexture(SpiderBodyRadius, MaterialType.Waves, Color.Gray, 1f));
_upperLeg = new Sprite(creator.TextureFromShape(_leftUpper.FixtureList[0].Shape,
MaterialType.Blank, Color.DimGray, 1f));
_lowerLeg = new Sprite(creator.TextureFromShape(_leftLower.FixtureList[0].Shape,
MaterialType.Blank, Color.DarkSlateGray, 1f));
}
public override void InitJoint ()
{
joint = JointFactory.CreateAngleJoint(FSWorldComponent.PhysicsWorld, BodyA.PhysicsBody, BodyB.PhysicsBody);
joint.BiasFactor = BiasFactor;
joint.Softness = Softness;
joint.CollideConnected = CollideConnected;
base.InitJoint ();
}
public SpringPhysicsObject(World world, PhysicsObject physObA, PhysicsObject physObB, Vector2 relativeJointPosition, float springSoftness, float springBiasFactor)
: base(world, physObA, physObB, relativeJointPosition)
{
springJoint = JointFactory.CreateAngleJoint(world, physObA.fixture.Body, physObB.fixture.Body);
springJoint.TargetAngle = 0;
springJoint.Softness = springSoftness;
springJoint.BiasFactor = springBiasFactor;
}
public override Joint createJoint()
{
var joint = new AngleJoint( bodyA, bodyB );
joint.collideConnected = collideConnected;
joint.maxImpulse = maxImpulse;
joint.biasFactor = biasFactor;
joint.softness = softness;
return joint;
}
public JumpySpider(World world, Vector2 position)
{
// Body
_circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
_circle.BodyType = BodyType.Dynamic;
// Left upper leg
_leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X / 2f, 0f));
_leftUpper.BodyType = BodyType.Dynamic;
// Left lower leg
_leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position - new Vector2(SpiderBodyRadius, 0f) - new Vector2(_upperLegSize.X, 0f) - new Vector2(_lowerLegSize.X / 2f, 0f));
_leftLower.BodyType = BodyType.Dynamic;
// Right upper leg
_rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X / 2f, 0f));
_rightUpper.BodyType = BodyType.Dynamic;
// Right lower leg
_rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f, _circle.Position + new Vector2(SpiderBodyRadius, 0f) + new Vector2(_upperLegSize.X, 0f) + new Vector2(_lowerLegSize.X / 2f, 0f));
_rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, _circle, _leftUpper, new Vector2(_upperLegSize.X / 2f, 0f));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _circle, _rightUpper, new Vector2(-_upperLegSize.X / 2f, 0f));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, _circle, _rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _leftUpper, _leftLower, new Vector2(_lowerLegSize.X / 2f, 0f));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, _leftUpper, _leftLower);
_leftKneeAngleJoint.MaxImpulse = 3f;
JointFactory.CreateRevoluteJoint(world, _rightUpper, _rightLower, new Vector2(-_lowerLegSize.X / 2f, 0f));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, _rightUpper, _rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
//GFX
_torso = new Sprite(ContentWrapper.CircleTexture(SpiderBodyRadius, "Square", ContentWrapper.Grey, ContentWrapper.Gold, ContentWrapper.Black, 1f));
_upperLeg = new Sprite(ContentWrapper.TextureFromShape(_leftUpper.FixtureList[0].Shape, ContentWrapper.Grey, ContentWrapper.Black));
_lowerLeg = new Sprite(ContentWrapper.TextureFromShape(_leftLower.FixtureList[0].Shape, ContentWrapper.Gold, ContentWrapper.Black));
_flexed = false;
_timer = 0f;
_leftShoulderAngleJoint.TargetAngle = ShoulderRelaxed;
_leftKneeAngleJoint.TargetAngle = KneeRelaxed;
_rightShoulderAngleJoint.TargetAngle = -ShoulderRelaxed;
_rightKneeAngleJoint.TargetAngle = -KneeRelaxed;
}
private Vector2 _upperLegSize = new Vector2(3, 0.5f); //x=width, y=height
#endregion Fields
#region Constructors
public Spider(World world, Vector2 position)
{
//Load bodies
Body circle = BodyFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position);
circle.BodyType = BodyType.Dynamic;
//Left upper leg
Body leftUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X / 2, 0));
leftUpper.BodyType = BodyType.Dynamic;
//Left lower leg
Body leftLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) -
new Vector2(_lowerLegSize.X / 2, 0));
leftLower.BodyType = BodyType.Dynamic;
//Right upper leg
Body rightUpper = BodyFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X / 2, 0));
rightUpper.BodyType = BodyType.Dynamic;
//Right lower leg
Body rightLower = BodyFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) +
new Vector2(_lowerLegSize.X / 2, 0));
rightLower.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, circle, leftUpper, new Vector2(SpiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle, leftUpper);
_leftShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, circle, rightUpper, new Vector2(-SpiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle, rightUpper);
_rightShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, leftUpper, leftLower, new Vector2(_upperLegSize.X / 2, 0));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, leftUpper, leftLower);
_leftKneeAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, rightUpper, rightLower,
-new Vector2(_upperLegSize.X / 2, 0));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, rightUpper, rightLower);
_rightKneeAngleJoint.MaxImpulse = 3;
}
private AngleJointTest()
{
BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
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);
//Keep a body at a fixed angle without a joint
Body fC = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(10, 4));
fC.BodyType = BodyType.Dynamic;
fC.Rotation = (float)(Math.PI / 3);
fC.FixedRotation = true; // Or set the Inertia to float.MaxValue
}
private AngleJointTest()
{
BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
Body fA = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(-5, 4));
fA.BodyType = BodyType.Dynamic;
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);
Body fC = BodyFactory.CreateRectangle(World, 4, 4, 1, new Vector2(10, 4));
fC.BodyType = BodyType.Dynamic;
FixedAngleJoint fixedJoint = new FixedAngleJoint(fC);
fixedJoint.TargetAngle = (float)Math.PI / 3;
World.AddJoint(fixedJoint);
}
/// <summary>
/// Sends the stick figure to its default pose
/// </summary>
public void Stand()
{
Crouching = false;
upright.TargetAngle = 0.0f;
walkStage = 0;
leftHip.TargetAngle = 3 * MathHelper.PiOver4;
leftKnee.TargetAngle = -5 * MathHelper.PiOver4;
rightHip.TargetAngle = -3 * MathHelper.PiOver4;
rightKnee.TargetAngle = -3 * MathHelper.PiOver4;
leftLowerLeg.Friction = 0f;
rightLowerLeg.Friction = 0f;
AngleJoint[] checkThese = new AngleJoint[] { leftHip, leftKnee, rightHip, rightKnee };
if (JointsAreInPosition(checkThese))
{
leftLowerLeg.Friction = 1f;
rightLowerLeg.Friction = 1f;
}
}
/// <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 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(PolygonTools.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);
}
}
/// <summary>
/// Orients arms in necessary position
/// </summary>
private void UpdateArms()
{
// Update strength of arms based on health
leftElbow.MaxImpulse = maxImpulse * health[leftLowerArm] * health[leftUpperArm];
leftShoulder.MaxImpulse = maxImpulse * health[torso] * health[leftUpperArm];
rightElbow.MaxImpulse = maxImpulse * health[rightLowerArm] * health[rightUpperArm];
rightShoulder.MaxImpulse = maxImpulse * health[torso] * health[rightUpperArm];
if (!Aiming && !throwing && !switchingHands)
{
// Rest arms at side
if (weapon == null || weapon.Type == Weapon.WeaponType.Light || weapon.Type == Weapon.WeaponType.Explosive || weapon.Type == Weapon.WeaponType.Melee)
{
leftShoulder.TargetAngle = FindClosestAngle(3 * MathHelper.PiOver4, torso.Rotation, leftShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(-3 * MathHelper.PiOver4, torso.Rotation, rightShoulder.TargetAngle);
leftElbow.TargetAngle = MathHelper.PiOver4;
rightElbow.TargetAngle = -MathHelper.PiOver4;
}
else if (weapon.Type == Weapon.WeaponType.Medium || weapon.Type == Weapon.WeaponType.Heavy)
{
if (leftHanded)
{
leftShoulder.TargetAngle = FindClosestAngle(3 * MathHelper.PiOver4, torso.Rotation, leftShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(-3 * MathHelper.PiOver4, torso.Rotation, rightShoulder.TargetAngle);
leftElbow.TargetAngle = MathHelper.PiOver2;
rightElbow.TargetAngle = -MathHelper.PiOver4;
}
else
{
leftShoulder.TargetAngle = FindClosestAngle(3 * MathHelper.PiOver4, torso.Rotation, leftShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(-3 * MathHelper.PiOver4, torso.Rotation, rightShoulder.TargetAngle);
leftElbow.TargetAngle = MathHelper.PiOver4;
rightElbow.TargetAngle = -MathHelper.PiOver2;
}
}
}
else if (Aiming && !throwing)
{
// Aim weapon in direction
float angle = -(float)Math.Atan2(aimVector.Y, aimVector.X);
if (weapon == null || weapon.Type == Weapon.WeaponType.Light)
{
leftShoulder.TargetAngle = FindClosestAngle(angle - MathHelper.PiOver2, torso.Rotation, leftShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(angle - MathHelper.PiOver2, torso.Rotation, rightShoulder.TargetAngle);
leftElbow.TargetAngle = 0f;
rightElbow.TargetAngle = 0f;
}
else if (weapon.Type == Weapon.WeaponType.Medium || weapon.Type == Weapon.WeaponType.Heavy)
{
if (leftHanded)
{
leftShoulder.TargetAngle = FindClosestAngle(angle - MathHelper.PiOver2, torso.Rotation, leftShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(angle + (angle >= MathHelper.PiOver2 || angle <= -MathHelper.PiOver2 ? -MathHelper.PiOver4 : -3 * MathHelper.PiOver4), torso.Rotation, rightShoulder.TargetAngle);
leftElbow.TargetAngle = 0f;
rightElbow.TargetAngle = angle >= MathHelper.PiOver2 || angle <= -MathHelper.PiOver2 ? -MathHelper.PiOver2 : MathHelper.PiOver2;
}
else
{
leftShoulder.TargetAngle = FindClosestAngle(angle + (angle >= MathHelper.PiOver2 || angle <= -MathHelper.PiOver2 ? -MathHelper.PiOver4 : -3 * MathHelper.PiOver4), torso.Rotation, rightShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(angle - MathHelper.PiOver2, torso.Rotation, leftShoulder.TargetAngle);
leftElbow.TargetAngle = angle >= MathHelper.PiOver2 || angle <= -MathHelper.PiOver2 ? -MathHelper.PiOver2 : MathHelper.PiOver2;
rightElbow.TargetAngle = 0f;
}
}
else if (weapon.Type == Weapon.WeaponType.Explosive || weapon.Type == Weapon.WeaponType.Melee)
{
if (leftHanded)
{
leftShoulder.TargetAngle = FindClosestAngle(angle + (angle >= MathHelper.PiOver2 || angle <= -MathHelper.PiOver2 ? MathHelper.Pi : 0), torso.Rotation, leftShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(angle - MathHelper.PiOver2, torso.Rotation, rightShoulder.TargetAngle);
leftElbow.TargetAngle = 0f;
rightElbow.TargetAngle = 0f;
}
else
{
leftShoulder.TargetAngle = FindClosestAngle(angle - MathHelper.PiOver2, torso.Rotation, rightShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(angle + (angle >= MathHelper.PiOver2 || angle <= -MathHelper.PiOver2 ? MathHelper.Pi : 0), torso.Rotation, leftShoulder.TargetAngle);
leftElbow.TargetAngle = 0f;
rightElbow.TargetAngle = 0f;
}
}
Aiming = false;
}
else if (throwing)
{
// Throw weapon
leftShoulder.TargetAngle = FindClosestAngle(-(float)Math.Atan2(aimVector.Y, aimVector.X) - MathHelper.PiOver2, torso.Rotation, leftShoulder.TargetAngle);
rightShoulder.TargetAngle = FindClosestAngle(-(float)Math.Atan2(aimVector.Y, aimVector.X) - MathHelper.PiOver2, torso.Rotation, rightShoulder.TargetAngle);
leftElbow.TargetAngle = 0f;
rightElbow.TargetAngle = 0f;
if (weapon != null)
{
if (world.JointList.Contains(weaponJoint))
world.RemoveJoint(weaponJoint);
if (world.JointList.Contains(r_weaponJoint))
world.RemoveJoint(r_weaponJoint);
weapon.BeingHeld = false;
weapon.Body.LinearVelocity = aimVector / aimVector.Length() * 10f + this.torso.LinearVelocity;
this.weapon = null;
}
AngleJoint[] joints = new AngleJoint[] { leftShoulder, leftElbow, rightShoulder, rightElbow };
if (JointsAreInPosition(joints))
throwing = false;
}
else if (switchingHands)
{
if (weapon != null)
{
if (leftHanded)
{
// If you don't have a right hand to switch to, cancel the action
if (health[rightLowerArm] <= 0)
switchingHands = false;
else
{
// Move left hand to right position
leftShoulder.TargetAngle = FindClosestAngle(0f, rightShoulder.TargetAngle, 0f);
leftElbow.TargetAngle = rightElbow.TargetAngle;
AngleJoint[] joints = new AngleJoint[] { leftShoulder, leftElbow };
if (JointsAreInPosition(joints) || (LeftHandPosition - RightHandPosition).Length() < 0.1f)
{
if (world.JointList.Contains(weaponJoint))
world.RemoveJoint(weaponJoint);
if (world.JointList.Contains(r_weaponJoint))
world.RemoveJoint(r_weaponJoint);
leftHanded = false;
this.weapon.Position = RightHandPosition;
r_weaponJoint = JointFactory.CreateRevoluteJoint(world, rightLowerArm, this.weapon.Body, Vector2.Zero);
weaponJoint = JointFactory.CreateAngleJoint(world, rightLowerArm, this.weapon.Body);
float angle = weapon.Body.Rotation - rightLowerArm.Rotation;
weaponJoint.TargetAngle = (int)(angle / MathHelper.TwoPi) * MathHelper.TwoPi;
weaponJoint.CollideConnected = false;
weaponJoint.MaxImpulse = 100f;
switchingHands = false;
}
}
}
else
{
// If you don't have a left hand to switch to, cancel the action
if (health[leftLowerArm] <= 0)
switchingHands = false;
else
{
// Move right hand to left hand position
rightShoulder.TargetAngle = FindClosestAngle(0f, leftShoulder.TargetAngle, 0f);
rightElbow.TargetAngle = leftElbow.TargetAngle;
AngleJoint[] joints = new AngleJoint[] { rightShoulder, rightElbow };
if (JointsAreInPosition(joints) || (LeftHandPosition - RightHandPosition).Length() < 0.1f)
{
if (world.JointList.Contains(weaponJoint))
world.RemoveJoint(weaponJoint);
if (world.JointList.Contains(r_weaponJoint))
world.RemoveJoint(r_weaponJoint);
leftHanded = true;
this.weapon.Position = LeftHandPosition;
r_weaponJoint = JointFactory.CreateRevoluteJoint(world, leftLowerArm, this.weapon.Body, Vector2.Zero);
weaponJoint = JointFactory.CreateAngleJoint(world, leftLowerArm, this.weapon.Body);
float angle = weapon.Body.Rotation - leftLowerArm.Rotation;
weaponJoint.TargetAngle = (int)(angle / MathHelper.TwoPi) * MathHelper.TwoPi;
weaponJoint.CollideConnected = false;
weaponJoint.MaxImpulse = 100f;
switchingHands = false;
}
}
}
}
else
switchingHands = false;
}
}
/// <summary>
/// Checks if all the joints in a list are close to their target angle
/// </summary>
/// <param name="joints">The array of joints to check</param>
/// <returns>True if the joints are at their target angles, false if not</returns>
private bool JointsAreInPosition(AngleJoint[] joints)
{
foreach (AngleJoint j in joints)
{
if (Math.Abs(j.BodyB.Rotation - j.BodyA.Rotation - j.TargetAngle) > 0.20)
return false;
}
return true;
}
/// <summary>
/// Connects the figure's body parts
/// </summary>
/// <param name="world">The physics world to add the joints to</param>
protected void ConnectBody(World world)
{
upright = JointFactory.CreateAngleJoint(world, torso, gyro);
upright.MaxImpulse = maxImpulse;
upright.TargetAngle = 0.0f;
upright.CollideConnected = false;
r_neck = JointFactory.CreateRevoluteJoint(world, head, torso, -Vector2.UnitY * 20 * MainGame.PIXEL_TO_METER);
neck = JointFactory.CreateAngleJoint(world, head, torso);
neck.CollideConnected = false;
neck.MaxImpulse = maxImpulse;
r_leftShoulder = JointFactory.CreateRevoluteJoint(world, leftUpperArm, torso, -Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
leftShoulder = JointFactory.CreateAngleJoint(world, leftUpperArm, torso);
leftShoulder.CollideConnected = false;
leftShoulder.MaxImpulse = maxImpulse;
r_rightShoulder = JointFactory.CreateRevoluteJoint(world, rightUpperArm, torso, -Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
rightShoulder = JointFactory.CreateAngleJoint(world, rightUpperArm, torso);
rightShoulder.CollideConnected = false;
rightShoulder.MaxImpulse = maxImpulse;
r_leftElbow = JointFactory.CreateRevoluteJoint(world, leftLowerArm, leftUpperArm, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
leftElbow = JointFactory.CreateAngleJoint(world, leftLowerArm, leftUpperArm);
leftElbow.CollideConnected = false;
leftElbow.MaxImpulse = maxImpulse;
r_rightElbow = JointFactory.CreateRevoluteJoint(world, rightLowerArm, rightUpperArm, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
rightElbow = JointFactory.CreateAngleJoint(world, rightLowerArm, rightUpperArm);
rightElbow.CollideConnected = false;
rightElbow.MaxImpulse = maxImpulse;
r_leftHip = JointFactory.CreateRevoluteJoint(world, leftUpperLeg, torso, Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
leftHip = JointFactory.CreateAngleJoint(world, leftUpperLeg, torso);
leftHip.CollideConnected = false;
leftHip.MaxImpulse = maxImpulse;
r_rightHip = JointFactory.CreateRevoluteJoint(world, rightUpperLeg, torso, Vector2.UnitY * 15 * MainGame.PIXEL_TO_METER);
rightHip = JointFactory.CreateAngleJoint(world, rightUpperLeg, torso);
rightHip.CollideConnected = false;
rightHip.MaxImpulse = maxImpulse;
r_leftKnee = JointFactory.CreateRevoluteJoint(world, leftLowerLeg, leftUpperLeg, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
leftKnee = JointFactory.CreateAngleJoint(world, leftUpperLeg, leftLowerLeg);
leftKnee.CollideConnected = false;
leftKnee.MaxImpulse = maxImpulse;
r_rightKnee = JointFactory.CreateRevoluteJoint(world, rightLowerLeg, rightUpperLeg, -Vector2.UnitY * 7.5f * MainGame.PIXEL_TO_METER);
rightKnee = JointFactory.CreateAngleJoint(world, rightUpperLeg, rightLowerLeg);
rightKnee.CollideConnected = false;
rightKnee.MaxImpulse = maxImpulse;
}
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;
}
}
}
}
}
}
/// <summary>
/// Picks up the weapon
/// </summary>
/// <param name="w"></param>
public void PickUpWeapon(Weapon w)
{
if (!w.BeingHeld && weapon == null && touchingWeapons.Contains(w))
{
if (health[leftLowerArm] == 0 && health[rightLowerArm] == 0)
return;
this.weapon = w;
this.weapon.PickUp(collisionCat);
float angle;
if (health[leftLowerArm] >= health[rightLowerArm])
{
this.weapon.Position = LeftHandPosition;
r_weaponJoint = JointFactory.CreateRevoluteJoint(world, leftLowerArm, this.weapon.Body, Vector2.Zero);
weaponJoint = JointFactory.CreateAngleJoint(world, leftLowerArm, this.weapon.Body);
leftHanded = true;
angle = weapon.Body.Rotation - leftLowerArm.Rotation;
}
else
{
this.weapon.Position = RightHandPosition;
r_weaponJoint = JointFactory.CreateRevoluteJoint(world, rightLowerArm, this.weapon.Body, Vector2.Zero);
weaponJoint = JointFactory.CreateAngleJoint(world, rightLowerArm, this.weapon.Body);
leftHanded = false;
angle = weapon.Body.Rotation - rightLowerArm.Rotation;
}
weaponJoint.TargetAngle = (int)(angle / MathHelper.TwoPi) * MathHelper.TwoPi;
weaponJoint.CollideConnected = false;
weaponJoint.MaxImpulse = 100f;
}
}
/// <summary>
/// Makes figure walk the the right (place in Update method)
/// </summary>
public void WalkRight()
{
upright.TargetAngle = -0.1f;
if (torso.LinearVelocity.X < (onGround ? 4 : 3) * GetTotalLegStrength() && !(Crouching && onGround))
torso.ApplyForce(new Vector2(150, 0) * maxImpulse * health[torso] * health[head] * GetTotalLegStrength()); // Change limb dependency
AngleJoint[] checkThese = new AngleJoint[] { leftHip, rightHip };
if (walkStage == 0)
{
leftHip.TargetAngle = (float)Math.PI - torso.Rotation;
leftKnee.TargetAngle = -MathHelper.PiOver2 - torso.Rotation;
rightHip.TargetAngle = -3 * MathHelper.PiOver4 - torso.Rotation;
rightKnee.TargetAngle = -3 * MathHelper.PiOver4 - torso.Rotation;
rightKnee.MaxImpulse = maxImpulse * 3 * health[rightLowerLeg] * health[rightUpperLeg];
leftLowerLeg.Friction = 0.0f;
rightLowerLeg.Friction = 1000f;
if (JointsAreInPosition(checkThese))
walkStage = 1;
}
else if (walkStage == 1)
{
leftHip.TargetAngle = 3 * MathHelper.PiOver2 - torso.Rotation;
leftKnee.TargetAngle = -MathHelper.PiOver2 - torso.Rotation;
rightHip.TargetAngle = -5 * MathHelper.PiOver4 - torso.Rotation;
rightKnee.TargetAngle = -(float)Math.PI - torso.Rotation;
rightKnee.MaxImpulse = maxImpulse * health[rightLowerLeg] * health[rightUpperLeg];
if (JointsAreInPosition(checkThese))
walkStage = 2;
}
else if (walkStage == 2)
{
leftHip.TargetAngle = 5 * MathHelper.PiOver4 - torso.Rotation;
leftKnee.TargetAngle = -3 * MathHelper.PiOver4 - torso.Rotation;
leftKnee.MaxImpulse = maxImpulse * 3 * health[leftLowerLeg] * health[leftUpperLeg];
rightHip.TargetAngle = -(float)Math.PI - torso.Rotation;
rightKnee.TargetAngle = -MathHelper.PiOver2 - torso.Rotation;
rightLowerLeg.Friction = 0.0f;
leftLowerLeg.Friction = 1000f;
if (JointsAreInPosition(checkThese))
walkStage = 3;
}
else if (walkStage == 3)
{
leftHip.TargetAngle = 3 * MathHelper.PiOver4 - torso.Rotation;
leftKnee.TargetAngle = -(float)Math.PI - torso.Rotation;
leftKnee.MaxImpulse = maxImpulse * health[leftLowerLeg] * health[leftUpperLeg];
rightHip.TargetAngle = -MathHelper.PiOver2 - torso.Rotation;
rightKnee.TargetAngle = -MathHelper.PiOver2 - torso.Rotation;
if (JointsAreInPosition(checkThese))
walkStage = 0;
}
}
private Vector2 _upperLegSize = new Vector2(3, 0.5f); //x=width, y=height
public Spider(World world, Vector2 position)
{
DebugMaterial matHead = new DebugMaterial(MaterialType.Face)
{
Color = Color.ForestGreen,
Scale = 2f
};
DebugMaterial matBody = new DebugMaterial(MaterialType.Blank)
{
Color = Color.YellowGreen
};
DebugMaterial matLeg = new DebugMaterial(MaterialType.Blank)
{
Color = Color.DarkGreen
};
//Load bodies
Fixture circle = FixtureFactory.CreateCircle(world, SpiderBodyRadius, 0.1f, position, matHead);
circle.Body.BodyType = BodyType.Dynamic;
//Left upper leg
Fixture leftUpper = FixtureFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Body.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X/2, 0), matBody);
leftUpper.Body.BodyType = BodyType.Dynamic;
//Left lower leg
Fixture leftLower = FixtureFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Body.Position - new Vector2(SpiderBodyRadius, 0) -
new Vector2(_upperLegSize.X, 0) -
new Vector2(_lowerLegSize.X/2, 0), matLeg);
leftLower.Body.BodyType = BodyType.Dynamic;
//Right upper leg
Fixture rightUpper = FixtureFactory.CreateRectangle(world, _upperLegSize.X, _upperLegSize.Y, 0.1f,
circle.Body.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X/2, 0), matBody);
rightUpper.Body.BodyType = BodyType.Dynamic;
//Right lower leg
Fixture rightLower = FixtureFactory.CreateRectangle(world, _lowerLegSize.X, _lowerLegSize.Y, 0.1f,
circle.Body.Position + new Vector2(SpiderBodyRadius, 0) +
new Vector2(_upperLegSize.X, 0) +
new Vector2(_lowerLegSize.X/2, 0), matLeg);
rightLower.Body.BodyType = BodyType.Dynamic;
//Create joints
JointFactory.CreateRevoluteJoint(world, circle.Body, leftUpper.Body, new Vector2(SpiderBodyRadius, 0));
_leftShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle.Body, leftUpper.Body);
_leftShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, circle.Body, rightUpper.Body, new Vector2(-SpiderBodyRadius, 0));
_rightShoulderAngleJoint = JointFactory.CreateAngleJoint(world, circle.Body, rightUpper.Body);
_rightShoulderAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, leftUpper.Body, leftLower.Body, new Vector2(_upperLegSize.X/2, 0));
_leftKneeAngleJoint = JointFactory.CreateAngleJoint(world, leftUpper.Body, leftLower.Body);
_leftKneeAngleJoint.MaxImpulse = 3;
JointFactory.CreateRevoluteJoint(world, rightUpper.Body, rightLower.Body,
-new Vector2(_upperLegSize.X/2, 0));
_rightKneeAngleJoint = JointFactory.CreateAngleJoint(world, rightUpper.Body, rightLower.Body);
_rightKneeAngleJoint.MaxImpulse = 3;
}