public override Joint createJoint()
{
var joint = new WeldJoint( bodyA, bodyB, ownerBodyAnchor * FSConvert.displayToSim, otherBodyAnchor * FSConvert.displayToSim );
joint.collideConnected = collideConnected;
joint.dampingRatio = dampingRatio;
joint.frequencyHz = frequencyHz;
return joint;
}
private CantileverTest()
{
Body ground;
{
ground = BodyFactory.CreateBody(World);
EdgeShape shape = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape);
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++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(-15.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
prevBody = body;
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.5f + 1.0f * i, 15.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 1.0f * i, 15.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
prevBody = body;
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-4.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
}
prevBody = body;
}
}
{
Vertices box = PolygonTools.CreateRectangle(0.5f, 0.125f);
PolygonShape shape = new PolygonShape(box, 20);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.5f + 1.0f * i, 10.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
WeldJoint jd = new WeldJoint(prevBody, body, prevBody.GetLocalPoint(anchor),
body.GetLocalPoint(anchor));
World.AddJoint(jd);
}
prevBody = body;
}
}
//Triangels
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
//Circles
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
private bool LoadJoint()
{
var otherObject = GameObject.Scene.GameObjects.FirstOrDefault(g => g.Id == OtherObjectId) as GameObject;
if (otherObject == null) return false;
var otherRigidBody = otherObject.Components.FirstOrDefault(c => c is RigidBodyFarseerComponent) as RigidBodyFarseerComponent;
if (otherRigidBody == null) return false;
if (!otherObject.IsLoaded) otherObject.Load();
if (!otherRigidBody.IsLoaded) return false;
var myRigidBody = GameObject.Components.FirstOrDefault(c => c is RigidBodyFarseerComponent) as RigidBodyFarseerComponent;
if (!myRigidBody.IsLoaded) myRigidBody.Load();
if (!myRigidBody.IsLoaded) return false;
var world = GameObject.Scene.Physics.GetWorld() as World;
if (world == null) throw new InvalidOperationException("Not a farseer physics world.");
_joint = JointFactory.CreateWeldJoint(world, myRigidBody.RigidBody, otherRigidBody.RigidBody, Vector2.Zero);
//world.AddJoint(_joint);
return true;
}
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;
}
}
}
}
}
}
private CantileverTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40, 0), new Vector2(40, 0));
{
PolygonShape shape = new PolygonShape(20);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++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(-15.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
World.AddJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(1f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < 3; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-14.0f + 2.0f * i, 15.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(-15.0f + 2.0f * i, 15.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
jd.FrequencyHz = 5.0f;
jd.DampingRatio = 0.7f;
World.AddJoint(jd);
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-4.5f + 1.0f * i, 5.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(-5.0f + 1.0f * i, 5.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
World.AddJoint(jd);
}
prevBody = body;
}
}
{
PolygonShape shape = new PolygonShape(20f);
shape.Vertices = PolygonTools.CreateRectangle(0.5f, 0.125f);
Body prevBody = ground;
for (int i = 0; i < Count; ++i)
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(5.5f + 1.0f * i, 10.0f);
body.CreateFixture(shape);
if (i > 0)
{
Vector2 anchor = new Vector2(5.0f + 1.0f * i, 10.0f);
WeldJoint jd = new WeldJoint(prevBody, body, anchor, anchor, true);
jd.FrequencyHz = 8.0f;
jd.DampingRatio = 0.7f;
World.AddJoint(jd);
}
prevBody = body;
}
}
//Triangels
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-0.5f, 0.0f));
vertices.Add(new Vector2(0.5f, 0.0f));
vertices.Add(new Vector2(0.0f, 1.5f));
for (int i = 0; i < 2; ++i)
{
PolygonShape shape = new PolygonShape(vertices, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-8.0f + 8.0f * i, 12.0f);
body.CreateFixture(shape);
}
//Circles
for (int i = 0; i < 2; ++i)
{
CircleShape shape = new CircleShape(0.5f, 1);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-6.0f + 6.0f * i, 10.0f);
body.CreateFixture(shape);
}
}
public static WeldJoint CreateWeldJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, bool useWorldCoordinates = false)
{
WeldJoint weldJoint = new WeldJoint(bodyA, bodyB, anchorA, anchorB, useWorldCoordinates);
world.AddJoint(weldJoint);
return weldJoint;
}
/// <summary>
/// Creates a weld joint
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localAnchor"></param>
/// <returns></returns>
public static WeldJoint CreateWeldJoint(Body bodyA, Body bodyB, Vector2 localAnchor)
{
WeldJoint joint = new WeldJoint(bodyA, bodyB, bodyA.GetLocalPoint(localAnchor),
bodyB.GetLocalPoint(localAnchor));
return joint;
}
public static WeldJoint CreateWeldJoint(World world, Body bodyA, Body bodyB, Vector2 localAnchorA,
Vector2 localAnchorB)
{
WeldJoint weldJoint = new WeldJoint(bodyA, bodyB, localAnchorA, localAnchorB);
world.AddJoint(weldJoint);
return weldJoint;
}
bool OnCollision(Fixture fixtureA, Fixture fixtureB, FarseerPhysics.Dynamics.Contacts.Contact contact)
{
if (fixtureB.UserData as string == "Pattack")
{
attacked = true;
fixtureB.Body.Friction = (Points / 100f);
}
if (fixtureB.UserData as string == "Player")
{
if (!weldedbool)
{
Vector2 weldA = new Vector2((float)ConvertUnits.ToSimUnits((float)Math.Cos(rotation - ((float)Math.PI / 2f))), (float)ConvertUnits.ToSimUnits((float)Math.Sin(rotation - ((float)Math.PI / 2f))));
Vector2 weldB = new Vector2((float)ConvertUnits.ToSimUnits((float)Math.Cos(fixtureB.Body.Rotation - ((float)Math.PI / 2f))), (float)ConvertUnits.ToSimUnits((float)Math.Sin(fixtureB.Body.Rotation - ((float)Math.PI / 2f))));
welded = new WeldJoint(fixtureA.Body, fixtureB.Body,
weldA * 20f, //_bodyA.Body.LocalCenter
weldB * 20f); //_bodyB.Body.LocalCenter
level.AddJoint(welded);
weldedbool = true;
}
return false;
}
return true;
}
/// <summary>
/// Creates a weld joint
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <returns></returns>
public static WeldJoint CreateWeldJoint(Body bodyA, Body bodyB, Vector2 localanchorB)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
WeldJoint joint = new WeldJoint(bodyA, bodyB, localanchorA, localanchorB);
return joint;
}
/// <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 bool ChainBallOnCollision(Fixture fixturea, Fixture fixtureb, Contact contact)
{
var crateBody = fixtureb.Body;
var crate = crateBody.UserData as Crate;
if (crate != null && !crate.IsStuck)
{
// The ball hit a crate
// We make them stick together using a weld joint
var positionDiff = _chainEndBall.Position - crateBody.Position;
var joint = new WeldJoint(_chainEndBall, crateBody, Vector2.Zero, positionDiff);
World.AddJoint(joint);
crate.MagnetJoint = joint;
}
return true;
}
public static Joint CopyJoint(Joint joint, Body bodyA, Body bodyB, World world)
{
Joint newJoint = null;
switch (joint.JointType)
{
case JointType.Angle:
newJoint = JointFactory.CreateAngleJoint(world, bodyA, bodyB);
break;
case JointType.Distance:
newJoint = new DistanceJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
case JointType.FixedAngle:
newJoint = new FixedAngleJoint(bodyA);
break;
case JointType.FixedDistance:
newJoint = new FixedDistanceJoint(bodyA, bodyA.WorldCenter, Vector2.Zero);
break;
case JointType.FixedFriction:
newJoint = new FixedFrictionJoint(bodyA, bodyA.WorldCenter);
break;
case JointType.FixedPrismatic:
var fpJoint = joint as FixedPrismaticJoint;
var fpAxis = fpJoint.LocalXAxis1;
newJoint = new FixedPrismaticJoint(bodyA, bodyA.WorldCenter, fpAxis);
break;
case JointType.FixedRevolute:
newJoint = new FixedRevoluteJoint(bodyA, bodyA.WorldCenter, Vector2.Zero);
break;
case JointType.Friction:
newJoint = new FrictionJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
case JointType.Line:
var lineJoint = joint as LineJoint;
var axis = lineJoint.LocalXAxis;
newJoint = new LineJoint(bodyA, bodyB, bodyA.WorldCenter, axis);
break;
case JointType.Prismatic:
var pJoint = joint as PrismaticJoint;
var pAxis = pJoint.LocalXAxis1;
newJoint = new PrismaticJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter, pAxis);
((PrismaticJoint)newJoint).LimitEnabled = pJoint.LimitEnabled;
((PrismaticJoint)newJoint).MotorEnabled = pJoint.MotorEnabled;
((PrismaticJoint)newJoint).MaxMotorForce = pJoint.MaxMotorForce;
((PrismaticJoint)newJoint).MotorSpeed = pJoint.MotorSpeed;
((PrismaticJoint)newJoint).LowerLimit = pJoint.LowerLimit;
((PrismaticJoint)newJoint).UpperLimit = pJoint.UpperLimit;
((PrismaticJoint)newJoint).ReferenceAngle = pJoint.ReferenceAngle;
((PrismaticJoint)newJoint).LocalXAxis1 = pJoint.LocalXAxis1;
break;
case JointType.Pulley:
var pulleyJoint = joint as PulleyJoint;
var ratio = pulleyJoint.Ratio;
newJoint = new PulleyJoint(bodyA, bodyB, Vector2.Zero, Vector2.Zero, bodyA.WorldCenter, bodyB.WorldCenter, ratio);
break;
case JointType.Revolute:
newJoint = new RevoluteJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
case JointType.Slider:
var sliderJoint = joint as SliderJoint;
var minLength = sliderJoint.MinLength;
var maxLength = sliderJoint.MaxLength;
newJoint = new SliderJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter, minLength, maxLength);
break;
case JointType.Weld:
newJoint = new WeldJoint(bodyA, bodyB, bodyA.WorldCenter, bodyB.WorldCenter);
break;
}
var data = new FarseerJointUserData();
data.BodyAName = ((FarseerJointUserData) joint.UserData).BodyAName;
data.BodyBName = ((FarseerJointUserData) joint.UserData).BodyBName;
joint.UserData = data;
return newJoint;
}
