public static List<Fixture> AttachCompoundPolygon(List<Vertices> list, float density, PhysicsBody body, object userData) { List<Fixture> res = new List<Fixture>(list.Count); //Then we create several fixtures using the body foreach (Vertices vertices in list) { if (vertices.Count == 2) { EdgeShape shape = new EdgeShape(vertices[0], vertices[1]); res.Add(body.CreateFixture(shape, userData)); } else { PolygonShape shape = new PolygonShape(vertices, density); res.Add(body.CreateFixture(shape, userData)); } } return res; }
public static Fixture AttachEdge(Vector2 start, Vector2 end, PhysicsBody body, object userData) { EdgeShape edgeShape = new EdgeShape(start, end); return body.CreateFixture(edgeShape, userData); }
/// <summary> /// Get a child edge. /// </summary> /// <param name="edge">The edge.</param> /// <param name="index">The index.</param> public void GetChildEdge(ref EdgeShape edge, int index) { Debug.Assert(2 <= Vertices.Count); Debug.Assert(0 <= index && index < Vertices.Count); edge.ShapeType = ShapeType.Edge; edge._radius = _radius; edge.HasVertex0 = true; edge.HasVertex3 = true; int i0 = index - 1 >= 0 ? index - 1 : Vertices.Count - 1; int i1 = index; int i2 = index + 1 < Vertices.Count ? index + 1 : 0; int i3 = index + 2; while (i3 >= Vertices.Count) { i3 -= Vertices.Count; } edge.Vertex0 = Vertices[i0]; edge.Vertex1 = Vertices[i1]; edge.Vertex2 = Vertices[i2]; edge.Vertex3 = Vertices[i3]; }
public bool CompareTo(EdgeShape shape) { return (HasVertex0 == shape.HasVertex0 && HasVertex3 == shape.HasVertex3 && Vertex0 == shape.Vertex0 && Vertex1 == shape.Vertex1 && Vertex2 == shape.Vertex2 && Vertex3 == shape.Vertex3); }
public override Shape Clone() { EdgeShape edge = new EdgeShape(); edge._radius = _radius; edge._density = _density; edge.HasVertex0 = HasVertex0; edge.HasVertex3 = HasVertex3; edge.Vertex0 = Vertex0; edge._vertex1 = _vertex1; edge._vertex2 = _vertex2; edge.Vertex3 = Vertex3; edge.MassData = MassData; return edge; }
/// <summary> /// Collides and edge and a polygon, taking into account edge adjacency. /// </summary> /// <param name="manifold">The manifold.</param> /// <param name="edgeA">The edge A.</param> /// <param name="xfA">The xf A.</param> /// <param name="polygonB">The polygon B.</param> /// <param name="xfB">The xf B.</param> public static void CollideEdgeAndPolygon(ref Manifold manifold, EdgeShape edgeA, ref Transform xfA, PolygonShape polygonB, ref Transform xfB) { MathUtils.MultiplyT(ref xfA, ref xfB, out _xf); // Edge geometry _edgeA.V0 = edgeA.Vertex0; _edgeA.V1 = edgeA.Vertex1; _edgeA.V2 = edgeA.Vertex2; _edgeA.V3 = edgeA.Vertex3; Vector2 e = _edgeA.V2 - _edgeA.V1; // Normal points outwards in CCW order. _edgeA.Normal = new Vector2(e.Y, -e.X); _edgeA.Normal.Normalize(); _edgeA.HasVertex0 = edgeA.HasVertex0; _edgeA.HasVertex3 = edgeA.HasVertex3; // Proxy for edge _proxyA.Vertices[0] = _edgeA.V1; _proxyA.Vertices[1] = _edgeA.V2; _proxyA.Normals[0] = _edgeA.Normal; _proxyA.Normals[1] = -_edgeA.Normal; _proxyA.Centroid = 0.5f * (_edgeA.V1 + _edgeA.V2); _proxyA.Count = 2; // Proxy for polygon _proxyB.Count = polygonB.Vertices.Count; _proxyB.Centroid = MathUtils.Multiply(ref _xf, ref polygonB.MassData.Centroid); for (int i = 0; i < polygonB.Vertices.Count; ++i) { _proxyB.Vertices[i] = MathUtils.Multiply(ref _xf, polygonB.Vertices[i]); _proxyB.Normals[i] = MathUtils.Multiply(ref _xf.R, polygonB.Normals[i]); } _radius = 2.0f * Settings.PolygonRadius; _limit11 = Vector2.Zero; _limit12 = Vector2.Zero; _limit21 = Vector2.Zero; _limit22 = Vector2.Zero; //Collide(ref manifold); inline start manifold.PointCount = 0; //ComputeAdjacency(); inline start Vector2 v0 = _edgeA.V0; Vector2 v1 = _edgeA.V1; Vector2 v2 = _edgeA.V2; Vector2 v3 = _edgeA.V3; // Determine allowable the normal regions based on adjacency. // Note: it may be possible that no normal is admissable. Vector2 centerB = _proxyB.Centroid; if (_edgeA.HasVertex0) { Vector2 e0 = v1 - v0; Vector2 e1 = v2 - v1; Vector2 n0 = new Vector2(e0.Y, -e0.X); Vector2 n1 = new Vector2(e1.Y, -e1.X); n0.Normalize(); n1.Normalize(); bool convex = MathUtils.Cross(n0, n1) >= 0.0f; bool front0 = Vector2.Dot(n0, centerB - v0) >= 0.0f; bool front1 = Vector2.Dot(n1, centerB - v1) >= 0.0f; if (convex) { if (front0 || front1) { _limit11 = n1; _limit12 = n0; } else { _limit11 = -n1; _limit12 = -n0; } } else { if (front0 && front1) { _limit11 = n0; _limit12 = n1; } else { _limit11 = -n0; _limit12 = -n1; } } } else { _limit11 = Vector2.Zero; _limit12 = Vector2.Zero; } if (_edgeA.HasVertex3) { Vector2 e1 = v2 - v1; Vector2 e2 = v3 - v2; Vector2 n1 = new Vector2(e1.Y, -e1.X); Vector2 n2 = new Vector2(e2.Y, -e2.X); n1.Normalize(); n2.Normalize(); bool convex = MathUtils.Cross(n1, n2) >= 0.0f; bool front1 = Vector2.Dot(n1, centerB - v1) >= 0.0f; bool front2 = Vector2.Dot(n2, centerB - v2) >= 0.0f; if (convex) { if (front1 || front2) { _limit21 = n2; _limit22 = n1; } else { _limit21 = -n2; _limit22 = -n1; } } else { if (front1 && front2) { _limit21 = n1; _limit22 = n2; } else { _limit21 = -n1; _limit22 = -n2; } } } else { _limit21 = Vector2.Zero; _limit22 = Vector2.Zero; } //ComputeAdjacency(); inline end //EPAxis edgeAxis = ComputeEdgeSeparation(); inline start EPAxis edgeAxis = ComputeEdgeSeparation(); // If no valid normal can be found than this edge should not collide. // This can happen on the middle edge of a 3-edge zig-zag chain. if (edgeAxis.Type == EPAxisType.Unknown) { return; } if (edgeAxis.Separation > _radius) { return; } EPAxis polygonAxis = ComputePolygonSeparation(); if (polygonAxis.Type != EPAxisType.Unknown && polygonAxis.Separation > _radius) { return; } // Use hysteresis for jitter reduction. const float k_relativeTol = 0.98f; const float k_absoluteTol = 0.001f; EPAxis primaryAxis; if (polygonAxis.Type == EPAxisType.Unknown) { primaryAxis = edgeAxis; } else if (polygonAxis.Separation > k_relativeTol * edgeAxis.Separation + k_absoluteTol) { primaryAxis = polygonAxis; } else { primaryAxis = edgeAxis; } EPProxy proxy1; EPProxy proxy2; FixedArray2<ClipVertex> incidentEdge = new FixedArray2<ClipVertex>(); if (primaryAxis.Type == EPAxisType.EdgeA) { proxy1 = _proxyA; proxy2 = _proxyB; manifold.Type = ManifoldType.FaceA; } else { proxy1 = _proxyB; proxy2 = _proxyA; manifold.Type = ManifoldType.FaceB; } int edge1 = primaryAxis.Index; FindIncidentEdge(ref incidentEdge, proxy1, primaryAxis.Index, proxy2); int count1 = proxy1.Count; int iv1 = edge1; int iv2 = edge1 + 1 < count1 ? edge1 + 1 : 0; Vector2 v11 = proxy1.Vertices[iv1]; Vector2 v12 = proxy1.Vertices[iv2]; Vector2 tangent = v12 - v11; tangent.Normalize(); Vector2 normal = MathUtils.Cross(tangent, 1.0f); Vector2 planePoint = 0.5f * (v11 + v12); // Face offset. float frontOffset = Vector2.Dot(normal, v11); // Side offsets, extended by polytope skin thickness. float sideOffset1 = -Vector2.Dot(tangent, v11) + _radius; float sideOffset2 = Vector2.Dot(tangent, v12) + _radius; // Clip incident edge against extruded edge1 side edges. FixedArray2<ClipVertex> clipPoints1; FixedArray2<ClipVertex> clipPoints2; int np; // Clip to box side 1 np = ClipSegmentToLine(out clipPoints1, ref incidentEdge, -tangent, sideOffset1, iv1); if (np < Settings.MaxManifoldPoints) { return; } // Clip to negative box side 1 np = ClipSegmentToLine(out clipPoints2, ref clipPoints1, tangent, sideOffset2, iv2); if (np < Settings.MaxManifoldPoints) { return; } // Now clipPoints2 contains the clipped points. if (primaryAxis.Type == EPAxisType.EdgeA) { manifold.LocalNormal = normal; manifold.LocalPoint = planePoint; } else { manifold.LocalNormal = MathUtils.MultiplyT(ref _xf.R, ref normal); manifold.LocalPoint = MathUtils.MultiplyT(ref _xf, ref planePoint); } int pointCount = 0; for (int i1 = 0; i1 < Settings.MaxManifoldPoints; ++i1) { float separation = Vector2.Dot(normal, clipPoints2[i1].V) - frontOffset; if (separation <= _radius) { ManifoldPoint cp = manifold.Points[pointCount]; if (primaryAxis.Type == EPAxisType.EdgeA) { cp.LocalPoint = MathUtils.MultiplyT(ref _xf, clipPoints2[i1].V); cp.Id = clipPoints2[i1].ID; } else { cp.LocalPoint = clipPoints2[i1].V; cp.Id.Features.TypeA = clipPoints2[i1].ID.Features.TypeB; cp.Id.Features.TypeB = clipPoints2[i1].ID.Features.TypeA; cp.Id.Features.IndexA = clipPoints2[i1].ID.Features.IndexB; cp.Id.Features.IndexB = clipPoints2[i1].ID.Features.IndexA; } manifold.Points[pointCount] = cp; ++pointCount; } } manifold.PointCount = pointCount; //Collide(ref manifold); inline end }
/// <summary> /// Compute contact points for edge versus circle. /// This accounts for edge connectivity. /// </summary> /// <param name="manifold">The manifold.</param> /// <param name="edgeA">The edge A.</param> /// <param name="transformA">The transform A.</param> /// <param name="circleB">The circle B.</param> /// <param name="transformB">The transform B.</param> public static void CollideEdgeAndCircle(ref Manifold manifold, EdgeShape edgeA, ref Transform transformA, CircleShape circleB, ref Transform transformB) { manifold.PointCount = 0; // Compute circle in frame of edge Vector2 Q = MathUtils.MultiplyT(ref transformA, MathUtils.Multiply(ref transformB, ref circleB._position)); Vector2 A = edgeA.Vertex1, B = edgeA.Vertex2; Vector2 e = B - A; // Barycentric coordinates float u = Vector2.Dot(e, B - Q); float v = Vector2.Dot(e, Q - A); float radius = edgeA.Radius + circleB.Radius; ContactFeature cf; cf.IndexB = 0; cf.TypeB = (byte)ContactFeatureType.Vertex; Vector2 P, d; // Region A if (v <= 0.0f) { P = A; d = Q - P; float dd; Vector2.Dot(ref d, ref d, out dd); if (dd > radius * radius) { return; } // Is there an edge connected to A? if (edgeA.HasVertex0) { Vector2 A1 = edgeA.Vertex0; Vector2 B1 = A; Vector2 e1 = B1 - A1; float u1 = Vector2.Dot(e1, B1 - Q); // Is the circle in Region AB of the previous edge? if (u1 > 0.0f) { return; } } cf.IndexA = 0; cf.TypeA = (byte)ContactFeatureType.Vertex; manifold.PointCount = 1; manifold.Type = ManifoldType.Circles; manifold.LocalNormal = Vector2.Zero; manifold.LocalPoint = P; ManifoldPoint mp = new ManifoldPoint(); mp.Id.Key = 0; mp.Id.Features = cf; mp.LocalPoint = circleB.Position; manifold.Points[0] = mp; return; } // Region B if (u <= 0.0f) { P = B; d = Q - P; float dd; Vector2.Dot(ref d, ref d, out dd); if (dd > radius * radius) { return; } // Is there an edge connected to B? if (edgeA.HasVertex3) { Vector2 B2 = edgeA.Vertex3; Vector2 A2 = B; Vector2 e2 = B2 - A2; float v2 = Vector2.Dot(e2, Q - A2); // Is the circle in Region AB of the next edge? if (v2 > 0.0f) { return; } } cf.IndexA = 1; cf.TypeA = (byte)ContactFeatureType.Vertex; manifold.PointCount = 1; manifold.Type = ManifoldType.Circles; manifold.LocalNormal = Vector2.Zero; manifold.LocalPoint = P; ManifoldPoint mp = new ManifoldPoint(); mp.Id.Key = 0; mp.Id.Features = cf; mp.LocalPoint = circleB.Position; manifold.Points[0] = mp; return; } // Region AB float den; Vector2.Dot(ref e, ref e, out den); Debug.Assert(den > 0.0f); P = (1.0f / den) * (u * A + v * B); d = Q - P; float dd2; Vector2.Dot(ref d, ref d, out dd2); if (dd2 > radius * radius) { return; } Vector2 n = new Vector2(-e.Y, e.X); if (Vector2.Dot(n, Q - A) < 0.0f) { n = new Vector2(-n.X, -n.Y); } n.Normalize(); cf.IndexA = 0; cf.TypeA = (byte)ContactFeatureType.Face; manifold.PointCount = 1; manifold.Type = ManifoldType.FaceA; manifold.LocalNormal = n; manifold.LocalPoint = A; ManifoldPoint mp2 = new ManifoldPoint(); mp2.Id.Key = 0; mp2.Id.Features = cf; mp2.LocalPoint = circleB.Position; manifold.Points[0] = mp2; }
public void Deserialize(PhysicsWorld 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) { PhysicsBody body = new PhysicsBody(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); f.Restitution = blueprint.Restitution; f.UserData = blueprint.UserData; f.Friction = blueprint.Friction; f.CollidesWith = blueprint.CollidesWith; f.CollisionCategories = blueprint.CollisionCategories; 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) { PhysicsJoint 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; } } PhysicsBody bodyA = _bodies[bodyAIndex]; PhysicsBody 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; } } } } } }