/// <summary> /// Creates a prsimatic joint /// </summary> /// <param name="bodyA"></param> /// <param name="bodyB"></param> /// <param name="localanchorB"></param> /// <param name="axis"></param> /// <returns></returns> public static PrismaticJoint CreatePrismaticJoint(PhysicsBody bodyA, PhysicsBody bodyB, Vector2 localanchorB, Vector2 axis) { Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB)); PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, localanchorA, localanchorB, axis); return joint; }
/// <summary> /// Requires two existing revolute or prismatic joints (any combination will work). /// The provided joints must attach a dynamic body to a static body. /// </summary> /// <param name="jointA">The first joint.</param> /// <param name="jointB">The second joint.</param> /// <param name="ratio">The ratio.</param> public GearJoint(PhysicsJoint jointA, PhysicsJoint jointB, float ratio) : base(jointA.BodyA, jointA.BodyB) { JointType = JointType.Gear; JointA = jointA; JointB = jointB; Ratio = ratio; JointType type1 = jointA.JointType; JointType type2 = jointB.JointType; // Make sure its the right kind of joint Debug.Assert(type1 == JointType.Revolute || type1 == JointType.Prismatic || type1 == JointType.FixedRevolute || type1 == JointType.FixedPrismatic); Debug.Assert(type2 == JointType.Revolute || type2 == JointType.Prismatic || type2 == JointType.FixedRevolute || type2 == JointType.FixedPrismatic); // In the case of a prismatic and revolute joint, the first body must be static. if (type1 == JointType.Revolute || type1 == JointType.Prismatic) Debug.Assert(jointA.BodyA.BodyType == BodyType.Static); if (type2 == JointType.Revolute || type2 == JointType.Prismatic) Debug.Assert(jointB.BodyA.BodyType == BodyType.Static); float coordinate1 = 0.0f, coordinate2 = 0.0f; switch (type1) { case JointType.Revolute: BodyA = jointA.BodyB; _revolute1 = (RevoluteJoint)jointA; LocalAnchor1 = _revolute1.LocalAnchorB; coordinate1 = _revolute1.JointAngle; break; case JointType.Prismatic: BodyA = jointA.BodyB; _prismatic1 = (PrismaticJoint)jointA; LocalAnchor1 = _prismatic1.LocalAnchorB; coordinate1 = _prismatic1.JointTranslation; break; case JointType.FixedRevolute: BodyA = jointA.BodyA; _fixedRevolute1 = (FixedRevoluteJoint)jointA; LocalAnchor1 = _fixedRevolute1.LocalAnchorA; coordinate1 = _fixedRevolute1.JointAngle; break; case JointType.FixedPrismatic: BodyA = jointA.BodyA; _fixedPrismatic1 = (FixedPrismaticJoint)jointA; LocalAnchor1 = _fixedPrismatic1.LocalAnchorA; coordinate1 = _fixedPrismatic1.JointTranslation; break; } switch (type2) { case JointType.Revolute: BodyB = jointB.BodyB; _revolute2 = (RevoluteJoint)jointB; LocalAnchor2 = _revolute2.LocalAnchorB; coordinate2 = _revolute2.JointAngle; break; case JointType.Prismatic: BodyB = jointB.BodyB; _prismatic2 = (PrismaticJoint)jointB; LocalAnchor2 = _prismatic2.LocalAnchorB; coordinate2 = _prismatic2.JointTranslation; break; case JointType.FixedRevolute: BodyB = jointB.BodyA; _fixedRevolute2 = (FixedRevoluteJoint)jointB; LocalAnchor2 = _fixedRevolute2.LocalAnchorA; coordinate2 = _fixedRevolute2.JointAngle; break; case JointType.FixedPrismatic: BodyB = jointB.BodyA; _fixedPrismatic2 = (FixedPrismaticJoint)jointB; LocalAnchor2 = _fixedPrismatic2.LocalAnchorA; coordinate2 = _fixedPrismatic2.JointTranslation; break; } _ant = coordinate1 + Ratio * coordinate2; }
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; } } } } } }