void HandleJoint(float delta, FixedPrismaticJoint joint, float i)
{
#if !EDITOR
if ((joint.JointTranslation >= joint.UpperLimit && !this.MovingToStart) ||
(joint.JointTranslation <= joint.LowerLimit && this.MovingToStart))
{
if (joint.MotorSpeed != 0)
{
joint.MotorSpeed = 0.0f;
}
}
else
{
if (_motorSpeed < 0)
{
i *= -1.0f;
}
if (joint.MotorSpeed != this._motorSpeed)
{
joint.MotorSpeed = this._motorSpeed;
}
}
#endif
}
public override void Initialize()
{
if (_world != null && Texture != null)
{
var data = new uint[Texture.Width * Texture.Height];
Texture.GetData(data);
var verts = PolygonTools.CreatePolygon(data, Texture.Width, true);
var scale = ConvertUnits.ToSimUnits(new Vector2(1, 1));
verts.Scale(ref scale);
var list = BayazitDecomposer.ConvexPartition(verts);
var compound = BodyFactory.CreateCompoundPolygon(_world, list, 1);
compound.BodyType = BodyType.Dynamic;
Body = compound;
Body.Restitution = 1;
SetStartPosition();
var joint = new FixedPrismaticJoint(Body, Body.Position, new Vector2(1, 0));
joint.LimitEnabled = true;
joint.LowerLimit = -ConvertUnits.ToSimUnits((_screenBounds.Width - Texture.Width) / 2f);
joint.UpperLimit = ConvertUnits.ToSimUnits((_screenBounds.Width - Texture.Width) / 2f);
joint.Enabled = true;
joint.MaxMotorForce = 70f;
_world.AddJoint(joint);
}
base.Initialize();
}
public static FixedPrismaticJoint CreateFixedPrismaticJoint(World world, Body body, Vector2 worldAnchor, Vector2 axis)
{
FixedPrismaticJoint joint = new FixedPrismaticJoint(body, worldAnchor, axis);
world.AddJoint(joint);
return(joint);
}
/// <summary>
/// Compute and set all necessary settings to move to the vertex specified by <paramref name="vertexIndex"/>.
/// </summary>
/// <param name="vertexIndex">Vertex to move to.</param>
private void SetMoveToVertex(int vertexIndex)
{
// compute move vector and time to get to the vertex
moveVector = path.Vertices[vertexIndex] - actor.Position;
leftTime = moveVector.Length() / Speed.Value;
moveVector /= leftTime;
// destroy prismatic joint if any
if (fixedPrismaticJoint != null)
{
actor.Screen.World.RemoveJoint(fixedPrismaticJoint);
fixedPrismaticJoint = null;
}
// kinematic body
if (actor.Body != null && actor.Body.BodyType == FarseerPhysics.Dynamics.BodyType.Kinematic)
{
actor.Body.LinearVelocity = moveVector;
}
// dynamic body
else if (actor.Body != null && actor.Body.BodyType == FarseerPhysics.Dynamics.BodyType.Dynamic)
{
fixedPrismaticJoint = JointFactory.CreateFixedPrismaticJoint(actor.Screen.World, actor.Body, path.Vertices[vertexIndex], Vector2.Normalize(moveVector));
fixedPrismaticJoint.MotorEnabled = true;
fixedPrismaticJoint.MotorSpeed = Speed.Value;
fixedPrismaticJoint.MaxMotorForce = float.MaxValue / 100f;
}
}
private PrismaticTest()
{
Body ground;
{
ground = BodyFactory.CreateBody(World);
EdgeShape shape3 = new EdgeShape(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape3);
}
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(2.0f, 0.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 10.0f);
body.CreateFixture(shape);
_fixedJoint = new FixedPrismaticJoint(body, body.Position, new Vector2(0.5f, 1.0f));
_fixedJoint.MotorSpeed = 5.0f;
_fixedJoint.MaxMotorForce = 1000.0f;
_fixedJoint.MotorEnabled = true;
_fixedJoint.LowerLimit = -10.0f;
_fixedJoint.UpperLimit = 20.0f;
_fixedJoint.LimitEnabled = true;
World.AddJoint(_fixedJoint);
PolygonShape shape2 = new PolygonShape(5);
shape2.SetAsBox(2.0f, 0.5f);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, 10.0f);
body2.CreateFixture(shape2);
_joint = new PrismaticJoint(ground, body2, ground.GetLocalPoint(body2.Position), Vector2.Zero,
new Vector2(0.5f, 1.0f));
_joint.MotorSpeed = 5.0f;
_joint.MaxMotorForce = 1000.0f;
_joint.MotorEnabled = true;
_joint.LowerLimit = -10.0f;
_joint.UpperLimit = 20.0f;
_joint.LimitEnabled = true;
World.AddJoint(_joint);
}
/// <summary>
/// Call during the method in which you create the body for the object.
/// Make sure it's used afterwards otherwise you'll have issues.
/// </summary>
/// <param name="world"></param>
protected virtual void SetUpJoint(World world)
{
#if EDITOR
#else
this._currentMovingDirection = false;
Vector2 axis = Vector2.Zero;
if (_movementDirection == Direction.Horizontal)
{
if (_endPosition.X < _position.X)
{
axis = new Vector2(-1, 0);
}
else
{
axis = new Vector2(1, 0);
}
}
else
{
if (_endPosition.Y < _position.Y)
{
axis = new Vector2(0, -1);
}
else
{
axis = new Vector2(0, 1);
}
}
this._prismaticJoint = JointFactory.CreateFixedPrismaticJoint(world, this.Body, ConvertUnits.ToSimUnits(this.Position), axis);
if (_movementDirection == Direction.Horizontal)
{
this._prismaticJoint.UpperLimit = Math.Abs(ConvertUnits.ToSimUnits(_endPosition.X - Position.X));
}
else
{
this._prismaticJoint.UpperLimit = Math.Abs(ConvertUnits.ToSimUnits(_endPosition.Y - Position.Y));
}
this._prismaticJoint.LowerLimit = 0.0f;
this._prismaticJoint.LimitEnabled = true;
this._prismaticJoint.MotorEnabled = true;
this._prismaticJoint.MaxMotorForce = float.MaxValue;
if (_startsMoving)
{
this._isMoving = true;
this._prismaticJoint.MotorSpeed = _motorSpeed;
}
#endif
}
/// <inheritdoc />
/// <remarks>
/// Deactive the movement to the location for the actor.
/// </remarks>
protected override void OnUpdateStopped()
{
if (fixedPrismaticJoint != null)
{
actor.Screen.World.RemoveJoint(fixedPrismaticJoint);
fixedPrismaticJoint = null;
}
if (actor != null && actor.Body != null && actor.Body.BodyType == FarseerPhysics.Dynamics.BodyType.Kinematic)
{
actor.Body.LinearVelocity = Vector2.Zero;
}
}
private GearsTest()
{
{
// First circle
CircleShape circle1 = new CircleShape(1.0f, 5);
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(-3.0f, 12.0f);
body1.CreateFixture(circle1);
// Second circle
CircleShape circle2 = new CircleShape(2.0f, 5);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(0.0f, 12.0f);
body2.CreateFixture(circle2);
// Rectangle
Vertices box = PolygonTools.CreateRectangle(0.5f, 5.0f);
PolygonShape polygonBox = new PolygonShape(box, 5);
Body body3 = BodyFactory.CreateBody(World);
body3.BodyType = BodyType.Dynamic;
body3.Position = new Vector2(2.5f, 12.0f);
body3.CreateFixture(polygonBox);
// Fix first circle
_joint1 = new FixedRevoluteJoint(body1, Vector2.Zero, body1.Position);
World.AddJoint(_joint1);
// Fix second circle
_joint2 = new FixedRevoluteJoint(body2, Vector2.Zero, body2.Position);
World.AddJoint(_joint2);
// Fix rectangle
_joint3 = new FixedPrismaticJoint(body3, body3.Position, new Vector2(0.0f, 1.0f));
_joint3.LowerLimit = -5.0f;
_joint3.UpperLimit = 5.0f;
_joint3.LimitEnabled = true;
World.AddJoint(_joint3);
// Attach first and second circle together with a gear joint
_joint4 = new GearJoint(_joint1, _joint2, circle2.Radius / circle1.Radius);
World.AddJoint(_joint4);
// Attach second and rectangle together with a gear joint
_joint5 = new GearJoint(_joint2, _joint3, -1.0f / circle2.Radius);
World.AddJoint(_joint5);
}
}
public override void LoadContent()
{
base.LoadContent();
World.Gravity = new Vector2(0f, 10f);
//HasCursor = false;
//Bounds
Vertices bounds = new Vertices();
bounds.Add(new Vector2(-10, 13));
bounds.Add(new Vector2(-10, -13));
bounds.Add(new Vector2(10, -13));
bounds.Add(new Vector2(10, 13));
Body body = BodyFactory.CreateLoopShape(World, bounds);
//Launcher
FixtureFactory.AttachEdge(new Vector2(9, -3), new Vector2(9f, 12), body);
FixtureFactory.AttachEdge(new Vector2(9, 12), new Vector2(9.5f, 12), body);
FixtureFactory.AttachEdge(new Vector2(9.5f, 12), new Vector2(9.5f, -3.6f), body);
//Jumper
_jumper = BodyFactory.CreateRectangle(World, 0.43f, 0.2f, 5, new Vector2(9.25f, 10));
_jumper.BodyType = BodyType.Dynamic;
Vector2 axis = new Vector2(0.0f, -1.0f);
FixedPrismaticJoint jumperJoint = JointFactory.CreateFixedPrismaticJoint(World, _jumper, _jumper.Position, axis);
jumperJoint.MotorSpeed = 50.0f;
jumperJoint.MaxMotorForce = 100.0f;
jumperJoint.MotorEnabled = true;
jumperJoint.LowerLimit = -2.0f;
jumperJoint.UpperLimit = -0.1f;
jumperJoint.LimitEnabled = true;
//Top arc
FixtureFactory.AttachLineArc(MathHelper.Pi, 50, 9.5f, new Vector2(0, -3), MathHelper.Pi, false, body);
// Circle character
_ball = BodyFactory.CreateBody(World, new Vector2(9.25f, 9.0f));
_ball.BodyType = BodyType.Dynamic;
_ball.IsBullet = true;
_ball.CreateFixture(new CircleShape(0.2f, 1.0f));
}
/// <summary>
/// Compute and set all necessary settings to move to the location.
/// </summary>
protected virtual void InitMovement()
{
if (actor != null && actor.Body != null)
{
// kinematic body
if (actor.Body.BodyType == FarseerPhysics.Dynamics.BodyType.Kinematic)
{
actor.Body.LinearVelocity = moveVector;
}
// dynamic body
else if (actor.Body.BodyType == FarseerPhysics.Dynamics.BodyType.Dynamic)
{
fixedPrismaticJoint = JointFactory.CreateFixedPrismaticJoint(actor.Screen.World, actor.Body, EndLocation.Value, Vector2.Normalize(moveVector));
fixedPrismaticJoint.MotorEnabled = true;
fixedPrismaticJoint.MotorSpeed = speed;
fixedPrismaticJoint.MaxMotorForce = float.MaxValue / 100f;
}
}
}
internal override void UpdateJoint()
{
base.UpdateJoint();
if (this.joint == null)
{
return;
}
FixedPrismaticJoint j = this.joint as FixedPrismaticJoint;
j.LocalAnchorA = PhysicsConvert.ToPhysicalUnit(this.worldAnchor);
j.LocalAnchorB = Vector2.Zero;
j.ReferenceAngle = this.refAngle;
j.LocalXAxis1 = this.moveAxis;
j.LimitEnabled = this.limitEnabled;
j.LowerLimit = PhysicsConvert.ToPhysicalUnit(this.lowerLimit);
j.UpperLimit = PhysicsConvert.ToPhysicalUnit(this.upperLimit);
j.MotorEnabled = this.motorEnabled;
j.MotorSpeed = PhysicsConvert.ToPhysicalUnit(this.motorSpeed) / Time.SPFMult;
j.MaxMotorForce = PhysicsConvert.ToPhysicalUnit(this.maxMotorForce) / Time.SPFMult;
}
protected override void SetupPhysics(World world)
{
float textureWidth = ConvertUnits.ToSimUnits(this._texture.Width);
float textureHeight = ConvertUnits.ToSimUnits(this._texture.Height);
Vector2 axis = SpinAssist.ModifyVectorByOrientation(new Vector2(0, -1), _orientation);
Body body;
#region Shaft
for (int i = 0; i < _shaftPieces; i++)
{
body = new Body(world);
body.Position = ConvertUnits.ToSimUnits(this._position);
body.Rotation = SpinAssist.RotationByOrientation(this._orientation);
if (i == 0)
{
Fixture fixture = FixtureFactory.AttachRectangle(textureWidth, textureHeight, 1.0f, Vector2.Zero, body);
body.BodyType = BodyType.Static;
}
else
{
Fixture fixture = FixtureFactory.AttachRectangle(textureWidth - ((textureWidth * 0.04f) * i), textureHeight, 1.0f, Vector2.Zero, body);
body.BodyType = BodyType.Dynamic;
FixedPrismaticJoint _joint = JointFactory.CreateFixedPrismaticJoint(world, body, ConvertUnits.ToSimUnits(this._position), axis);
_joint.MotorEnabled = true;
_joint.MaxMotorForce = float.MaxValue;
_joint.LimitEnabled = true;
_joint.LowerLimit = 0;
_joint.UpperLimit = (textureHeight * i);
_joints.Add(_joint);
}
body.Friction = 3.0f;
body.CollisionCategories = Category.Cat2;
// Ignore collision with Statics and other pistons.
body.CollidesWith = Category.All & ~Category.Cat2 & ~Category.Cat20;
body.UserData = _materialType;
_shaftBodies.Add(body);
}
#endregion
#region Endpiece
TexVertOutput input = SpinAssist.TexToVert(world, _crusherTexture, ConvertUnits.ToSimUnits(10), true);
_crusherTextureOrigin = -ConvertUnits.ToSimUnits(input.Origin);
this.Body = input.Body;
this.Body.Position = ConvertUnits.ToSimUnits(this._position);
this.Body.Rotation = this._rotation;
this.Body.Friction = 3.0f;
this.Body.Restitution = 0.0f;
this.Body.BodyType = BodyType.Dynamic;
this.Body.Mass = 100.0f;
this.Body.CollisionCategories = Category.Cat2;
// Ignore collision with Statics and other pistons.
this.Body.CollidesWith = Category.All & ~Category.Cat2 & ~Category.Cat20;
this.Body.UserData = _materialType;
this._prismaticJoint = JointFactory.CreateFixedPrismaticJoint(world, this.Body, ConvertUnits.ToSimUnits(this._position + new Vector2(0, 40)), axis);
this._prismaticJoint.UpperLimit = (textureHeight * (_shaftPieces));
this._prismaticJoint.LowerLimit = (textureHeight * 0.5f);
this._prismaticJoint.LimitEnabled = true;
this._prismaticJoint.MotorEnabled = true;
this._prismaticJoint.MaxMotorForce = float.MaxValue;
#endregion
if (_isLethal)
{
float endHeight = ConvertUnits.ToSimUnits(_crusherTexture.Height);
Fixture fix = FixtureFactory.AttachRectangle(
ConvertUnits.ToSimUnits(_crusherTexture.Width - 20),
endHeight * 0.38f,
1.0f, new Vector2(0, -endHeight * 0.4f),
Body);
fix.IsSensor = true;
fix.IgnoreCollisionWith(this.Body.FixtureList[0]);
fix.Body.OnCollision += TouchedLethal;
fix.Body.OnSeparation += LeftLethal;
}
}
private SliderCrankTest()
{
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);
}
{
Body prevBody = ground;
// Define crank.
{
PolygonShape shape = new PolygonShape(2);
shape.SetAsBox(0.5f, 2.0f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 7.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(0.0f, -2.0f);
_joint1 = new RevoluteJoint(prevBody, body, prevBody.GetLocalPoint(body.GetWorldPoint(anchor)),
anchor);
_joint1.MotorSpeed = 1.0f * Settings.Pi;
_joint1.MaxMotorTorque = 10000.0f;
_joint1.MotorEnabled = true;
World.AddJoint(_joint1);
prevBody = body;
}
// Define follower.
{
PolygonShape shape = new PolygonShape(2);
shape.SetAsBox(0.5f, 4.0f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 13.0f);
body.CreateFixture(shape);
Vector2 anchor = new Vector2(0.0f, -4.0f);
RevoluteJoint rjd3 = new RevoluteJoint(prevBody, body,
prevBody.GetLocalPoint(body.GetWorldPoint(anchor)), anchor);
rjd3.MotorEnabled = false;
World.AddJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape(2);
shape.SetAsBox(1.5f, 1.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 17.0f);
body.CreateFixture(shape);
Vector2 anchor = Vector2.Zero;
RevoluteJoint rjd2 = new RevoluteJoint(prevBody, body,
prevBody.GetLocalPoint(body.GetWorldPoint(anchor)), anchor);
World.AddJoint(rjd2);
_joint2 = new FixedPrismaticJoint(body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f));
_joint2.MaxMotorForce = 1000.0f;
_joint2.MotorEnabled = true;
World.AddJoint(_joint2);
}
// Create a payload
{
PolygonShape shape = new PolygonShape(2);
shape.SetAsBox(1.5f, 1.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 23.0f);
body.CreateFixture(shape);
}
}
}
private BodyTypesTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
// Define attachment
{
_attachment = BodyFactory.CreateBody(World);
_attachment.BodyType = BodyType.Dynamic;
_attachment.Position = new Vector2(0.0f, 3.0f);
Vertices box = PolygonTools.CreateRectangle(0.5f, 2.0f);
PolygonShape shape = new PolygonShape(box, 2);
_attachment.CreateFixture(shape);
}
// Define platform
{
_platform = BodyFactory.CreateBody(World);
_platform.BodyType = BodyType.Dynamic;
_platform.Position = new Vector2(0.0f, 5.0f);
Vertices box = PolygonTools.CreateRectangle(4.0f, 0.5f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = _platform.CreateFixture(shape);
fixture.Friction = 0.6f;
RevoluteJoint rjd = new RevoluteJoint(_attachment, _platform,
_attachment.GetLocalPoint(_platform.Position),
Vector2.Zero);
rjd.MaxMotorTorque = 50.0f;
rjd.MotorEnabled = true;
World.AddJoint(rjd);
FixedPrismaticJoint pjd = new FixedPrismaticJoint(_platform, new Vector2(0.0f, 5.0f),
new Vector2(1.0f, 0.0f));
pjd.MaxMotorForce = 1000.0f;
pjd.MotorEnabled = true;
pjd.LowerLimit = -10.0f;
pjd.UpperLimit = 10.0f;
pjd.LimitEnabled = true;
World.AddJoint(pjd);
_speed = 3.0f;
}
// Create a payload
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 8.0f);
Vertices box = PolygonTools.CreateRectangle(0.75f, 0.75f);
PolygonShape shape = new PolygonShape(box, 2);
Fixture fixture = body.CreateFixture(shape);
fixture.Friction = 0.6f;
}
}
