private void SerializeJoint(Joint joint)
{
if (joint.IsFixedType())
return;
_writer.WriteStartElement("Joint");
_writer.WriteAttributeString("Type", joint.JointType.ToString());
WriteElement("BodyA", FindBodyIndex(joint.BodyA));
WriteElement("BodyB", FindBodyIndex(joint.BodyB));
WriteElement("CollideConnected", joint.CollideConnected);
WriteElement("Breakpoint", joint.Breakpoint);
if (joint.UserData != null)
{
_writer.WriteStartElement("UserData");
WriteDynamicType(joint.UserData.GetType(), joint.UserData);
_writer.WriteEndElement();
}
switch (joint.JointType)
{
case JointType.Distance:
{
DistanceJoint djd = (DistanceJoint)joint;
WriteElement("DampingRatio", djd.DampingRatio);
WriteElement("FrequencyHz", djd.Frequency);
WriteElement("Length", djd.Length);
WriteElement("LocalAnchorA", djd.LocalAnchorA);
WriteElement("LocalAnchorB", djd.LocalAnchorB);
}
break;
case JointType.Friction:
{
FrictionJoint fjd = (FrictionJoint)joint;
WriteElement("LocalAnchorA", fjd.LocalAnchorA);
WriteElement("LocalAnchorB", fjd.LocalAnchorB);
WriteElement("MaxForce", fjd.MaxForce);
WriteElement("MaxTorque", fjd.MaxTorque);
}
break;
case JointType.Gear:
throw new Exception("Gear joint not supported by serialization");
case JointType.Line:
{
LineJoint ljd = (LineJoint)joint;
WriteElement("EnableMotor", ljd.MotorEnabled);
WriteElement("LocalAnchorA", ljd.LocalAnchorA);
WriteElement("LocalAnchorB", ljd.LocalAnchorB);
WriteElement("MotorSpeed", ljd.MotorSpeed);
WriteElement("DampingRatio", ljd.DampingRatio);
WriteElement("MaxMotorTorque", ljd.MaxMotorTorque);
WriteElement("FrequencyHz", ljd.Frequency);
WriteElement("LocalXAxis", ljd.LocalXAxis);
}
break;
case JointType.Prismatic:
{
PrismaticJoint pjd = (PrismaticJoint)joint;
//NOTE: Does not conform with Box2DScene
WriteElement("EnableLimit", pjd.LimitEnabled);
WriteElement("EnableMotor", pjd.MotorEnabled);
WriteElement("LocalAnchorA", pjd.LocalAnchorA);
WriteElement("LocalAnchorB", pjd.LocalAnchorB);
WriteElement("LocalXAxis1", pjd.LocalXAxis1);
WriteElement("LowerTranslation", pjd.LowerLimit);
WriteElement("UpperTranslation", pjd.UpperLimit);
WriteElement("MaxMotorForce", pjd.MaxMotorForce);
WriteElement("MotorSpeed", pjd.MotorSpeed);
}
break;
case JointType.Pulley:
{
PulleyJoint pjd = (PulleyJoint)joint;
WriteElement("GroundAnchorA", pjd.GroundAnchorA);
WriteElement("GroundAnchorB", pjd.GroundAnchorB);
WriteElement("LengthA", pjd.LengthA);
WriteElement("LengthB", pjd.LengthB);
WriteElement("LocalAnchorA", pjd.LocalAnchorA);
WriteElement("LocalAnchorB", pjd.LocalAnchorB);
WriteElement("MaxLengthA", pjd.MaxLengthA);
WriteElement("MaxLengthB", pjd.MaxLengthB);
WriteElement("Ratio", pjd.Ratio);
}
break;
case JointType.Revolute:
{
RevoluteJoint rjd = (RevoluteJoint)joint;
WriteElement("EnableLimit", rjd.LimitEnabled);
WriteElement("EnableMotor", rjd.MotorEnabled);
WriteElement("LocalAnchorA", rjd.LocalAnchorA);
WriteElement("LocalAnchorB", rjd.LocalAnchorB);
WriteElement("LowerAngle", rjd.LowerLimit);
WriteElement("MaxMotorTorque", rjd.MaxMotorTorque);
WriteElement("MotorSpeed", rjd.MotorSpeed);
WriteElement("ReferenceAngle", rjd.ReferenceAngle);
WriteElement("UpperAngle", rjd.UpperLimit);
}
break;
case JointType.Weld:
{
WeldJoint wjd = (WeldJoint)joint;
WriteElement("LocalAnchorA", wjd.LocalAnchorA);
WriteElement("LocalAnchorB", wjd.LocalAnchorB);
}
break;
//
// Not part of Box2DScene
//
case JointType.Rope:
{
RopeJoint rjd = (RopeJoint)joint;
WriteElement("LocalAnchorA", rjd.LocalAnchorA);
WriteElement("LocalAnchorB", rjd.LocalAnchorB);
WriteElement("MaxLength", rjd.MaxLength);
}
break;
case JointType.Angle:
{
AngleJoint aj = (AngleJoint)joint;
WriteElement("BiasFactor", aj.BiasFactor);
WriteElement("MaxImpulse", aj.MaxImpulse);
WriteElement("Softness", aj.Softness);
WriteElement("TargetAngle", aj.TargetAngle);
}
break;
case JointType.Slider:
{
SliderJoint sliderJoint = (SliderJoint)joint;
WriteElement("DampingRatio", sliderJoint.DampingRatio);
WriteElement("FrequencyHz", sliderJoint.Frequency);
WriteElement("MaxLength", sliderJoint.MaxLength);
WriteElement("MinLength", sliderJoint.MinLength);
WriteElement("LocalAnchorA", sliderJoint.LocalAnchorA);
WriteElement("LocalAnchorB", sliderJoint.LocalAnchorB);
}
break;
default:
throw new Exception("Joint not supported");
}
_writer.WriteEndElement();
}
private void DrawJoint(Joint joint)
{
if (!joint.Enabled)
return;
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1;
b1.GetTransform(out xf1);
Vector2 x2 = Vector2.Zero;
// WIP David
if (!joint.IsFixedType())
{
Transform xf2;
b2.GetTransform(out xf2);
x2 = xf2.p;
}
Vector2 p1 = joint.WorldAnchorA;
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.p;
Color color = Color.FromArgb(255, 128, 205, 205);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = b1.GetWorldPoint(pulley.LocalAnchorA);
Vector2 s2 = b2.GetWorldPoint(pulley.LocalAnchorB);
DrawSegment(p1, p2, color);
DrawSegment(p1, s1, color);
DrawSegment(p2, s2, color);
break;
case JointType.FixedMouse:
DrawPoint(p1, 0.5f, Color.FromArgb(255, 0, 255, 0));
DrawSegment(p1, p2, Color.FromArgb(255, 205, 205, 205));
break;
case JointType.Revolute:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
DrawSolidCircle(p2, 0.1f, Vector2.Zero, Colors.Red);
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Colors.Blue);
break;
case JointType.FixedAngle:
//Should not draw anything.
break;
case JointType.FixedRevolute:
DrawSegment(x1, p1, color);
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Colors.Purple);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
private void DrawJoint(Joint joint)
{
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1, xf2;
b1.GetTransform(out xf1);
Vector2 x2 = new Vector2();
// WIP David
if (!joint.IsFixedType())
{
b2.GetTransform(out xf2);
x2 = xf2.Position;
}
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.Position;
Vector2 p1 = joint.WorldAnchorA;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
{
PulleyJoint pulley = (PulleyJoint) joint;
Vector2 s1 = pulley.GroundAnchorA;
Vector2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, color);
DrawSegment(s2, p2, color);
DrawSegment(s1, s2, color);
}
break;
case JointType.FixedMouse:
FixedMouseJoint fixedMouseJoint = (FixedMouseJoint) joint;
p1 = fixedMouseJoint.Target;
DrawPoint(p2, 0.5f, new Color(0.0f, 1.0f, 0.0f));
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
case JointType.Revolute:
//DrawSegment(x2, p1, color);
DrawSegment(p2, p1, color);
DrawSolidCircle(p2, 0.1f, new Vector2(), Color.Red);
DrawSolidCircle(p1, 0.1f, new Vector2(), Color.Blue);
break;
case JointType.FixedRevolute:
DrawSolidCircle(p1, 0.1f, new Vector2(), Color.Pink);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
//DrawSegment(x1, p1, color);
//DrawSegment(p1, p2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
private void DrawJoint(Joint joint)
{
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1, xf2;
b1.GetTransform(out xf1);
Vector2 x2 = new Vector2();
// WIP David
if (!joint.IsFixedType())
{
b2.GetTransform(out xf2);
x2 = xf2.p;
}
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.p;
Vector2 p1 = joint.WorldAnchorA;
Color color = Color.FromArgb(255, 128, 205, 205);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
{
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = pulley.GroundAnchorA;
Vector2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, color);
DrawSegment(s2, p2, color);
DrawSegment(s1, s2, color);
}
break;
case JointType.FixedMouse:
DrawPoint(p1, 0.5f, Color.FromArgb(255, 0, 255, 0));
DrawSegment(p1, p2, Color.FromArgb(255, 205, 205, 205));
break;
case JointType.Revolute:
//DrawSegment(x2, p1, color);
DrawSegment(p2, p1, color);
DrawSolidCircle(p2, 0.1f, new Vector2(), Colors.Red);
DrawSolidCircle(p1, 0.1f, new Vector2(), Colors.Blue);
break;
case JointType.FixedRevolute:
DrawSolidCircle(p1, 0.1f, new Vector2(), Colors.Purple);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
//DrawSegment(x1, p1, color);
//DrawSegment(p1, p2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
/// <summary>
/// Destroy a joint. This may cause the connected bodies to begin colliding.
/// Warning: This function is locked during callbacks.
/// </summary>
/// <param name="joint">The joint.</param>
public void RemoveJoint(Joint joint)
{
Debug.Assert(!IsLocked);
if (IsLocked)
{
return;
}
bool collideConnected = joint.CollideConnected;
// Remove from the world list.
JointList.Remove(joint);
// Disconnect from island graph.
Body bodyA = joint.BodyA;
Body bodyB = joint.BodyB;
// Wake up connected bodies.
bodyA.Awake = true;
// WIP David
if (!joint.IsFixedType())
{
bodyB.Awake = true;
}
// Remove from body 1.
if (joint.EdgeA.Prev != null)
{
joint.EdgeA.Prev.Next = joint.EdgeA.Next;
}
if (joint.EdgeA.Next != null)
{
joint.EdgeA.Next.Prev = joint.EdgeA.Prev;
}
if (joint.EdgeA == bodyA.JointList)
{
bodyA.JointList = joint.EdgeA.Next;
}
joint.EdgeA.Prev = null;
joint.EdgeA.Next = null;
// WIP David
if (!joint.IsFixedType())
{
// Remove from body 2
if (joint.EdgeB.Prev != null)
{
joint.EdgeB.Prev.Next = joint.EdgeB.Next;
}
if (joint.EdgeB.Next != null)
{
joint.EdgeB.Next.Prev = joint.EdgeB.Prev;
}
if (joint.EdgeB == bodyB.JointList)
{
bodyB.JointList = joint.EdgeB.Next;
}
joint.EdgeB.Prev = null;
joint.EdgeB.Next = null;
}
// WIP David
if (!joint.IsFixedType())
{
// If the joint prevents collisions, then flag any contacts for filtering.
if (collideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact.FlagForFiltering();
}
edge = edge.Next;
}
}
}
if (JointRemoved != null)
{
JointRemoved(joint);
}
}
/// <summary>
/// Create a joint to constrain bodies together. This may cause the connected bodies to cease colliding.
/// Warning: This function is locked during callbacks.
/// </summary>
/// <param name="joint">The joint.</param>
public void AddJoint(Joint joint)
{
Debug.Assert(!IsLocked);
if (IsLocked)
{
return;
}
// Connect to the world list.
JointList.Add(joint);
// Connect to the bodies' doubly linked lists.
joint.EdgeA.Joint = joint;
joint.EdgeA.Other = joint.BodyB;
joint.EdgeA.Prev = null;
joint.EdgeA.Next = joint.BodyA.JointList;
if (joint.BodyA.JointList != null)
joint.BodyA.JointList.Prev = joint.EdgeA;
joint.BodyA.JointList = joint.EdgeA;
// WIP David
if (!joint.IsFixedType())
{
joint.EdgeB.Joint = joint;
joint.EdgeB.Other = joint.BodyA;
joint.EdgeB.Prev = null;
joint.EdgeB.Next = joint.BodyB.JointList;
if (joint.BodyB.JointList != null)
joint.BodyB.JointList.Prev = joint.EdgeB;
joint.BodyB.JointList = joint.EdgeB;
}
// WIP David
if (!joint.IsFixedType())
{
Body bodyA = joint.BodyA;
Body bodyB = joint.BodyB;
// If the joint prevents collisions, then flag any contacts for filtering.
if (joint.CollideConnected == false)
{
ContactEdge edge = bodyB.ContactList;
while (edge != null)
{
if (edge.Other == bodyA)
{
// Flag the contact for filtering at the next time step (where either
// body is awake).
edge.Contact.FlagForFiltering();
}
edge = edge.Next;
}
}
}
if (JointAdded != null)
JointAdded(joint);
// Note: creating a joint doesn't wake the bodies.
}
