public static PrismaticJoint CreatePrismaticJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
{
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);
world.Add(joint);
return(joint);
}
private PrismaticTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
PolygonShape shape = new PolygonShape(5);
shape.Vertices = PolygonTools.CreateRectangle(2.0f, 0.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-10.0f, 10.0f);
body.Rotation = 0.5f * Settings.Pi;
body.CreateFixture(shape);
// Bouncy limit
Vector2 axis = new Vector2(2.0f, 1.0f);
axis.Normalize();
_joint = new PrismaticJoint(ground, body, Vector2.Zero, axis);
// Non-bouncy limit
//_joint = new PrismaticJoint(ground, body2, body2.Position, new Vector2(-10.0f, 10.0f), new Vector2(1.0f, 0.0f));
_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);
}
public Paddle(PlayerIndex playerIndex, GameplayManager gm, Vector2 position, float width, float height, float maxTranslation, World world) : base(world) {
this.playerIndex = playerIndex;
this.gm = gm;
this.width = width;
this.height = height;
this.maxTranslation = maxTranslation;
startPos = new Vector2(position.X,position.Y) ;
body = BodyFactory.CreateRectangle(world, width, height, 1, position);
body.BodyType = BodyType.Dynamic;
body.CollidesWith = Category.Cat1 | Category.Cat3;
body.CollisionCategories = Category.Cat2;
body.Restitution = 1.0f;
body.Friction = 0.0f;
body.UserData = this;
ground = BodyFactory.CreateRectangle(world, 1, 1, 1);
joint = JointFactory.CreatePrismaticJoint(world, ground, body, position, new Vector2(1, 0),true);
joint.LowerLimit = -maxTranslation + width / 2.0f;
joint.UpperLimit = maxTranslation - width / 2.0f;
joint.LimitEnabled = true;
body.LinearDamping = 7.0f;
}
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);
}
public override void InitJoint ()
{
base.InitJoint ();
//Microsoft.Xna.Framework.FVector2 angleV = new Microsoft.Xna.Framework.FVector2(BodyB.PhysicsBody.Position.X - BodyA.PhysicsBody.Position.X, BodyB.PhysicsBody.Position.Y - BodyA.PhysicsBody.Position.Y);
float ang = Mathf.Atan2(BodyB.PhysicsBody.Position.Y - BodyA.PhysicsBody.Position.Y, BodyB.PhysicsBody.Position.X - BodyA.PhysicsBody.Position.X);
Microsoft.Xna.Framework.FVector2 angleV = new Microsoft.Xna.Framework.FVector2(Mathf.Cos(ang), Mathf.Sin(ang));
//angleV.Normalize();
joint = FarseerPhysics.Factories.JointFactory.CreatePrismaticJoint(FSWorldComponent.PhysicsWorld,
BodyA.PhysicsBody,
BodyB.PhysicsBody,
Microsoft.Xna.Framework.FVector2.Zero,
angleV);
joint.CollideConnected = CollideConnected;
//joint.Frequency = Frequency;
//joint.DampingRatio = 0.5f; d
}
private BodyTypesTest()
{
//Ground
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20.0f, 0.0f), new Vector2(20.0f, 0.0f));
// Define attachment
{
_attachment = BodyFactory.CreateRectangle(World, 1, 4, 2);
_attachment.BodyType = BodyType.Dynamic;
_attachment.Position = new Vector2(0.0f, 3.0f);
}
// Define platform
{
_platform = BodyFactory.CreateRectangle(World, 8.0f, 1f, 2);
_platform.BodyType = BodyType.Dynamic;
_platform.Position = new Vector2(0.0f, 5.0f);
_platform.Friction = 0.6f;
RevoluteJoint rjd = new RevoluteJoint(_attachment, _platform, new Vector2(0, 5), true);
rjd.MaxMotorTorque = 50.0f;
rjd.MotorEnabled = true;
World.AddJoint(rjd);
PrismaticJoint pjd = new PrismaticJoint(ground, _platform, new Vector2(0.0f, 5.0f), new Vector2(1.0f, 0.0f), true);
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.CreateRectangle(World, 1.5f, 1.5f, 2);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 8.0f);
body.Friction = 0.6f;
}
}
/// <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(Joint jointA, Joint 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 static PrismaticJoint CreatePrismaticJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis, bool useWorldCoordinates = false)
{
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, anchor, axis, useWorldCoordinates);
world.AddJoint(joint);
return joint;
}
public override Joint createJoint()
{
var joint = new PrismaticJoint( bodyA, bodyB, ownerBodyAnchor * FSConvert.displayToSim, otherBodyAnchor * FSConvert.displayToSim );
joint.collideConnected = collideConnected;
joint.axis = axis;
joint.limitEnabled = limitEnabled;
joint.lowerLimit = lowerLimit;
joint.upperLimit = upperLimit;
joint.motorEnabled = motorEnabled;
joint.motorSpeed = motorSpeed;
joint.maxMotorForce = maxMotorForce;
joint.motorImpulse = motorImpulse;
return joint;
}
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.Vertices = PolygonTools.CreateRectangle(0.5f, 2.0f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 7.0f);
body.CreateFixture(shape);
_joint1 = new RevoluteJoint(prevBody, body, new Vector2(0f, 5f), true);
_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.Vertices = PolygonTools.CreateRectangle(0.5f, 4.0f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 13.0f);
body.CreateFixture(shape);
RevoluteJoint rjd3 = new RevoluteJoint(prevBody, body, new Vector2(0, 9), true);
rjd3.MotorEnabled = false;
World.AddJoint(rjd3);
prevBody = body;
}
// Define piston
{
PolygonShape shape = new PolygonShape(2);
shape.Vertices = PolygonTools.CreateRectangle(1.5f, 1.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 17.0f);
body.CreateFixture(shape);
RevoluteJoint rjd = new RevoluteJoint(prevBody, body, new Vector2(0, 17), true);
World.AddJoint(rjd);
_joint2 = new PrismaticJoint(ground, body, new Vector2(0.0f, 17.0f), new Vector2(0.0f, 1.0f), true);
_joint2.MaxMotorForce = 1000.0f;
_joint2.MotorEnabled = true;
World.AddJoint(_joint2);
}
// Create a payload
{
PolygonShape shape = new PolygonShape(2);
shape.Vertices = PolygonTools.CreateRectangle(1.5f, 1.5f);
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(0.0f, 23.0f);
body.CreateFixture(shape);
}
}
}
/// <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(Body bodyA, Body bodyB, Vector2 localanchorB, Vector2 axis)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, localanchorA, localanchorB, axis);
return joint;
}
public Player(Vector2 spawn)
{
// To locomote the player, we're going to create a model like this:
// +-----+
// | |
// |torso| <-- Rectangle
// |/---\|
// |legs | <-- circle
// \---/
// With the torso having a fixed angle joint, and the legs having a motorized joint.
var torsoWidth = playerWidth + 0.25f;
var torsoHeight = playerHeight - playerWidth;
Torso.Body = BodyFactory.CreateRectangle(PhysicsSubsystem.Instance.World, torsoWidth, playerHeight - playerWidth / 4, 0.1f, spawn);
Torso.Body.IgnoreGravity = true;
Torso.Body.BodyType = BodyType.Dynamic;
Torso.Body.FixedRotation = true;
Torso.Body.Friction = 0;
Torso.Body.UserData = this;
Legs.Body = BodyFactory.CreateCircle(PhysicsSubsystem.Instance.World, playerWidth/2, 4f, new Vector2(spawn.X, spawn.Y + torsoHeight / 2 + playerWidth / 4));
Legs.Body.BodyType = BodyType.Dynamic;
Legs.Body.Friction = 1000;
Piston.Body = BodyFactory.CreateRectangle(PhysicsSubsystem.Instance.World, playerWidth, playerHeight / 2,
0.5f, spawn);
Piston.Body.BodyType = BodyType.Dynamic;
axis = JointFactory.CreateRevoluteJoint(PhysicsSubsystem.Instance.World, Torso.Body, Legs.Body, Vector2.Zero);
axis.CollideConnected = false;
axis.MotorEnabled = true;
axis.MaxMotorTorque = 20;
//prismatic = JointFactory.CreatePrismaticJoint(PhysicsSubsystem.Instance.World, Piston.Body, Torso.Body,
// Vector2.Zero, -Vector2.UnitY);
spring = JointFactory.CreateDistanceJoint(PhysicsSubsystem.Instance.World, Piston.Body, Torso.Body);
spring.Frequency = 10f;
spring.DampingRatio = 1f;
spring.CollideConnected = false;
prismatic = JointFactory.CreatePrismaticJoint(PhysicsSubsystem.Instance.World, Piston.Body, Torso.Body,
Vector2.Zero, Vector2.UnitY);
prismatic.CollideConnected = false;
Piston.Body.IgnoreCollisionWith(Legs.Body);
Graphics.Sprite = new Sprite(Content.Player);
Graphics.Animation = standingAnimation;
Graphics.FrameSize = new Vector2i(64, 64);
Graphics.Sprite.Origin = new Vector2f(32, 40);
Slicing = 45;
bool jumpInProgress = false, canJump = true, attacking = false, canAttack = true; // 1WEEK
// Map the input to the legs
Input.NoInput += () =>
{
axis.MotorSpeed = 0;
if (!jumpInProgress && !attacking)
Graphics.Animation = standingAnimation;
};
Input.KeyEvents[Keyboard.Key.A] = (key, mods, time) =>
{
if (attacking) return;
if (!jumpInProgress)
{
axis.MotorSpeed = -playerSpeed;
Graphics.Animation = walkingAnimation;
}
else
Legs.Body.ApplyLinearImpulse(new Vector2(-playerAirSpeed * (float)time, 0));
Graphics.Sprite.Scale = new Vector2f(-1, 1); // just flip it
};
Input.KeyEvents[Keyboard.Key.D] = (key, mods, time) =>
{
if (attacking) return;
if (!jumpInProgress)
{
axis.MotorSpeed = playerSpeed;
Graphics.Animation = walkingAnimation;
}
else
Legs.Body.ApplyLinearImpulse(new Vector2(playerAirSpeed * (float)time, 0));
Graphics.Sprite.Scale = new Vector2f(1, 1); // flip it good
};
Input.KeyEvents[Keyboard.Key.W] = (key, mods, time) =>
{
if (canJump)// && !jumpInProgress && !attacking)
{
jumpInProgress = true;
canJump = false;
//Legs.Body.ApplyLinearImpulse(new Vector2(0, -playerJumpForce));
//Piston.Body.ApplyLinearImpulse(new Vector2(0, -playerJumpForce));
spring.Length = playerJumpForce;
axis.MotorSpeed = 0;
Legs.Body.Friction = 0;
jumpTimer.Start();
springResetTimer.Start();
}
};
Input.MouseInput += (btn) =>
{
Vector2 mousePos, position, direction, endPos;
switch (btn)
{
case Mouse.Button.Left:
if (!canAttack) break;
canAttack = false;
Graphics.Animation = jumpInProgress ? vSwingAerialAnimation : vSwingAnimation;
axis.MotorSpeed = 0;
attacking = true;
attackTimer.Start();
mousePos = new Vector2(ConvertUnits.ToSimUnits(Input.MousePosition.X),
ConvertUnits.ToSimUnits(Input.MousePosition.Y));
position = new Vector2(Torso.Position.X, Torso.Position.Y);
direction = mousePos - position;
direction.Normalize();
endPos = position + (direction * 2.5f);
PhysicsSubsystem.Instance.World.RayCast((f, p, n, fr) =>
{
var candy = f.Body.UserData as CandyObject;
if (candy != null && candy.HitPoints > 0)
{
candy.Hit(1, p, direction);
return 0;
}
if (f.Body.UserData is PlatformObject)
return 0;
return 1;
}, position, endPos);
break;
case Mouse.Button.Middle:
break;
case Mouse.Button.Right:
if (!canAttack || Slicing <= 0) break;
canAttack = false;
Graphics.Animation = jumpInProgress ? hSwingAerialAnimation : hSwingAnimation;
axis.MotorSpeed = 0;
attacking = true;
attackTimer.Start();
mousePos = new Vector2(ConvertUnits.ToSimUnits(Input.MousePosition.X),
ConvertUnits.ToSimUnits(Input.MousePosition.Y));
position = new Vector2(Torso.Position.X, Torso.Position.Y);
direction = mousePos - position;
direction.Normalize();
direction *= 2.5f;
endPos = position + direction;
// Find the first thing hit, and if it's a candy, keep track of it.
List<Fixture> fixtures = new List<Fixture>();
List<Vector2> entryPoints = new List<Vector2>();
List<Vector2> exitPoints = new List<Vector2>();
//Get the entry points
PhysicsSubsystem.Instance.World.RayCast((f, p, n, fr) =>
{
if (f.Body.UserData is PlatformObject)
{
return 0;
}
if (f.Body.UserData is CandyObject)
{
fixtures.Add(f);
entryPoints.Add(p);
}
return 1;
}, position, endPos);
if (!entryPoints.Any())
return;
//Reverse the ray to get the exitpoints
PhysicsSubsystem.Instance.World.RayCast((f, p, n, fr) =>
{
if(f.Body.UserData is CandyObject)
exitPoints.Add(p);
return 1;
}, endPos, position);
while (fixtures.Count > exitPoints.Count)
{
fixtures.Remove(fixtures.Last());
entryPoints.Remove(entryPoints.Last());
}
GameplayState.Score += fixtures.Count * 500;
if (fixtures.Count > 0)
Content.SliceSound.Play();
for (int i = 0; i < fixtures.Count; i++)
{
if (fixtures[i].Body.Mass < 2.5) continue;
var originalCandy = fixtures[i].Body.UserData as CandyObject;
Debug.Assert(originalCandy != null);
Slicing = Math.Max(Slicing - originalCandy.Physics.Body.Mass, 0);
originalCandy.Slice(entryPoints[i], exitPoints[i]);
}
break;
}
};
#if DEBUG
Input.KeyEvents[Keyboard.Key.RShift] = (key, mod) => Framework.Graphics.TakeScreenshot();
#endif
Torso.OnFalling += (isFalling) =>
{
if (isFalling)
{
if (!attacking)
Graphics.Animation = fallingAnimation;
jumpInProgress = true;
}
};
Legs.Body.OnCollision += (a, b, c) =>
{
var userData = (a.Body.UserData ?? b.Body.UserData) as WallObject;
if (userData == null)
{
jumpInProgress = false;
Legs.Body.Friction = c.Friction = 1000;
if (!attacking)
Graphics.Animation = standingAnimation;
}
return true;
};
Piston.Body.OnCollision += (a, b, c) =>
{
Graphics.Animation = jumpingAnimation;
Content.JumpSound.Play();
return true;
};
var swingFinished = new EventHandler((sender, args) =>
{
attacking = false;
Graphics.Animation = jumpInProgress ? aerialAnimation : standingAnimation;
});
vSwingAnimation.Finished += swingFinished;
vSwingAerialAnimation.Finished += swingFinished;
hSwingAnimation.Finished += swingFinished;
hSwingAerialAnimation.Finished += swingFinished;
attackTimer.DingDingDing += (sender, args) => canAttack = true;
jumpTimer.DingDingDing += (sender, args) => canJump = true;
springResetTimer.DingDingDing += (sender, args) => spring.Length = 0;
}
/// <summary>
/// Creates a prismatic joint and adds it to the world
/// </summary>
/// <param name="world"></param>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="anchor"></param>
/// <param name="axis"></param>
/// <returns></returns>
public static PrismaticJoint CreatePrismaticJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, Vector2 axis)
{
PrismaticJoint joint = new PrismaticJoint(bodyA, bodyB, anchor, axis);
world.AddJoint(joint);
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>
/// <param name="bodyA">The first body</param>
/// <param name="bodyB">The second body</param>
public GearJoint(Body bodyA, Body bodyB, Joint jointA, Joint jointB, float ratio = 1f)
{
JointType = JointType.Gear;
BodyA = bodyA;
BodyB = bodyB;
JointA = jointA;
JointB = jointB;
Ratio = ratio;
_typeA = jointA.JointType;
_typeB = jointB.JointType;
Debug.Assert(_typeA == JointType.Revolute || _typeA == JointType.Prismatic || _typeA == JointType.FixedRevolute || _typeA == JointType.FixedPrismatic);
Debug.Assert(_typeB == JointType.Revolute || _typeB == JointType.Prismatic || _typeB == JointType.FixedRevolute || _typeB == JointType.FixedPrismatic);
float coordinateA, coordinateB;
// TODO_ERIN there might be some problem with the joint edges in b2Joint.
_bodyC = JointA.BodyA;
_bodyA = JointA.BodyB;
// Get geometry of joint1
Transform xfA = _bodyA._xf;
float aA = _bodyA._sweep.A;
Transform xfC = _bodyC._xf;
float aC = _bodyC._sweep.A;
if (_typeA == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)jointA;
_localAnchorC = revolute.LocalAnchorA;
_localAnchorA = revolute.LocalAnchorB;
_referenceAngleA = revolute.ReferenceAngle;
_localAxisC = Vector2.Zero;
coordinateA = aA - aC - _referenceAngleA;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)jointA;
_localAnchorC = prismatic.LocalAnchorA;
_localAnchorA = prismatic.LocalAnchorB;
_referenceAngleA = prismatic.ReferenceAngle;
_localAxisC = prismatic.LocalXAxis;
Vector2 pC = _localAnchorC;
Vector2 pA = MathUtils.MulT(xfC.q, MathUtils.Mul(xfA.q, _localAnchorA) + (xfA.p - xfC.p));
coordinateA = Vector2.Dot(pA - pC, _localAxisC);
}
_bodyD = JointB.BodyA;
_bodyB = JointB.BodyB;
// Get geometry of joint2
Transform xfB = _bodyB._xf;
float aB = _bodyB._sweep.A;
Transform xfD = _bodyD._xf;
float aD = _bodyD._sweep.A;
if (_typeB == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)jointB;
_localAnchorD = revolute.LocalAnchorA;
_localAnchorB = revolute.LocalAnchorB;
_referenceAngleB = revolute.ReferenceAngle;
_localAxisD = Vector2.Zero;
coordinateB = aB - aD - _referenceAngleB;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)jointB;
_localAnchorD = prismatic.LocalAnchorA;
_localAnchorB = prismatic.LocalAnchorB;
_referenceAngleB = prismatic.ReferenceAngle;
_localAxisD = prismatic.LocalXAxis;
Vector2 pD = _localAnchorD;
Vector2 pB = MathUtils.MulT(xfD.q, MathUtils.Mul(xfB.q, _localAnchorB) + (xfB.p - xfD.p));
coordinateB = Vector2.Dot(pB - pD, _localAxisD);
}
_ratio = ratio;
_constant = coordinateA + _ratio * coordinateB;
_impulse = 0.0f;
}
/// <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(Joint jointA, Joint 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.Type == BodyType.Static);
}
if (type2 == JointType.Revolute || type2 == JointType.Prismatic)
{
Debug.Assert(jointB.BodyA.Type == 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;
}
private void Resize(float scaleFactor) {
width *= scaleFactor;
List<Ball> tmpBalls = new List<Ball>();
while (ballAttachments.Count > 0)
{
tmpBalls.Add(ballAttachments[0].BodyB.UserData as Ball);
world.RemoveJoint(ballAttachments[0]);
ballAttachments.RemoveAt(0);
}
world.RemoveJoint(joint);
Vector2 pos = body.Position;
Vector2 linearVel = body.LinearVelocity;
float mass = body.Mass;
world.RemoveBody(body);
body = BodyFactory.CreateRectangle(world, width, height, 1, pos);
body.BodyType = BodyType.Dynamic;
body.CollidesWith = Category.Cat1 | Category.Cat3;
body.CollisionCategories = Category.Cat2;
body.Restitution = 1.0f;
body.Friction = 0.0f;
body.UserData = this;
body.Mass = mass;
body.LinearVelocity = linearVel;
joint = JointFactory.CreatePrismaticJoint(world, ground, body, startPos, new Vector2(1, 0), true);
joint.LowerLimit = -maxTranslation + width / 2.0f + (startPos.X - pos.X);
joint.UpperLimit = maxTranslation - width / 2.0f + (startPos.X - pos.X);
joint.LimitEnabled = true;
body.LinearDamping = 5.0f;
foreach (Ball b in tmpBalls)
Attach(b);
}
public virtual bool OnCollidedWith(Fixture f, UserControlledCharacter character, Fixture charfix, Contact info)
{
if (!Hanging && character.Physics.LinearVelocity.Y > 0)
{
character.Physics.ResetDynamics();
character.WheelBody.ResetDynamics();
joint = JointFactory.CreatePrismaticJoint(
world,
character.WheelBody,
Physics,
Vector2.Zero,
Vector2.UnitX);
origLinearDamping = character.Physics.LinearDamping;
character.Physics.LinearDamping = 10;
Hanging = true;
}
return true;
}
/// <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(FarseerJoint jointA, FarseerJoint jointB, float ratio)
: base(jointA.BodyA, jointA.BodyB)
{
JointType = JointType.Gear;
JointA = jointA;
JointB = jointB;
Ratio = ratio;
m_typeA = jointA.JointType;
m_typeB = jointB.JointType;
// Make sure its the right kind of joint
Debug.Assert(m_typeA == JointType.Revolute || m_typeA == JointType.Prismatic || m_typeA == JointType.FixedRevolute || m_typeA == JointType.FixedPrismatic);
Debug.Assert(m_typeB == JointType.Revolute || m_typeB == JointType.Prismatic || m_typeB == JointType.FixedRevolute || m_typeB == JointType.FixedPrismatic);
float coordinateA = 0.0f, coordinateB = 0.0f;
m_bodyC = JointA.BodyA;
BodyA = JointA.BodyB;
// Get geometry of joint1
Transform xfA = BodyA.Xf;
float aA = BodyA.Sweep.A;
Transform xfC = m_bodyC.Xf;
float aC = m_bodyC.Sweep.A;
if (m_typeA == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)jointA;
m_localAnchorC = revolute.LocalAnchorA;
m_localAnchorA = revolute.LocalAnchorB;
m_referenceAngleA = revolute.ReferenceAngle;
m_localAxisC = FVector2.Zero;
coordinateA = aA - aC - m_referenceAngleA;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)jointA;
m_localAnchorC = prismatic.LocalAnchorA;
m_localAnchorA = prismatic.LocalAnchorB;
m_referenceAngleA = prismatic.ReferenceAngle;
m_localAxisC = prismatic.LocalXAxisA;
FVector2 pC = m_localAnchorC;
FVector2 pA = MathUtils.MulT(xfC.q, MathUtils.Mul(xfA.q, m_localAnchorA) + (xfA.p - xfC.p));
coordinateA = FVector2.Dot(pA - pC, m_localAxisC);
}
m_bodyD = JointB.BodyA;
BodyB = JointB.BodyB;
// Get geometry of joint2
Transform xfB = BodyB.Xf;
float aB = BodyB.Sweep.A;
Transform xfD = m_bodyD.Xf;
float aD = m_bodyD.Sweep.A;
if (m_typeB == JointType.Revolute)
{
RevoluteJoint revolute = (RevoluteJoint)jointB;
m_localAnchorD = revolute.LocalAnchorA;
m_localAnchorB = revolute.LocalAnchorB;
m_referenceAngleB = revolute.ReferenceAngle;
m_localAxisD = FVector2.Zero;
coordinateB = aB - aD - m_referenceAngleB;
}
else
{
PrismaticJoint prismatic = (PrismaticJoint)jointB;
m_localAnchorD = prismatic.LocalAnchorA;
m_localAnchorB = prismatic.LocalAnchorB;
m_referenceAngleB = prismatic.ReferenceAngle;
m_localAxisD = prismatic.LocalXAxisA;
FVector2 pD = m_localAnchorD;
FVector2 pB = MathUtils.MulT(xfD.q, MathUtils.Mul(xfB.q, m_localAnchorB) + (xfB.p - xfD.p));
coordinateB = FVector2.Dot(pB - pD, m_localAxisD);
}
_ratio = ratio;
m_constant = coordinateA + _ratio * coordinateB;
}
private CollisionFilteringTest()
{
//Ground
BodyFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
// Small triangle
Vertices vertices = new Vertices(3);
vertices.Add(new Vector2(-1.0f, 0.0f));
vertices.Add(new Vector2(1.0f, 0.0f));
vertices.Add(new Vector2(0.0f, 2.0f));
PolygonShape polygon = new PolygonShape(vertices, 1);
Body triangleBody = BodyFactory.CreateBody(World);
triangleBody.BodyType = BodyType.Dynamic;
triangleBody.Position = new Vector2(-5.0f, 2.0f);
Fixture triangleFixture = triangleBody.CreateFixture(polygon);
triangleFixture.CollisionGroup = SmallGroup;
triangleFixture.CollisionCategories = TriangleCategory;
triangleFixture.CollidesWith = TriangleMask;
// Large triangle (recycle definitions)
vertices[0] *= 2.0f;
vertices[1] *= 2.0f;
vertices[2] *= 2.0f;
polygon.Set(vertices);
Body triangleBody2 = BodyFactory.CreateBody(World);
triangleBody2.BodyType = BodyType.Dynamic;
triangleBody2.Position = new Vector2(-5.0f, 6.0f);
triangleBody2.FixedRotation = true; // look at me!
Fixture triangleFixture2 = triangleBody2.CreateFixture(polygon);
triangleFixture2.CollisionGroup = LargeGroup;
triangleFixture2.CollisionCategories = TriangleCategory;
triangleFixture2.CollidesWith = TriangleMask;
{
Body body = BodyFactory.CreateBody(World);
body.BodyType = BodyType.Dynamic;
body.Position = new Vector2(-5.0f, 10.0f);
Vertices box = PolygonTools.CreateRectangle(0.5f, 1.0f);
PolygonShape p = new PolygonShape(box, 1);
body.CreateFixture(p);
PrismaticJoint jd = new PrismaticJoint(triangleBody2, body,
triangleBody2.GetLocalPoint(body.Position),
Vector2.Zero, new Vector2(0.0f, 1.0f));
jd.LimitEnabled = true;
jd.LowerLimit = -1.0f;
jd.UpperLimit = 1.0f;
World.AddJoint(jd);
}
// Small box
polygon.SetAsBox(1.0f, 0.5f);
Body boxBody = BodyFactory.CreateBody(World);
boxBody.BodyType = BodyType.Dynamic;
boxBody.Position = new Vector2(0.0f, 2.0f);
Fixture boxFixture = boxBody.CreateFixture(polygon);
boxFixture.Restitution = 0.1f;
boxFixture.CollisionGroup = SmallGroup;
boxFixture.CollisionCategories = BoxCategory;
boxFixture.CollidesWith = BoxMask;
// Large box (recycle definitions)
polygon.SetAsBox(2, 1);
Body boxBody2 = BodyFactory.CreateBody(World);
boxBody2.BodyType = BodyType.Dynamic;
boxBody2.Position = new Vector2(0.0f, 6.0f);
Fixture boxFixture2 = boxBody2.CreateFixture(polygon);
boxFixture2.CollisionGroup = LargeGroup;
boxFixture2.CollisionCategories = BoxCategory;
boxFixture2.CollidesWith = BoxMask;
// Small circle
CircleShape circle = new CircleShape(1.0f, 1);
Body circleBody = BodyFactory.CreateBody(World);
circleBody.BodyType = BodyType.Dynamic;
circleBody.Position = new Vector2(5.0f, 2.0f);
Fixture circleFixture = circleBody.CreateFixture(circle);
circleFixture.CollisionGroup = SmallGroup;
circleFixture.CollisionCategories = CircleCategory;
circleFixture.CollidesWith = CircleMask;
// Large circle
circle.Radius *= 2.0f;
Body circleBody2 = BodyFactory.CreateBody(World);
circleBody2.BodyType = BodyType.Dynamic;
circleBody2.Position = new Vector2(5.0f, 6.0f);
Fixture circleFixture2 = circleBody2.CreateFixture(circle);
circleFixture2.CollisionGroup = LargeGroup;
circleFixture2.CollisionCategories = CircleCategory;
circleFixture2.CollidesWith = CircleMask;
// Large circle - Ignore with other large circle
Body circleBody3 = BodyFactory.CreateBody(World);
circleBody3.BodyType = BodyType.Dynamic;
circleBody3.Position = new Vector2(6.0f, 9.0f);
//Another large circle. This one uses IgnoreCollisionWith() logic instead of categories.
Fixture circleFixture3 = circleBody3.CreateFixture(circle);
circleFixture3.CollisionGroup = LargeGroup;
circleFixture3.CollisionCategories = CircleCategory;
circleFixture3.CollidesWith = CircleMask;
circleFixture3.IgnoreCollisionWith(circleFixture2);
}
}
private GearsTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(50.0f, 0.0f), new Vector2(-50.0f, 0.0f));
{
CircleShape circle1 = new CircleShape(1.0f, 5f);
PolygonShape box = new PolygonShape(5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 5.0f);
CircleShape circle2 = new CircleShape(2.0f, 5f);
Body body1 = BodyFactory.CreateBody(World, new Vector2(10.0f, 9.0f));
body1.CreateFixture(circle1);
Body body2 = BodyFactory.CreateBody(World, new Vector2(10.0f, 8.0f));
body2.BodyType = BodyType.Dynamic;
body2.CreateFixture(box);
Body body3 = BodyFactory.CreateBody(World, new Vector2(10.0f, 6.0f));
body3.BodyType = BodyType.Dynamic;
body3.CreateFixture(circle2);
RevoluteJoint joint1 = new RevoluteJoint(body2, body1, body1.Position, true);
World.AddJoint(joint1);
RevoluteJoint joint2 = new RevoluteJoint(body2, body3, body3.Position, true);
World.AddJoint(joint2);
GearJoint joint4 = new GearJoint(joint1, joint2, circle2.Radius / circle1.Radius);
joint4.BodyA = body1;
joint4.BodyB = body3;
World.AddJoint(joint4);
}
{
CircleShape circle1 = new CircleShape(1.0f, 5.0f);
CircleShape circle2 = new CircleShape(2.0f, 5.0f);
PolygonShape box = new PolygonShape(5f);
box.Vertices = PolygonTools.CreateRectangle(0.5f, 5.0f);
Body body1 = BodyFactory.CreateBody(World, new Vector2(-3.0f, 12.0f));
body1.BodyType = BodyType.Dynamic;
body1.CreateFixture(circle1);
_joint1 = new RevoluteJoint(ground, body1, body1.Position, true);
_joint1.ReferenceAngle = body1.Rotation - ground.Rotation;
World.AddJoint(_joint1);
Body body2 = BodyFactory.CreateBody(World, new Vector2(0.0f, 12.0f));
body2.BodyType = BodyType.Dynamic;
body2.CreateFixture(circle2);
_joint2 = new RevoluteJoint(ground, body2, body2.Position, true);
World.AddJoint(_joint2);
Body body3 = BodyFactory.CreateBody(World, new Vector2(2.5f, 12.0f));
body3.BodyType = BodyType.Dynamic;
body3.CreateFixture(box);
_joint3 = new PrismaticJoint(ground, body3, body3.Position, new Vector2(0.0f, 1.0f));
_joint3.LowerLimit = -5.0f;
_joint3.UpperLimit = 5.0f;
_joint3.LimitEnabled = true;
World.AddJoint(_joint3);
_joint4 = new GearJoint(_joint1, _joint2, circle2.Radius / circle1.Radius);
_joint4.BodyA = body1;
_joint4.BodyB = body2;
World.AddJoint(_joint4);
_joint5 = new GearJoint(_joint2, _joint3, -1.0f / circle2.Radius);
_joint5.BodyA = body2;
_joint5.BodyB = body3;
World.AddJoint(_joint5);
}
}
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;
}
}
}
}
}
}
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;
}
