public static PulleyJoint CreatePulleyJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB,
Vector2 worldAnchorA, Vector2 worldAnchorB, float ratio, bool useWorldCoordinates = false)
{
PulleyJoint pulleyJoint = new PulleyJoint(bodyA, bodyB, anchorA, anchorB, worldAnchorA, worldAnchorB, ratio, useWorldCoordinates);
world.AddJoint(pulleyJoint);
return pulleyJoint;
}
private PulleysTest()
{
//Ground
Body ground = BodyFactory.CreateBody(World);
FixtureFactory.AttachCircle(2, 0, ground, new Vector2(-10.0f, Y + B + L));
FixtureFactory.AttachCircle(2, 0, ground, new Vector2(10.0f, Y + B + L));
{
PolygonShape shape = new PolygonShape(5);
shape.Vertices = PolygonTools.CreateRectangle(A, B);
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(-10.0f, Y);
body1.CreateFixture(shape);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, Y);
body2.CreateFixture(shape);
Vector2 anchor1 = new Vector2(-10.0f, Y + B);
Vector2 anchor2 = new Vector2(10.0f, Y + B);
Vector2 groundAnchor1 = new Vector2(-10.0f, Y + B + L);
Vector2 groundAnchor2 = new Vector2(10.0f, Y + B + L);
_joint1 = new PulleyJoint(body1, body2, anchor1, anchor2, groundAnchor1, groundAnchor2, 1.5f, true);
World.AddJoint(_joint1);
}
}
public static PulleyJoint CreatePulleyJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, Vector2 worldAnchorA, Vector2 worldAnchorB, float ratio, bool useWorldCoordinates = false)
{
PulleyJoint pulleyJoint = new PulleyJoint(bodyA, bodyB, anchorA, anchorB, worldAnchorA, worldAnchorB, ratio, useWorldCoordinates);
world.Add(pulleyJoint);
return(pulleyJoint);
}
private PulleysTest()
{
//Ground
FixtureFactory.CreateEdge(World, new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
{
const float a = 2.0f;
const float b = 4.0f;
const float y = 16.0f;
const float l = 12.0f;
PolygonShape shape = new PolygonShape(5);
shape.SetAsBox(a, b);
Body body1 = BodyFactory.CreateBody(World);
body1.BodyType = BodyType.Dynamic;
body1.Position = new Vector2(-10.0f, y);
body1.CreateFixture(shape);
Body body2 = BodyFactory.CreateBody(World);
body2.BodyType = BodyType.Dynamic;
body2.Position = new Vector2(10.0f, y);
body2.CreateFixture(shape);
Vector2 anchor1 = new Vector2(-10.0f, y + b);
Vector2 anchor2 = new Vector2(10.0f, y + b);
Vector2 groundAnchor1 = new Vector2(-10.0f, y + b + l);
Vector2 groundAnchor2 = new Vector2(10.0f, y + b + l);
_joint1 = new PulleyJoint(body1, body2, groundAnchor1, groundAnchor2, body1.GetLocalPoint(anchor1),
body2.GetLocalPoint(anchor2), 2.0f);
World.AddJoint(_joint1);
}
}
public override void InitJoint ()
{
base.InitJoint ();
Vector3 p0 = BodyA.transform.TransformPoint(new Vector3(LocalAnchorA.x, LocalAnchorA.y, -5f));
Vector3 p1 = BodyB.transform.TransformPoint(new Vector3(LocalAnchorB.x, LocalAnchorB.y, -5f));
joint = JointFactory.CreatePulleyJoint(FSWorldComponent.PhysicsWorld,
BodyA.PhysicsBody,
BodyB.PhysicsBody,
FSHelper.Vector3ToFVector2(GroundAnchorA.position),
FSHelper.Vector3ToFVector2(GroundAnchorB.position),
BodyA.PhysicsBody.GetLocalPoint(FSHelper.Vector3ToFVector2(p0)),
BodyB.PhysicsBody.GetLocalPoint(FSHelper.Vector3ToFVector2(p1)),
ForceRatio);
joint.CollideConnected = CollideConnected;
}
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 override Joint createJoint()
{
var joint = new PulleyJoint( bodyA, bodyB, ownerBodyAnchor * FSConvert.displayToSim, otherBodyGroundAnchor * FSConvert.displayToSim,
ownerBodyGroundAnchor * FSConvert.displayToSim, otherBodyGroundAnchor * FSConvert.displayToSim, ratio );
joint.collideConnected = collideConnected;
return joint;
}
public static PulleyJoint CreatePulleyJoint(World world, Body bodyA, Body bodyB, Vector2 groundAnchorA,
Vector2 groundAnchorB, Vector2 anchorA, Vector2 anchorB, float ratio)
{
PulleyJoint pulleyJoint = new PulleyJoint(bodyA, bodyB, groundAnchorA, groundAnchorB, anchorA, anchorB,
ratio);
world.AddJoint(pulleyJoint);
return pulleyJoint;
}
protected override Joint CreateJoint(Body bodyA, Body bodyB)
{
if (bodyA == null || bodyB == null) return null;
PulleyJoint joint = new PulleyJoint(bodyA, bodyB, Vector2.Zero, Vector2.Zero, Vector2.Zero, Vector2.Zero, 1.0f);
Scene.PhysicsWorld.AddJoint(joint);
return joint;
}
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;
}
