public static Fixture AttachCircle(float radius, float density, PhysicsBody body, object userData) { if (radius <= 0) throw new ArgumentOutOfRangeException("radius", "Radius must be more than 0 meters"); CircleShape circleShape = new CircleShape(radius, density); return body.CreateFixture(circleShape, userData); }
public bool CompareTo(CircleShape shape) { return (Radius == shape.Radius && Position == shape.Position); }
public override Shape Clone() { CircleShape shape = new CircleShape(); shape._radius = Radius; shape._density = _density; shape._position = _position; shape.ShapeType = ShapeType; shape.MassData = MassData; return shape; }
public static PhysicsBody CreateCapsule(PhysicsWorld world, float height, float endRadius, float density, object userData) { //Create the middle rectangle Vertices rectangle = PolygonTools.CreateRectangle(endRadius, height / 2); List<Vertices> list = new List<Vertices>(); list.Add(rectangle); PhysicsBody body = CreateCompoundPolygon(world, list, density, userData); //Create the two circles CircleShape topCircle = new CircleShape(endRadius, density); topCircle.Position = new Vector2(0, height / 2); body.CreateFixture(topCircle, userData); CircleShape bottomCircle = new CircleShape(endRadius, density); bottomCircle.Position = new Vector2(0, -(height / 2)); body.CreateFixture(bottomCircle, userData); return body; }
/// <summary> /// Compute contact points for edge versus circle. /// This accounts for edge connectivity. /// </summary> /// <param name="manifold">The manifold.</param> /// <param name="edgeA">The edge A.</param> /// <param name="transformA">The transform A.</param> /// <param name="circleB">The circle B.</param> /// <param name="transformB">The transform B.</param> public static void CollideEdgeAndCircle(ref Manifold manifold, EdgeShape edgeA, ref Transform transformA, CircleShape circleB, ref Transform transformB) { manifold.PointCount = 0; // Compute circle in frame of edge Vector2 Q = MathUtils.MultiplyT(ref transformA, MathUtils.Multiply(ref transformB, ref circleB._position)); Vector2 A = edgeA.Vertex1, B = edgeA.Vertex2; Vector2 e = B - A; // Barycentric coordinates float u = Vector2.Dot(e, B - Q); float v = Vector2.Dot(e, Q - A); float radius = edgeA.Radius + circleB.Radius; ContactFeature cf; cf.IndexB = 0; cf.TypeB = (byte)ContactFeatureType.Vertex; Vector2 P, d; // Region A if (v <= 0.0f) { P = A; d = Q - P; float dd; Vector2.Dot(ref d, ref d, out dd); if (dd > radius * radius) { return; } // Is there an edge connected to A? if (edgeA.HasVertex0) { Vector2 A1 = edgeA.Vertex0; Vector2 B1 = A; Vector2 e1 = B1 - A1; float u1 = Vector2.Dot(e1, B1 - Q); // Is the circle in Region AB of the previous edge? if (u1 > 0.0f) { return; } } cf.IndexA = 0; cf.TypeA = (byte)ContactFeatureType.Vertex; manifold.PointCount = 1; manifold.Type = ManifoldType.Circles; manifold.LocalNormal = Vector2.Zero; manifold.LocalPoint = P; ManifoldPoint mp = new ManifoldPoint(); mp.Id.Key = 0; mp.Id.Features = cf; mp.LocalPoint = circleB.Position; manifold.Points[0] = mp; return; } // Region B if (u <= 0.0f) { P = B; d = Q - P; float dd; Vector2.Dot(ref d, ref d, out dd); if (dd > radius * radius) { return; } // Is there an edge connected to B? if (edgeA.HasVertex3) { Vector2 B2 = edgeA.Vertex3; Vector2 A2 = B; Vector2 e2 = B2 - A2; float v2 = Vector2.Dot(e2, Q - A2); // Is the circle in Region AB of the next edge? if (v2 > 0.0f) { return; } } cf.IndexA = 1; cf.TypeA = (byte)ContactFeatureType.Vertex; manifold.PointCount = 1; manifold.Type = ManifoldType.Circles; manifold.LocalNormal = Vector2.Zero; manifold.LocalPoint = P; ManifoldPoint mp = new ManifoldPoint(); mp.Id.Key = 0; mp.Id.Features = cf; mp.LocalPoint = circleB.Position; manifold.Points[0] = mp; return; } // Region AB float den; Vector2.Dot(ref e, ref e, out den); Debug.Assert(den > 0.0f); P = (1.0f / den) * (u * A + v * B); d = Q - P; float dd2; Vector2.Dot(ref d, ref d, out dd2); if (dd2 > radius * radius) { return; } Vector2 n = new Vector2(-e.Y, e.X); if (Vector2.Dot(n, Q - A) < 0.0f) { n = new Vector2(-n.X, -n.Y); } n.Normalize(); cf.IndexA = 0; cf.TypeA = (byte)ContactFeatureType.Face; manifold.PointCount = 1; manifold.Type = ManifoldType.FaceA; manifold.LocalNormal = n; manifold.LocalPoint = A; ManifoldPoint mp2 = new ManifoldPoint(); mp2.Id.Key = 0; mp2.Id.Features = cf; mp2.LocalPoint = circleB.Position; manifold.Points[0] = mp2; }
/// Compute the collision manifold between two circles. public static void CollideCircles(ref Manifold manifold, CircleShape circleA, ref Transform xfA, CircleShape circleB, ref Transform xfB) { manifold.PointCount = 0; float pAx = xfA.Position.X + xfA.R.Col1.X * circleA.Position.X + xfA.R.Col2.X * circleA.Position.Y; float pAy = xfA.Position.Y + xfA.R.Col1.Y * circleA.Position.X + xfA.R.Col2.Y * circleA.Position.Y; float pBx = xfB.Position.X + xfB.R.Col1.X * circleB.Position.X + xfB.R.Col2.X * circleB.Position.Y; float pBy = xfB.Position.Y + xfB.R.Col1.Y * circleB.Position.X + xfB.R.Col2.Y * circleB.Position.Y; float distSqr = (pBx - pAx) * (pBx - pAx) + (pBy - pAy) * (pBy - pAy); float radius = circleA.Radius + circleB.Radius; if (distSqr > radius * radius) { return; } manifold.Type = ManifoldType.Circles; manifold.LocalPoint = circleA.Position; manifold.LocalNormal = Vector2.Zero; manifold.PointCount = 1; ManifoldPoint p0 = manifold.Points[0]; p0.LocalPoint = circleB.Position; p0.Id.Key = 0; manifold.Points[0] = p0; }
/// <summary> /// Compute the collision manifold between a polygon and a circle. /// </summary> /// <param name="manifold">The manifold.</param> /// <param name="polygonA">The polygon A.</param> /// <param name="transformA">The transform of A.</param> /// <param name="circleB">The circle B.</param> /// <param name="transformB">The transform of B.</param> public static void CollidePolygonAndCircle(ref Manifold manifold, PolygonShape polygonA, ref Transform transformA, CircleShape circleB, ref Transform transformB) { manifold.PointCount = 0; // Compute circle position in the frame of the polygon. Vector2 c = new Vector2( transformB.Position.X + transformB.R.Col1.X * circleB.Position.X + transformB.R.Col2.X * circleB.Position.Y, transformB.Position.Y + transformB.R.Col1.Y * circleB.Position.X + transformB.R.Col2.Y * circleB.Position.Y); Vector2 cLocal = new Vector2( (c.X - transformA.Position.X) * transformA.R.Col1.X + (c.Y - transformA.Position.Y) * transformA.R.Col1.Y, (c.X - transformA.Position.X) * transformA.R.Col2.X + (c.Y - transformA.Position.Y) * transformA.R.Col2.Y); // Find the min separating edge. int normalIndex = 0; float separation = -Settings.MaxFloat; float radius = polygonA.Radius + circleB.Radius; int vertexCount = polygonA.Vertices.Count; for (int i = 0; i < vertexCount; ++i) { Vector2 value1 = polygonA.Normals[i]; Vector2 value2 = cLocal - polygonA.Vertices[i]; float s = value1.X * value2.X + value1.Y * value2.Y; if (s > radius) { // Early out. return; } if (s > separation) { separation = s; normalIndex = i; } } // Vertices that subtend the incident face. int vertIndex1 = normalIndex; int vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0; Vector2 v1 = polygonA.Vertices[vertIndex1]; Vector2 v2 = polygonA.Vertices[vertIndex2]; // If the center is inside the polygon ... if (separation < Settings.Epsilon) { manifold.PointCount = 1; manifold.Type = ManifoldType.FaceA; manifold.LocalNormal = polygonA.Normals[normalIndex]; manifold.LocalPoint = 0.5f * (v1 + v2); ManifoldPoint p0 = manifold.Points[0]; p0.LocalPoint = circleB.Position; p0.Id.Key = 0; manifold.Points[0] = p0; return; } // Compute barycentric coordinates float u1 = (cLocal.X - v1.X) * (v2.X - v1.X) + (cLocal.Y - v1.Y) * (v2.Y - v1.Y); float u2 = (cLocal.X - v2.X) * (v1.X - v2.X) + (cLocal.Y - v2.Y) * (v1.Y - v2.Y); if (u1 <= 0.0f) { float r = (cLocal.X - v1.X) * (cLocal.X - v1.X) + (cLocal.Y - v1.Y) * (cLocal.Y - v1.Y); if (r > radius * radius) { return; } manifold.PointCount = 1; manifold.Type = ManifoldType.FaceA; manifold.LocalNormal = cLocal - v1; float factor = 1f / (float) Math.Sqrt(manifold.LocalNormal.X * manifold.LocalNormal.X + manifold.LocalNormal.Y * manifold.LocalNormal.Y); manifold.LocalNormal.X = manifold.LocalNormal.X * factor; manifold.LocalNormal.Y = manifold.LocalNormal.Y * factor; manifold.LocalPoint = v1; ManifoldPoint p0b = manifold.Points[0]; p0b.LocalPoint = circleB.Position; p0b.Id.Key = 0; manifold.Points[0] = p0b; } else if (u2 <= 0.0f) { float r = (cLocal.X - v2.X) * (cLocal.X - v2.X) + (cLocal.Y - v2.Y) * (cLocal.Y - v2.Y); if (r > radius * radius) { return; } manifold.PointCount = 1; manifold.Type = ManifoldType.FaceA; manifold.LocalNormal = cLocal - v2; float factor = 1f / (float) Math.Sqrt(manifold.LocalNormal.X * manifold.LocalNormal.X + manifold.LocalNormal.Y * manifold.LocalNormal.Y); manifold.LocalNormal.X = manifold.LocalNormal.X * factor; manifold.LocalNormal.Y = manifold.LocalNormal.Y * factor; manifold.LocalPoint = v2; ManifoldPoint p0c = manifold.Points[0]; p0c.LocalPoint = circleB.Position; p0c.Id.Key = 0; manifold.Points[0] = p0c; } else { Vector2 faceCenter = 0.5f * (v1 + v2); Vector2 value1 = cLocal - faceCenter; Vector2 value2 = polygonA.Normals[vertIndex1]; float separation2 = value1.X * value2.X + value1.Y * value2.Y; if (separation2 > radius) { return; } manifold.PointCount = 1; manifold.Type = ManifoldType.FaceA; manifold.LocalNormal = polygonA.Normals[vertIndex1]; manifold.LocalPoint = faceCenter; ManifoldPoint p0d = manifold.Points[0]; p0d.LocalPoint = circleB.Position; p0d.Id.Key = 0; manifold.Points[0] = p0d; } }
public void Deserialize(PhysicsWorld world, Stream stream) { world.Clear(); XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream); if (root.Name.ToLower() != "world") throw new Exception(); foreach (XMLFragmentElement main in root.Elements) { if (main.Name.ToLower() == "gravity") { world.Gravity = ReadVector(main); } } foreach (XMLFragmentElement shapeElement in root.Elements) { if (shapeElement.Name.ToLower() == "shapes") { foreach (XMLFragmentElement n in shapeElement.Elements) { if (n.Name.ToLower() != "shape") throw new Exception(); ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true); switch (type) { case ShapeType.Circle: { CircleShape shape = new CircleShape(); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "radius": shape.Radius = float.Parse(sn.Value); break; case "position": shape.Position = ReadVector(sn); break; default: throw new Exception(); } } _shapes.Add(shape); } break; case ShapeType.Polygon: { PolygonShape shape = new PolygonShape(); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "vertices": { List<Vector2> verts = new List<Vector2>(); foreach (XMLFragmentElement vert in sn.Elements) verts.Add(ReadVector(vert)); shape.Set(new Vertices(verts.ToArray())); } break; case "centroid": shape.MassData.Centroid = ReadVector(sn); break; } } _shapes.Add(shape); } break; case ShapeType.Edge: { EdgeShape shape = new EdgeShape(); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "hasvertex0": shape.HasVertex0 = bool.Parse(sn.Value); break; case "hasvertex3": shape.HasVertex0 = bool.Parse(sn.Value); break; case "vertex0": shape.Vertex0 = ReadVector(sn); break; case "vertex1": shape.Vertex1 = ReadVector(sn); break; case "vertex2": shape.Vertex2 = ReadVector(sn); break; case "vertex3": shape.Vertex3 = ReadVector(sn); break; default: throw new Exception(); } } _shapes.Add(shape); } break; } } } } foreach (XMLFragmentElement fixtureElement in root.Elements) { if (fixtureElement.Name.ToLower() == "fixtures") { foreach (XMLFragmentElement n in fixtureElement.Elements) { Fixture fixture = new Fixture(); if (n.Name.ToLower() != "fixture") throw new Exception(); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "shape": fixture.Shape = _shapes[int.Parse(sn.Value)]; break; case "density": fixture.Shape.Density = float.Parse(sn.Value); break; case "filterdata": foreach (XMLFragmentElement ssn in sn.Elements) { switch (ssn.Name.ToLower()) { case "categorybits": fixture._collisionCategories = (Category)int.Parse(ssn.Value); break; case "maskbits": fixture._collidesWith = (Category)int.Parse(ssn.Value); break; case "groupindex": fixture._collisionGroup = short.Parse(ssn.Value); break; } } break; case "friction": fixture.Friction = float.Parse(sn.Value); break; case "issensor": fixture.IsSensor = bool.Parse(sn.Value); break; case "restitution": fixture.Restitution = float.Parse(sn.Value); break; case "userdata": fixture.UserData = ReadSimpleType(sn, null, false); break; } } _fixtures.Add(fixture); } } } foreach (XMLFragmentElement bodyElement in root.Elements) { if (bodyElement.Name.ToLower() == "bodies") { foreach (XMLFragmentElement n in bodyElement.Elements) { PhysicsBody body = new PhysicsBody(world); if (n.Name.ToLower() != "body") throw new Exception(); body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "active": if (bool.Parse(sn.Value)) body.Flags |= BodyFlags.Enabled; else body.Flags &= ~BodyFlags.Enabled; break; case "allowsleep": body.SleepingAllowed = bool.Parse(sn.Value); break; case "angle": { Vector2 position = body.Position; body.SetTransformIgnoreContacts(ref position, float.Parse(sn.Value)); } break; case "angulardamping": body.AngularDamping = float.Parse(sn.Value); break; case "angularvelocity": body.AngularVelocity = float.Parse(sn.Value); break; case "awake": body.Awake = bool.Parse(sn.Value); break; case "bullet": body.IsBullet = bool.Parse(sn.Value); break; case "fixedrotation": body.FixedRotation = bool.Parse(sn.Value); break; case "lineardamping": body.LinearDamping = float.Parse(sn.Value); break; case "linearvelocity": body.LinearVelocity = ReadVector(sn); break; case "position": { float rotation = body.Rotation; Vector2 position = ReadVector(sn); body.SetTransformIgnoreContacts(ref position, rotation); } break; case "userdata": body.UserData = ReadSimpleType(sn, null, false); break; case "fixtures": { foreach (XMLFragmentElement v in sn.Elements) { Fixture blueprint = _fixtures[int.Parse(v.Value)]; Fixture f = new Fixture(body, blueprint.Shape); f.Restitution = blueprint.Restitution; f.UserData = blueprint.UserData; f.Friction = blueprint.Friction; f.CollidesWith = blueprint.CollidesWith; f.CollisionCategories = blueprint.CollisionCategories; f.CollisionGroup = blueprint.CollisionGroup; } break; } } } _bodies.Add(body); } } } foreach (XMLFragmentElement jointElement in root.Elements) { if (jointElement.Name.ToLower() == "joints") { foreach (XMLFragmentElement n in jointElement.Elements) { PhysicsJoint joint; if (n.Name.ToLower() != "joint") throw new Exception(); JointType type = (JointType)Enum.Parse(typeof(JointType), n.Attributes[0].Value, true); int bodyAIndex = -1, bodyBIndex = -1; bool collideConnected = false; object userData = null; foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "bodya": bodyAIndex = int.Parse(sn.Value); break; case "bodyb": bodyBIndex = int.Parse(sn.Value); break; case "collideconnected": collideConnected = bool.Parse(sn.Value); break; case "userdata": userData = ReadSimpleType(sn, null, false); break; } } PhysicsBody bodyA = _bodies[bodyAIndex]; PhysicsBody bodyB = _bodies[bodyBIndex]; switch (type) { case JointType.Distance: joint = new DistanceJoint(); break; case JointType.Friction: joint = new FrictionJoint(); break; case JointType.Line: joint = new LineJoint(); break; case JointType.Prismatic: joint = new PrismaticJoint(); break; case JointType.Pulley: joint = new PulleyJoint(); break; case JointType.Revolute: joint = new RevoluteJoint(); break; case JointType.Weld: joint = new WeldJoint(); break; case JointType.Rope: joint = new RopeJoint(); break; case JointType.Angle: joint = new AngleJoint(); break; case JointType.Slider: joint = new SliderJoint(); break; case JointType.Gear: throw new Exception("GearJoint is not supported."); default: throw new Exception("Invalid or unsupported joint."); } joint.CollideConnected = collideConnected; joint.UserData = userData; joint.BodyA = bodyA; joint.BodyB = bodyB; _joints.Add(joint); world.AddJoint(joint); foreach (XMLFragmentElement sn in n.Elements) { // check for specific nodes switch (type) { case JointType.Distance: { switch (sn.Name.ToLower()) { case "dampingratio": ((DistanceJoint)joint).DampingRatio = float.Parse(sn.Value); break; case "frequencyhz": ((DistanceJoint)joint).Frequency = float.Parse(sn.Value); break; case "length": ((DistanceJoint)joint).Length = float.Parse(sn.Value); break; case "localanchora": ((DistanceJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((DistanceJoint)joint).LocalAnchorB = ReadVector(sn); break; } } break; case JointType.Friction: { switch (sn.Name.ToLower()) { case "localanchora": ((FrictionJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((FrictionJoint)joint).LocalAnchorB = ReadVector(sn); break; case "maxforce": ((FrictionJoint)joint).MaxForce = float.Parse(sn.Value); break; case "maxtorque": ((FrictionJoint)joint).MaxTorque = float.Parse(sn.Value); break; } } break; case JointType.Line: { switch (sn.Name.ToLower()) { case "enablemotor": ((LineJoint)joint).MotorEnabled = bool.Parse(sn.Value); break; case "localanchora": ((LineJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((LineJoint)joint).LocalAnchorB = ReadVector(sn); break; case "motorspeed": ((LineJoint)joint).MotorSpeed = float.Parse(sn.Value); break; case "dampingratio": ((LineJoint)joint).DampingRatio = float.Parse(sn.Value); break; case "maxmotortorque": ((LineJoint)joint).MaxMotorTorque = float.Parse(sn.Value); break; case "frequencyhz": ((LineJoint)joint).Frequency = float.Parse(sn.Value); break; case "localxaxis": ((LineJoint)joint).LocalXAxis = ReadVector(sn); break; } } break; case JointType.Prismatic: { switch (sn.Name.ToLower()) { case "enablelimit": ((PrismaticJoint)joint).LimitEnabled = bool.Parse(sn.Value); break; case "enablemotor": ((PrismaticJoint)joint).MotorEnabled = bool.Parse(sn.Value); break; case "localanchora": ((PrismaticJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((PrismaticJoint)joint).LocalAnchorB = ReadVector(sn); break; case "local1axis1": ((PrismaticJoint)joint).LocalXAxis1 = ReadVector(sn); break; case "maxmotorforce": ((PrismaticJoint)joint).MaxMotorForce = float.Parse(sn.Value); break; case "motorspeed": ((PrismaticJoint)joint).MotorSpeed = float.Parse(sn.Value); break; case "lowertranslation": ((PrismaticJoint)joint).LowerLimit = float.Parse(sn.Value); break; case "uppertranslation": ((PrismaticJoint)joint).UpperLimit = float.Parse(sn.Value); break; case "referenceangle": ((PrismaticJoint)joint).ReferenceAngle = float.Parse(sn.Value); break; } } break; case JointType.Pulley: { switch (sn.Name.ToLower()) { case "groundanchora": ((PulleyJoint)joint).GroundAnchorA = ReadVector(sn); break; case "groundanchorb": ((PulleyJoint)joint).GroundAnchorB = ReadVector(sn); break; case "lengtha": ((PulleyJoint)joint).LengthA = float.Parse(sn.Value); break; case "lengthb": ((PulleyJoint)joint).LengthB = float.Parse(sn.Value); break; case "localanchora": ((PulleyJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((PulleyJoint)joint).LocalAnchorB = ReadVector(sn); break; case "maxlengtha": ((PulleyJoint)joint).MaxLengthA = float.Parse(sn.Value); break; case "maxlengthb": ((PulleyJoint)joint).MaxLengthB = float.Parse(sn.Value); break; case "ratio": ((PulleyJoint)joint).Ratio = float.Parse(sn.Value); break; } } break; case JointType.Revolute: { switch (sn.Name.ToLower()) { case "enablelimit": ((RevoluteJoint)joint).LimitEnabled = bool.Parse(sn.Value); break; case "enablemotor": ((RevoluteJoint)joint).MotorEnabled = bool.Parse(sn.Value); break; case "localanchora": ((RevoluteJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((RevoluteJoint)joint).LocalAnchorB = ReadVector(sn); break; case "maxmotortorque": ((RevoluteJoint)joint).MaxMotorTorque = float.Parse(sn.Value); break; case "motorspeed": ((RevoluteJoint)joint).MotorSpeed = float.Parse(sn.Value); break; case "lowerangle": ((RevoluteJoint)joint).LowerLimit = float.Parse(sn.Value); break; case "upperangle": ((RevoluteJoint)joint).UpperLimit = float.Parse(sn.Value); break; case "referenceangle": ((RevoluteJoint)joint).ReferenceAngle = float.Parse(sn.Value); break; } } break; case JointType.Weld: { switch (sn.Name.ToLower()) { case "localanchora": ((WeldJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((WeldJoint)joint).LocalAnchorB = ReadVector(sn); break; } } break; case JointType.Rope: { switch (sn.Name.ToLower()) { case "localanchora": ((RopeJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((RopeJoint)joint).LocalAnchorB = ReadVector(sn); break; case "maxlength": ((RopeJoint)joint).MaxLength = float.Parse(sn.Value); break; } } break; case JointType.Gear: throw new Exception("Gear joint is unsupported"); case JointType.Angle: { switch (sn.Name.ToLower()) { case "biasfactor": ((AngleJoint)joint).BiasFactor = float.Parse(sn.Value); break; case "maximpulse": ((AngleJoint)joint).MaxImpulse = float.Parse(sn.Value); break; case "softness": ((AngleJoint)joint).Softness = float.Parse(sn.Value); break; case "targetangle": ((AngleJoint)joint).TargetAngle = float.Parse(sn.Value); break; } } break; case JointType.Slider: { switch (sn.Name.ToLower()) { case "dampingratio": ((SliderJoint)joint).DampingRatio = float.Parse(sn.Value); break; case "frequencyhz": ((SliderJoint)joint).Frequency = float.Parse(sn.Value); break; case "maxlength": ((SliderJoint)joint).MaxLength = float.Parse(sn.Value); break; case "minlength": ((SliderJoint)joint).MinLength = float.Parse(sn.Value); break; case "localanchora": ((SliderJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((SliderJoint)joint).LocalAnchorB = ReadVector(sn); break; } } break; } } } } } }