public void Remove(IGameObject obj)
{
if (!(obj is PhysicsObject))
{
throw new NotImplementedException("Currently only PhysicsObjects can be added to a structure.");
}
PhysicsObject physObj = (PhysicsObject)obj;
if (!objects.Contains(physObj))
{
return;
}
physObj.ParentStructure = null;
physObj.CollisionIgnorer = null;
physObj.CollisionIgnoreGroup = 0;
physObj.Collided -= this.OnCollided;
foreach (var joint in Joints.FindAll(j => j.Object1 == physObj || j.Object2 == physObj))
{
joint.Destroy();
PhysicsGameBase.Instance.Remove(joint);
}
objects.Remove(physObj);
CalculateMomentOfInertia();
}
private void LoadFile(string filename)
{
XDocument xdoc = XDocument.Load(filename);
XElement node = xdoc.Element("robot");
Name = node.Attribute("name")?.Value;
Materials = node.ReadMaterials(); // multiple
Links = node.ReadLinks(); // multiple
Joints = node.ReadJoints(); // multiple
// build tree structure from link and joint lists:
foreach (Link.Link link in Links)
{
link.Joints = Joints.FindAll(v => v.Parent == link.Name);
}
foreach (Joint.Joint joint in Joints)
{
joint.ChildLink = Links.Find(v => v.Name == joint.Child);
}
// save root node only:
Root = FindRootLink(Links, Joints);
}