Exemplo n.º 1
0
        /// <inheritdoc />
        protected override void PostStep()
        {
            if (Input.GetKeyDown(KeyCode.J))
            {
                if (_rope != null)
                {
                    World.DestroyJoint(_rope);
                    _rope = null;
                }
                else
                {
                    _rope = World.CreateJoint(_ropeDef);
                }
            }

            DrawString("Press (j) to toggle the rope joint.");
            if (_rope != null)
            {
                DrawString("Rope ON");
            }
            else
            {
                DrawString("Rope OFF");
            }
        }
Exemplo n.º 2
0
 /// <inheritdoc />
 public override void JointDestroyed(Joint joint)
 {
     for (var i = 0; i < 8; ++i)
     {
         if (_joints[i] == joint)
         {
             _joints[i] = null;
             break;
         }
     }
 }
Exemplo n.º 3
0
 /// <inheritdoc />
 /// <inheritdoc />
 public override void OnKeyDown(KeyboardKeyEventArgs key)
 {
     if (key.Key == Key.J)
     {
         if (_rope != null)
         {
             World.DestroyJoint(_rope);
             _rope = null;
         }
         else
         {
             _rope = World.CreateJoint(_ropeDef);
         }
     }
 }
Exemplo n.º 4
0
 /// <inheritdoc />
 /// <inheritdoc />
 public override void OnKeyDown(KeyInputEventArgs keyInput)
 {
     if (keyInput.Key == KeyCodes.J)
     {
         if (_rope != null)
         {
             World.DestroyJoint(_rope);
             _rope = null;
         }
         else
         {
             _rope = World.CreateJoint(_ropeDef);
         }
     }
 }
Exemplo n.º 5
0
 /// <inheritdoc />
 protected override void OnStep()
 {
     if (Input.GetKeyDown(KeyCode.J))
     {
         if (_rope != null)
         {
             World.DestroyJoint(_rope);
             _rope = null;
         }
         else
         {
             _rope = World.CreateJoint(_ropeDef);
         }
     }
 }
Exemplo n.º 6
0
        public RopeJoint()
        {
            Body ground;
            {
                var bd = new BodyDef();
                ground = World.CreateBody(bd);

                var shape = new EdgeShape();
                shape.SetTwoSided(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
                ground.CreateFixture(shape, 0.0f);
            }

            {
                var shape = new PolygonShape();
                shape.SetAsBox(0.5f, 0.125f);

                var fd = new FixtureDef();
                fd.Shape    = shape;
                fd.Density  = 20.0f;
                fd.Friction = 0.2f;
                var filter = fd.Filter;
                filter.CategoryBits = 0x0001;
                filter.MaskBits     = 0xFFFF & ~0x0002;
                fd.Filter           = filter;
                var jd = new RevoluteJointDef();
                jd.CollideConnected = false;

                const int   N = 10;
                const float y = 15.0f;
                _ropeDef.LocalAnchorA.Set(0.0f, y);

                var prevBody = ground;
                for (var i = 0; i < N; ++i)
                {
                    var bd = new BodyDef();
                    bd.BodyType = BodyType.DynamicBody;
                    bd.Position.Set(0.5f + 1.0f * i, y);
                    if (i == N - 1)
                    {
                        shape.SetAsBox(1.5f, 1.5f);
                        fd.Density          = 100.0f;
                        filter              = fd.Filter;
                        filter.CategoryBits = 0x0002;
                        fd.Filter           = filter;
                        bd.Position.Set(1.0f * i, y);
                        bd.AngularDamping = 0.4f;
                    }

                    var body = World.CreateBody(bd);

                    body.CreateFixture(fd);

                    var anchor = new Vector2(i, y);
                    jd.Initialize(prevBody, body, anchor);
                    World.CreateJoint(jd);

                    prevBody = body;
                }

                _ropeDef.LocalAnchorB.SetZero();

                var extraLength = 0.01f;
                _ropeDef.MaxLength = N - 1.0f + extraLength;
                _ropeDef.BodyB     = prevBody;
            }

            {
                _ropeDef.BodyA = ground;
                _rope          = World.CreateJoint(_ropeDef);
            }
        }
Exemplo n.º 7
0
 /// <inheritdoc />
 public void Dispose()
 {
     Other = null;
     Joint = null;
     Node  = null;
 }
Exemplo n.º 8
0
        public GearJoint(GearJointDef def) : base(def)
        {
            _joint1 = def.Joint1;
            _joint2 = def.Joint2;

            _typeA = _joint1.JointType;
            _typeB = _joint2.JointType;

            Debug.Assert(_typeA == JointType.RevoluteJoint || _typeA == JointType.PrismaticJoint);
            Debug.Assert(_typeB == JointType.RevoluteJoint || _typeB == JointType.PrismaticJoint);

            Single coordinateA, coordinateB;

            // TODO_ERIN there might be some problem with the joint edges in b2Joint.

            _bodyC = _joint1.BodyA;
            BodyA  = _joint1.BodyB;

            // Get geometry of joint1
            var xfA = BodyA.Transform;
            var aA  = BodyA.Sweep.A;
            var xfC = _bodyC.Transform;
            var aC  = _bodyC.Sweep.A;

            if (_typeA == JointType.RevoluteJoint)
            {
                var revolute = (RevoluteJoint)def.Joint1;
                _localAnchorC    = revolute.LocalAnchorA;
                _localAnchorA    = revolute.LocalAnchorB;
                _referenceAngleA = revolute.ReferenceAngle;
                _localAxisC.SetZero();

                coordinateA = aA - aC - _referenceAngleA;
            }
            else
            {
                var prismatic = (PrismaticJoint)def.Joint1;
                _localAnchorC    = prismatic.LocalAnchorA;
                _localAnchorA    = prismatic.LocalAnchorB;
                _referenceAngleA = prismatic.ReferenceAngle;
                _localAxisC      = prismatic.LocalXAxisA;

                var pC = _localAnchorC;
                var pA = MathUtils.MulT(
                    xfC.Rotation,
                    MathUtils.Mul(xfA.Rotation, _localAnchorA) + (xfA.Position - xfC.Position));
                coordinateA = MathUtils.Dot(pA - pC, _localAxisC);
            }

            _bodyD = _joint2.BodyA;
            BodyB  = _joint2.BodyB;

            // Get geometry of joint2
            var xfB = BodyB.Transform;
            var aB  = BodyB.Sweep.A;
            var xfD = _bodyD.Transform;
            var aD  = _bodyD.Sweep.A;

            if (_typeB == JointType.RevoluteJoint)
            {
                var revolute = (RevoluteJoint)def.Joint2;
                _localAnchorD    = revolute.LocalAnchorA;
                _localAnchorB    = revolute.LocalAnchorB;
                _referenceAngleB = revolute.ReferenceAngle;
                _localAxisD.SetZero();

                coordinateB = aB - aD - _referenceAngleB;
            }
            else
            {
                var prismatic = (PrismaticJoint)def.Joint2;
                _localAnchorD    = prismatic.LocalAnchorA;
                _localAnchorB    = prismatic.LocalAnchorB;
                _referenceAngleB = prismatic.ReferenceAngle;
                _localAxisD      = prismatic.LocalXAxisA;

                var pD = _localAnchorD;
                var pB = MathUtils.MulT(
                    xfD.Rotation,
                    MathUtils.Mul(xfB.Rotation, _localAnchorB) + (xfB.Position - xfD.Position));
                coordinateB = MathUtils.Dot(pB - pD, _localAxisD);
            }

            _ratio = def.Ratio;

            _constant = coordinateA + _ratio * coordinateB;

            _impulse = 0.0f;
        }