private PulleysTest()
{
//Ground
BodyFactory.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 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, anchorA, anchorB, groundAnchorA, groundAnchorB, ratio);
world.AddJoint(pulleyJoint);
return(pulleyJoint);
}
protected override void Create()
{
var y = 16.0f;
var L = 12.0f;
var a = 1.0f;
var b = 2.0f;
Body ground;
{
var bd = new BodyDef();
ground = World.CreateBody(bd);
var edge = new EdgeShape();
edge.Set(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
//ground.CreateFixture(shape, 0.0f);
var circle = new CircleShape();
circle.Radius = 2.0f;
circle.Position.Set(-10.0f, y + b + L);
ground.CreateFixture(circle, 0.0f);
circle.Position.Set(10.0f, y + b + L);
ground.CreateFixture(circle, 0.0f);
}
{
var shape = new PolygonShape();
shape.SetAsBox(a, b);
var bd = new BodyDef();
bd.BodyType = BodyType.DynamicBody;
//bd.fixedRotation = true;
bd.Position.Set(-10.0f, y);
var body1 = World.CreateBody(bd);
body1.CreateFixture(shape, 5.0f);
bd.Position.Set(10.0f, y);
var body2 = World.CreateBody(bd);
body2.CreateFixture(shape, 5.0f);
var pulleyDef = new PulleyJointDef();
var anchor1 = new Vector2(-10.0f, y + b);
var anchor2 = new Vector2(10.0f, y + b);
var groundAnchor1 = new Vector2(-10.0f, y + b + L);
var groundAnchor2 = new Vector2(10.0f, y + b + L);
pulleyDef.Initialize(
body1,
body2,
groundAnchor1,
groundAnchor2,
anchor1,
anchor2,
1.5f);
_joint1 = (PulleyJoint)World.CreateJoint(pulleyDef);
}
}
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);
}
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 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);
}
/// <summary>
/// Creates a distance joint between two bodies
/// </summary>
/// <param name="b1"></param>
/// <param name="b2"></param>
/// <param name="gAnchor1"></param>
/// <param name="gAnchor2"></param>
/// <param name="ratio"></param>
/// <returns></returns>
public PulleyJoint joinBodies_Pulley(Body b1, Body b2, Vector2 gAnchor1, Vector2 gAnchor2, float ratio)
{
PulleyJointDef pjd = new PulleyJointDef();
pjd.Initialize(b1, b2, gAnchor1, gAnchor2, b1.GetWorldCenter(), b2.GetWorldCenter(), ratio);
PulleyJoint pj = physicsWorld.CreateJoint(pjd) as PulleyJoint;
return(pj);
}
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);
}
private PulleyJointTest()
{
float y = 16.0f;
float L = 12.0f;
float a = 1.0f;
float b = 2.0f;
Body ground;
{
BodyDef bd = new BodyDef();
ground = BodyFactory.CreateFromDef(World, bd);
CircleShape circle = new CircleShape(0.0f);
circle.Radius = 2.0f;
circle.Position = new Vector2(-10.0f, y + b + L);
ground.AddFixture(circle);
circle.Position = new Vector2(10.0f, y + b + L);
ground.AddFixture(circle);
}
{
PolygonShape shape = new PolygonShape(5.0f);
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.Type = BodyType.Dynamic;
//bd.FixedRotation = true;
bd.Position = new Vector2(-10.0f, y);
Body body1 = BodyFactory.CreateFromDef(World, bd);
body1.AddFixture(shape);
bd.Position = new Vector2(10.0f, y);
Body body2 = BodyFactory.CreateFromDef(World, bd);
body2.AddFixture(shape);
PulleyJointDef pulleyDef = new PulleyJointDef();
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);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 1.5f);
_joint1 = (PulleyJoint)JointFactory.CreateFromDef(World, pulleyDef);
}
}
public Pulleys()
{
Body ground = null;
{
PolygonDef sd = new PolygonDef();
sd.SetAsBox(50.0f, 10.0f);
BodyDef bd = new BodyDef();
bd.Position.Set(0.0f, -10.0f);
ground = _world.CreateBody(bd);
ground.CreateShape(sd);
}
{
float a = 2.0f;
float b = 4.0f;
float y = 16.0f;
float L = 12.0f;
PolygonDef sd = new PolygonDef();
sd.SetAsBox(a, b);
sd.Density = 5.0f;
BodyDef bd = new BodyDef();
bd.Position.Set(-10.0f, y);
Body body1 = _world.CreateBody(bd);
body1.CreateShape(sd);
body1.SetMassFromShapes();
bd.Position.Set(10.0f, y);
Body body2 = _world.CreateBody(bd);
body2.CreateShape(sd);
body2.SetMassFromShapes();
PulleyJointDef pulleyDef = new PulleyJointDef();
Vec2 anchor1 = new Vec2(-10.0f, y + b);
Vec2 anchor2 = new Vec2(10.0f, y + b);
Vec2 groundAnchor1 = new Vec2(-10.0f, y + b + L);
Vec2 groundAnchor2 = new Vec2(10.0f, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
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;
}
internal override void UpdateJoint()
{
base.UpdateJoint();
if (this.joint == null)
{
return;
}
PulleyJoint j = this.joint as PulleyJoint;
j.LocalAnchorB = GetFarseerPoint(this.BodyB, this.localAnchorB);
j.LocalAnchorA = GetFarseerPoint(this.BodyA, this.localAnchorA);
j.GroundAnchorB = PhysicsConvert.ToPhysicalUnit(this.worldAnchorB);
j.GroundAnchorA = PhysicsConvert.ToPhysicalUnit(this.worldAnchorA);
j.MaxLengthA = PhysicsConvert.ToPhysicalUnit(this.maxLengthA);
j.MaxLengthB = PhysicsConvert.ToPhysicalUnit(this.maxLengthB);
j.TotalLength = PhysicsConvert.ToPhysicalUnit(this.totalLength);
j.Ratio = this.ratio;
}
internal override void UpdateJoint()
{
base.UpdateJoint();
if (this.joint == null)
{
return;
}
PulleyJoint j = this.joint as PulleyJoint;
j.LocalAnchorB = GetFarseerPoint(this.OtherBody, this.localAnchorB);
j.LocalAnchorA = GetFarseerPoint(this.ParentBody, this.localAnchorA);
j.GroundAnchorB = PhysicsUnit.LengthToPhysical * this.worldAnchorB;
j.GroundAnchorA = PhysicsUnit.LengthToPhysical * this.worldAnchorA;
j.MaxLengthA = PhysicsUnit.LengthToPhysical * this.maxLengthA;
j.MaxLengthB = PhysicsUnit.LengthToPhysical * this.maxLengthB;
j.TotalLength = PhysicsUnit.LengthToPhysical * this.totalLength;
j.Ratio = this.ratio;
}
Pulleys()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0f, 0.0f), new Vector2(40.0f, 0.0f));
ground.CreateFixture(shape, 0.0f);
}
{
float a = 2.0f;
float b = 4.0f;
float y = 16.0f;
float L = 12.0f;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0f, y);
Body body1 = _world.CreateBody(bd);
body1.CreateFixture(shape, 5.0f);
bd.position = new Vector2(10.0f, y);
Body body2 = _world.CreateBody(bd);
body2.CreateFixture(shape, 5.0f);
PulleyJointDef pulleyDef = new PulleyJointDef();
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);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
Pulleys()
{
Body ground = null;
{
BodyDef bd = new BodyDef();
ground = _world.CreateBody(bd);
PolygonShape shape = new PolygonShape();
shape.SetAsEdge(new Vector2(-40.0, 0.0), new Vector2(40.0, 0.0));
ground.CreateFixture(shape, 0.0);
}
{
double a = 2.0;
double b = 4.0;
double y = 16.0;
double L = 12.0;
PolygonShape shape = new PolygonShape();
shape.SetAsBox(a, b);
BodyDef bd = new BodyDef();
bd.type = BodyType.Dynamic;
bd.position = new Vector2(-10.0, y);
Body body1 = _world.CreateBody(bd);
body1.CreateFixture(shape, 5.0);
bd.position = new Vector2(10.0, y);
Body body2 = _world.CreateBody(bd);
body2.CreateFixture(shape, 5.0);
PulleyJointDef pulleyDef = new PulleyJointDef();
Vector2 anchor1 = new Vector2(-10.0, y + b);
Vector2 anchor2 = new Vector2(10.0, y + b);
Vector2 groundAnchor1 = new Vector2(-10.0, y + b + L);
Vector2 groundAnchor2 = new Vector2(10.0, y + b + L);
pulleyDef.Initialize(body1, body2, groundAnchor1, groundAnchor2, anchor1, anchor2, 2.0f);
_joint1 = (PulleyJoint)_world.CreateJoint(pulleyDef);
}
}
public override void Load()
{
Physics.SetMeter(1);
float y = 16.0f;
float L = 12.0f;
float a = 1.0f;
float b = 2.0f;
Body ground;
{
ground = Physics.NewBody(m_world);
EdgeShape edge = Physics.NewEdgeShape(-40.0f, 0.0f, 40.0f, 0.0f);
CircleShape circle = Physics.NewCircleShape(2.0f);
circle.SetPoint(-10.0f, y + b + L);
Physics.NewFixture(ground, circle, 0);
circle.SetPoint(10.0f, y + b + L);
Physics.NewFixture(ground, circle, 0);
}
{
PolygonShape shape = Physics.NewRectangleShape(a * 2, b * 2);
Body body1 = Physics.NewBody(m_world, -10.0f, y, BodyType.Dynamic);
Physics.NewFixture(body1, shape, 5.0f);
Body body2 = Physics.NewBody(m_world, 10.0f, y, BodyType.Dynamic);
Physics.NewFixture(body2, shape, 5.0f);
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);
PulleyJoint m_joint1 = Physics.NewPulleyJoint(body1, body2,
groundAnchor1, groundAnchor2, anchor1, anchor2, 1.5f);
}
}
//private static Joint DeserializeSliderJoint(XElement jointElement, Body bodyA, Body bodyB, World world)
//{
// SliderJoint joint = null;
// Vector2 localAnchorA, localAnchorB;
// float minLength = 0.0f, maxLength = 100.0f, dampingRatio = 0.0f, frequency = 0.0f;
// localAnchorA = bodyA.WorldCenter;
// localAnchorB = bodyB.WorldCenter;
// foreach (XElement element in jointElement.Elements())
// {
// switch (element.Name.ToString().ToLower())
// {
// case "minlength":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out minLength);
// break;
// case "maxlength":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out maxLength);
// break;
// case "dampingratio":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out dampingRatio);
// break;
// case "frequency":
// float.TryParse(element.Value, NumberStyles.Float, CultureInfo.InvariantCulture, out frequency);
// break;
// case "localanchora":
// localAnchorA = localAnchorA.DeserializeOffset(element);
// localAnchorA = ConvertUnits.ToSimUnits(localAnchorA);
// break;
// case "localanchorb":
// localAnchorB = localAnchorB.DeserializeOffset(element);
// localAnchorB = ConvertUnits.ToSimUnits(localAnchorB);
// break;
// }
// }
// joint = JointFactory.CreateSliderJoint(world, bodyA, bodyB, localAnchorA, localAnchorB, minLength, maxLength);
// joint.DampingRatio = dampingRatio;
// joint.Frequency = frequency;
// return joint;
//}
#endregion
#endregion
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 FarseerPhysics.Factories.JointFactory().(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.FixedLine:
* 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.LocalXAxis;
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).LocalXAxis = pJoint.LocalXAxis;
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);
}
private void DrawJoint(Joint joint)
{
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1, xf2;
b1.GetTransform(out xf1);
Vector2 x2 = new Vector2();
// WIP David
if (!joint.IsFixedType())
{
b2.GetTransform(out xf2);
x2 = xf2.p;
}
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.p;
Vector2 p1 = joint.WorldAnchorA;
Color color = Color.FromArgb(255, 128, 205, 205);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
{
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = pulley.GroundAnchorA;
Vector2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, color);
DrawSegment(s2, p2, color);
DrawSegment(s1, s2, color);
}
break;
case JointType.FixedMouse:
DrawPoint(p1, 0.5f, Color.FromArgb(255, 0, 255, 0));
DrawSegment(p1, p2, Color.FromArgb(255, 205, 205, 205));
break;
case JointType.Revolute:
//DrawSegment(x2, p1, color);
DrawSegment(p2, p1, color);
DrawSolidCircle(p2, 0.1f, new Vector2(), Colors.Red);
DrawSolidCircle(p1, 0.1f, new Vector2(), Colors.Blue);
break;
case JointType.FixedRevolute:
DrawSolidCircle(p1, 0.1f, new Vector2(), Colors.Purple);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
//DrawSegment(x1, p1, color);
//DrawSegment(p1, p2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
private void DrawJoint(Joint joint, Color mainColor)
{
if (!joint.Enabled)
{
return;
}
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1, xf2;
b1.GetTransform(out xf1);
Vector2 x2 = Vector2.Zero;
if (!joint.IsFixedType())
{
b2.GetTransform(out xf2);
x2 = xf2.Position;
}
Vector2 p1 = joint.WorldAnchorA;
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.Position;
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, mainColor);
break;
case JointType.Pulley:
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = pulley.GroundAnchorA;
Vector2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, mainColor);
DrawSegment(s2, p2, mainColor);
DrawSegment(s1, s2, mainColor);
break;
case JointType.FixedMouse:
DrawPoint(p1, 1.0f, new Color(0.0f, 1.0f, 0.0f));
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
case JointType.Revolute:
//DrawSegment(x2, p1, color);
DrawSegment(p2, p1, mainColor);
DrawSolidCircle(p2, 0.5f, Vector2.Zero, Color.Green);
DrawSolidCircle(p1, 0.5f, Vector2.Zero, Color.Blue);
break;
case JointType.FixedAngle:
//Should not draw anything.
break;
case JointType.FixedRevolute:
DrawSegment(x1, p1, mainColor);
DrawSolidCircle(p1, 0.5f, Vector2.Zero, Color.Blue);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, mainColor);
DrawSegment(p1, p2, mainColor);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, mainColor);
DrawSegment(p1, p2, mainColor);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, mainColor);
DrawSegment(p1, p2, mainColor);
break;
case JointType.Gear:
DrawSegment(x1, x2, mainColor);
break;
//case JointType.Weld:
// break;
default:
DrawSegment(x1, p1, mainColor);
DrawSegment(p1, p2, mainColor);
DrawSegment(x2, p2, mainColor);
break;
}
}
private static void SerializeJoint(List <Body> bodies, Joint joint)
{
_writer.WriteStartElement("Joint");
_writer.WriteAttributeString("Type", joint.JointType.ToString());
WriteElement("BodyA", FindIndex(bodies, joint.BodyA));
WriteElement("BodyB", FindIndex(bodies, joint.BodyB));
WriteElement("CollideConnected", joint.CollideConnected);
WriteElement("Breakpoint", joint.Breakpoint);
if (joint.UserData != null)
{
_writer.WriteStartElement("UserData");
WriteDynamicType(joint.UserData.GetType(), joint.UserData);
_writer.WriteEndElement();
}
switch (joint.JointType)
{
case JointType.Distance:
{
DistanceJoint distanceJoint = (DistanceJoint)joint;
WriteElement("DampingRatio", distanceJoint.DampingRatio);
WriteElement("FrequencyHz", distanceJoint.Frequency);
WriteElement("Length", distanceJoint.Length);
WriteElement("LocalAnchorA", distanceJoint.LocalAnchorA);
WriteElement("LocalAnchorB", distanceJoint.LocalAnchorB);
}
break;
case JointType.Friction:
{
FrictionJoint frictionJoint = (FrictionJoint)joint;
WriteElement("LocalAnchorA", frictionJoint.LocalAnchorA);
WriteElement("LocalAnchorB", frictionJoint.LocalAnchorB);
WriteElement("MaxForce", frictionJoint.MaxForce);
WriteElement("MaxTorque", frictionJoint.MaxTorque);
}
break;
case JointType.Gear:
throw new Exception("Gear joint not supported by serialization");
case JointType.Wheel:
{
WheelJoint wheelJoint = (WheelJoint)joint;
WriteElement("EnableMotor", wheelJoint.MotorEnabled);
WriteElement("LocalAnchorA", wheelJoint.LocalAnchorA);
WriteElement("LocalAnchorB", wheelJoint.LocalAnchorB);
WriteElement("MotorSpeed", wheelJoint.MotorSpeed);
WriteElement("DampingRatio", wheelJoint.DampingRatio);
WriteElement("MaxMotorTorque", wheelJoint.MaxMotorTorque);
WriteElement("FrequencyHz", wheelJoint.Frequency);
WriteElement("Axis", wheelJoint.Axis);
}
break;
case JointType.Prismatic:
{
//NOTE: Does not conform with Box2DScene
PrismaticJoint prismaticJoint = (PrismaticJoint)joint;
WriteElement("EnableLimit", prismaticJoint.LimitEnabled);
WriteElement("EnableMotor", prismaticJoint.MotorEnabled);
WriteElement("LocalAnchorA", prismaticJoint.LocalAnchorA);
WriteElement("LocalAnchorB", prismaticJoint.LocalAnchorB);
WriteElement("Axis", prismaticJoint.Axis);
WriteElement("LowerTranslation", prismaticJoint.LowerLimit);
WriteElement("UpperTranslation", prismaticJoint.UpperLimit);
WriteElement("MaxMotorForce", prismaticJoint.MaxMotorForce);
WriteElement("MotorSpeed", prismaticJoint.MotorSpeed);
}
break;
case JointType.Pulley:
{
PulleyJoint pulleyJoint = (PulleyJoint)joint;
WriteElement("WorldAnchorA", pulleyJoint.WorldAnchorA);
WriteElement("WorldAnchorB", pulleyJoint.WorldAnchorB);
WriteElement("LengthA", pulleyJoint.LengthA);
WriteElement("LengthB", pulleyJoint.LengthB);
WriteElement("LocalAnchorA", pulleyJoint.LocalAnchorA);
WriteElement("LocalAnchorB", pulleyJoint.LocalAnchorB);
WriteElement("Ratio", pulleyJoint.Ratio);
WriteElement("Constant", pulleyJoint.Constant);
}
break;
case JointType.Revolute:
{
RevoluteJoint revoluteJoint = (RevoluteJoint)joint;
WriteElement("EnableLimit", revoluteJoint.LimitEnabled);
WriteElement("EnableMotor", revoluteJoint.MotorEnabled);
WriteElement("LocalAnchorA", revoluteJoint.LocalAnchorA);
WriteElement("LocalAnchorB", revoluteJoint.LocalAnchorB);
WriteElement("LowerAngle", revoluteJoint.LowerLimit);
WriteElement("MaxMotorTorque", revoluteJoint.MaxMotorTorque);
WriteElement("MotorSpeed", revoluteJoint.MotorSpeed);
WriteElement("ReferenceAngle", revoluteJoint.ReferenceAngle);
WriteElement("UpperAngle", revoluteJoint.UpperLimit);
}
break;
case JointType.Weld:
{
WeldJoint weldJoint = (WeldJoint)joint;
WriteElement("LocalAnchorA", weldJoint.LocalAnchorA);
WriteElement("LocalAnchorB", weldJoint.LocalAnchorB);
}
break;
//
// Not part of Box2DScene
//
case JointType.Rope:
{
RopeJoint ropeJoint = (RopeJoint)joint;
WriteElement("LocalAnchorA", ropeJoint.LocalAnchorA);
WriteElement("LocalAnchorB", ropeJoint.LocalAnchorB);
WriteElement("MaxLength", ropeJoint.MaxLength);
}
break;
case JointType.Angle:
{
AngleJoint angleJoint = (AngleJoint)joint;
WriteElement("BiasFactor", angleJoint.BiasFactor);
WriteElement("MaxImpulse", angleJoint.MaxImpulse);
WriteElement("Softness", angleJoint.Softness);
WriteElement("TargetAngle", angleJoint.TargetAngle);
}
break;
case JointType.Motor:
{
MotorJoint motorJoint = (MotorJoint)joint;
WriteElement("AngularOffset", motorJoint.AngularOffset);
WriteElement("LinearOffset", motorJoint.LinearOffset);
WriteElement("MaxForce", motorJoint.MaxForce);
WriteElement("MaxTorque", motorJoint.MaxTorque);
WriteElement("CorrectionFactor", motorJoint.CorrectionFactor);
}
break;
default:
throw new Exception("Joint not supported");
}
_writer.WriteEndElement();
}
private void DrawJoint(Joint joint)
{
if (!joint.Enabled)
{
return;
}
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1;
b1.GetTransform(out xf1);
Vector2 x2 = Vector2.Zero;
// WIP David
if (!joint.IsFixedType())
{
Transform xf2;
b2.GetTransform(out xf2);
x2 = xf2.p;
}
Vector2 p1 = joint.WorldAnchorA;
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.p;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = b1.GetWorldPoint(pulley.LocalAnchorA);
Vector2 s2 = b2.GetWorldPoint(pulley.LocalAnchorB);
DrawSegment(p1, p2, color);
DrawSegment(p1, s1, color);
DrawSegment(p2, s2, color);
break;
case JointType.FixedMouse:
DrawPoint(p1, 0.5f, new Color(0.0f, 1.0f, 0.0f));
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
case JointType.Revolute:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
DrawSolidCircle(p2, 0.1f, Vector2.Zero, Color.Red);
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Color.Blue);
break;
case JointType.FixedAngle:
//Should not draw anything.
break;
case JointType.FixedRevolute:
DrawSegment(x1, p1, color);
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Color.Pink);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
public void DrawJoint(Joint joint)
{
if (!joint.Enabled)
{
return;
}
Body bA = joint.BodyA;
Body bB = joint.BodyB;
bA.GetTransform(out Transform xfA);
Vector2 x1 = xfA.p;
Vector2 x2 = Vector2.Zero;
Transform xfB = default;
if (!joint.IsFixedType())
{
bB.GetTransform(out xfB);
x2 = xfB.p;
}
Vector2 p1 = joint.WorldAnchorA;
Vector2 p2 = joint.WorldAnchorB;
Color color = new Color(0.5f, 0.8f, 0.8f);
if (joint is PrismaticJoint pj)
{
Vector2 pA = MathUtils.Mul(ref xfA, pj.LocalAnchorA);
Vector2 pB = MathUtils.Mul(ref xfB, pj.LocalAnchorB);
Vector2 axis = MathUtils.Mul(ref xfA.q, pj.LocalXAxisA);
Color c1 = new Color(0.7f, 0.7f, 0.7f);
Color c2 = new Color(0.3f, 0.9f, 0.3f);
Color c3 = new Color(0.9f, 0.3f, 0.3f);
Color c4 = new Color(0.3f, 0.3f, 0.9f);
Color c5 = new Color(0.4f, 0.4f, 0.4f);
DrawSegment(pA, pB, c5);
if (pj.LimitEnabled)
{
Vector2 lower = pA + pj.LowerLimit * axis;
Vector2 upper = pA + pj.UpperLimit * axis;
Vector2 perp = MathUtils.Mul(xfA.q, pj.LocalYAxisA);
DrawSegment(lower, upper, c1);
DrawSegment(lower - 0.5f * perp, lower + 0.5f * perp, c2);
DrawSegment(upper - 0.5f * perp, upper + 0.5f * perp, c3);
}
else
{
DrawSegment(pA - 1.0f * axis, pA + 1.0f * axis, c1);
}
DrawPoint(pA, 1.0f, c1);
DrawPoint(pB, 1.0f, c4);
}
else if (joint is WheelJoint wj)
{
Vector2 pA = MathUtils.Mul(ref xfA, wj.LocalAnchorA);
Vector2 pB = MathUtils.Mul(ref xfB, wj.LocalAnchorB);
Vector2 axis = MathUtils.Mul(xfA.q, wj.LocalXAxisA);
Color c1 = new Color(0.7f, 0.7f, 0.7f);
Color c2 = new Color(0.3f, 0.9f, 0.3f);
Color c3 = new Color(0.9f, 0.3f, 0.3f);
Color c4 = new Color(0.3f, 0.3f, 0.9f);
Color c5 = new Color(0.4f, 0.4f, 0.4f);
DrawSegment(pA, pB, c5);
if (wj.EnableLimit)
{
Vector2 lower = pA + wj.LowerLimit * axis;
Vector2 upper = pA + wj.UpperLimit * axis;
Vector2 perp = MathUtils.Mul(xfA.q, wj.LocalYAxisA);
DrawSegment(lower, upper, c1);
DrawSegment(lower - 0.5f * perp, lower + 0.5f * perp, c2);
DrawSegment(upper - 0.5f * perp, upper + 0.5f * perp, c3);
}
else
{
DrawSegment(pA - 1.0f * axis, pA + 1.0f * axis, c1);
}
DrawPoint(pA, 0.1f, c1);
DrawPoint(pB, 0.1f, c4);
}
else
{
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = bA.GetWorldPoint(pulley.LocalAnchorA);
Vector2 s2 = bB.GetWorldPoint(pulley.LocalAnchorB);
DrawSegment(p1, p2, color);
DrawSegment(p1, s1, color);
DrawSegment(p2, s2, color);
break;
case JointType.FixedMouse:
DrawPoint(p1, 0.5f, new Color(0.0f, 1.0f, 0.0f));
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
case JointType.Revolute:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
DrawSolidCircle(p2, 0.1f, Vector2.Zero, Color.Red);
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Color.Blue);
break;
case JointType.FixedAngle:
//Should not draw anything.
break;
case JointType.FixedRevolute:
DrawSegment(x1, p1, color);
DrawSolidCircle(p1, 0.1f, Vector2.Zero, Color.Pink);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
}
private void DrawJoint(FarseerJoint joint)
{
if (!joint.Enabled)
{
return;
}
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1, xf2;
b1.GetTransform(out xf1);
FVector2 x2 = FVector2.Zero;
// WIP David
if (!joint.IsFixedType())
{
b2.GetTransform(out xf2);
x2 = xf2.p;
}
FVector2 p1 = joint.WorldAnchorA;
FVector2 p2 = joint.WorldAnchorB;
FVector2 x1 = xf1.p;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
PulleyJoint pulley = (PulleyJoint)joint;
FVector2 s1 = pulley.GroundAnchorA;
FVector2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, color);
DrawSegment(s2, p2, color);
DrawSegment(s1, s2, color);
break;
case JointType.FixedMouse:
DrawPoint(p1, 0.5f, new Color(0.0f, 1.0f, 0.0f));
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
case JointType.Revolute:
//DrawSegment(x2, p1, color);
DrawSegment(p2, p1, color);
DrawSolidCircle(p2, 0.1f, FVector2.Zero, Color.red);
DrawSolidCircle(p1, 0.1f, FVector2.Zero, Color.blue);
break;
case JointType.FixedAngle:
//Should not draw anything.
break;
case JointType.FixedRevolute:
DrawSegment(x1, p1, color);
DrawSolidCircle(p1, 0.1f, FVector2.Zero, new Color(1f, 0.5f, 1f));
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
break;
//case JointType.Weld:
// break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
private static void Deserialize(World world, Stream stream)
{
List <Body> bodies = new List <Body>();
List <Fixture> fixtures = new List <Fixture>();
List <Joint> joints = new List <Joint>();
List <Shape> shapes = new List <Shape>();
XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream);
if (root.Name.ToLower() != "world")
{
throw new Exception();
}
//Read gravity
foreach (XMLFragmentElement element in root.Elements)
{
if (element.Name.ToLower() == "gravity")
{
world.Gravity = ReadVector(element);
break;
}
}
//Read shapes
foreach (XMLFragmentElement shapeElement in root.Elements)
{
if (shapeElement.Name.ToLower() == "shapes")
{
foreach (XMLFragmentElement element in shapeElement.Elements)
{
if (element.Name.ToLower() != "shape")
{
throw new Exception();
}
ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), element.Attributes[0].Value, true);
float density = float.Parse(element.Attributes[1].Value);
switch (type)
{
case ShapeType.Circle:
{
CircleShape shape = new CircleShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.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();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
foreach (XMLFragmentElement vert in sn.Elements)
{
verts.Add(ReadVector(vert));
}
shape.Vertices = new Vertices(verts);
}
break;
case "centroid":
shape.MassData.Centroid = ReadVector(sn);
break;
}
}
shapes.Add(shape);
}
break;
case ShapeType.Edge:
{
EdgeShape shape = new EdgeShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.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;
case ShapeType.Chain:
{
ChainShape shape = new ChainShape();
shape._density = density;
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "vertices":
{
List <Vector2> verts = new List <Vector2>(sn.Elements.Count);
foreach (XMLFragmentElement vert in sn.Elements)
{
verts.Add(ReadVector(vert));
}
shape.Vertices = new Vertices(verts);
}
break;
case "nextvertex":
shape.NextVertex = ReadVector(sn);
break;
case "prevvertex":
shape.PrevVertex = ReadVector(sn);
break;
default:
throw new Exception();
}
}
shapes.Add(shape);
}
break;
}
}
}
}
//Read fixtures
foreach (XMLFragmentElement fixtureElement in root.Elements)
{
if (fixtureElement.Name.ToLower() == "fixtures")
{
foreach (XMLFragmentElement element in fixtureElement.Elements)
{
Fixture fixture = new Fixture();
if (element.Name.ToLower() != "fixture")
{
throw new Exception();
}
fixture.FixtureId = int.Parse(element.Attributes[0].Value);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
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;
case "CollisionIgnores":
string[] split = ssn.Value.Split('|');
foreach (string s in split)
{
fixture._collisionIgnores.Add(int.Parse(s));
}
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);
}
}
}
//Read bodies
foreach (XMLFragmentElement bodyElement in root.Elements)
{
if (bodyElement.Name.ToLower() == "bodies")
{
foreach (XMLFragmentElement element in bodyElement.Elements)
{
Body body = new Body(world);
if (element.Name.ToLower() != "body")
{
throw new Exception();
}
body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), element.Attributes[0].Value, true);
foreach (XMLFragmentElement sn in element.Elements)
{
switch (sn.Name.ToLower())
{
case "active":
bool enabled = bool.Parse(sn.Value);
if (enabled)
{
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 "bindings":
{
foreach (XMLFragmentElement pair in sn.Elements)
{
Fixture fix = fixtures[int.Parse(pair.Attributes[0].Value)];
fix.Shape = shapes[int.Parse(pair.Attributes[1].Value)].Clone();
fix.CloneOnto(body);
}
break;
}
}
}
bodies.Add(body);
}
}
}
//Read joints
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.FixedMouse:
// joint = new FixedMouseJoint();
// break;
//case JointType.FixedRevolute:
// break;
//case JointType.FixedDistance:
// break;
//case JointType.FixedLine:
// break;
//case JointType.FixedPrismatic:
// break;
//case JointType.FixedAngle:
// break;
//case JointType.FixedFriction:
// break;
case JointType.Distance:
joint = new DistanceJoint();
break;
case JointType.Friction:
joint = new FrictionJoint();
break;
case JointType.Wheel:
joint = new WheelJoint();
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.Motor:
joint = new MotorJoint();
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.Wheel:
{
switch (sn.Name.ToLower())
{
case "enablemotor":
((WheelJoint)joint).MotorEnabled = bool.Parse(sn.Value);
break;
case "localanchora":
((WheelJoint)joint).LocalAnchorA = ReadVector(sn);
break;
case "localanchorb":
((WheelJoint)joint).LocalAnchorB = ReadVector(sn);
break;
case "motorspeed":
((WheelJoint)joint).MotorSpeed = float.Parse(sn.Value);
break;
case "dampingratio":
((WheelJoint)joint).DampingRatio = float.Parse(sn.Value);
break;
case "maxmotortorque":
((WheelJoint)joint).MaxMotorTorque = float.Parse(sn.Value);
break;
case "frequencyhz":
((WheelJoint)joint).Frequency = float.Parse(sn.Value);
break;
case "axis":
((WheelJoint)joint).Axis = 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 "axis":
((PrismaticJoint)joint).Axis = 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 "worldanchora":
((PulleyJoint)joint).WorldAnchorA = ReadVector(sn);
break;
case "worldanchorb":
((PulleyJoint)joint).WorldAnchorB = 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 "ratio":
((PulleyJoint)joint).Ratio = float.Parse(sn.Value);
break;
case "constant":
((PulleyJoint)joint).Constant = 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.Motor:
switch (sn.Name.ToLower())
{
case "angularoffset":
((MotorJoint)joint).AngularOffset = float.Parse(sn.Value);
break;
case "linearoffset":
((MotorJoint)joint).LinearOffset = ReadVector(sn);
break;
case "maxforce":
((MotorJoint)joint).MaxForce = float.Parse(sn.Value);
break;
case "maxtorque":
((MotorJoint)joint).MaxTorque = float.Parse(sn.Value);
break;
case "correctionfactor":
((MotorJoint)joint).CorrectionFactor = float.Parse(sn.Value);
break;
}
break;
}
}
}
}
}
world.ProcessChanges();
}
private void DrawJoint(Joint joint)
{
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
Transform xf1, xf2;
b1.GetTransform(out xf1);
Vector2 x2 = new Vector2();
// WIP David
if (!joint.IsFixedType())
{
b2.GetTransform(out xf2);
x2 = xf2.Position;
}
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.Position;
Vector2 p1 = joint.WorldAnchorA;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.JointType)
{
case JointType.Distance:
DrawSegment(p1, p2, color);
break;
case JointType.Pulley:
{
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = pulley.GroundAnchorA;
Vector2 s2 = pulley.GroundAnchorB;
DrawSegment(s1, p1, color);
DrawSegment(s2, p2, color);
DrawSegment(s1, s2, color);
}
break;
case JointType.FixedMouse:
FixedMouseJoint fixedMouseJoint = (FixedMouseJoint)joint;
p1 = fixedMouseJoint.Target;
DrawPoint(p2, 0.5f, new Color(0.0f, 1.0f, 0.0f));
DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
case JointType.Revolute:
//DrawSegment(x2, p1, color);
DrawSegment(p2, p1, color);
DrawSolidCircle(p2, 0.1f, new Vector2(), Color.Red);
DrawSolidCircle(p1, 0.1f, new Vector2(), Color.Blue);
break;
case JointType.FixedRevolute:
DrawSolidCircle(p1, 0.1f, new Vector2(), Color.Pink);
break;
case JointType.FixedLine:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedDistance:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.FixedPrismatic:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
break;
case JointType.Gear:
DrawSegment(x1, x2, color);
//DrawSegment(x1, p1, color);
//DrawSegment(p1, p2, color);
break;
default:
DrawSegment(x1, p1, color);
DrawSegment(p1, p2, color);
DrawSegment(x2, p2, color);
break;
}
}
private static void DrawJoint(FSDebugView instance, Joint joint)
{
if (!joint.Enabled)
{
return;
}
Body b1 = joint.BodyA;
Body b2 = joint.BodyB;
FarseerPhysics.Common.Transform xf1;
b1.GetTransform(out xf1);
Vector2 x2 = Vector2.Zero;
if (b2 != null || !joint.IsFixedType())
{
FarseerPhysics.Common.Transform xf2;
b2.GetTransform(out xf2);
x2 = xf2.P;
}
Vector2 p1 = joint.WorldAnchorA;
Vector2 p2 = joint.WorldAnchorB;
Vector2 x1 = xf1.P;
Color color = new Color(0.5f, 0.8f, 0.8f);
switch (joint.JointType)
{
case JointType.Distance: {
instance.DrawSegment(p1, p2, color);
break;
}
case JointType.Pulley: {
PulleyJoint pulley = (PulleyJoint)joint;
Vector2 s1 = b1.GetWorldPoint(pulley.LocalAnchorA);
Vector2 s2 = b2.GetWorldPoint(pulley.LocalAnchorB);
instance.DrawSegment(p1, p2, color);
instance.DrawSegment(p1, s1, color);
instance.DrawSegment(p2, s2, color);
break;
}
case JointType.FixedMouse: {
instance.DrawPoint(p1, 0.2f, new Color(0.0f, 1.0f, 0.0f));
instance.DrawSegment(p1, p2, new Color(0.8f, 0.8f, 0.8f));
break;
}
case JointType.Revolute: {
instance.DrawSegment(x1, p1, color);
instance.DrawSegment(p1, p2, color);
instance.DrawSegment(x2, p2, color);
instance.DrawSolidCircle(p2, 0.1f, Vector2.Zero, Color.Red);
instance.DrawSolidCircle(p1, 0.1f, Vector2.Zero, Color.Blue);
break;
}
case JointType.Gear: {
instance.DrawSegment(x1, x2, color);
break;
}
default: {
instance.DrawSegment(x1, p1, color);
instance.DrawSegment(p1, p2, color);
instance.DrawSegment(x2, p2, color);
break;
}
}
}
public static PulleyJoint CreatePulleyJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB, Vector2 worldAnchorA, Vector2 worldAnchorB, GGame.Math.Fix64 ratio, bool useWorldCoordinates = false)
{
PulleyJoint pulleyJoint = new PulleyJoint(bodyA, bodyB, anchorA, anchorB, worldAnchorA, worldAnchorB, ratio, useWorldCoordinates);
world.AddJoint(pulleyJoint);
return pulleyJoint;
}
