internal GearJoint(GearJointDef def)
: base(def)
{
JointType type1 = def.joint1.JointType;
JointType type2 = def.joint2.JointType;
Debug.Assert(type1 == JointType.Revolute || type1 == JointType.Prismatic);
Debug.Assert(type2 == JointType.Revolute || type2 == JointType.Prismatic);
Debug.Assert(def.joint1.GetBodyA().GetType() == BodyType.Static);
Debug.Assert(def.joint2.GetBodyA().GetType() == BodyType.Static);
_revolute1 = null;
_prismatic1 = null;
_revolute2 = null;
_prismatic2 = null;
float coordinate1, coordinate2;
_ground1 = def.joint1.GetBodyA();
_bodyA = def.joint1.GetBodyB();
if (type1 == JointType.Revolute)
{
_revolute1 = (RevoluteJoint)def.joint1;
_groundAnchor1 = _revolute1._localAnchor1;
_localAnchor1 = _revolute1._localAnchor2;
coordinate1 = _revolute1.GetJointAngle();
}
else
{
_prismatic1 = (PrismaticJoint)def.joint1;
_groundAnchor1 = _prismatic1._localAnchor1;
_localAnchor1 = _prismatic1._localAnchor2;
coordinate1 = _prismatic1.GetJointTranslation();
}
_ground2 = def.joint2.GetBodyA();
_bodyB = def.joint2.GetBodyB();
if (type2 == JointType.Revolute)
{
_revolute2 = (RevoluteJoint)def.joint2;
_groundAnchor2 = _revolute2._localAnchor1;
_localAnchor2 = _revolute2._localAnchor2;
coordinate2 = _revolute2.GetJointAngle();
}
else
{
_prismatic2 = (PrismaticJoint)def.joint2;
_groundAnchor2 = _prismatic2._localAnchor1;
_localAnchor2 = _prismatic2._localAnchor2;
coordinate2 = _prismatic2.GetJointTranslation();
}
_ratio = def.ratio;
_ant = coordinate1 + _ratio * coordinate2;
_impulse = 0.0f;
}
internal GearJoint(GearJointDef def)
: base(def)
{
JointType type1 = def.joint1.JointType;
JointType type2 = def.joint2.JointType;
Debug.Assert(type1 == JointType.Revolute || type1 == JointType.Prismatic);
Debug.Assert(type2 == JointType.Revolute || type2 == JointType.Prismatic);
Debug.Assert(def.joint1.GetBodyA().GetType() == BodyType.Static);
Debug.Assert(def.joint2.GetBodyA().GetType() == BodyType.Static);
_revolute1 = null;
_prismatic1 = null;
_revolute2 = null;
_prismatic2 = null;
float coordinate1, coordinate2;
_ground1 = def.joint1.GetBodyA();
_bodyA = def.joint1.GetBodyB();
if (type1 == JointType.Revolute)
{
_revolute1 = (RevoluteJoint)def.joint1;
_groundAnchor1 = _revolute1._localAnchor1;
_localAnchor1 = _revolute1._localAnchor2;
coordinate1 = _revolute1.GetJointAngle();
}
else
{
_prismatic1 = (PrismaticJoint)def.joint1;
_groundAnchor1 = _prismatic1._localAnchor1;
_localAnchor1 = _prismatic1._localAnchor2;
coordinate1 = _prismatic1.GetJointTranslation();
}
_ground2 = def.joint2.GetBodyA();
_bodyB = def.joint2.GetBodyB();
if (type2 == JointType.Revolute)
{
_revolute2 = (RevoluteJoint)def.joint2;
_groundAnchor2 = _revolute2._localAnchor1;
_localAnchor2 = _revolute2._localAnchor2;
coordinate2 = _revolute2.GetJointAngle();
}
else
{
_prismatic2 = (PrismaticJoint)def.joint2;
_groundAnchor2 = _prismatic2._localAnchor1;
_localAnchor2 = _prismatic2._localAnchor2;
coordinate2 = _prismatic2.GetJointTranslation();
}
_ratio = def.ratio;
_ant = coordinate1 + _ratio * coordinate2;
_impulse = 0.0f;
}
public static Joint AddJoint(this IJointable ithis, V2DJoint joint, float offsetX, float offsetY)
{
Joint result = null;
JointDef jointDef = null;
//Body targ0 = ithis.VScreen.bodyMap[joint.Body1];
//Body targ1 = ithis.VScreen.bodyMap[joint.Body2];
Body targ0 = GetBody(ithis, joint.Body1);
Body targ1 = GetBody(ithis, joint.Body2);
// gears need the first body static
if (targ0 != null && targ1 != null && targ1.GetType() == BodyType.Static && targ0.GetType() != BodyType.Static)
{
Body temp = targ0;
targ0 = targ1;
targ1 = temp;
}
Vector2 pt0 = new Vector2(joint.X + offsetX, joint.Y + offsetY);
string name = joint.Name;
Vector2 anchor0 = new Vector2(pt0.X / V2DScreen.WorldScale, pt0.Y / V2DScreen.WorldScale);
Vector2 anchor1 = new Vector2();
switch (joint.Type)
{
case V2DJointKind.Distance:
Vector2 pt1 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt1.X / V2DScreen.WorldScale, pt1.Y / V2DScreen.WorldScale);
DistanceJointDef dj = new DistanceJointDef();
dj.Initialize(targ0, targ1, anchor0, anchor1);
dj.collideConnected = joint.CollideConnected;
dj.dampingRatio = joint.DampingRatio;
dj.frequencyHz = joint.FrequencyHz;
if (joint.Length != -1)
{
dj.length = joint.Length / V2DScreen.WorldScale;
}
jointDef = dj;
break;
case V2DJointKind.Revolute:
float rot0 = joint.Min; //(typeof(joint["min"]) == "string") ? parseFloat(joint["min"]) / 180 * Math.PI : joint["min"];
float rot1 = joint.Max; //(typeof(joint["max"]) == "string") ? parseFloat(joint["max"]) / 180 * Math.PI : joint["max"];
RevoluteJointDef rj = new RevoluteJointDef();
rj.Initialize(targ0, targ1, anchor0);
rj.lowerAngle = rot0;
rj.upperAngle = rot1;
rj.enableLimit = rot0 != 0 && rot1 != 0;
rj.maxMotorTorque = joint.MaxMotorTorque;
rj.motorSpeed = joint.MotorSpeed;
rj.enableMotor = joint.EnableMotor;
jointDef = rj;
break;
case V2DJointKind.Prismatic:
float axisX = joint.AxisX;
float axisY = joint.AxisY;
float min = joint.Min;
float max = joint.Max;
PrismaticJointDef pj = new PrismaticJointDef();
Vector2 worldAxis = new Vector2(axisX, axisY);
pj.Initialize(targ0, targ1, anchor0, worldAxis);
pj.lowerTranslation = min / V2DScreen.WorldScale;
pj.upperTranslation = max / V2DScreen.WorldScale;
pj.enableLimit = joint.EnableLimit;
pj.maxMotorForce = joint.MaxMotorTorque;
pj.motorSpeed = joint.MotorSpeed;
pj.enableMotor = joint.EnableMotor;
jointDef = pj;
break;
case V2DJointKind.Pully:
Vector2 pt2 = new Vector2(joint.X2 + offsetX, joint.Y2 + offsetY);
anchor1 = new Vector2(pt2.X / V2DScreen.WorldScale, pt2.Y / V2DScreen.WorldScale);
Vector2 groundAnchor0 = new Vector2(joint.GroundAnchor1X / V2DScreen.WorldScale, joint.GroundAnchor1Y / V2DScreen.WorldScale);
Vector2 groundAnchor1 = new Vector2(joint.GroundAnchor2X / V2DScreen.WorldScale, joint.GroundAnchor2Y / V2DScreen.WorldScale);
float max0 = joint.MaxLength1;
float max1 = joint.MaxLength2;
float rat = joint.Ratio;
PulleyJointDef puj = new PulleyJointDef();
puj.Initialize(targ0, targ1, groundAnchor0, groundAnchor1, anchor0, anchor1, rat);
puj.maxLengthA = (max0 + max1) / V2DScreen.WorldScale;
puj.maxLengthB = (max0 + max1) / V2DScreen.WorldScale;
puj.collideConnected = joint.CollideConnected;
jointDef = puj;
break;
case V2DJointKind.Gear:
GearJointDef gj = new GearJointDef();
gj.bodyA = targ0;
gj.bodyB = targ1;
gj.joint1 = GetFirstGearableJoint(targ0.GetJointList());
gj.joint2 = GetFirstGearableJoint(targ1.GetJointList());
gj.ratio = joint.Ratio;
jointDef = gj;
break;
}
if (jointDef != null)
{
result = SetJointWithReflection(ithis, name, jointDef);
if (result != null)
{
Dictionary<string, string> dict = new Dictionary<string, string>();
dict["name"] = name;
result.SetUserData(dict);
}
}
return result;
}
