public Turret(Vector2 farseerLoc, World w, RagdollManager r, Fixture f)
{
DebugMaterial gray = new DebugMaterial(MaterialType.Blank)
{
Color = Color.DarkGray
};
body = new Body(w);
pivot = FixtureFactory.AttachCircle(.9f, 1, body, gray);
FixtureFactory.AttachRectangle(barrelLength, .5f, 1, new Vector2(barrelLength / 2, 0), body, gray);
body.Position = farseerLoc;
body.BodyType = BodyType.Dynamic;
//b.CollidesWith = Category.None;
if (f == null)
{
motor = JointFactory.CreateFixedRevoluteJoint(w, body, Vector2.Zero, farseerLoc);
}
else
{
motor = new RevoluteJoint(body, f.Body, Vector2.Zero, f.Body.GetLocalPoint(farseerLoc));
w.AddJoint(motor);
}
motor.MotorEnabled = true;
motor.MaxMotorTorque = 5000;
Init(w, r);
}
public static MotorJoint CreateMotorJoint(World world, Body bodyA, Body bodyB, bool useWorldCoordinates = false)
{
MotorJoint joint = new MotorJoint(bodyA, bodyB, useWorldCoordinates);
world.Add(joint);
return(joint);
}
MotorJointTest()
{
Body ground = BodyFactory.CreateEdge(World, new Vector2(-20, 0), new Vector2(20, 0));
// Define motorized body
Body body = BodyFactory.CreateRectangle(World, 4, 1, 2, new Vector2(0, 8));
body.BodyType = BodyType.Dynamic;
body.Friction = 0.6f;
_joint = new MotorJoint(ground, body);
_joint.MaxForce = 1000.0f;
_joint.MaxTorque = 1000.0f;
World.AddJoint(_joint);
}
Joint j2b2Joint(World world, JObject jointValue)
{
Joint joint = null;
int bodyIndexA = (int)jointValue["bodyA"];
int bodyIndexB = (int)jointValue["bodyB"];
if (bodyIndexA >= m_bodies.Count || bodyIndexB >= m_bodies.Count)
return null;
// set features common to all joints
var bodyA = m_bodies[bodyIndexA];
var bodyB = m_bodies[bodyIndexB];
var collideConnected = jointValue["collideConnected"] == null ? false : (bool)jointValue["collideConnected"];
// keep these in scope after the if/else below
RevoluteJoint revoluteDef;
PrismaticJoint prismaticDef;
DistanceJoint distanceDef;
PulleyJoint pulleyDef;
FixedMouseJoint mouseDef;
GearJoint gearDef;
WheelJoint wheelDef;
WeldJoint weldDef;
FrictionJoint frictionDef;
RopeJoint ropeDef;
MotorJoint motorDef;
Vector2 mouseJointTarget = new Vector2(0, 0);
string type = jointValue["type"].ToString() == null ? "" : jointValue["type"].ToString();
if (type == "revolute")
{
joint = revoluteDef = JointFactory.CreateRevoluteJoint(world, bodyA, bodyB, jsonToVec("anchorB", jointValue));
revoluteDef.LocalAnchorA = jsonToVec("anchorA", jointValue);
revoluteDef.LocalAnchorB = jsonToVec("anchorB", jointValue);
revoluteDef.ReferenceAngle = jsonToFloat("refAngle", jointValue);
revoluteDef.LimitEnabled = jointValue["enableLimit"] == null ? false : (bool)jointValue["enableLimit"];
revoluteDef.LowerLimit = jsonToFloat("lowerLimit", jointValue);
revoluteDef.UpperLimit = jsonToFloat("upperLimit", jointValue);
revoluteDef.MotorEnabled = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
revoluteDef.MotorSpeed = jsonToFloat("motorSpeed", jointValue);
revoluteDef.MaxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
}
else if (type == "prismatic")
{
var localAxis = new Vector2();
var localAnchorA = jsonToVec("anchorA", jointValue);
var localAnchorB = jsonToVec("anchorB", jointValue);
if (jointValue["localAxisA"] != null)
localAxis = jsonToVec("localAxisA", jointValue);
else
localAxis = jsonToVec("localAxis1", jointValue);
joint = prismaticDef = JointFactory.CreatePrismaticJoint(world, bodyA, bodyB, localAnchorB, localAxis);
prismaticDef.LocalAnchorA = localAnchorA;
prismaticDef.ReferenceAngle = jsonToFloat("refAngle", jointValue);
prismaticDef.LimitEnabled = (bool)jointValue["enableLimit"];
prismaticDef.LowerLimit = jsonToFloat("lowerLimit", jointValue);
prismaticDef.UpperLimit = jsonToFloat("upperLimit", jointValue);
prismaticDef.MotorEnabled = (bool)jointValue["enableMotor"];
prismaticDef.MotorSpeed = jsonToFloat("motorSpeed", jointValue);
prismaticDef.MaxMotorForce = jsonToFloat("maxMotorForce", jointValue);
}
else if (type == "distance")
{
joint = distanceDef = JointFactory.CreateDistanceJoint(world, bodyA, bodyB, jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue));
distanceDef.LocalAnchorA = (jsonToVec("anchorA", jointValue));
distanceDef.LocalAnchorB = (jsonToVec("anchorB", jointValue));
distanceDef.Length = jsonToFloat("length", jointValue);
distanceDef.Frequency = jsonToFloat("frequency", jointValue);
distanceDef.DampingRatio = jsonToFloat("dampingRatio", jointValue);
}
else if (type == "pulley")
{
joint = pulleyDef = JointFactory.CreatePulleyJoint(world, bodyA, bodyB,
jsonToVec("groundAnchorA", jointValue), jsonToVec("groundAnchorB", jointValue),
jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue),
jsonToFloat("ratio", jointValue));
pulleyDef.LengthA = jsonToFloat("lengthA", jointValue);
pulleyDef.LengthB = jsonToFloat("lengthB", jointValue);
//pulleyDef.Ratio = jsonToFloat("ratio", jointValue);
}
else if (type == "mouse")
{
joint = mouseDef = JointFactory.CreateFixedMouseJoint(world, bodyA, jsonToVec("target", jointValue));
//mouseJointTarget = jsonToVec("target", jointValue);
//mouseDef.target.set(jsonToVec("anchorB", jointValue));// alter after creating joint
mouseDef.MaxForce = jsonToFloat("maxForce", jointValue);
mouseDef.Frequency = jsonToFloat("frequency", jointValue);
mouseDef.DampingRatio = jsonToFloat("dampingRatio", jointValue);
}
// Gear joints are apparently not implemented in JBox2D yet, but
// when they are, commenting out the following section should work.
else if (type == "gear")
{
int jointIndex1 = (int)jointValue["joint1"];
int jointIndex2 = (int)jointValue["joint2"];
var joint1 = m_joints[jointIndex1];
var joint2 = m_joints[jointIndex2];
var ratio = jsonToFloat("ratio", jointValue);
joint = gearDef = JointFactory.CreateGearJoint(world, joint1, joint2, ratio);
}
// Wheel joints are apparently not implemented in JBox2D yet, but
// when they are, commenting out the following section should work.
else if (type == "wheel")
{
var localAnchorA = jsonToVec("anchorA", jointValue);
var localAnchorB = (jsonToVec("anchorB", jointValue));
var localAxisA = (jsonToVec("localAxisA", jointValue));
var enableMotor = jointValue["enableMotor"] == null ? false : (bool)jointValue["enableMotor"];
var motorSpeed = jsonToFloat("motorSpeed", jointValue);
var maxMotorTorque = jsonToFloat("maxMotorTorque", jointValue);
var frequencyHz = jsonToFloat("springFrequency", jointValue);
var dampingRatio = jsonToFloat("springDampingRatio", jointValue);
joint = wheelDef = JointFactory.CreateWheelJoint(world, bodyA, bodyB, localAnchorB, localAxisA);
wheelDef.LocalAnchorA = localAnchorA;
wheelDef.LocalAnchorB = localAnchorB;
wheelDef.MotorEnabled = enableMotor;
wheelDef.MotorSpeed = motorSpeed;
wheelDef.SpringFrequencyHz = frequencyHz;
wheelDef.MaxMotorTorque = maxMotorTorque;
wheelDef.SpringDampingRatio = dampingRatio;
}
else if (type == "weld")
{
joint = weldDef = JointFactory.CreateWeldJoint(world, bodyA, bodyB, jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue));
weldDef.LocalAnchorA = jsonToVec("anchorA", jointValue);
weldDef.LocalAnchorB = jsonToVec("anchorB", jointValue);
weldDef.FrequencyHz = jsonToFloat("frequency", jointValue);
weldDef.DampingRatio = jsonToFloat("dampingRatio", jointValue);
}
else if (type == "friction")
{
joint = frictionDef = JointFactory.CreateFrictionJoint(world, bodyA, bodyB, jsonToVec("anchorA", jointValue));
frictionDef.LocalAnchorB = jsonToVec("anchorB", jointValue);
frictionDef.MaxForce = jsonToFloat("maxForce", jointValue);
frictionDef.MaxTorque = jsonToFloat("maxTorque", jointValue);
}
else if (type == "rope")
{
joint = ropeDef = new RopeJoint(bodyA, bodyB, jsonToVec("anchorA", jointValue), jsonToVec("anchorB", jointValue));
world.AddJoint(joint);
ropeDef.MaxLength = jsonToFloat("maxLength", jointValue);
}
else if (type == "motor")
{
var maxForce = jsonToFloat("maxForce", jointValue);
var maxMotorTorque = jsonToFloat("maxTorque", jointValue);
var angularOffset = jsonToFloat("refAngle", jointValue);
joint = motorDef = new MotorJoint(bodyA, bodyB);
world.AddJoint(joint);
motorDef.LinearOffset = jsonToVec("anchorA", jointValue);
motorDef.MaxForce = maxForce;
motorDef.MaxTorque = maxMotorTorque;
motorDef.AngularOffset = angularOffset;
}
if (null != joint)
{
// set features common to all joints
/*joint.BodyA = bodyA;
joint.BodyB = bodyB;*/
joint.CollideConnected = collideConnected;
string jointName = jointValue["name"] == null ? "" : jointValue["name"].ToString();
if (jointName != "")
{
SetJointName(joint, jointName);
}
}
return joint;
}
public override Joint createJoint()
{
var joint = new MotorJoint( bodyA, bodyB );
joint.collideConnected = collideConnected;
joint.linearOffset = linearOffset * FSConvert.displayToSim;
joint.maxForce = maxForce;
joint.maxTorque = maxTorque;
joint.angularOffset = angularOffset;
return joint;
}
public static MotorJoint CreateMotorJoint(World world, Body bodyA, Body bodyB, bool useWorldCoordinates = false)
{
MotorJoint joint = new MotorJoint(bodyA, bodyB, useWorldCoordinates);
world.AddJoint(joint);
return joint;
}
public static MotorJoint CreateMotorJoint(World world, Body bodyA, Body bodyB)
{
MotorJoint joint = new MotorJoint(bodyA, bodyB);
world.AddJoint(joint);
return joint;
}
