/// <summary>
/// Attaches the bodies with revolute joints.
/// </summary>
/// <param name="world">The world.</param>
/// <param name="bodies">The bodies.</param>
/// <param name="localAnchorA">The local anchor A.</param>
/// <param name="localAnchorB">The local anchor B.</param>
/// <param name="connectFirstAndLast">if set to <c>true</c> [connect first and last].</param>
/// <param name="collideConnected">if set to <c>true</c> [collide connected].</param>
public static List<RevoluteJoint> AttachBodiesWithRevoluteJoint(World world, List<Body> bodies,
Vector2 localAnchorA,
Vector2 localAnchorB, bool connectFirstAndLast,
bool collideConnected)
{
List<RevoluteJoint> joints = new List<RevoluteJoint>(bodies.Count + 1);
for (int i = 1; i < bodies.Count; i++)
{
RevoluteJoint joint = new RevoluteJoint(bodies[i], bodies[i - 1], localAnchorA, localAnchorB);
joint.CollideConnected = collideConnected;
world.AddJoint(joint);
joints.Add(joint);
}
if (connectFirstAndLast)
{
RevoluteJoint lastjoint = new RevoluteJoint(bodies[0], bodies[bodies.Count - 1], localAnchorA,
localAnchorB);
lastjoint.CollideConnected = collideConnected;
world.AddJoint(lastjoint);
joints.Add(lastjoint);
}
return joints;
}
/// <summary>
/// Requires two existing revolute or prismatic joints (any combination will work).
/// The provided joints must attach a dynamic body to a static body.
/// </summary>
/// <param name="jointA">The first joint.</param>
/// <param name="jointB">The second joint.</param>
/// <param name="ratio">The ratio.</param>
public GearJoint(Joint jointA, Joint jointB, float ratio)
: base(jointA.BodyA, jointA.BodyB)
{
JointType = JointType.Gear;
JointA = jointA;
JointB = jointB;
Ratio = ratio;
JointType type1 = jointA.JointType;
JointType type2 = jointB.JointType;
// Make sure its the right kind of joint
Debug.Assert(type1 == JointType.Revolute ||
type1 == JointType.Prismatic ||
type1 == JointType.FixedRevolute ||
type1 == JointType.FixedPrismatic);
Debug.Assert(type2 == JointType.Revolute ||
type2 == JointType.Prismatic ||
type2 == JointType.FixedRevolute ||
type2 == JointType.FixedPrismatic);
// In the case of a prismatic and revolute joint, the first body must be static.
if (type1 == JointType.Revolute || type1 == JointType.Prismatic)
Debug.Assert(jointA.BodyA.BodyType == BodyType.Static);
if (type2 == JointType.Revolute || type2 == JointType.Prismatic)
Debug.Assert(jointB.BodyA.BodyType == BodyType.Static);
float coordinate1 = 0.0f, coordinate2 = 0.0f;
switch (type1)
{
case JointType.Revolute:
BodyA = jointA.BodyB;
_revolute1 = (RevoluteJoint) jointA;
LocalAnchor1 = _revolute1.LocalAnchorB;
coordinate1 = _revolute1.JointAngle;
break;
case JointType.Prismatic:
BodyA = jointA.BodyB;
_prismatic1 = (PrismaticJoint) jointA;
LocalAnchor1 = _prismatic1.LocalAnchorB;
coordinate1 = _prismatic1.JointTranslation;
break;
case JointType.FixedRevolute:
BodyA = jointA.BodyA;
_fixedRevolute1 = (FixedRevoluteJoint) jointA;
LocalAnchor1 = _fixedRevolute1.LocalAnchorA;
coordinate1 = _fixedRevolute1.JointAngle;
break;
case JointType.FixedPrismatic:
BodyA = jointA.BodyA;
_fixedPrismatic1 = (FixedPrismaticJoint) jointA;
LocalAnchor1 = _fixedPrismatic1.LocalAnchorA;
coordinate1 = _fixedPrismatic1.JointTranslation;
break;
}
switch (type2)
{
case JointType.Revolute:
BodyB = jointB.BodyB;
_revolute2 = (RevoluteJoint) jointB;
LocalAnchor2 = _revolute2.LocalAnchorB;
coordinate2 = _revolute2.JointAngle;
break;
case JointType.Prismatic:
BodyB = jointB.BodyB;
_prismatic2 = (PrismaticJoint) jointB;
LocalAnchor2 = _prismatic2.LocalAnchorB;
coordinate2 = _prismatic2.JointTranslation;
break;
case JointType.FixedRevolute:
BodyB = jointB.BodyA;
_fixedRevolute2 = (FixedRevoluteJoint) jointB;
LocalAnchor2 = _fixedRevolute2.LocalAnchorA;
coordinate2 = _fixedRevolute2.JointAngle;
break;
case JointType.FixedPrismatic:
BodyB = jointB.BodyA;
_fixedPrismatic2 = (FixedPrismaticJoint) jointB;
LocalAnchor2 = _fixedPrismatic2.LocalAnchorA;
coordinate2 = _fixedPrismatic2.JointTranslation;
break;
}
_ant = coordinate1 + Ratio*coordinate2;
}
public Weapon(SPRWorld sprWorld, Bot bot, Vector2 relativePosition, float relativeRotation, String textureName, Vector2 scale, WeaponType weaponType, float health, float power)
{
m_SPRWorld = sprWorld;
m_Time = 0;
this.m_owner = bot;
this.m_firing = false;
this.m_reloadTime = weaponType == WeaponType.melee ? 0 : .2f;
this.m_reloading = 0;
this.weaponType = weaponType;
this.m_power = power;
m_Position = relativePosition;
m_Rotation = relativeRotation;
m_Texture = TextureStatic.Get(textureName);
m_Scale = scale;
this.m_health = health;
Vertices v = SPRWorld.computedSpritePolygons[textureName];
// Simplify the object until it has few enough verticies.
while (v.Count > Physics.Settings.MaxPolygonVertices) // Infinite loop potential?
{
v = SimplifyTools.DouglasPeuckerSimplify(v, 2); // Where 2 is a completely arbitrary number?
}
v.Scale(ref scale);
//v.Translate(ref relativePosition);
v.Rotate(relativeRotation);
Fixture f = FixtureFactory.CreatePolygon(v, 1f, bot.Body, relativePosition);
m_Fixture = f;
f.Friction = 0.5f;
f.Restitution = 0f;
f.UserData = this;
if (this.weaponType == WeaponType.melee)
{
Body tempBody = BodyFactory.CreateBody(m_SPRWorld.World);
tempBody.BodyType = BodyType.Dynamic;
Vertices v2 = SPRWorld.computedSpritePolygons["Axe"];
// Simplify the object until it has few enough verticies.
while (v2.Count > Physics.Settings.MaxPolygonVertices) // Infinite loop potential?
{
v2 = SimplifyTools.DouglasPeuckerSimplify(v2, 2); // Where 2 is a completely arbitrary number?
}
Fixture f2 = FixtureFactory.CreatePolygon(SPRWorld.computedSpritePolygons[textureName], 0.1f, tempBody);
f2.Friction = 0.5f;
f2.Restitution = 0f;
tempBody.SetTransform(this.GetAbsPosition(), this.GetAbsRotation());
Projectile justFired = new Projectile(m_SPRWorld, tempBody, TextureStatic.Get("Axe"), new Vector2(0, 0), this.GetRelRotation(), 5, Settings.MetersPerPixel * 80, 80 * Settings.MetersPerPixel, m_power, m_health);
f2.UserData = justFired;
f2.OnCollision += Projectile.OnMeleeHit;
RevoluteJoint joint = JointFactory.CreateRevoluteJoint(m_SPRWorld.World, this.m_owner.Body, tempBody, Vector2.Zero);
joint.MaxMotorTorque = 160;
joint.LimitEnabled = true;
joint.MotorEnabled = true;
joint.LowerLimit = - (float)Math.PI / 4f;
joint.UpperLimit = (float)Math.PI / 4f;
m_AxeJoint = joint;
m_SPRWorld.AddEntity(justFired);
}
}
/// <summary>
/// Creates a revolute joint and adds it to the world
/// </summary>
/// <param name="bodyA"></param>
/// <param name="bodyB"></param>
/// <param name="localanchorB"></param>
/// <returns></returns>
public static RevoluteJoint CreateRevoluteJoint(Body bodyA, Body bodyB, Vector2 localanchorB)
{
Vector2 localanchorA = bodyA.GetLocalPoint(bodyB.GetWorldPoint(localanchorB));
RevoluteJoint joint = new RevoluteJoint(bodyA, bodyB, localanchorA, localanchorB);
return joint;
}
