public void PivotJointProperties()
{
var anchorA = new Vect(1, 1);
var anchorB = new Vect(0.5, 0.5);
var constraint = new PivotJoint(bodyA,
bodyB,
anchorA,
anchorB);
var constraint2 = new PivotJoint(bodyA,
bodyB,
Vect.Zero
);
Assert.AreEqual(anchorA, constraint.AnchorA, "#1");
Assert.AreEqual(anchorB, constraint.AnchorB, "#2");
constraint.AnchorA = anchorB;
constraint.AnchorB = anchorA;
Assert.AreEqual(anchorB, constraint.AnchorA, "#3");
Assert.AreEqual(anchorA, constraint.AnchorB, "#4");
Assert.IsTrue(PivotJoint.IsPivotJoint(constraint), "#5");
Assert.AreEqual(new Vect(-3, -2), constraint2.AnchorB, "#6");
Assert.AreEqual(new Vect(-2, -1), constraint2.AnchorA, "#7");
}
public override Space LoadContent()
{
space = ChipmunkDemoGame.CreateSpace();
space.Iterations = 10;
space.SleepTimeThreshold = 0.5;
Body staticBody = space.StaticBody;
Shape shape = new Segment(staticBody, new Vect(-320, -240), new Vect(-320, 240), 0.0);
// Create segments around the edge of the screen.
space.AddShape(shape);
shape.Elasticity = 1.0;
shape.Friction = 1.0;
shape.Filter = ChipmunkDemoGame.NotGrabbableFilter;
shape = new Segment(staticBody, new Vect(320, -240), new Vect(320, 240), 0.0);
space.AddShape(shape);
shape.Elasticity = 1.0;
shape.Friction = 1.0;
shape.Filter = ChipmunkDemoGame.NotGrabbableFilter;
shape = new Segment(staticBody, new Vect(-320, -240), new Vect(320, -240), 0.0);
space.AddShape(shape);
shape.Elasticity = 1.0;
shape.Friction = 1.0;
shape.Filter = ChipmunkDemoGame.NotGrabbableFilter;
shape = new Segment(staticBody, new Vect(-320, 240), new Vect(320, 240), 0.0);
space.AddShape(shape);
shape.Elasticity = 1.0;
shape.Friction = 1.0;
shape.Filter = ChipmunkDemoGame.NotGrabbableFilter;
for (int i = 0; i < 50; i++)
{
Body body = AddBox(20, 1);
Constraint p = new PivotJoint(staticBody, body, Vect.Zero, Vect.Zero);
space.AddConstraint(p);
p.MaxBias = 0; // disable joint correction
p.MaxForce = 1000.0; // emulate linear friction
Constraint g = new GearJoint(staticBody, body, 0.0, 1.0);
space.AddConstraint(g);
g.MaxBias = 0; // disable joint correction
g.MaxForce = 5000.0; // emulate angular friction
}
// We joint the tank to the control body and control the tank indirectly by modifying the control body.
tankControlBody = new Body(BodyType.Kinematic);
space.AddBody(tankControlBody);
tankBody = AddBox(30, 10);
Constraint pivot = new PivotJoint(tankControlBody, tankBody, Vect.Zero, Vect.Zero);
space.AddConstraint(pivot);
pivot.MaxBias = 0; // disable joint correction
pivot.MaxForce = 10000.0; // emulate linear friction
Constraint gear = new GearJoint(tankControlBody, tankBody, 0.0, 1.0);
space.AddConstraint(gear);
gear.ErrorBias = 0; // attempt to fully correct the joint each step
gear.MaxBias = 1.2; // but limit it's angular correction rate
gear.MaxForce = 50000.0; // emulate angular friction
return(space);
}
