public static FrictionJoint CreateFrictionJoint(World world, Body bodyA, Body bodyB, Vector2 anchorA, Vector2 anchorB) { FrictionJoint frictionJoint = new FrictionJoint(bodyA, bodyB, anchorA, anchorB); world.AddJoint(frictionJoint); return frictionJoint; }
public static FrictionJoint CreateFrictionJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, bool useWorldCoordinates = false) { FrictionJoint frictionJoint = new FrictionJoint(bodyA, bodyB, anchor, useWorldCoordinates); world.Add(frictionJoint); return(frictionJoint); }
public override Joint createJoint() { var joint = new FrictionJoint( bodyA, bodyB, anchor ); joint.collideConnected = collideConnected; joint.maxForce = maxForce; joint.maxTorque = maxTorque; return joint; }
public void Deserialize(World world, Stream stream) { world.Clear(); XMLFragmentElement root = XMLFragmentParser.LoadFromStream(stream); if (root.Name.ToLower() != "world") throw new Exception(); foreach (XMLFragmentElement main in root.Elements) { if (main.Name.ToLower() == "gravity") { world.Gravity = ReadVector(main); } } foreach (XMLFragmentElement shapeElement in root.Elements) { if (shapeElement.Name.ToLower() == "shapes") { foreach (XMLFragmentElement n in shapeElement.Elements) { if (n.Name.ToLower() != "shape") throw new Exception(); ShapeType type = (ShapeType)Enum.Parse(typeof(ShapeType), n.Attributes[0].Value, true); switch (type) { case ShapeType.Circle: { CircleShape shape = new CircleShape(); foreach (XMLFragmentElement sn in n.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(); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "vertices": { List<Vector2> verts = new List<Vector2>(); foreach (XMLFragmentElement vert in sn.Elements) verts.Add(ReadVector(vert)); shape.Set(new Vertices(verts.ToArray())); } break; case "centroid": shape.MassData.Centroid = ReadVector(sn); break; } } _shapes.Add(shape); } break; case ShapeType.Edge: { EdgeShape shape = new EdgeShape(); foreach (XMLFragmentElement sn in n.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; } } } } foreach (XMLFragmentElement fixtureElement in root.Elements) { if (fixtureElement.Name.ToLower() == "fixtures") { foreach (XMLFragmentElement n in fixtureElement.Elements) { Fixture fixture = new Fixture(); if (n.Name.ToLower() != "fixture") throw new Exception(); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "shape": fixture.Shape = _shapes[int.Parse(sn.Value)]; break; case "density": fixture.Shape.Density = float.Parse(sn.Value); break; 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; } } 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); } } } foreach (XMLFragmentElement bodyElement in root.Elements) { if (bodyElement.Name.ToLower() == "bodies") { foreach (XMLFragmentElement n in bodyElement.Elements) { Body body = new Body(world); if (n.Name.ToLower() != "body") throw new Exception(); body.BodyType = (BodyType)Enum.Parse(typeof(BodyType), n.Attributes[0].Value, true); foreach (XMLFragmentElement sn in n.Elements) { switch (sn.Name.ToLower()) { case "active": if (bool.Parse(sn.Value)) 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 "fixtures": { foreach (XMLFragmentElement v in sn.Elements) { Fixture blueprint = _fixtures[int.Parse(v.Value)]; Fixture f = new Fixture(body, blueprint.Shape, blueprint.CollisionCategories); f.Restitution = blueprint.Restitution; f.UserData = blueprint.UserData; f.Friction = blueprint.Friction; f.CollidesWith = blueprint.CollidesWith; f.CollisionGroup = blueprint.CollisionGroup; } break; } } } _bodies.Add(body); } } } 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.Distance: joint = new DistanceJoint(); break; case JointType.Friction: joint = new FrictionJoint(); break; case JointType.Line: joint = new LineJoint(); 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.Slider: joint = new SliderJoint(); 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.Line: { switch (sn.Name.ToLower()) { case "enablemotor": ((LineJoint)joint).MotorEnabled = bool.Parse(sn.Value); break; case "localanchora": ((LineJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((LineJoint)joint).LocalAnchorB = ReadVector(sn); break; case "motorspeed": ((LineJoint)joint).MotorSpeed = float.Parse(sn.Value); break; case "dampingratio": ((LineJoint)joint).DampingRatio = float.Parse(sn.Value); break; case "maxmotortorque": ((LineJoint)joint).MaxMotorTorque = float.Parse(sn.Value); break; case "frequencyhz": ((LineJoint)joint).Frequency = float.Parse(sn.Value); break; case "localxaxis": ((LineJoint)joint).LocalXAxis = 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 "local1axis1": ((PrismaticJoint)joint).LocalXAxis1 = 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 "groundanchora": ((PulleyJoint)joint).GroundAnchorA = ReadVector(sn); break; case "groundanchorb": ((PulleyJoint)joint).GroundAnchorB = 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 "maxlengtha": ((PulleyJoint)joint).MaxLengthA = float.Parse(sn.Value); break; case "maxlengthb": ((PulleyJoint)joint).MaxLengthB = float.Parse(sn.Value); break; case "ratio": ((PulleyJoint)joint).Ratio = 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.Slider: { switch (sn.Name.ToLower()) { case "dampingratio": ((SliderJoint)joint).DampingRatio = float.Parse(sn.Value); break; case "frequencyhz": ((SliderJoint)joint).Frequency = float.Parse(sn.Value); break; case "maxlength": ((SliderJoint)joint).MaxLength = float.Parse(sn.Value); break; case "minlength": ((SliderJoint)joint).MinLength = float.Parse(sn.Value); break; case "localanchora": ((SliderJoint)joint).LocalAnchorA = ReadVector(sn); break; case "localanchorb": ((SliderJoint)joint).LocalAnchorB = ReadVector(sn); break; } } break; } } } } } }
public static FrictionJoint CreateFrictionJoint(World world, Body bodyA, Body bodyB, Vector2 anchor, bool useWorldCoordinates = false) { FrictionJoint frictionJoint = new FrictionJoint(bodyA, bodyB, anchor, useWorldCoordinates); world.AddJoint(frictionJoint); return frictionJoint; }
private ApplyForceTest() { World.Gravity = Vector2.Zero; const float restitution = 0.4f; Body ground; { ground = BodyFactory.CreateBody(World); ground.Position = new Vector2(0.0f, 20.0f); EdgeShape shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(-20.0f, 20.0f)); // Left vertical Fixture fixture = ground.CreateFixture(shape); fixture.Restitution = restitution; // Right vertical shape = new EdgeShape(new Vector2(20.0f, -20.0f), new Vector2(20.0f, 20.0f)); ground.CreateFixture(shape); // Top horizontal shape = new EdgeShape(new Vector2(-20.0f, 20.0f), new Vector2(20.0f, 20.0f)); ground.CreateFixture(shape); // Bottom horizontal shape = new EdgeShape(new Vector2(-20.0f, -20.0f), new Vector2(20.0f, -20.0f)); ground.CreateFixture(shape); } { Transform xf1 = new Transform(); xf1.q.Set(0.3524f * Settings.Pi); xf1.p = MathUtils.Mul(ref xf1.q, new Vector2(1.0f, 0.0f)); Vertices vertices = new Vertices(3); vertices.Add(MathUtils.Mul(ref xf1, new Vector2(-1.0f, 0.0f))); vertices.Add(MathUtils.Mul(ref xf1, new Vector2(1.0f, 0.0f))); vertices.Add(MathUtils.Mul(ref xf1, new Vector2(0.0f, 0.5f))); PolygonShape poly1 = new PolygonShape(vertices, 4); Transform xf2 = new Transform(); xf2.q.Set(-0.3524f * Settings.Pi); xf2.p = MathUtils.Mul(ref xf2.q, new Vector2(-1.0f, 0.0f)); vertices[0] = MathUtils.Mul(ref xf2, new Vector2(-1.0f, 0.0f)); vertices[1] = MathUtils.Mul(ref xf2, new Vector2(1.0f, 0.0f)); vertices[2] = MathUtils.Mul(ref xf2, new Vector2(0.0f, 0.5f)); PolygonShape poly2 = new PolygonShape(vertices, 2); _body = BodyFactory.CreateBody(World); _body.BodyType = BodyType.Dynamic; _body.Position = new Vector2(0.0f, 2.0f); _body.Rotation = Settings.Pi; _body.AngularDamping = 5.0f; _body.LinearDamping = 0.8f; _body.SleepingAllowed = true; _body.CreateFixture(poly1); _body.CreateFixture(poly2); } { Vertices box = PolygonTools.CreateRectangle(0.5f, 0.5f); PolygonShape shape = new PolygonShape(box, 1); for (int i = 0; i < 10; ++i) { Body body = BodyFactory.CreateBody(World); body.Position = new Vector2(0.0f, 5.0f + 1.54f * i); body.BodyType = BodyType.Dynamic; Fixture fixture = body.CreateFixture(shape); fixture.Friction = 0.3f; const float gravity = 10.0f; float I = body.Inertia; float mass = body.Mass; // For a circle: I = 0.5 * m * r * r ==> r = sqrt(2 * I / m) float radius = (float)Math.Sqrt(2.0 * (I / mass)); FrictionJoint jd = new FrictionJoint(ground, body, Vector2.Zero); jd.CollideConnected = true; jd.MaxForce = mass * gravity; jd.MaxTorque = mass * radius * gravity; World.AddJoint(jd); } } }
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 FixedAngleJoint(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.Line: 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.LocalXAxis1; 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).LocalXAxis1 = pJoint.LocalXAxis1; 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; }