/// <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(PhysicsWorld world, List<PhysicsBody> 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; }
public static DistanceJoint CreateDistanceJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchorA, Vector2 anchorB) { DistanceJoint distanceJoint = new DistanceJoint(bodyA, bodyB, anchorA, anchorB); world.AddJoint(distanceJoint); return distanceJoint; }
/// <summary> /// Creates a fixed angle joint. /// </summary> /// <param name="world">The world.</param> /// <param name="body">The body.</param> /// <returns></returns> public static FixedAngleJoint CreateFixedAngleJoint(PhysicsWorld world, PhysicsBody body) { FixedAngleJoint angleJoint = new FixedAngleJoint(body); world.AddJoint(angleJoint); return angleJoint; }
public static FixedPrismaticJoint CreateFixedPrismaticJoint(PhysicsWorld world, PhysicsBody body, Vector2 worldAnchor, Vector2 axis) { FixedPrismaticJoint joint = new FixedPrismaticJoint(body, worldAnchor, axis); world.AddJoint(joint); return joint; }
public static FixedDistanceJoint CreateFixedDistanceJoint(PhysicsWorld world, PhysicsBody body, Vector2 localAnchor, Vector2 worldAnchor) { FixedDistanceJoint distanceJoint = new FixedDistanceJoint(body, localAnchor, worldAnchor); world.AddJoint(distanceJoint); return distanceJoint; }
/// <summary> /// Creates an angle joint. /// </summary> /// <param name="world">The world.</param> /// <param name="bodyA">The first body.</param> /// <param name="bodyB">The second body.</param> /// <returns></returns> public static AngleJoint CreateAngleJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB) { AngleJoint angleJoint = new AngleJoint(bodyA, bodyB); world.AddJoint(angleJoint); return angleJoint; }
public void Deserialize(PhysicsWorld 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) { PhysicsBody body = new PhysicsBody(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); f.Restitution = blueprint.Restitution; f.UserData = blueprint.UserData; f.Friction = blueprint.Friction; f.CollidesWith = blueprint.CollidesWith; f.CollisionCategories = blueprint.CollisionCategories; 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) { PhysicsJoint 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; } } PhysicsBody bodyA = _bodies[bodyAIndex]; PhysicsBody 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 GearJoint CreateGearJoint(PhysicsWorld world, PhysicsJoint jointA, PhysicsJoint jointB, float ratio) { GearJoint gearJoint = new GearJoint(jointA, jointB, ratio); world.AddJoint(gearJoint); return gearJoint; }
public static FrictionJoint CreateFrictionJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchorA, Vector2 anchorB) { FrictionJoint frictionJoint = new FrictionJoint(bodyA, bodyB, anchorA, anchorB); world.AddJoint(frictionJoint); return frictionJoint; }
/// <summary> /// Creates the fixed revolute joint. /// </summary> /// <param name="world">The world.</param> /// <param name="body">The body.</param> /// <param name="bodyAnchor">The body anchor.</param> /// <param name="worldAnchor">The world anchor.</param> /// <returns></returns> public static FixedRevoluteJoint CreateFixedRevoluteJoint(PhysicsWorld world, PhysicsBody body, Vector2 bodyAnchor, Vector2 worldAnchor) { FixedRevoluteJoint fixedRevoluteJoint = new FixedRevoluteJoint(body, bodyAnchor, worldAnchor); world.AddJoint(fixedRevoluteJoint); return fixedRevoluteJoint; }
public static FixedFrictionJoint CreateFixedFrictionJoint(PhysicsWorld world, PhysicsBody body, Vector2 bodyAnchor) { FixedFrictionJoint frictionJoint = new FixedFrictionJoint(body, bodyAnchor); world.AddJoint(frictionJoint); return frictionJoint; }
/// <summary> /// Creates a prismatic joint and adds it to the world /// </summary> /// <param name="world"></param> /// <param name="bodyA"></param> /// <param name="bodyB"></param> /// <param name="localanchorB"></param> /// <param name="axis"></param> /// <returns></returns> public static PrismaticJoint CreatePrismaticJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 localanchorB, Vector2 axis) { PrismaticJoint joint = CreatePrismaticJoint(bodyA, bodyB, localanchorB, axis); world.AddJoint(joint); return joint; }
public static WeldJoint CreateWeldJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 localAnchorA, Vector2 localAnchorB) { WeldJoint weldJoint = new WeldJoint(bodyA, bodyB, localAnchorA, localAnchorB); world.AddJoint(weldJoint); return weldJoint; }
/// <summary> /// Creates a weld joint and adds it to the world /// </summary> /// <param name="world"></param> /// <param name="bodyA"></param> /// <param name="bodyB"></param> /// <param name="localanchorB"></param> /// <returns></returns> public static WeldJoint CreateWeldJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 localanchorB) { WeldJoint joint = CreateWeldJoint(bodyA, bodyB, localanchorB); world.AddJoint(joint); return joint; }
public static SliderJoint CreateSliderJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchorA, Vector2 anchorB, float minLength, float maxLength) { SliderJoint sliderJoint = new SliderJoint(bodyA, bodyB, anchorA, anchorB, minLength, maxLength); world.AddJoint(sliderJoint); return sliderJoint; }
/// <summary> /// Creates a revolute joint and adds it to the world /// </summary> /// <param name="world"></param> /// <param name="bodyA"></param> /// <param name="bodyB"></param> /// <param name="anchor"></param> /// <returns></returns> public static RevoluteJoint CreateRevoluteJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 anchor) { RevoluteJoint joint = CreateRevoluteJoint(bodyA, bodyB, anchor); world.AddJoint(joint); return joint; }
public static PulleyJoint CreatePulleyJoint(PhysicsWorld world, PhysicsBody bodyA, PhysicsBody bodyB, Vector2 groundAnchorA, Vector2 groundAnchorB, Vector2 anchorA, Vector2 anchorB, float ratio) { PulleyJoint pulleyJoint = new PulleyJoint(bodyA, bodyB, groundAnchorA, groundAnchorB, anchorA, anchorB, ratio); world.AddJoint(pulleyJoint); return pulleyJoint; }