public static MotorJoint CreateMotorJoint(World world, Body bodyA, Body bodyB, bool useWorldCoordinates = false)
{
MotorJoint motorJoint = new MotorJoint(bodyA, bodyB, useWorldCoordinates);
world.AddJoint(motorJoint);
return(motorJoint);
}
private static void SerializeJoint(List <Body> bodies, Joint joint)
{
WorldXmlSerializer._writer.WriteStartElement("Joint");
WorldXmlSerializer._writer.WriteAttributeString("Type", joint.JointType.ToString());
WorldXmlSerializer.WriteElement("BodyA", WorldXmlSerializer.FindIndex(bodies, joint.BodyA));
WorldXmlSerializer.WriteElement("BodyB", WorldXmlSerializer.FindIndex(bodies, joint.BodyB));
WorldXmlSerializer.WriteElement("CollideConnected", joint.CollideConnected);
WorldXmlSerializer.WriteElement("Breakpoint", joint.Breakpoint);
bool flag = joint.UserData != null;
if (flag)
{
WorldXmlSerializer._writer.WriteStartElement("UserData");
WorldXmlSerializer.WriteDynamicType(joint.UserData.GetType(), joint.UserData);
WorldXmlSerializer._writer.WriteEndElement();
}
switch (joint.JointType)
{
case JointType.Revolute:
{
RevoluteJoint revoluteJoint = (RevoluteJoint)joint;
WorldXmlSerializer.WriteElement("EnableLimit", revoluteJoint.LimitEnabled);
WorldXmlSerializer.WriteElement("EnableMotor", revoluteJoint.MotorEnabled);
WorldXmlSerializer.WriteElement("LocalAnchorA", revoluteJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", revoluteJoint.LocalAnchorB);
WorldXmlSerializer.WriteElement("LowerAngle", revoluteJoint.LowerLimit);
WorldXmlSerializer.WriteElement("MaxMotorTorque", revoluteJoint.MaxMotorTorque);
WorldXmlSerializer.WriteElement("MotorSpeed", revoluteJoint.MotorSpeed);
WorldXmlSerializer.WriteElement("ReferenceAngle", revoluteJoint.ReferenceAngle);
WorldXmlSerializer.WriteElement("UpperAngle", revoluteJoint.UpperLimit);
break;
}
case JointType.Prismatic:
{
PrismaticJoint prismaticJoint = (PrismaticJoint)joint;
WorldXmlSerializer.WriteElement("EnableLimit", prismaticJoint.LimitEnabled);
WorldXmlSerializer.WriteElement("EnableMotor", prismaticJoint.MotorEnabled);
WorldXmlSerializer.WriteElement("LocalAnchorA", prismaticJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", prismaticJoint.LocalAnchorB);
WorldXmlSerializer.WriteElement("Axis", prismaticJoint.Axis);
WorldXmlSerializer.WriteElement("LowerTranslation", prismaticJoint.LowerLimit);
WorldXmlSerializer.WriteElement("UpperTranslation", prismaticJoint.UpperLimit);
WorldXmlSerializer.WriteElement("MaxMotorForce", prismaticJoint.MaxMotorForce);
WorldXmlSerializer.WriteElement("MotorSpeed", prismaticJoint.MotorSpeed);
break;
}
case JointType.Distance:
{
DistanceJoint distanceJoint = (DistanceJoint)joint;
WorldXmlSerializer.WriteElement("DampingRatio", distanceJoint.DampingRatio);
WorldXmlSerializer.WriteElement("FrequencyHz", distanceJoint.Frequency);
WorldXmlSerializer.WriteElement("Length", distanceJoint.Length);
WorldXmlSerializer.WriteElement("LocalAnchorA", distanceJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", distanceJoint.LocalAnchorB);
break;
}
case JointType.Pulley:
{
PulleyJoint pulleyJoint = (PulleyJoint)joint;
WorldXmlSerializer.WriteElement("WorldAnchorA", pulleyJoint.WorldAnchorA);
WorldXmlSerializer.WriteElement("WorldAnchorB", pulleyJoint.WorldAnchorB);
WorldXmlSerializer.WriteElement("LengthA", pulleyJoint.LengthA);
WorldXmlSerializer.WriteElement("LengthB", pulleyJoint.LengthB);
WorldXmlSerializer.WriteElement("LocalAnchorA", pulleyJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", pulleyJoint.LocalAnchorB);
WorldXmlSerializer.WriteElement("Ratio", pulleyJoint.Ratio);
WorldXmlSerializer.WriteElement("Constant", pulleyJoint.Constant);
break;
}
case JointType.Gear:
throw new Exception("Gear joint not supported by serialization");
case JointType.Wheel:
{
WheelJoint wheelJoint = (WheelJoint)joint;
WorldXmlSerializer.WriteElement("EnableMotor", wheelJoint.MotorEnabled);
WorldXmlSerializer.WriteElement("LocalAnchorA", wheelJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", wheelJoint.LocalAnchorB);
WorldXmlSerializer.WriteElement("MotorSpeed", wheelJoint.MotorSpeed);
WorldXmlSerializer.WriteElement("DampingRatio", wheelJoint.DampingRatio);
WorldXmlSerializer.WriteElement("MaxMotorTorque", wheelJoint.MaxMotorTorque);
WorldXmlSerializer.WriteElement("FrequencyHz", wheelJoint.Frequency);
WorldXmlSerializer.WriteElement("Axis", wheelJoint.Axis);
break;
}
case JointType.Weld:
{
WeldJoint weldJoint = (WeldJoint)joint;
WorldXmlSerializer.WriteElement("LocalAnchorA", weldJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", weldJoint.LocalAnchorB);
break;
}
case JointType.Friction:
{
FrictionJoint frictionJoint = (FrictionJoint)joint;
WorldXmlSerializer.WriteElement("LocalAnchorA", frictionJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", frictionJoint.LocalAnchorB);
WorldXmlSerializer.WriteElement("MaxForce", frictionJoint.MaxForce);
WorldXmlSerializer.WriteElement("MaxTorque", frictionJoint.MaxTorque);
break;
}
case JointType.Rope:
{
RopeJoint ropeJoint = (RopeJoint)joint;
WorldXmlSerializer.WriteElement("LocalAnchorA", ropeJoint.LocalAnchorA);
WorldXmlSerializer.WriteElement("LocalAnchorB", ropeJoint.LocalAnchorB);
WorldXmlSerializer.WriteElement("MaxLength", ropeJoint.MaxLength);
break;
}
case JointType.Motor:
{
MotorJoint motorJoint = (MotorJoint)joint;
WorldXmlSerializer.WriteElement("AngularOffset", motorJoint.AngularOffset);
WorldXmlSerializer.WriteElement("LinearOffset", motorJoint.LinearOffset);
WorldXmlSerializer.WriteElement("MaxForce", motorJoint.MaxForce);
WorldXmlSerializer.WriteElement("MaxTorque", motorJoint.MaxTorque);
WorldXmlSerializer.WriteElement("CorrectionFactor", motorJoint.CorrectionFactor);
break;
}
case JointType.Angle:
{
AngleJoint angleJoint = (AngleJoint)joint;
WorldXmlSerializer.WriteElement("BiasFactor", angleJoint.BiasFactor);
WorldXmlSerializer.WriteElement("MaxImpulse", angleJoint.MaxImpulse);
WorldXmlSerializer.WriteElement("Softness", angleJoint.Softness);
WorldXmlSerializer.WriteElement("TargetAngle", angleJoint.TargetAngle);
break;
}
default:
throw new Exception("Joint not supported");
}
WorldXmlSerializer._writer.WriteEndElement();
}