internal DigitalRuneHingeJoint(HingeJointDescriptor descriptor)
{
WrappedHingeJoint = new HingeJoint();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
{
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
}
WrappedHingeJoint.BodyA = ((RigidBody)descriptor.RigidBodyA).WrappedRigidBody;
_rigidBodyA = descriptor.RigidBodyA;
if (!(descriptor.RigidBodyB is RigidBody))
{
throw new ArgumentException("The type of the property 'RigidBodyB' must be 'System.Physics.DigitalRune.RigidBody'.");
}
WrappedHingeJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedHingeJoint.AnchorPoseALocal = descriptor.AnchorPoseALocal.ToDigitalRune();
WrappedHingeJoint.AnchorPoseBLocal = descriptor.AnchorPoseBLocal.ToDigitalRune();
WrappedHingeJoint.Maximum = descriptor.MaximumAngle;
WrappedHingeJoint.Minimum = descriptor.MinimumAngle;
Descriptor = descriptor;
}
public IHingeJoint Create(HingeJointDescriptor descriptor)
{
var constraint = new DigitalRuneHingeJoint(descriptor);
_simulator._wrappedSimulation.Constraints.Add(constraint.WrappedHingeJoint);
return(constraint);
}
public static IHingeJoint CreateHingeJoint(this IFactory <IConstraint> factory,
HingeJointDescriptor descriptor)
{
return(factory.Create <IHingeJoint, HingeJointDescriptor>(descriptor));
}
public DefaultHingeJoint(HingeJointDescriptor descriptor)
{
Descriptor = descriptor;
}