internal DigitalRuneCylindricalJoint(CylindricalJointDescriptor descriptor)
{
WrappedCylindricalJoint = new CylindricalJoint();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
WrappedCylindricalJoint.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'.");
WrappedCylindricalJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedCylindricalJoint.AnchorPoseALocal = descriptor.AnchorPoseALocal.ToDigitalRune();
WrappedCylindricalJoint.AnchorPoseBLocal = descriptor.AnchorPoseBLocal.ToDigitalRune();
WrappedCylindricalJoint.AngularMaximum = descriptor.MaximumAngle;
WrappedCylindricalJoint.AngularMinimum = descriptor.MinimumAngle;
WrappedCylindricalJoint.LinearMaximum = descriptor.MaximumDistance;
WrappedCylindricalJoint.LinearMinimum = descriptor.MinimumDistance;
Descriptor = descriptor;
}
public ConstraintSample1(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Tip: It is best to initialize bodies in a position where the constraints are
// satisfied - but even if they are initialized in other poses, the simulation
// will try to move them to the correct positions.
// ----- FixedJoint
// Create two boxes and connect them with a FixedJoint.
RigidBody box0 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(-5, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box0);
RigidBody box1 = new RigidBody(new BoxShape(1.2f, 1.2f, 1.2f))
{
Pose = new Pose(new Vector3F(-5, 3 - 1.2f, 0))
};
Simulation.RigidBodies.Add(box1);
FixedJoint fixedJoint = new FixedJoint
{
BodyA = box0,
// The attachment point on the first box is at the bottom of the box.
AnchorPoseALocal = new Pose(new Vector3F(0, -0.5f, 0)),
BodyB = box1,
// The attachment point on the second box is at the top of the box.
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.6f, 0)),
// Disable collision between the connected bodies.
CollisionEnabled = false,
};
Simulation.Constraints.Add(fixedJoint);
// ----- BallJoint
// Create two boxes and connect a corner of the second box with a ball-and-socked joint
// to the first box.
RigidBody box2 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(-3, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box2);
RigidBody box3 = new RigidBody(new BoxShape(1.2f, 1.2f, 1.2f))
{
Pose = new Pose(new Vector3F(-3, 3, 0))
};
Simulation.RigidBodies.Add(box3);
BallJoint ballJoint = new BallJoint
{
BodyA = box2,
// The attachment point on the first box is at the box bottom.
AnchorPositionALocal = new Vector3F(0, -0.5f, 0),
BodyB = box3,
// The attachment point on the second box is a corner of the box.
AnchorPositionBLocal = new Vector3F(0.6f, 0.6f, 0.6f),
};
Simulation.Constraints.Add(ballJoint);
// ----- PrismaticJoint
// A prismatic joint is like a slider (without rotation around the slider axis).
RigidBody box4 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(-1, 3, 0)),
};
Simulation.RigidBodies.Add(box4);
RigidBody box5 = new RigidBody(new BoxShape(0.5f, 1.5f, 0.5f))
{
Pose = new Pose(new Vector3F(-1, 3 - 0.5f, 0))
};
Simulation.RigidBodies.Add(box5);
PrismaticJoint prismaticJoint = new PrismaticJoint
{
BodyA = box4,
// The attachment point on the first box is in the center of the box.
// The slider joint allows linear movement along the first constraint axis.
// --> To define the constraint anchor orientation:
// The columns are the axes. We set the local -y axis in the first column. This is the
// slider axis. The other two columns are two orthonormal axes.
// (All three columns are orthonormal and form a valid rotation matrix.)
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
BodyB = box5,
// The attachment point on the second box is at the top of the box.
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.75f, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
CollisionEnabled = false,
// The slider axis is -y. We limit the up movement, so that the anchor point on the second
// body can slide up to the anchor point on the first body, but not higher.
Minimum = 0,
// The second body can slide down until the anchor points have a max. distance of 0.5.
Maximum = 0.5f,
};
Simulation.Constraints.Add(prismaticJoint);
// ----- CylindricalJoint
// A cylindrical joint is a slider that allows rotation around the slider axis.
RigidBody box6 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(1, 3, 0)),
};
Simulation.RigidBodies.Add(box6);
RigidBody box7 = new RigidBody(new BoxShape(0.5f, 1.5f, 0.5f))
{
Pose = new Pose(new Vector3F(1, 3 - 0.5f, 0))
};
Simulation.RigidBodies.Add(box7);
CylindricalJoint cylindricalJoint = new CylindricalJoint
{
BodyA = box6,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
BodyB = box7,
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.75f, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
CollisionEnabled = false,
// The linear movement limits on the slider axis.
LinearMinimum = 0,
LinearMaximum = 0.5f,
// The rotation limits around the slider axis (in radians). Here, we allow free
// rotations.
AngularMinimum = float.NegativeInfinity,
AngularMaximum = float.PositiveInfinity,
};
Simulation.Constraints.Add(cylindricalJoint);
// ----- HingeJoint
// Hinge joints allow rotations around one axis. They can be used to model swinging doors
// or rotating wheels.
RigidBody cylinder0 = new RigidBody(new CylinderShape(0.1f, 2f))
{
Pose = new Pose(new Vector3F(3, 1, 0)),
MotionType = MotionType.Static
};
Simulation.RigidBodies.Add(cylinder0);
RigidBody box8 = new RigidBody(new BoxShape(1f, 1.8f, 0.1f))
{
Pose = new Pose(new Vector3F(3 + 0.5f, 1, 0))
};
Simulation.RigidBodies.Add(box8);
HingeJoint hingeJoint = new HingeJoint
{
BodyA = cylinder0,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
BodyB = box8,
AnchorPoseBLocal = new Pose(new Vector3F(-0.5f, 0, 0), new Matrix33F(0, 1, 0,
-1, 0, 0,
0, 0, 1)),
CollisionEnabled = false,
// The rotation limits around the hinge axis (in radians).
Minimum = -ConstantsF.PiOver2,
Maximum = ConstantsF.PiOver2,
};
Simulation.Constraints.Add(hingeJoint);
}
