// Given a constraint, apply the current constraint parameters to same.
public override void SetLinkParameters(BSConstraint constrain)
{
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType);
switch (constraintType)
{
case ConstraintType.FIXED_CONSTRAINT_TYPE:
case ConstraintType.D6_CONSTRAINT_TYPE:
BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof;
if (constrain6dof != null)
{
// NOTE: D6_SPRING_CONSTRAINT_TYPE should be updated if you change any of this code.
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain6dof.SetLinearLimits(linearLimitLow, linearLimitHigh);
constrain6dof.SetAngularLimits(angularLimitLow, angularLimitHigh);
// tweek the constraint to increase stability
constrain6dof.UseFrameOffset(useFrameOffset);
constrain6dof.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
constrain6dof.SetCFMAndERP(cfm, erp);
if (solverIterations != 0f)
{
constrain6dof.SetSolverIterations(solverIterations);
}
}
break;
case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
BSConstraintSpring constrainSpring = constrain as BSConstraintSpring;
if (constrainSpring != null)
{
// zero linear and angular limits makes the objects unable to move in relation to each other
constrainSpring.SetLinearLimits(linearLimitLow, linearLimitHigh);
constrainSpring.SetAngularLimits(angularLimitLow, angularLimitHigh);
// tweek the constraint to increase stability
constrainSpring.UseFrameOffset(useFrameOffset);
constrainSpring.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce);
constrainSpring.SetCFMAndERP(cfm, erp);
if (solverIterations != 0f)
{
constrainSpring.SetSolverIterations(solverIterations);
}
for (int ii = 0; ii < springAxisEnable.Length; ii++)
{
constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]);
if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
{
constrainSpring.SetDamping(ii, springDamping[ii]);
}
if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED)
{
constrainSpring.SetStiffness(ii, springStiffness[ii]);
}
}
constrainSpring.CalculateTransforms();
if (springLinearEquilibriumPoint != OMV.Vector3.Zero)
{
constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint);
}
else
{
constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED);
}
}
break;
default:
break;
}
}
