/// <summary>
/// Add a request for joint creation.
/// </summary>
/// <remarks>
/// this joint will just be added to a waiting list that is NOT processed during the main
/// Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
/// </remarks>
/// <param name="objectNameInScene"></param>
/// <param name="jointType"></param>
/// <param name="position"></param>
/// <param name="rotation"></param>
/// <param name="parms"></param>
/// <param name="bodyNames"></param>
/// <param name="trackedBodyName"></param>
/// <param name="localRotation"></param>
/// <returns></returns>
public override PhysicsJoint RequestJointCreation(
string objectNameInScene, PhysicsJointType jointType, Vector3 position,
Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
{
OdePhysicsJoint joint = new OdePhysicsJoint();
joint.ObjectNameInScene = objectNameInScene;
joint.Type = jointType;
joint.Position = position;
joint.Rotation = rotation;
joint.RawParams = parms;
joint.BodyNames = new List<string>(bodyNames);
joint.TrackedBodyName = trackedBodyName;
joint.LocalRotation = localRotation;
joint.jointID = IntPtr.Zero;
joint.ErrorMessageCount = 0;
lock (externalJointRequestsLock)
{
if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
{
requestedJointsToBeCreated.Add(joint);
}
}
return joint;
}
// internal utility function: must be called within a lock (OdeLock)
private void InternalAddPendingJoint(OdePhysicsJoint joint)
{
pendingJoints.Add(joint);
SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
}