/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution parameter
/// and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="extent">Distance at which the limit becomes active.</param>
/// <param name="spring">
/// Spring that controls how are the bodies pulled back towards the limit when they breach it.
/// </param>
/// <param name="restitution">
/// Controls how do objects react when the limit is reached, values closer to zero specify non-ellastic collision, while
/// those closer to one specify more ellastic (i.e bouncy) collision. Must be in [0, 1] range.
/// </param>
public LimitLinear(float extent, Spring spring, float restitution = 0f)
{
this.extent = extent;
this.contactDist = -1f;
this.restitution = 0f;
this.spring = Spring.Default();
}
/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution parameter
/// and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="yLimitAngle">
/// Y angle of the cone. Movement is constrainted between 0 and this angle on the Y axis.
/// </param>
/// <param name="zLimitAngle">
/// Z angle of the cone. Movement is constrainted between 0 and this angle on the Z axis.
/// </param>
/// <param name="spring">
/// Spring that controls how are the bodies pulled back towards the limit when they breach it.
/// </param>
/// <param name="restitution">
/// Controls how do objects react when the limit is reached, values closer to zero specify non-ellastic collision, while
/// those closer to one specify more ellastic (i.e bouncy) collision. Must be in [0, 1] range.
/// </param>
public LimitConeRange(Radian yLimitAngle, Radian zLimitAngle, Spring spring, float restitution = 0f)
{
this.yLimitAngle = yLimitAngle;
this.zLimitAngle = zLimitAngle;
this.contactDist = -1f;
this.restitution = 0f;
this.spring = Spring.Default();
}
/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution parameter
/// and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="lower">Lower distance of the limit. Must be less than <paramref name="upper"/>.</param>
/// <param name="upper">Upper distance of the limit. Must be more than <paramref name="lower"/>.</param>
/// <param name="spring">
/// Spring that controls how are the bodies pulled back towards the limit when they breach it.
/// </param>
/// <param name="restitution">
/// Controls how do objects react when the limit is reached, values closer to zero specify non-ellastic collision, while
/// those closer to one specify more ellastic (i.e bouncy) collision. Must be in [0, 1] range.
/// </param>
public LimitLinearRange(float lower, float upper, Spring spring, float restitution = 0f)
{
this.lower = lower;
this.upper = upper;
this.contactDist = -1f;
this.restitution = 0f;
this.spring = Spring.Default();
}
/// <summary>
/// Constructs a soft limit. Once the limit is reached the bodies will bounce back according to the resitution parameter
/// and will be pulled back towards the limit by the provided spring.
/// </summary>
/// <param name="lower">Lower angle of the limit. Must be less than <paramref name="upper"/>.</param>
/// <param name="upper">Upper angle of the limit. Must be more than <paramref name="lower"/>.</param>
/// <param name="spring">
/// Spring that controls how are the bodies pulled back towards the limit when they breach it.
/// </param>
/// <param name="restitution">
/// Controls how do objects react when the limit is reached, values closer to zero specify non-ellastic collision, while
/// those closer to one specify more ellastic (i.e bouncy) collision. Must be in [0, 1] range.
/// </param>
public LimitAngularRange(Radian lower, Radian upper, Spring spring, float restitution = 0f)
{
this.lower = lower;
this.upper = upper;
this.contactDist = -1f;
this.restitution = 0f;
this.spring = Spring.Default();
}
/// <summary>Initializes the struct with default values.</summary>
public static LimitLinear Default()
{
LimitLinear value = new LimitLinear();
value.extent = 0f;
value.contactDist = -1f;
value.restitution = 0f;
value.spring = Spring.Default();
return(value);
}
/// <summary>Initializes the struct with default values.</summary>
public static LimitConeRange Default()
{
LimitConeRange value = new LimitConeRange();
value.yLimitAngle = Radian.Default();
value.zLimitAngle = Radian.Default();
value.contactDist = -1f;
value.restitution = 0f;
value.spring = Spring.Default();
return(value);
}
/// <summary>Initializes the struct with default values.</summary>
public static LimitLinearRange Default()
{
LimitLinearRange value = new LimitLinearRange();
value.lower = 0f;
value.upper = 0f;
value.contactDist = -1f;
value.restitution = 0f;
value.spring = Spring.Default();
return(value);
}
public LimitCommon(float contactDist = -1f)
{
this.contactDist = contactDist;
this.restitution = 0f;
this.spring = Spring.Default();
}
