//
public void UpdateToLibrary(bool updateDirection)
{
if (joint.jointID == IntPtr.Zero)
{
return;
}
if (updateDirection)
{
Ode.dJointSetHingeAxis(joint.jointID, Direction.X, Direction.Y, Direction.Z);
}
//limits
Range range;
if (LimitsEnabled)
{
if (joint.Body1.Static)
{
range = new Range(LimitLow.InRadians(), LimitHigh.InRadians());
}
else
{
range = new Range(-LimitHigh.InRadians(), -LimitLow.InRadians());
}
}
else
{
range = new Range(-Ode.dInfinity, Ode.dInfinity);
}
// Both limits must be set twice because of a ODE bug in
// the limit setting function.
Ode.dJointSetHingeParam(joint.jointID, Ode.dJointParams.dParamLoStop, range.Minimum);
Ode.dJointSetHingeParam(joint.jointID, Ode.dJointParams.dParamHiStop, range.Maximum);
Ode.dJointSetHingeParam(joint.jointID, Ode.dJointParams.dParamLoStop, range.Minimum);
Ode.dJointSetHingeParam(joint.jointID, Ode.dJointParams.dParamHiStop, range.Maximum);
float h = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetHingeParam(joint.jointID, Ode.dJointParams.dParamStopERP, h);
float b = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetHingeParam(joint.jointID, Ode.dJointParams.dParamBounce, b);
}
public void UpdateToLibrary(bool updateDirection)
{
if (joint.jointID == IntPtr.Zero)
{
return;
}
if (updateDirection)
{
if (index == 1)
{
Ode.dJointSetUniversalAxis1(joint.jointID, Direction.X, Direction.Y, Direction.Z);
}
else
{
Ode.dJointSetUniversalAxis2(joint.jointID, Direction.X, Direction.Y, Direction.Z);
}
}
//limits
int useIndex;
if (!joint.Body1.Static)
{
useIndex = index == 1 ? 1 : 2;
}
else
{
useIndex = index == 1 ? 2 : 1;
}
Range range;
if (LimitsEnabled)
{
if (!joint.Body1.Static)
{
range = new Range(LimitLow.InRadians(), LimitHigh.InRadians());
}
else
{
range = new Range(-LimitHigh.InRadians(), -LimitLow.InRadians());
}
}
else
{
range = new Range(-Ode.dInfinity, Ode.dInfinity);
}
// Both limits must be set twice because of a ODE bug in
// the limit setting function.
Ode.dJointSetUniversalParam(joint.jointID, (useIndex == 1) ?
Ode.dJointParams.dParamLoStop : Ode.dJointParams.dParamLoStop2, range.Minimum);
Ode.dJointSetUniversalParam(joint.jointID, (useIndex == 1) ?
Ode.dJointParams.dParamHiStop : Ode.dJointParams.dParamHiStop2, range.Maximum);
Ode.dJointSetUniversalParam(joint.jointID, (useIndex == 1) ?
Ode.dJointParams.dParamLoStop : Ode.dJointParams.dParamLoStop2, range.Minimum);
Ode.dJointSetUniversalParam(joint.jointID, (useIndex == 1) ?
Ode.dJointParams.dParamHiStop : Ode.dJointParams.dParamHiStop2, range.Maximum);
float h = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetUniversalParam(joint.jointID, (useIndex == 1) ?
Ode.dJointParams.dParamStopERP : Ode.dJointParams.dParamStopERP2, h);
float b = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetUniversalParam(joint.jointID, (useIndex == 1) ?
Ode.dJointParams.dParamBounce : Ode.dJointParams.dParamBounce2, b);
}
public void UpdateToLibrary(bool updateDirection)
{
if (joint.jointID == IntPtr.Zero)
{
return;
}
//—уществует важное ограничение при использовании euler углов:
//угол theta 1 не должен выходить за пределы - pi /2 ... pi /2.
//≈сли это случитс¤ то AMotor станет не стабильным (эта особенность +/- pi /2).
//“аким образом, вы должны установить подход¤щие остановки(stops) на оси 1.
if (updateDirection)
{
if (index == 1)
{
Ode.dJointSetAMotorAxis(joint.aMotorID, 0, joint.Body1.Static ? 0 : 1,
Direction.X, Direction.Y, Direction.Z);
}
if (index == 3)
{
Ode.dJointSetAMotorAxis(joint.aMotorID, 2, joint.Body2.Static ? 0 : 2,
Direction.X, Direction.Y, Direction.Z);
}
}
//limits
Range range;
if (LimitsEnabled)
{
if (!joint.Body1.Static)
{
range = new Range(LimitLow.InRadians(), LimitHigh.InRadians());
}
else
{
range = new Range(-LimitHigh.InRadians(), -LimitLow.InRadians());
}
}
else
{
range = new Range(-Ode.dInfinity, Ode.dInfinity);
}
Ode.dJointParams p = (Ode.dJointParams) 0;
// Both limits must be set twice because of a ODE bug in
// the limit setting function.
for (int z = 0; z < 2; z++)
{
if (!joint.Body1.Static)
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamLoStop; break;
case 2: p = Ode.dJointParams.dParamLoStop2; break;
case 3: p = Ode.dJointParams.dParamLoStop3; break;
}
}
else
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamLoStop; break;
case 2: p = Ode.dJointParams.dParamLoStop2; break;
case 3: p = Ode.dJointParams.dParamLoStop3; break;
}
}
Ode.dJointSetAMotorParam(joint.aMotorID, p, range.Minimum);
if (!joint.Body1.Static)
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamHiStop; break;
case 2: p = Ode.dJointParams.dParamHiStop2; break;
case 3: p = Ode.dJointParams.dParamHiStop3; break;
}
}
else
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamHiStop; break;
case 2: p = Ode.dJointParams.dParamHiStop2; break;
case 3: p = Ode.dJointParams.dParamHiStop3; break;
}
}
Ode.dJointSetAMotorParam(joint.aMotorID, p, range.Maximum);
}
if (!joint.Body1.Static)
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamStopERP; break;
case 2: p = Ode.dJointParams.dParamStopERP2; break;
case 3: p = Ode.dJointParams.dParamStopERP3; break;
}
}
else
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamStopERP; break;
case 2: p = Ode.dJointParams.dParamStopERP2; break;
case 3: p = Ode.dJointParams.dParamStopERP3; break;
}
}
float h = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetAMotorParam(joint.aMotorID, p, h);
if (!joint.Body1.Static)
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamBounce; break;
case 2: p = Ode.dJointParams.dParamBounce2; break;
case 3: p = Ode.dJointParams.dParamBounce3; break;
}
}
else
{
switch (index)
{
case 1: p = Ode.dJointParams.dParamBounce; break;
case 2: p = Ode.dJointParams.dParamBounce2; break;
case 3: p = Ode.dJointParams.dParamBounce3; break;
}
}
float b = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetAMotorParam(joint.aMotorID, p, b);
}
public void UpdateToLibrary(bool updateDirection)
{
if (joint.jointID == IntPtr.Zero)
{
return;
}
if (updateDirection)
{
if (index == 1)
{
Ode.dJointSetHinge2Axis1(joint.jointID, Direction.X, Direction.Y, Direction.Z);
}
else
{
Ode.dJointSetHinge2Axis2(joint.jointID, Direction.X, Direction.Y, Direction.Z);
}
}
//limits
Range range;
if (LimitsEnabled)
{
range = new Range(LimitLow.InRadians(), LimitHigh.InRadians());
}
else
{
range = new Range(-Ode.dInfinity, Ode.dInfinity);
}
// Both limits must be set twice because of a ODE bug in
// the limit setting function.
Ode.dJointSetHinge2Param(joint.jointID, (index == 1) ?
Ode.dJointParams.dParamLoStop : Ode.dJointParams.dParamLoStop2, range.Minimum);
Ode.dJointSetHinge2Param(joint.jointID, (index == 1) ?
Ode.dJointParams.dParamHiStop : Ode.dJointParams.dParamHiStop2, range.Maximum);
Ode.dJointSetHinge2Param(joint.jointID, (index == 1) ?
Ode.dJointParams.dParamLoStop : Ode.dJointParams.dParamLoStop2, range.Minimum);
Ode.dJointSetHinge2Param(joint.jointID, (index == 1) ?
Ode.dJointParams.dParamHiStop : Ode.dJointParams.dParamHiStop2, range.Maximum);
float h = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetHinge2Param(joint.jointID, (index == 1) ?
Ode.dJointParams.dParamStopERP : Ode.dJointParams.dParamStopERP2, h);
// ODE's Hinge2 Joint also has a suspension parameter. Use axis 2
// for this since axis 2 doesn't use limits anyway.
if (index == 2)
{
Ode.dJointSetHinge2Param(joint.jointID, Ode.dJointParams.dParamSuspensionERP,
LimitsRestitution);
}
float b = LimitsRestitution * (Defines.maxERP - Defines.minERP) + Defines.minERP;
Ode.dJointSetHinge2Param(joint.jointID, (index == 1) ?
Ode.dJointParams.dParamBounce : Ode.dJointParams.dParamBounce2, b);
}
