public override void UpdateDataFromPhysicsEngine()
{
if (MotionType.Value == MotionTypeEnum.Dynamic && rigidBody != null)
{
var position = Physics2DUtility.Convert(rigidBody.Position);
var rotation = -rigidBody.Rotation;
var oldT = Transform.Value;
Matrix3F.FromRotateByZ(rotation, out var mat3);
var rot2 = mat3.ToQuaternion();
//var rot2 = new Angles( 0, 0, MathEx.RadianToDegree( rot ) );
var newT = new Transform(new Vector3(position.X, position.Y, oldT.Position.Z), rot2, oldT.Scale);
try
{
updatePropertiesWithoutUpdatingBody = true;
Transform = newT;
LinearVelocity = Physics2DUtility.Convert(rigidBody.LinearVelocity);
AngularVelocity = MathEx.RadianToDegree(rigidBody.AngularVelocity);
}
finally
{
updatePropertiesWithoutUpdatingBody = false;
}
}
}
public override void UpdateDataFromPhysicsEngine()
{
if (ConstraintRigid != null)
{
Transform rigidBodyTransform;
{
var rigidBody = ConstraintRigid.BodyA;
var position = Physics2DUtility.Convert(rigidBody.Position);
var rotation = -rigidBody.Rotation;
var oldT = Transform.Value;
Matrix3F.FromRotateByZ(rotation, out var mat3);
var rot2 = mat3.ToQuaternion();
//var rot2 = new Angles( 0, 0, MathEx.RadianToDegree( rot ) );
rigidBodyTransform = new Transform(new Vector3(position.X, position.Y, oldT.Position.Z), rot2);
}
{
var transformA = rigidBodyTransform.ToMatrix4() * ConstraintAFrame;
transformA.Decompose(out Vector3 translation, out Matrix3 rotation, out Vector3 scale);
var oldT = Transform.Value;
var newT = new Transform(translation, rotation.ToQuaternion(), oldT.Scale);
SetTransformWithoutUpdatingConstraint(newT);
}
}
}
public static void FromRotateByZ(RadianF angle, out QuaternionF result)
{
Matrix3F.FromRotateByZ(angle, out var mat);
mat.ToQuaternion(out result);
}
public static QuaternionF FromRotateByZ(RadianF angle)
{
Matrix3F.FromRotateByZ(angle, out var mat);
return(mat.ToQuaternion());
}