/// <summary>
/// Constructs a new constraint which restricts the linear and angular motion between two entities.
/// This constructs the internal constraints, but does not configure them. Before using a constraint constructed in this manner,
/// ensure that its active constituent constraints are properly configured. The entire group as well as all internal constraints are initially inactive (IsActive = false).
/// </summary>
public WeldJoint()
{
IsActive = false;
BallSocketJoint = new BallSocketJoint();
NoRotationJoint = new NoRotationJoint();
Add(BallSocketJoint);
Add(NoRotationJoint);
}
/// <summary>
/// Constructs a new constraint which restricts two degrees of linear freedom and all three degrees of angular freedom.
/// This constructs the internal constraints, but does not configure them. Before using a constraint constructed in this manner,
/// ensure that its active constituent constraints are properly configured. The entire group as well as all internal constraints are initially inactive (IsActive = false).
/// </summary>
public PrismaticJoint()
{
IsActive = false;
PointOnLineJoint = new PointOnLineJoint();
AngularJoint = new NoRotationJoint();
Limit = new LinearAxisLimit();
Motor = new LinearAxisMotor();
Add(PointOnLineJoint);
Add(AngularJoint);
Add(Limit);
Add(Motor);
}
/// <summary>
/// Constructs a new constraint which restricts the linear and angular motion between two entities.
/// </summary>
/// <param name="connectionA">First entity of the constraint pair.</param>
/// <param name="connectionB">Second entity of the constraint pair.</param>
/// <param name="anchor">The location of the weld.</param>
public WeldJoint(Entity connectionA, Entity connectionB, System.Numerics.Vector3 anchor)
{
if (connectionA == null)
{
connectionA = TwoEntityConstraint.WorldEntity;
}
if (connectionB == null)
{
connectionB = TwoEntityConstraint.WorldEntity;
}
BallSocketJoint = new BallSocketJoint(connectionA, connectionB, anchor);
NoRotationJoint = new NoRotationJoint(connectionA, connectionB);
Add(BallSocketJoint);
Add(NoRotationJoint);
}
/// <summary>
/// Constructs a new constraint which restricts the linear and angular motion between two entities.
/// </summary>
/// <param name="connectionA">First entity of the constraint pair.</param>
/// <param name="connectionB">Second entity of the constraint pair.</param>
public WeldJoint(Entity connectionA, Entity connectionB)
{
if (connectionA == null)
{
connectionA = TwoEntityConstraint.WorldEntity;
}
if (connectionB == null)
{
connectionB = TwoEntityConstraint.WorldEntity;
}
BallSocketJoint = new BallSocketJoint(connectionA, connectionB, (connectionA.position + connectionB.position) * .5f);
NoRotationJoint = new NoRotationJoint(connectionA, connectionB);
Add(BallSocketJoint);
Add(NoRotationJoint);
}
public ISpaceObject CreateJoint(BEPUphysics.Entities.Entity entity1, BEPUphysics.Entities.Entity entity2, Vector3 pos, Vector3 direction, Vector3 anchor)
{
// entity1 is us
// entity2 is the main map we are attaching to
Vector3 originalPos = entity1.Position;
entity1.Position = pos;
this.joint = new NoRotationJoint(entity2, entity1);
entity1.Position = originalPos;
if (this.mover != null && this.mover.Space != null)
{
this.main.Space.Remove(this.mover);
}
this.mover = new EntityMover(entity1);
this.main.Space.Add(this.mover);
this.physicsUpdated(entity1.Mass, entity1.Volume);
return(this.joint);
}
/// <summary>
/// Constructs a new constraint which restricts two degrees of linear freedom and all three degrees of angular freedom.
/// </summary>
/// <param name="connectionA">First entity of the constraint pair.</param>
/// <param name="connectionB">Second entity of the constraint pair.</param>
/// <param name="lineAnchor">Location of the anchor for the line to be attached to connectionA in world space.</param>
/// <param name="lineDirection">Axis in world space to be attached to connectionA along which connectionB can move.</param>
/// <param name="pointAnchor">Location of the anchor for the point to be attached to connectionB in world space.</param>
public PrismaticJoint(Entity connectionA, Entity connectionB, Vector3 lineAnchor, Vector3 lineDirection, Vector3 pointAnchor)
{
if (connectionA == null)
{
connectionA = TwoEntityConstraint.WorldEntity;
}
if (connectionB == null)
{
connectionB = TwoEntityConstraint.WorldEntity;
}
PointOnLineJoint = new PointOnLineJoint(connectionA, connectionB, lineAnchor, lineDirection, pointAnchor);
AngularJoint = new NoRotationJoint(connectionA, connectionB);
Limit = new LinearAxisLimit(connectionA, connectionB, lineAnchor, pointAnchor, lineDirection, 0, 0);
Motor = new LinearAxisMotor(connectionA, connectionB, lineAnchor, pointAnchor, lineDirection);
Limit.IsActive = false;
Motor.IsActive = false;
Add(PointOnLineJoint);
Add(AngularJoint);
Add(Limit);
Add(Motor);
}
