/// <summary>
/// Constructs a new constraint which restricts one linear degree of freedom 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 PlaneSliderJoint()
{
IsActive = false;
PointOnPlaneJoint = new PointOnPlaneJoint();
LimitX = new LinearAxisLimit();
MotorX = new LinearAxisMotor();
LimitY = new LinearAxisLimit();
MotorY = new LinearAxisMotor();
Add(PointOnPlaneJoint);
Add(LimitX);
Add(MotorX);
Add(LimitY);
Add(MotorY);
}
/// <summary>
/// Constructs a new constraint which restricts one linear degree of freedom 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="planeAnchor">Location of the anchor for the plane to be attached to connectionA in world space.</param>
/// <param name="planeNormal">Normal of the plane constraint in world space.</param>
/// <param name="xAxis">Direction in world space along which the X axis LinearAxisLimit and LinearAxisMotor work.
/// This is usually chosen to be perpendicular to the planeNormal and the yAxis.</param>
/// <param name="yAxis">Direction in world space along which the Y axis LinearAxisLimit and LinearAxisMotor work.
/// This is usually chosen to be perpendicular to the planeNormal and the xAxis.</param>
/// <param name="pointAnchor">Location of the anchor for the point to be attached to connectionB in world space.</param>
public PlaneSliderJoint(Entity connectionA, Entity connectionB, Vector3 planeAnchor, Vector3 planeNormal, Vector3 xAxis, Vector3 yAxis, Vector3 pointAnchor)
{
if (connectionA == null)
connectionA = TwoEntityConstraint.WorldEntity;
if (connectionB == null)
connectionB = TwoEntityConstraint.WorldEntity;
PointOnPlaneJoint = new PointOnPlaneJoint(connectionA, connectionB, planeAnchor, planeNormal, pointAnchor);
LimitX = new LinearAxisLimit(connectionA, connectionB, planeAnchor, pointAnchor, xAxis, 0, 0);
MotorX = new LinearAxisMotor(connectionA, connectionB, planeAnchor, pointAnchor, xAxis);
LimitY = new LinearAxisLimit(connectionA, connectionB, planeAnchor, pointAnchor, yAxis, 0, 0);
MotorY = new LinearAxisMotor(connectionA, connectionB, planeAnchor, pointAnchor, yAxis);
LimitX.IsActive = false;
MotorX.IsActive = false;
LimitY.IsActive = false;
MotorY.IsActive = false;
Add(PointOnPlaneJoint);
Add(LimitX);
Add(MotorX);
Add(LimitY);
Add(MotorY);
}
void BuildJointTest(Vector3 position)
{
Bone a, b;
a = new Bone(position + new Vector3(0, 5, 0), Quaternion.Identity, .5f, 1);
b = new Bone(position + new Vector3(0, 7, 0), Quaternion.Identity, .5f, 1);
//var ikJoint = new IKBallSocketJoint(a, b, (a.Position + b.Position) * 0.5f);
//var ikLimit = new IKSwingLimit(a, b, Vector3.Up, Vector3.Up, MathHelper.PiOver2);
//var ikRevolute = new IKRevoluteJoint(a, b, Vector3.Right);
//var ikSwivelHingeJoint = new IKSwivelHingeJoint(a, b, Vector3.Right, Vector3.Up);
//var ikAngularJoint = new IKAngularJoint(a, b);
//var ikTwistLimit = new IKTwistLimit(a, b, Vector3.Up, Vector3.Up, MathHelper.PiOver2);
//var ikDistanceLimit = new IKDistanceLimit(a, b, a.Position + new Vector3(0, 0.5f, 0), b.Position + new Vector3(0, -0.5f, 0), 1f, 4);
//var ikLinearAxisLimit = new IKLinearAxisLimit(a, b, a.Position + new Vector3(0, 0.5f, 0), Vector3.Up, b.Position + new Vector3(0, -0.5f, 0), 0, 4);
//var ikTwistJoint = new IKTwistJoint(a, b, Vector3.Up, Vector3.Up);
//var ikPointOnLineJoint = new IKPointOnLineJoint(a, b, a.Position + new Vector3(0, 0.5f, 0), Vector3.Up, b.Position - new Vector3(0, 0.5f, 0));
var ikPointOnPlaneJoint = new IKPointOnPlaneJoint(a, b, a.Position + new Vector3(0, 1f, 0), Vector3.Up, b.Position - new Vector3(0, 1f, 0));
//ikPointOnLineJoint.Softness = 0;
//ikPointOnLineJoint.ErrorCorrectionFactor = 0;
//solver.VelocitySubiterationCount = 10;
var entityA = new Cylinder(a.Position, 1, 0.5f, 10);
var entityB = new Cylinder(b.Position, 1, 0.5f, 10);
entityB.Orientation = b.Orientation;
//var joint = new BallSocketJoint(entityA, entityB, (a.Position + b.Position) * 0.5f);
//var limit = new SwingLimit(entityA, entityB, Vector3.Up, Vector3.Up, MathHelper.PiOver2);
//var revolute = new RevoluteAngularJoint(entityA, entityB, Vector3.Right);
//var swivelHingeJoint = new SwivelHingeAngularJoint(entityA, entityB, Vector3.Right, Vector3.Up);
//var angularJoint = new NoRotationJoint(entityA, entityB);
//var twistLimit = new TwistLimit(entityA, entityB, Vector3.Up, Vector3.Up, -MathHelper.PiOver2, MathHelper.PiOver2);
//var distanceLimit = new DistanceLimit(entityA, entityB, ikDistanceLimit.AnchorA, ikDistanceLimit.AnchorB, ikDistanceLimit.MinimumDistance, ikDistanceLimit.MaximumDistance);
//var linearAxisLimit = new LinearAxisLimit(entityA, entityB, ikLinearAxisLimit.LineAnchor, ikLinearAxisLimit.AnchorB, ikLinearAxisLimit.LineDirection, ikLinearAxisLimit.MinimumDistance, ikLinearAxisLimit.MaximumDistance);
//var twistJoint = new TwistJoint(entityA, entityB, Vector3.Up, Vector3.Up);
//var pointOnLineJoint = new PointOnLineJoint(entityA, entityB, ikPointOnLineJoint.LineAnchor, ikPointOnLineJoint.LineDirection, ikPointOnLineJoint.AnchorB);
var pointOnPlaneJoint = new PointOnPlaneJoint(entityA, entityB, ikPointOnPlaneJoint.PlaneAnchor, ikPointOnPlaneJoint.PlaneNormal, ikPointOnPlaneJoint.AnchorB);
Space.Add(entityA);
Space.Add(entityB);
//Space.Add(joint);
//Space.Add(limit);
//Space.Add(revolute);
//Space.Add(swivelHingeJoint);
//Space.Add(angularJoint);
//Space.Add(twistLimit);
//Space.Add(distanceLimit);
//Space.Add(linearAxisLimit);
//Space.Add(twistJoint);
//Space.Add(pointOnLineJoint);
Space.Add(pointOnPlaneJoint);
bones.Add(new BoneRelationship(a, entityA));
bones.Add(new BoneRelationship(b, entityB));
}
