//GenericoDofConstraint
/// <summary>
/// Adds the generic6 dof constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="frameInA">The frame in a.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
public IGeneric6DofConstraintImp AddGeneric6DofConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFframeInA = Translator.Float4X4ToBtMatrix(frameInA);
var btGeneric6DofConstraint = new Generic6DofConstraint(btRigidBodyA, btFframeInA, useReferenceFrameA);
BtWorld.AddConstraint(btGeneric6DofConstraint);
var retval = new Generic6DofConstraintImp();
retval._g6dofci = btGeneric6DofConstraint;
btGeneric6DofConstraint.UserObject = retval;
return(retval);
}
/// <summary>
/// Adds the slider constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="frameInA">The frame in a.</param>
/// <param name="useLinearReferenceFrameA">if set to <c>true</c> [use linear reference frame a].</param>
/// <returns></returns>
public ISliderConstraintImp AddSliderConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useLinearReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFrameInA = Translator.Float4X4ToBtMatrix(frameInA);
var btSliderConstraint = new SliderConstraint(btRigidBodyA, btFrameInA, useLinearReferenceFrameA);
BtWorld.AddConstraint(btSliderConstraint);
var retval = new SliderConstraintImp();
retval._sci = btSliderConstraint;
btSliderConstraint.UserObject = retval;
return(retval);
}
/// <summary>
/// Adds the child shape.
/// </summary>
/// <param name="localTransform">The local transform.</param>
/// <param name="shape">The shape.</param>
public void AddChildShape(float4x4 localTransform, IMultiSphereShapeImp shape)
{
var btPositions = new Vector3[shape.SphereCount];
var btRadi = new float[shape.SphereCount];
for (int i = 0; i < shape.SphereCount; i++)
{
var pos = Translator.Float3ToBtVector3(shape.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = shape.GetSphereRadius(i);
}
var btChildShape = new MultiSphereShape(btPositions, btRadi);
var btLocalTransform = Translator.Float4X4ToBtMatrix(localTransform);
BtCompoundShape.AddChildShape(btLocalTransform, btChildShape);
}
//ConeTwistConstraint
/// <summary>
/// Adds the cone twist constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="rbAFrame">The rb a frame.</param>
/// <returns></returns>
public IConeTwistConstraintImp AddConeTwistConstraint(IRigidBodyImp rigidBodyA, float4x4 rbAFrame)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btRbAFrame = Translator.Float4X4ToBtMatrix(rbAFrame);
var btCTConstraint = new ConeTwistConstraint(btRigidBodyA, btRbAFrame);
BtWorld.AddConstraint(btCTConstraint);
var retval = new ConeTwistConstraintImp();
retval._cti = btCTConstraint;
btCTConstraint.UserObject = retval;
return(retval);
}
/// <summary>
/// Adds the hinge constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="rigidBodyB">The rigid body b.</param>
/// <param name="brAFrame">The br a frame.</param>
/// <param name="brBFrame">The br b frame.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 brAFrame, float4x4 brBFrame, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translator.Float4X4ToBtMatrix(brAFrame);
var btRbBFrame = Translator.Float4X4ToBtMatrix(brBFrame);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB, btRbAFrame, btRbBFrame, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
/// <summary>
/// Calculates the transforms.
/// </summary>
/// <param name="transA">The trans a.</param>
/// <param name="transB">The trans b.</param>
public void CalculateTransforms(float4x4 transA, float4x4 transB)
{
_g6dofci.CalculateTransforms(Translator.Float4X4ToBtMatrix(transA), Translator.Float4X4ToBtMatrix(transB));
}
/// <summary>
/// Sets the frames.
/// </summary>
/// <param name="frameA">The frame a.</param>
/// <param name="frameB">The frame b.</param>
public void SetFrames(float4x4 frameA, float4x4 frameB)
{
_g6dofci.SetFrames(Translator.Float4X4ToBtMatrix(frameA), Translator.Float4X4ToBtMatrix(frameB));
}
/// <summary>
/// Sets the frames.
/// </summary>
/// <param name="frameA">The frame a.</param>
/// <param name="frameB">The frame b.</param>
public void SetFrames(float4x4 frameA, float4x4 frameB)
{
var o = (SliderConstraintImp)_sci.UserObject;
o._sci.SetFrames(Translator.Float4X4ToBtMatrix(frameA), Translator.Float4X4ToBtMatrix(frameB));
}
/// <summary>
/// Gets the hinge angle.
/// </summary>
/// <param name="transA">The trans a.</param>
/// <param name="transB">The trans b.</param>
/// <returns></returns>
public float GetHingeAngle(float4x4 transA, float4x4 transB)
{
var retval = _hci.GetHingeAngle(Translator.Float4X4ToBtMatrix(transA), Translator.Float4X4ToBtMatrix(transB));
return(retval);
}
/// <summary>
/// Calculates the angle info2.
/// </summary>
/// <param name="transA">The trans a.</param>
/// <param name="transB">The trans b.</param>
/// <param name="invInertiaWorldA">The inv inertia world a.</param>
/// <param name="invInertiaWorldB">The inv inertia world b.</param>
public void CalcAngleInfo2(float4x4 transA, float4x4 transB, float4x4 invInertiaWorldA, float4x4 invInertiaWorldB)
{
_cti.CalcAngleInfo2(Translator.Float4X4ToBtMatrix(transA), Translator.Float4X4ToBtMatrix(transB), Translator.Float4X4ToBtMatrix(invInertiaWorldA), Translator.Float4X4ToBtMatrix(invInertiaWorldB));
}
