/// <summary>
/// Initialise
/// </summary>
/// <param name="body0"></param>
/// <param name="body1"></param>
/// <param name="hingeAxis"></param>
/// <param name="hingePosRel0"></param>
/// <param name="hingeHalfWidth"></param>
/// <param name="hingeFwdAngle"></param>
/// <param name="hingeBckAngle"></param>
/// <param name="sidewaysSlack"></param>
/// <param name="damping"></param>
public void Initialise(Body body0, Body body1, Vector3 hingeAxis, Vector3 hingePosRel0,
float hingeHalfWidth, float hingeFwdAngle, float hingeBckAngle, float sidewaysSlack, float damping)
{
this.body0 = body0;
this.body1 = body1;
this.hingeAxis = hingeAxis;
this.hingePosRel0 = hingePosRel0;
this.usingLimit = false;
this.damping = damping;
// tScalar allowedDistance = 0.005f;
this.hingeAxis.Normalize();
Vector3 hingePosRel1 = body0.Position + hingePosRel0 - body1.Position;
// generate the two positions relative to each body
Vector3 relPos0a = hingePosRel0 + hingeHalfWidth * hingeAxis;
Vector3 relPos0b = hingePosRel0 - hingeHalfWidth * hingeAxis;
Vector3 relPos1a = hingePosRel1 + hingeHalfWidth * hingeAxis;
Vector3 relPos1b = hingePosRel1 - hingeHalfWidth * hingeAxis;
float timescale = 1.0f / 20.0f;
float allowedDistanceMid = 0.005f;
float allowedDistanceSide = sidewaysSlack * hingeHalfWidth;
mSidePointConstraints = new ConstraintMaxDistance[2];
mSidePointConstraints[0] = new ConstraintMaxDistance();
mSidePointConstraints[1] = new ConstraintMaxDistance();
mSidePointConstraints[0].Initialise(body0, relPos0a, body1, relPos1a, allowedDistanceSide);
mSidePointConstraints[1].Initialise(body0, relPos0b, body1, relPos1b, allowedDistanceSide);
mMidPointConstraint = new ConstraintPoint();
mMidPointConstraint.Initialise(body0, hingePosRel0, body1, hingePosRel1, allowedDistanceMid, timescale);
if (hingeFwdAngle <= 150) // MAX_HINGE_ANGLE_LIMIT
{
// choose a direction that is perpendicular to the hinge
Vector3 perpDir = Vector3.Up;
if (Vector3.Dot(perpDir, hingeAxis) > 0.1f)
{
perpDir = Vector3.Right;
}
// now make it perpendicular to the hinge
Vector3 sideAxis = Vector3.Cross(hingeAxis, perpDir);
perpDir = Vector3.Cross(sideAxis, hingeAxis);
perpDir.Normalize();
// the length of the "arm" TODO take this as a parameter? what's
// the effect of changing it?
float len = 10.0f * hingeHalfWidth;
// Choose a position using that dir. this will be the anchor point
// for body 0. relative to hinge
Vector3 hingeRelAnchorPos0 = perpDir * len;
// anchor point for body 2 is chosen to be in the middle of the
// angle range. relative to hinge
float angleToMiddle = 0.5f * (hingeFwdAngle - hingeBckAngle);
Vector3 hingeRelAnchorPos1 = Vector3.TransformNormal(hingeRelAnchorPos0, Matrix.CreateFromAxisAngle(hingeAxis, MathHelper.ToRadians(-angleToMiddle)));
// work out the "string" length
float hingeHalfAngle = 0.5f * (hingeFwdAngle + hingeBckAngle);
float allowedDistance = len * 2.0f * (float)System.Math.Sin(MathHelper.ToRadians(hingeHalfAngle * 0.5f));
Vector3 hingePos = body1.Position + hingePosRel0;
Vector3 relPos0c = hingePos + hingeRelAnchorPos0 - body0.Position;
Vector3 relPos1c = hingePos + hingeRelAnchorPos1 - body1.Position;
mMaxDistanceConstraint = new ConstraintMaxDistance();
mMaxDistanceConstraint.Initialise(body0, relPos0c, body1, relPos1c, allowedDistance);
usingLimit = true;
}
if (damping <= 0.0f)
{
damping = -1.0f; // just make sure that a value of 0.0 doesn't mess up...
}
else
{
damping = MathHelper.Clamp(damping, 0, 1);
}
}
/// <summary>
/// Initialise
/// </summary>
/// <param name="body0"></param>
/// <param name="body1"></param>
/// <param name="hingeAxis"></param>
/// <param name="hingePosRel0"></param>
/// <param name="hingeHalfWidth"></param>
/// <param name="hingeFwdAngle"></param>
/// <param name="hingeBckAngle"></param>
/// <param name="sidewaysSlack"></param>
/// <param name="damping"></param>
public void Initialise(Body body0, Body body1, Vector3 hingeAxis, Vector3 hingePosRel0,
float hingeHalfWidth, float hingeFwdAngle, float hingeBckAngle, float sidewaysSlack, float damping)
{
this.body0 = body0;
this.body1 = body1;
this.hingeAxis = hingeAxis;
this.hingePosRel0 = hingePosRel0;
this.usingLimit = false;
this.damping = damping;
// tScalar allowedDistance = 0.005f;
this.hingeAxis.Normalize();
Vector3 hingePosRel1 = body0.Position + hingePosRel0 - body1.Position;
// generate the two positions relative to each body
Vector3 relPos0a = hingePosRel0 + hingeHalfWidth * hingeAxis;
Vector3 relPos0b = hingePosRel0 - hingeHalfWidth * hingeAxis;
Vector3 relPos1a = hingePosRel1 + hingeHalfWidth * hingeAxis;
Vector3 relPos1b = hingePosRel1 - hingeHalfWidth * hingeAxis;
float timescale = 1.0f / 20.0f;
float allowedDistanceMid = 0.005f;
float allowedDistanceSide = sidewaysSlack * hingeHalfWidth;
mSidePointConstraints = new ConstraintMaxDistance[2];
mSidePointConstraints[0] = new ConstraintMaxDistance();
mSidePointConstraints[1] = new ConstraintMaxDistance();
mSidePointConstraints[0].Initialise(body0, relPos0a, body1, relPos1a, allowedDistanceSide);
mSidePointConstraints[1].Initialise(body0, relPos0b, body1, relPos1b, allowedDistanceSide);
mMidPointConstraint = new ConstraintPoint();
mMidPointConstraint.Initialise(body0, hingePosRel0, body1, hingePosRel1, allowedDistanceMid, timescale);
if (hingeFwdAngle <= 150) // MAX_HINGE_ANGLE_LIMIT
{
// choose a direction that is perpendicular to the hinge
Vector3 perpDir = Vector3.Up;
if (Vector3.Dot(perpDir, hingeAxis) > 0.1f)
perpDir = Vector3.Right;
// now make it perpendicular to the hinge
Vector3 sideAxis = Vector3.Cross(hingeAxis, perpDir);
perpDir = Vector3.Cross(sideAxis, hingeAxis);
perpDir.Normalize();
// the length of the "arm" TODO take this as a parameter? what's
// the effect of changing it?
float len = 10.0f * hingeHalfWidth;
// Choose a position using that dir. this will be the anchor point
// for body 0. relative to hinge
Vector3 hingeRelAnchorPos0 = perpDir * len;
// anchor point for body 2 is chosen to be in the middle of the
// angle range. relative to hinge
float angleToMiddle = 0.5f * (hingeFwdAngle - hingeBckAngle);
Vector3 hingeRelAnchorPos1 = Vector3.TransformNormal(hingeRelAnchorPos0, Matrix.CreateFromAxisAngle(hingeAxis,MathHelper.ToRadians(-angleToMiddle)));
// work out the "string" length
float hingeHalfAngle = 0.5f * (hingeFwdAngle + hingeBckAngle);
float allowedDistance = len * 2.0f * (float)System.Math.Sin(MathHelper.ToRadians(hingeHalfAngle * 0.5f));
Vector3 hingePos = body1.Position + hingePosRel0;
Vector3 relPos0c = hingePos + hingeRelAnchorPos0 - body0.Position;
Vector3 relPos1c = hingePos + hingeRelAnchorPos1 - body1.Position;
mMaxDistanceConstraint = new ConstraintMaxDistance();
mMaxDistanceConstraint.Initialise(body0, relPos0c, body1, relPos1c, allowedDistance);
usingLimit = true;
}
if (damping <= 0.0f)
damping = -1.0f; // just make sure that a value of 0.0 doesn't mess up...
else
damping = MathHelper.Clamp(damping, 0, 1);
}
public void Initialise(Body body0, Body body1, Vector3 hingeAxis, Vector3 hingePosRel0, float hingeHalfWidth, float hingeFwdAngle, float hingeBckAngle, float sidewaysSlack, float damping)
{
this.body0 = body0;
this.body1 = body1;
this.hingeAxis = hingeAxis;
this.hingePosRel0 = hingePosRel0;
usingLimit = false;
this.damping = damping;
this.hingeAxis.Normalize();
var hingePosRel1 = body0.Position + hingePosRel0 - body1.Position;
var relPos0a = hingePosRel0 + hingeHalfWidth * hingeAxis;
var relPos0b = hingePosRel0 - hingeHalfWidth * hingeAxis;
var relPos1a = hingePosRel1 + hingeHalfWidth * hingeAxis;
var relPos1b = hingePosRel1 - hingeHalfWidth * hingeAxis;
var timescale = 1.0f / 20.0f;
var allowedDistanceMid = 0.005f;
var allowedDistanceSide = sidewaysSlack * hingeHalfWidth;
mSidePointConstraints = new ConstraintMaxDistance[2];
mSidePointConstraints[0] = new ConstraintMaxDistance();
mSidePointConstraints[1] = new ConstraintMaxDistance();
mSidePointConstraints[0].Initialise(body0, relPos0a, body1, relPos1a, allowedDistanceSide);
mSidePointConstraints[1].Initialise(body0, relPos0b, body1, relPos1b, allowedDistanceSide);
mMidPointConstraint = new ConstraintPoint();
mMidPointConstraint.Initialise(body0, hingePosRel0, body1, hingePosRel1, allowedDistanceMid, timescale);
if (hingeFwdAngle <= 150)
{
var perpDir = Vector3.Up;
if (Vector3.Dot(perpDir, hingeAxis) > 0.1f)
{
perpDir = Vector3.Right;
}
var sideAxis = Vector3.Cross(hingeAxis, perpDir);
perpDir = Vector3.Cross(sideAxis, hingeAxis);
perpDir.Normalize();
var len = 10.0f * hingeHalfWidth;
var hingeRelAnchorPos0 = perpDir * len;
var angleToMiddle = 0.5f * (hingeFwdAngle - hingeBckAngle);
var hingeRelAnchorPos1 = Vector3.TransformNormal(hingeRelAnchorPos0, Matrix.CreateFromAxisAngle(hingeAxis, MathHelper.ToRadians(-angleToMiddle)));
var hingeHalfAngle = 0.5f * (hingeFwdAngle + hingeBckAngle);
var allowedDistance = len * 2.0f * (float)System.Math.Sin(MathHelper.ToRadians(hingeHalfAngle * 0.5f));
var hingePos = body1.Position + hingePosRel0;
var relPos0c = hingePos + hingeRelAnchorPos0 - body0.Position;
var relPos1c = hingePos + hingeRelAnchorPos1 - body1.Position;
mMaxDistanceConstraint = new ConstraintMaxDistance();
mMaxDistanceConstraint.Initialise(body0, relPos0c, body1, relPos1c, allowedDistance);
usingLimit = true;
}
if (damping <= 0.0f)
{
damping = -1.0f;
}
else
{
damping = MathHelper.Clamp(damping, 0, 1);
}
}