public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
break;
case SLIDER_ANGULAR:
constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
break;
}
return true;
}
public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
//SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetBreakingImpulseThreshold(threshold);
return true;
}
public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
constraint.SetStiffness(index, stiffness);
return true;
}
public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.RemoveConstraint(constraint);
return true;
}
public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetEnabled((p_2 == 0) ? false : true);
}
public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public abstract bool SetFrames(BulletConstraint constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
return true;
}
public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetOverrideNumSolverIterations((int)cnt);
}
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
body.RemoveConstraintRef(constrain);
}
public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true));
return true;
}
public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (lowerUpper)
{
case SLIDER_LOWER_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetLowerLinLimit(val);
break;
case SLIDER_ANGULAR:
constraint.SetLowerAngLimit(val);
break;
}
break;
case SLIDER_UPPER_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetUpperLinLimit(val);
break;
case SLIDER_ANGULAR:
constraint.SetUpperAngLimit(val);
break;
}
break;
}
return true;
}
public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
//m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
{
Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
}
if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
}
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
}
return true;
}
public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
{
TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
bool onOff = ponOff != 0;
bool ret = false;
switch (tconstrain.GetConstraintType())
{
case TypedConstraintType.D6_CONSTRAINT_TYPE:
Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
ret = true;
break;
}
return ret;
}
public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
constraint.SetAngularLowerLimit(lowlimit);
constraint.SetAngularUpperLimit(highlimit);
return true;
}
public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
public override bool CalculateTransforms(BulletConstraint pConstraint)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.CalculateTransforms();
return true;
}
public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
//SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame2v;
constraint.SetFrames(ref frame1, ref frame2);
return true;
}
public abstract bool CalculateTransforms(BulletConstraint constrain);
public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetUseFrameOffset((onOff == 0) ? false : true);
return true;
}
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
{
HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
if (softness == HINGE_NOT_SPECIFIED)
constraint.SetLimit(low, high);
else
constraint.SetLimit(low, high, softness, bias, relaxation);
return true;
}
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
if (index == SPRING_NOT_SPECIFIED)
{
constraint.SetEquilibriumPoint();
}
else
{
if (equilibriumPoint == SPRING_NOT_SPECIFIED)
constraint.SetEquilibriumPoint(index);
else
constraint.SetEquilibriumPoint(index, equilibriumPoint);
}
return true;
}
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
constraint.SetDamping(index, damping);
return true;
}
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (softRestDamp)
{
case SLIDER_SET_SOFTNESS:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
}
break;
}
break;
case SLIDER_SET_RESTITUTION:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
}
break;
}
break;
case SLIDER_SET_DAMPING:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
}
break;
}
break;
}
return true;
}
// =====================================================================================
// btCollisionObject entries
public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (forceVel)
{
case SLIDER_MOTOR_VELOCITY:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetTargetLinMotorVelocity(val);
break;
case SLIDER_ANGULAR:
constraint.SetTargetAngMotorVelocity(val);
break;
}
break;
case SLIDER_MAX_MOTOR_FORCE:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetMaxLinMotorForce(val);
break;
case SLIDER_ANGULAR:
constraint.SetMaxAngMotorForce(val);
break;
}
break;
}
return true;
}
public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
