public void setJoint(SLJoint joint)
{
lock (this.scene)
{
joint.joint = (D6Joint)scene.CreateJoint(joint.d6JointDesc);
}
}
public SLJoint addJoint(
SLAct actorA, SLAct actorB, float anchor_x, float anchor_y, float anchor_z, float axis_x, float axis_y, float axis_z)
{
SLJoint joint = new SLJoint(actorA, actorA, anchor_x, anchor_y, anchor_z, axis_x, axis_y, axis_z);
setJoint(joint);
return(joint);
}
public SLJoint addJoint()
{
float ax, ay, az, xx, xy, xz;
ax = mt1.Origin.X;
ay = mt1.Origin.Y;
az = mt1.Origin.Z;
xx = 1;
xy = xz = 0;
ax = mr1.shape.act.actor.GlobalPose.M41;
ay = mr1.shape.act.actor.GlobalPose.M42;
az = mr1.shape.act.actor.GlobalPose.M43;
SLJoint j = new SLJoint(mr1.shape.act, mr2.shape.act, ax, ay, az, xx, xy, xz);
j.limitAngular(llow, lup, alow, aup, siff);
return(j);
}
/// <summary>
/// BulletX: 生成した制約をワールドに適用する
/// </summary>
/// <param name="joint"></param>
public void addConstraint(Generic6DofSpringConstraint joint)
{
#if false
if (num++ > 2)
{
return;
Console.WriteLine("joi " +
joint.mr1.shape.act.m_angle + "," + joint.mr1.shape.act.m_damping + "," + joint.mr1.shape.act.m_friction + ", " + joint.mr1.shape.act.m_restitution + "," + joint.mr1.shape.act.mass);
Console.WriteLine("joi2 " + joint.siff[0] + "," + joint.siff[1] + "," + joint.siff[2]);
Console.WriteLine("joi3 " + joint.llow.X + "," + joint.llow.Y + "," + joint.llow.Z);
Console.WriteLine("joi4 " + joint.lup.X + "," + joint.lup.Y + "," + joint.lup.Z);
Console.WriteLine("joi5 " + joint.alow.X + "," + joint.alow.Y + "," + joint.alow.Z);
Console.WriteLine("joi6 " + joint.aup.X + "," + joint.aup.Y + "," + joint.aup.Z);
}
#endif
SLJoint j = joint.addJoint();
setJoint(j);
}