private static void GetJointBodyPairSprtOffset(out double distance, out Quaternion rotation, AddJointBodyType bodyType)
{
switch (bodyType)
{
case AddJointBodyType.Box_Corner:
distance = Math.Sqrt(3d);
//TODO: Figure out how to rotate a cube onto its corner
rotation = new Quaternion(new Vector3D(0, 0, 1), 45d).ToUnit() * new Quaternion(new Vector3D(0, 1, 0), 45d).ToUnit();
//rotation = new Quaternion(new Vector3D(0, 0, 1), 45d).ToUnit() + new Quaternion(new Vector3D(0, 1, 0), 45d).ToUnit() + new Quaternion(new Vector3D(1, 0, 0), 45d).ToUnit();
break;
case AddJointBodyType.Box_Edge:
distance = Math.Sqrt(2d);
rotation = new Quaternion(new Vector3D(0, 0, 1), 45d);
break;
case AddJointBodyType.Cone_Tip: //TODO: Finish these
distance = 1d;
rotation = new Quaternion(new Vector3D(0, 0, 1), 180d);
break;
case AddJointBodyType.Cylinder_Edge:
distance = 1d;
rotation = new Quaternion(new Vector3D(0, 0, 1), 90d);
break;
case AddJointBodyType.Box_Face:
case AddJointBodyType.Cone_Base:
case AddJointBodyType.Cylinder_Cap:
case AddJointBodyType.Sphere:
distance = 1d;
rotation = new Quaternion(new Vector3D(0, 0, 1), 0d);
break;
default:
throw new ApplicationException("Unknown AddJointBodyType: " + bodyType.ToString());
}
}
private static CollisionShapeType GetJointBodyPairSprtHullType(AddJointBodyType bodyType)
{
switch (bodyType)
{
case AddJointBodyType.Box_Corner:
case AddJointBodyType.Box_Edge:
case AddJointBodyType.Box_Face:
return(CollisionShapeType.Box);
case AddJointBodyType.Cone_Base:
case AddJointBodyType.Cone_Tip:
return(CollisionShapeType.Cone);
case AddJointBodyType.Cylinder_Cap:
case AddJointBodyType.Cylinder_Edge:
return(CollisionShapeType.Cylinder);
case AddJointBodyType.Sphere:
return(CollisionShapeType.Sphere);
default:
throw new ApplicationException("Unknown AddJointBodyType: " + bodyType.ToString());
}
}
private static CollisionShapeType GetJointBodyPairSprtHullType(AddJointBodyType bodyType)
{
switch (bodyType)
{
case AddJointBodyType.Box_Corner:
case AddJointBodyType.Box_Edge:
case AddJointBodyType.Box_Face:
return CollisionShapeType.Box;
case AddJointBodyType.Cone_Base:
case AddJointBodyType.Cone_Tip:
return CollisionShapeType.Cone;
case AddJointBodyType.Cylinder_Cap:
case AddJointBodyType.Cylinder_Edge:
return CollisionShapeType.Cylinder;
case AddJointBodyType.Sphere:
return CollisionShapeType.Sphere;
default:
throw new ApplicationException("Unknown AddJointBodyType: " + bodyType.ToString());
}
}
private static void GetJointBodyPairSprtOffset(out double distance, out Quaternion rotation, AddJointBodyType bodyType)
{
switch (bodyType)
{
case AddJointBodyType.Box_Corner:
distance = Math.Sqrt(3d);
//TODO: Figure out how to rotate a cube onto its corner
rotation = new Quaternion(new Vector3D(0, 0, 1), 45d).ToUnit() * new Quaternion(new Vector3D(0, 1, 0), 45d).ToUnit();
//rotation = new Quaternion(new Vector3D(0, 0, 1), 45d).ToUnit() + new Quaternion(new Vector3D(0, 1, 0), 45d).ToUnit() + new Quaternion(new Vector3D(1, 0, 0), 45d).ToUnit();
break;
case AddJointBodyType.Box_Edge:
distance = Math.Sqrt(2d);
rotation = new Quaternion(new Vector3D(0, 0, 1), 45d);
break;
case AddJointBodyType.Cone_Tip: //TODO: Finish these
distance = 1d;
rotation = new Quaternion(new Vector3D(0, 0, 1), 180d);
break;
case AddJointBodyType.Cylinder_Edge:
distance = 1d;
rotation = new Quaternion(new Vector3D(0, 0, 1), 90d);
break;
case AddJointBodyType.Box_Face:
case AddJointBodyType.Cone_Base:
case AddJointBodyType.Cylinder_Cap:
case AddJointBodyType.Sphere:
distance = 1d;
rotation = new Quaternion(new Vector3D(0, 0, 1), 0d);
break;
default:
throw new ApplicationException("Unknown AddJointBodyType: " + bodyType.ToString());
}
}
