/// <inheritdoc/>
public Constraint Build(RigidbodyComponent bodyA, RigidbodyComponent bodyB)
{
var axisA = Vector3.UnitX;
AxisInA.Rotate(ref axisA);
var axisB = Vector3.UnitX;
AxisInA.Rotate(ref axisB);
var hinge = bodyB == null
? Simulation.CreateHingeConstraint(bodyA, PivotInA, axisA, UseReferenceFrameA)
: Simulation.CreateHingeConstraint(bodyA, PivotInA, axisA, bodyB, PivotInB, axisB, UseReferenceFrameA);
if (Limit.SetLimit)
{
hinge.SetLimit(Limit.LowerLimit, Limit.UpperLimit);
}
if (Motor.EnableMotor)
{
hinge.EnableAngularMotor(Motor.EnableMotor, Motor.TargetVelocity, Motor.MaxMotorImpulse);
}
return(hinge);
}
/// <inheritdoc/>
public Constraint Build(RigidbodyComponent bodyA, RigidbodyComponent bodyB)
{
if (bodyB == null)
{
throw new System.InvalidOperationException("A Gear constraint requires two rigidbodies.");
}
var axis = Vector3.UnitX;
AxisInA.Rotate(ref axis);
var frameA = Matrix.Translation(axis);
axis = Vector3.UnitX;
AxisInB.Rotate(ref axis);
var frameB = Matrix.Translation(axis);
var gear = Simulation.CreateConstraint(ConstraintTypes.Gear, bodyA, bodyB, frameA, frameB) as GearConstraint;
gear.Ratio = Ratio;
return(gear);
}
