internal DigitalRuneDistanceRangeJoint(DistanceRangeJointDescriptor descriptor)
{
WrappedDistanceRangeJoint = new DistanceLimit();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
{
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
}
WrappedDistanceRangeJoint.BodyA = ((RigidBody)descriptor.RigidBodyA).WrappedRigidBody;
_rigidBodyA = descriptor.RigidBodyA;
if (!(descriptor.RigidBodyB is RigidBody))
{
throw new ArgumentException("The type of the property 'RigidBodyB' must be 'System.Physics.DigitalRune.RigidBody'.");
}
WrappedDistanceRangeJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedDistanceRangeJoint.AnchorPositionALocal = descriptor.AnchorPositionALocal.ToDigitalRune();
WrappedDistanceRangeJoint.AnchorPositionBLocal = descriptor.AnchorPositionBLocal.ToDigitalRune();
WrappedDistanceRangeJoint.MinDistance = descriptor.MinimumDistance;
WrappedDistanceRangeJoint.MaxDistance = descriptor.MaximumDistance;
Descriptor = descriptor;
}
public override SolverUpdateable GetBaseJoint()
{
DistanceLimit dl = new DistanceLimit(Ent1.Body, Ent2.Body, (Ent1Pos + Ent1.GetPosition()).ToBVector(), (Ent2Pos + Ent2.GetPosition()).ToBVector(), Min, Max);
return(dl);
}
public JointLimitTestDemo(DemosGame game)
: base(game)
{
float bounciness = 1;
float baseMass = 100;
float armMass = 10;
//DistanceLimit
Box boxA = new Box(new Vector3(-21, 4, 0), 3, 3, 3, baseMass);
Box boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var distanceLimit = new DistanceLimit(boxA, boxB, boxA.Position, boxB.Position - new Vector3(0, 2, 0), 1, 6);
distanceLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(distanceLimit);
//EllipseSwingLimit
boxA = new Box(new Vector3(-14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var ellipseSwingLimit = new EllipseSwingLimit(boxA, boxB, Vector3.Up, MathHelper.Pi / 1.5f, MathHelper.Pi / 3);
ellipseSwingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(ellipseSwingLimit);
//LinearAxisLimit
boxA = new Box(new Vector3(-7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var pointOnLineJoint = new PointOnLineJoint(boxA, boxB, boxA.Position, Vector3.Up, boxB.Position + new Vector3(0, -2, 0));
var linearAxisLimit = new LinearAxisLimit(boxA, boxB, boxA.Position, boxB.Position + new Vector3(0, -2, 0), Vector3.Up, 0, 4);
linearAxisLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(pointOnLineJoint);
Space.Add(linearAxisLimit);
//RevoluteLimit
boxA = new Box(new Vector3(0, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Forward);
var revoluteLimit = new RevoluteLimit(boxA, boxB, Vector3.Forward, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
revoluteLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(revoluteLimit);
//SwingLimit
boxA = new Box(new Vector3(7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var swingLimit = new SwingLimit(boxA, boxB, Vector3.Up, Vector3.Up, MathHelper.PiOver4);
swingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
//TwistLimit
boxA = new Box(new Vector3(14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Up);
var twistLimit = new TwistLimit(boxA, boxB, Vector3.Up, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
twistLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(twistLimit);
Space.Add(new Box(new Vector3(0, 0, 0), 60, 1, 60));
game.Camera.Position = new Vector3(0, 6, 15);
}
public override void Update(Window window, Camera camera, Input input, float dt)
{
if (input.WasPushed(OpenTK.Input.Key.Z))
{
_jointDistance++;
ChangeLenght(_jointDistance);
}
if (input.WasPushed(OpenTK.Input.Key.X))
{
_jointDistance--;
ChangeLenght(_jointDistance);
}
if (input.WasPushed(OpenTK.Input.Key.C))
{
if (_jointIndex == -1)
{
var baseIndex = _baseReference.Handle;
var boxIndex = _boxReference.Handle;
var distanceJoint = new DistanceLimit(Vector3.Zero, new Vector3(0, .51f, 0), 5f, 5f, new SpringSettings(5, 1));
_jointIndex = Simulation.Solver.Add(baseIndex, boxIndex, distanceJoint);
var angularSwivelHinge = new AngularHinge()
{
LocalHingeAxisA = Vector3.UnitY, LocalHingeAxisB = Vector3.UnitY, SpringSettings = new SpringSettings(20f, .0001f)
};
_angularHingeIndex = Simulation.Solver.Add(baseIndex, boxIndex, angularSwivelHinge);
var linearMotor = new OneBodyLinearMotor()
{
TargetVelocity = new Vector3(0, 0, 0), Settings = new MotorSettings(20, 1f)
};
_linearMotorIndex = Simulation.Solver.Add(boxIndex, linearMotor);
_poseIntegrator.CustomAngularDamping(boxIndex, .5f, BufferPool);
_poseIntegrator.CustomLinearDamping(boxIndex, .5f, BufferPool);
}
}
if (input.WasPushed(OpenTK.Input.Key.V))
{
RemoveContrait(ref _jointIndex);
RemoveContrait(ref _linearMotorIndex);
RemoveContrait(ref _angularHingeIndex);
}
var hasVelocity = false;
var newVelocity = Vector3.Zero;
if (input.WasDown(OpenTK.Input.Key.Left))
{
hasVelocity = true;
newVelocity.X += 2;
}
if (input.WasDown(OpenTK.Input.Key.Right))
{
hasVelocity = true;
newVelocity.X += -2;
}
_baseReference.Velocity.Linear = newVelocity;
if (hasVelocity)
{
Simulation.Awakener.AwakenBody(_baseReference.Handle);
}
base.Update(window, camera, input, dt);
}
unsafe void ChangeLenght(float lenght)
{
var distanceJoint = new DistanceLimit(Vector3.Zero, Vector3.Zero, lenght, lenght, new SpringSettings(10f, 10f));
Simulation.Solver.ApplyDescription(_jointIndex, ref distanceJoint);
}
void ReleaseDesignerOutlets()
{
if (ActionBar != null)
{
ActionBar.Dispose();
ActionBar = null;
}
if (AddressOK != null)
{
AddressOK.Dispose();
AddressOK = null;
}
if (BottomConstraint != null)
{
BottomConstraint.Dispose();
BottomConstraint = null;
}
if (BottomSeparator != null)
{
BottomSeparator.Dispose();
BottomSeparator = null;
}
if (DistanceFilters != null)
{
DistanceFilters.Dispose();
DistanceFilters = null;
}
if (DistanceFiltersOpenClose != null)
{
DistanceFiltersOpenClose.Dispose();
DistanceFiltersOpenClose = null;
}
if (DistanceLimit != null)
{
DistanceLimit.Dispose();
DistanceLimit = null;
}
if (DistanceLimitInput != null)
{
DistanceLimitInput.Dispose();
DistanceLimitInput = null;
}
if (DistanceSourceAddress != null)
{
DistanceSourceAddress.Dispose();
DistanceSourceAddress = null;
}
if (DistanceSourceAddressLabel != null)
{
DistanceSourceAddressLabel.Dispose();
DistanceSourceAddressLabel = null;
}
if (DistanceSourceAddressText != null)
{
DistanceSourceAddressText.Dispose();
DistanceSourceAddressText = null;
}
if (DistanceSourceCurrent != null)
{
DistanceSourceCurrent.Dispose();
DistanceSourceCurrent = null;
}
if (DistanceSourceCurrentLabel != null)
{
DistanceSourceCurrentLabel.Dispose();
DistanceSourceCurrentLabel = null;
}
if (DistanceUnitText != null)
{
DistanceUnitText.Dispose();
DistanceUnitText = null;
}
if (FilterLayout != null)
{
FilterLayout.Dispose();
FilterLayout = null;
}
if (ListType != null)
{
ListType.Dispose();
ListType = null;
}
if (ListView != null)
{
ListView.Dispose();
ListView = null;
}
if (ListViewMap != null)
{
ListViewMap.Dispose();
ListViewMap = null;
}
if (LoaderCircle != null)
{
LoaderCircle.Dispose();
LoaderCircle = null;
}
if (LoaderCircleLeftConstraint != null)
{
LoaderCircleLeftConstraint.Dispose();
LoaderCircleLeftConstraint = null;
}
if (LoadNext != null)
{
LoadNext.Dispose();
LoadNext = null;
}
if (LoadPrevious != null)
{
LoadPrevious.Dispose();
LoadPrevious = null;
}
if (MapSatellite != null)
{
MapSatellite.Dispose();
MapSatellite = null;
}
if (MapStreet != null)
{
MapStreet.Dispose();
MapStreet = null;
}
if (MapView != null)
{
MapView.Dispose();
MapView = null;
}
if (MenuAbout != null)
{
MenuAbout.Dispose();
MenuAbout = null;
}
if (MenuChatList != null)
{
MenuChatList.Dispose();
MenuChatList = null;
}
if (MenuChatListBg != null)
{
MenuChatListBg.Dispose();
MenuChatListBg = null;
}
if (MenuChatListBgCorner != null)
{
MenuChatListBgCorner.Dispose();
MenuChatListBgCorner = null;
}
if (MenuContainer != null)
{
MenuContainer.Dispose();
MenuContainer = null;
}
if (MenuHelpCenter != null)
{
MenuHelpCenter.Dispose();
MenuHelpCenter = null;
}
if (MenuIcon != null)
{
MenuIcon.Dispose();
MenuIcon = null;
}
if (MenuLayer != null)
{
MenuLayer.Dispose();
MenuLayer = null;
}
if (MenuLocation != null)
{
MenuLocation.Dispose();
MenuLocation = null;
}
if (MenuLogIn != null)
{
MenuLogIn.Dispose();
MenuLogIn = null;
}
if (MenuLogOut != null)
{
MenuLogOut.Dispose();
MenuLogOut = null;
}
if (MenuRegister != null)
{
MenuRegister.Dispose();
MenuRegister = null;
}
if (MenuSettings != null)
{
MenuSettings.Dispose();
MenuSettings = null;
}
if (NoResult != null)
{
NoResult.Dispose();
NoResult = null;
}
if (OpenFilters != null)
{
OpenFilters.Dispose();
OpenFilters = null;
}
if (OpenSearch != null)
{
OpenSearch.Dispose();
OpenSearch = null;
}
if (OrderBy != null)
{
OrderBy.Dispose();
OrderBy = null;
}
if (RefreshDistance != null)
{
RefreshDistance.Dispose();
RefreshDistance = null;
}
if (ResultSet != null)
{
ResultSet.Dispose();
ResultSet = null;
}
if (RippleMain != null)
{
RippleMain.Dispose();
RippleMain = null;
}
if (RippleRefreshDistance != null)
{
RippleRefreshDistance.Dispose();
RippleRefreshDistance = null;
}
if (RoundBottom != null)
{
RoundBottom.Dispose();
RoundBottom = null;
}
if (SearchIn != null)
{
SearchIn.Dispose();
SearchIn = null;
}
if (SearchLayout != null)
{
SearchLayout.Dispose();
SearchLayout = null;
}
if (SearchTerm != null)
{
SearchTerm.Dispose();
SearchTerm = null;
}
if (Snackbar != null)
{
Snackbar.Dispose();
Snackbar = null;
}
if (SnackBottomConstraint != null)
{
SnackBottomConstraint.Dispose();
SnackBottomConstraint = null;
}
if (SnackTopConstraint != null)
{
SnackTopConstraint.Dispose();
SnackTopConstraint = null;
}
if (SortBy_LastActiveDate != null)
{
SortBy_LastActiveDate.Dispose();
SortBy_LastActiveDate = null;
}
if (SortBy_RegisterDate != null)
{
SortBy_RegisterDate.Dispose();
SortBy_RegisterDate = null;
}
if (SortBy_ResponseRate != null)
{
SortBy_ResponseRate.Dispose();
SortBy_ResponseRate = null;
}
if (SortByCaption != null)
{
SortByCaption.Dispose();
SortByCaption = null;
}
if (StatusBar != null)
{
StatusBar.Dispose();
StatusBar = null;
}
if (StatusImage != null)
{
StatusImage.Dispose();
StatusImage = null;
}
if (StatusText != null)
{
StatusText.Dispose();
StatusText = null;
}
if (UseGeoContainer != null)
{
UseGeoContainer.Dispose();
UseGeoContainer = null;
}
if (UseGeoNo != null)
{
UseGeoNo.Dispose();
UseGeoNo = null;
}
if (UseGeoNoLabel != null)
{
UseGeoNoLabel.Dispose();
UseGeoNoLabel = null;
}
if (UseGeoYes != null)
{
UseGeoYes.Dispose();
UseGeoYes = null;
}
if (UseGeoYesLabel != null)
{
UseGeoYesLabel.Dispose();
UseGeoYesLabel = null;
}
if (UserSearchList != null)
{
UserSearchList.Dispose();
UserSearchList = null;
}
}
public ConstraintSample2(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- PointOnLineConstraint
RigidBody box0 = new RigidBody(new BoxShape(0.1f, 0.5f, 6))
{
Pose = new Pose(new Vector3F(-4, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box0);
RigidBody sphere0 = new RigidBody(new SphereShape(0.5f))
{
Pose = new Pose(new Vector3F(-4, 2, 0))
};
Simulation.RigidBodies.Add(sphere0);
PointOnLineConstraint pointOnLineConstraint = new PointOnLineConstraint
{
BodyA = box0,
// The line goes through this point:
AnchorPositionALocal = new Vector3F(0, -0.25f, 0),
BodyB = sphere0,
AnchorPositionBLocal = new Vector3F(0, 0.5f, 0),
// The line axis:
AxisALocal = Vector3F.UnitZ,
// The movement on the line axis:
Minimum = -3,
Maximum = +3,
CollisionEnabled = false,
};
Simulation.Constraints.Add(pointOnLineConstraint);
// ----- PointOnPlaneConstraint
RigidBody box1 = new RigidBody(new BoxShape(2f, 0.5f, 6))
{
Pose = new Pose(new Vector3F(-1, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box1);
RigidBody sphere1 = new RigidBody(new SphereShape(0.5f))
{
Pose = new Pose(new Vector3F(-1, 2, 0))
};
Simulation.RigidBodies.Add(sphere1);
PointOnPlaneConstraint pointOnPlaneConstraint = new PointOnPlaneConstraint
{
BodyA = box1,
// The plane goes through this point:
AnchorPositionALocal = new Vector3F(0, -0.25f, 0),
BodyB = sphere1,
AnchorPositionBLocal = new Vector3F(0, 0.5f, 0),
// Two orthonormal vectors that define the plane:
XAxisALocal = Vector3F.UnitX,
YAxisALocal = Vector3F.UnitZ,
// Limits for the x axis and y axis movement:
Minimum = new Vector2F(-1, -3),
Maximum = new Vector2F(1, 3),
CollisionEnabled = false,
};
Simulation.Constraints.Add(pointOnPlaneConstraint);
// ----- NoRotationConstraint
// This constraint keeps two rotations synchronized.
RigidBody box2 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(2, 3, 0)),
};
Simulation.RigidBodies.Add(box2);
RigidBody box3 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(2.5f, 2, 0))
};
Simulation.RigidBodies.Add(box3);
NoRotationConstraint noRotationConstraint = new NoRotationConstraint
{
BodyA = box2,
BodyB = box3,
CollisionEnabled = true,
};
Simulation.Constraints.Add(noRotationConstraint);
// ----- Distance limit.
// Here, the distance of two cone tips is kept at a constant distance.
RigidBody cone0 = new RigidBody(new ConeShape(0.5f, 1f))
{
Pose = new Pose(new Vector3F(4, 3, 0), Matrix33F.CreateRotationZ(ConstantsF.Pi)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(cone0);
RigidBody cone1 = new RigidBody(new ConeShape(0.5f, 1f))
{
Pose = new Pose(new Vector3F(4, 0, 0))
};
Simulation.RigidBodies.Add(cone1);
DistanceLimit distanceLimit = new DistanceLimit
{
BodyA = cone0,
BodyB = cone1,
// The attachment points are the tips of the cones.
AnchorPositionALocal = new Vector3F(0, 1, 0),
AnchorPositionBLocal = new Vector3F(0, 1, 0),
// The tips should always have a distance of 0.5 units.
MinDistance = 0.5f,
MaxDistance = 0.5f,
};
Simulation.Constraints.Add(distanceLimit);
}
