public static void SetInBodySpace(this HkHingeConstraintData data, Vector3 posA, Vector3 posB, Vector3 axisA, Vector3 axisB, MyPhysicsBody bodyA, MyPhysicsBody bodyB)
{
if (bodyA.IsWelded)
{
posA = Vector3.Transform(posA, bodyA.WeldInfo.Transform);
axisA = Vector3.TransformNormal(axisA, bodyA.WeldInfo.Transform);
}
if (bodyB.IsWelded)
{
posB = Vector3.Transform(posB, bodyB.WeldInfo.Transform);
axisB = Vector3.TransformNormal(axisB, bodyB.WeldInfo.Transform);
}
data.SetInBodySpaceInternal(ref posA, ref posB, ref axisA, ref axisB);
}
private void CreateConstraintNosync(MyShipConnector otherConnector, ref Vector3 posA, ref Vector3 posB, ref Vector3 axisA, ref Vector3 axisB)
{
var data = new HkHingeConstraintData();
data.SetInBodySpace(ref posA, ref posB, ref axisA, ref axisB);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = 0.0003f;
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, otherConnector.CubeGrid.Physics.RigidBody, data2);
this.Master = true;
otherConnector.Master = false;
SetConstraint(otherConnector, newConstraint);
otherConnector.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
void CubeGrid_OnPhysicsChanged(MyEntity obj)
{
if (Sync.IsServer && m_welding == false && InConstraint && m_welded == false)
{
if (m_hasConstraint)
{
if (MyPhysicsBody.IsConstraintValid(m_constraint) == false && m_constraint.IsDisposed == false)
{
RemoveConstraint(m_other, m_constraint);
this.m_constraint = null;
m_other.m_constraint = null;
m_hasConstraint = false;
m_other.m_hasConstraint = false;
if (m_connectionState.Value.MasterToSlave.HasValue == false && CubeGrid.Physics != null && m_other.CubeGrid.Physics != null)
{
var posA = ConstraintPositionInGridSpace();
var posB = m_other.ConstraintPositionInGridSpace();
var axisA = ConstraintAxisGridSpace();
var axisB = -m_other.ConstraintAxisGridSpace();
var data = new HkHingeConstraintData();
data.SetInBodySpace(posA, posB, axisA, axisB, CubeGrid.Physics, m_other.CubeGrid.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = GetEffectiveStrength(m_other);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_other.CubeGrid.Physics.RigidBody, data2);
this.SetConstraint(m_other, newConstraint);
m_other.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
}
}
}
}
private void CreateConstraintNosync(MyShipConnector otherConnector)
{
Debug.Assert(IsMaster, "Constraints should be created only master (entity with higher EntityId)");
var posA = ConstraintPositionInGridSpace();
var posB = otherConnector.ConstraintPositionInGridSpace();
var axisA = ConstraintAxisGridSpace();
var axisB = -otherConnector.ConstraintAxisGridSpace();
var data = new HkHingeConstraintData();
data.SetInBodySpace(posA, posB, axisA, axisB, CubeGrid.Physics, otherConnector.CubeGrid.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = GetEffectiveStrength(otherConnector);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, otherConnector.CubeGrid.Physics.RigidBody, data2);
SetConstraint(otherConnector, newConstraint);
otherConnector.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
void CubeGrid_OnPhysicsChanged(MyEntity obj)
{
if (m_hasConstraint)
{
if (MyPhysicsBody.IsConstraintValid(m_constraint) == false && m_constraint.IsDisposed == false)
{
RemoveConstraint(m_other, m_constraint);
if (m_connectionState.Value.MasterToSlave.HasValue)
{
Matrix localSpaceA = Matrix.CreateTranslation(m_connectionPosition);
Matrix localSpaceB = localSpaceA * m_connectionState.Value.MasterToSlave.Value;
localSpaceA = localSpaceA * this.PositionComp.LocalMatrix;
localSpaceB = localSpaceB * m_other.PositionComp.LocalMatrix;
var data = new HkFixedConstraintData();
data.SetInBodySpace(localSpaceA, localSpaceB, CubeGrid.Physics, m_other.CubeGrid.Physics);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_other.CubeGrid.Physics.RigidBody, data);
this.SetConstraint(m_other, newConstraint);
m_other.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
else
{
var posA = ConstraintPositionInGridSpace();
var posB = m_other.ConstraintPositionInGridSpace();
var axisA = ConstraintAxisGridSpace();
var axisB = -m_other.ConstraintAxisGridSpace();
var data = new HkHingeConstraintData();
data.SetInBodySpace(posA, posB, axisA, axisB, CubeGrid.Physics, m_other.CubeGrid.Physics);
var data2 = new HkMalleableConstraintData();
data2.SetData(data);
data.ClearHandle();
data = null;
data2.Strength = GetEffectiveStrength(m_other);
var newConstraint = new HkConstraint(CubeGrid.Physics.RigidBody, m_other.CubeGrid.Physics.RigidBody, data2);
this.SetConstraint(m_other, newConstraint);
m_other.SetConstraint(this, newConstraint);
AddConstraint(newConstraint);
}
}
}
}
