public BEPUikBoneLocalRot(BEPUikBoneDefinition definition, SimObjectBase instance, BEPUikScene scene)
: base(definition, instance, scene)
{
localRot = definition.LocalRotQuat.Value;
localRotInverse = localRot.inverse();
IkBone.Orientation *= localRot.toBepuQuat();
}
internal override void createProduct(SimObjectBase instance, BulletScene scene)
{
btCompoundShape shape = new btCompoundShape(0.0f);
ReshapeableRigidBody rigidBody = new ReshapeableRigidBody(this, scene, shape, instance.Translation, instance.Rotation);
instance.addElement(rigidBody);
}
public SimObjectBase createProp(String propName, Vector3 translation, Quaternion rotation)
{
if (subScene != null)
{
PropDefinition propDef;
if (prototypes.TryGetValue(propName, out propDef))
{
SimObjectDefinition definition = propDef.SimObject;
Vector3 originalTranslation = definition.Translation;
Quaternion originalRotation = definition.Rotation;
definition.Name = UniqueKeyGenerator.generateStringKey();
definition.Translation = translation;
definition.Rotation = rotation;
SimObjectBase instance = definition.register(subScene);
medicalController.addSimObject(instance);
scene.buildScene();
definition.Translation = originalTranslation;
definition.Rotation = originalRotation;
return(instance);
}
else
{
Log.Error("Could not create prop {0}. The definition cannot be found.", propName);
}
}
else
{
Log.Error("Could not create prop {0}. The subscene is null.", propName);
}
return(null);
}
public BEPUikBone(BEPUikBoneDefinition definition, SimObjectBase instance, BEPUikScene scene)
: base(definition.Name)
{
this.scene = scene;
bone = new Bone(instance.Translation.toBepuVec3(), instance.Rotation.toBepuQuat(), definition.Radius, definition.Height, definition.Mass);
bone.Pinned = definition.Pinned;
solverName = definition.SolverName;
}
public void editRotation(ref Quaternion rotation)
{
if (simObjectController != null)
{
SimObjectBase simObj = simObjectController.getSimObject(Name) as SimObjectBase;
if (simObj != null)
{
simObj.updateRotation(ref rotation, null);
}
}
instance.Definition.Rotation = rotation;
Modified = true;
}
public void editTranslation(ref Vector3 translation)
{
if (simObjectController != null)
{
SimObjectBase simObj = simObjectController.getSimObject(Name) as SimObjectBase;
if (simObj != null)
{
simObj.updateTranslation(ref translation, null);
}
}
instance.Translation = translation;
Modified = true;
}
internal override void createProduct(SimObjectBase instance, BEPUikScene scene)
{
BEPUikBone connectionA = null;
BEPUikBone connectionB = null;
SimObject other = instance.getOtherSimObject(ConnectionASimObjectName);
if (other == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionA SimObject named '{0}'", ConnectionASimObjectName);
}
connectionA = other.getElement(ConnectionABoneName) as BEPUikBone;
if (connectionA == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionA bone named '{0}' in '{1}'", ConnectionABoneName, ConnectionASimObjectName);
}
other = instance.getOtherSimObject(ConnectionBSimObjectName);
if (other == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionB SimObject named '{0}'", ConnectionBSimObjectName);
}
connectionB = other.getElement(ConnectionBBoneName) as BEPUikBone;
if (connectionB == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionB bone named '{0}' in '{1}'", ConnectionBBoneName, ConnectionBSimObjectName);
}
SimElement element = createConstraint(connectionA, connectionB, instance);
if (element != null)
{
instance.addElement(element);
}
}
