public btHingeConstraint( btRigidBody rbA, ref btTransform rbAFrame, bool useReferenceFrameA = false )
: base( btObjectTypes.HINGE_CONSTRAINT_TYPE, rbA )
{
Init();
m_rbAFrame = ( rbAFrame );
m_rbBFrame = ( rbAFrame );
#if _BT_USE_CENTER_LIMIT_
m_limit = new btAngularLimit();
#endif
//m_useSolveConstraintObsolete = ( false/*HINGE_USE_OBSOLETE_SOLVER*/ );
//m_useOffsetForConstraintFrame = ( true/*HINGE_USE_FRAME_OFFSET*/ );
m_useReferenceFrameA = ( useReferenceFrameA );
///not providing rigidbody B means implicitly using worldspace for body B
m_rbA.m_worldTransform.Apply( ref m_rbAFrame.m_origin, out m_rbBFrame.m_origin );
//m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()( m_rbAFrame.getOrigin() );
m_referenceSign = m_useReferenceFrameA ? (double)( -1 ) : (double)( 1 );
}
public btHingeConstraint( btRigidBody rbA, btRigidBody rbB,
ref btTransform rbAFrame, ref btTransform rbBFrame, bool useReferenceFrameA = false )
: base( btObjectTypes.HINGE_CONSTRAINT_TYPE, rbA, rbB )
{
Init();
m_rbAFrame = ( rbAFrame );
m_rbBFrame = ( rbBFrame );
#if _BT_USE_CENTER_LIMIT_
m_limit = new btAngularLimit();
#endif
m_useReferenceFrameA = ( useReferenceFrameA );
m_referenceSign = m_useReferenceFrameA ? (double)( -1 ) : (double)( 1 );
}
public btHingeConstraint( btRigidBody rbA, btRigidBody rbB, ref btVector3 pivotInA, ref btVector3 pivotInB,
ref btVector3 axisInA, ref btVector3 axisInB, bool useReferenceFrameA = false )
: base( btObjectTypes.HINGE_CONSTRAINT_TYPE, rbA, rbB )
{
Init();
#if _BT_USE_CENTER_LIMIT_
m_limit = new btAngularLimit();
#endif
m_useReferenceFrameA = ( useReferenceFrameA );
m_rbAFrame.m_origin = pivotInA;
// since no frame is given, assume this to be zero angle and just pick rb transform axis
btVector3 rbAxisA1; rbA.m_worldTransform.m_basis.getColumn( 0, out rbAxisA1 );
btVector3 rbAxisA2;
double projection = axisInA.dot( rbAxisA1 );
if( projection >= 1.0f - btScalar.SIMD_EPSILON )
{
btVector3 tmp;
rbA.m_worldTransform.m_basis.getColumn( 2, out tmp );
tmp.Invert( out rbAxisA1 );
rbA.m_worldTransform.m_basis.getColumn( 1, out rbAxisA2 );
}
else if( projection <= -1.0f + btScalar.SIMD_EPSILON )
{
rbA.m_worldTransform.m_basis.getColumn( 2, out rbAxisA1 );
rbA.m_worldTransform.m_basis.getColumn( 1, out rbAxisA2 );
}
else
{
axisInA.cross( ref rbAxisA1, out rbAxisA2 );
rbAxisA2.cross( ref axisInA, out rbAxisA1 );
}
btMatrix3x3.setValue( out m_rbAFrame.m_basis, rbAxisA1.x, rbAxisA2.x, axisInA.x,
rbAxisA1.y, rbAxisA2.y, axisInA.y,
rbAxisA1.z, rbAxisA2.z, axisInA.z );
btQuaternion rotationArc; btQuaternion.shortestArcQuat( ref axisInA, ref axisInB, out rotationArc );
btVector3 rbAxisB1; btQuaternion.quatRotate( ref rotationArc, ref rbAxisA1, out rbAxisB1 );
btVector3 rbAxisB2; axisInB.cross( ref rbAxisB1, out rbAxisB2 );
m_rbBFrame.m_origin = pivotInB;
m_rbBFrame.m_basis.setValue( ref rbAxisB1, ref rbAxisB2, ref axisInB );
btMatrix3x3.setValue( out m_rbBFrame.m_basis, ref rbAxisB1, ref rbAxisB2, ref axisInB );
m_referenceSign = m_useReferenceFrameA ? (double)( -1 ) : (double)( 1 );
}
public btHingeConstraint( btRigidBody rbA, ref btVector3 pivotInA, ref btVector3 axisInA, bool useReferenceFrameA = false )
: base( btObjectTypes.HINGE_CONSTRAINT_TYPE, rbA )
{
Init();
#if _BT_USE_CENTER_LIMIT_
m_limit = new btAngularLimit();
#endif
m_useReferenceFrameA = ( useReferenceFrameA );
// since no frame is given; assume this to be zero angle and just pick rb transform axis
// fixed axis in worldspace
btVector3 rbAxisA1, rbAxisA2;
btVector3.btPlaneSpace1( ref axisInA, out rbAxisA1, out rbAxisA2 );
m_rbAFrame.m_origin = pivotInA;
m_rbAFrame.m_basis.setValue( rbAxisA1.x, rbAxisA2.x, axisInA.x,
rbAxisA1.y, rbAxisA2.y, axisInA.y,
rbAxisA1.z, rbAxisA2.z, axisInA.z );
btVector3 axisInB; rbA.m_worldTransform.m_basis.Apply( ref axisInA, out axisInB );
btQuaternion rotationArc; btQuaternion.shortestArcQuat( ref axisInA, ref axisInB, out rotationArc );
btVector3 rbAxisB1; btQuaternion.quatRotate( ref rotationArc, ref rbAxisA1, out rbAxisB1 );
btVector3 rbAxisB2; axisInB.cross( ref rbAxisB1, out rbAxisB2 );
//btVector3 tmp;
rbA.m_worldTransform.Apply( ref pivotInA, out m_rbBFrame.m_origin );
//m_rbBFrame.m_origin = rbA.getCenterOfMassTransform()( pivotInA );
m_rbBFrame.m_basis.setValue( rbAxisB1.x, rbAxisB2.x, axisInB.x,
rbAxisB1.y, rbAxisB2.y, axisInB.y,
rbAxisB1.z, rbAxisB2.z, axisInB.z );
m_referenceSign = m_useReferenceFrameA ? (double)( -1 ) : (double)( 1 );
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(btAngularLimit obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
