public BEPUikBoneLocalRot(BEPUikBoneDefinition definition, SimObjectBase instance, BEPUikScene scene)
: base(definition, instance, scene)
{
localRot = definition.LocalRotQuat.Value;
localRotInverse = localRot.inverse();
IkBone.Orientation *= localRot.toBepuQuat();
}
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 override SimElementDefinition saveToDefinition()
{
var definition = new BEPUikBoneDefinition(Name)
{
Pinned = bone.Pinned,
Radius = bone.Radius,
Height = bone.Height,
SolverName = solverName
};
customizeDefinition(definition);
return(definition);
}
internal void addBone(BEPUikBoneDefinition bone, SimObjectBase instance)
{
independentPhaseEntries.Add(new BEPUikFactoryEntry(instance, bone));
}
protected override void customizeDefinition(BEPUikBoneDefinition definition)
{
definition.LocalRotQuat = localRot;
}
public BoneRenderer(BEPUikBoneDefinition definition)
{
this.definition = definition;
}
protected virtual void customizeDefinition(BEPUikBoneDefinition definition)
{
}