public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA, float3 axisInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btHingeConstraint = new HingeConstraint(btRigidBodyA, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(axisInA.x, axisInA.y, axisInA.z), useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
/*//TODO: What about inheritance problems -> should return any constraint type
* public IPoint2PointConstraintImp GetConstraint(int i)
* {
* return (Point2PointConstraintImp)BtWorld.GetConstraint(0).UserObject;
* }*/
//HingeConstraint
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFframeInA = Translater.Float4X4ToBtMatrix(frameInA);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btFframeInA, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 brAFrame, float4x4 brBFrame, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(brAFrame);
var btRbBFrame = Translater.Float4X4ToBtMatrix(brBFrame);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB,btRbAFrame, btRbBFrame, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 pivotInA, float3 pivotInB, float3 axisInA, float3 AxisInB, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(pivotInB.x, pivotInB.y, pivotInB.z), new Vector3(axisInA.x, axisInA.y, axisInA.z), new Vector3(AxisInB.x, AxisInB.y, AxisInB.z), useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}
/*//TODO: What about inheritance problems -> should return any constraint type
public IPoint2PointConstraintImp GetConstraint(int i)
{
return (Point2PointConstraintImp)BtWorld.GetConstraint(0).UserObject;
}*/
//HingeConstraint
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFframeInA = Translater.Float4X4ToBtMatrix(frameInA);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btFframeInA, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}
