public void Initialise(Body body, ReferenceFrame frame, Vector3?vel, Vector3?angVel)
{
this.body = body;
this.frame = frame;
doVel = vel != null;
doAngVel = angVel != null;
if (doVel)
{
targetVel = (Vector3)vel;
}
if (doAngVel)
{
targetAngVel = (Vector3)angVel;
}
if (body != null)
{
vel = body.Velocity;
angVel = body.AngularVelocity;
}
else
{
vel = Vector3.Zero;
angVel = Vector3.Zero;
}
velRate = Vector3.Zero;
angVelRate = Vector3.Zero;
body?.AddConstraint(this);
}
public void Initialise(Body body, Vector3 pointOnBody, Vector3 worldPosition)
{
Body = body;
this.pointOnBody = pointOnBody;
this.worldPosition = worldPosition;
body?.AddConstraint(this);
}
/// <summary>
/// Initialise
/// </summary>
/// <param name="body"></param>
/// <param name="pointOnBody"></param>
/// <param name="worldPosition"></param>
public void Initialise(Body body, Vector3 pointOnBody, Vector3 worldPosition)
{
this.body = body;
this.pointOnBody = pointOnBody;
this.worldPosition = worldPosition;
if (body != null)
{
body.AddConstraint(this);
}
}
public void Initialise(Body body0, Vector3 body0Pos, Body body1, Vector3 body1Pos, float allowedDistance, float timescale)
{
this.body0Pos = body0Pos;
this.body1Pos = body1Pos;
this.body0 = body0;
this.body1 = body1;
this.allowedDistance = allowedDistance;
this.timescale = timescale;
if (timescale < JiggleMath.Epsilon)
{
timescale = JiggleMath.Epsilon;
}
body0?.AddConstraint(this);
body1?.AddConstraint(this);
}
public void Initialise(Body body, ReferenceFrame frame, Vector3? vel, Vector3? angVel)
{
this.body = body;
this.frame = frame;
this.doVel = (vel != null);
this.doAngVel = (angVel != null);
if (doVel) targetVel = (Vector3)vel;
if (doAngVel) targetAngVel = (Vector3)angVel;
if (body != null)
{
vel = body.Velocity;
angVel = body.AngularVelocity;
}
else
{
vel = Vector3.Zero;
angVel = Vector3.Zero;
}
velRate = Vector3.Zero;
angVelRate = Vector3.Zero;
if (body != null)
body.AddConstraint(this);
}
public void Initialise(Body body0, Vector3 body0Pos, Body body1, Vector3 body1Pos, float allowedDistance, float timescale)
{
this.body0Pos = body0Pos;
this.body1Pos = body1Pos;
this.body0 = body0;
this.body1 = body1;
this.allowedDistance = allowedDistance;
this.timescale = timescale;
if (timescale < JiggleMath.Epsilon)
timescale = JiggleMath.Epsilon;
if (body0 != null) body0.AddConstraint(this);
if (body1 != null) body1.AddConstraint(this);
}
public void Initialise(Body body, Vector3 pointOnBody, Vector3 worldPosition)
{
this.body = body;
this.pointOnBody = pointOnBody;
this.worldPosition = worldPosition;
if (body!=null) body.AddConstraint(this);
}