Example #1
0
        /// <summary>
        /// Creates the constraint.
        /// </summary>
        /// <param name="type">The type.</param>
        /// <param name="rigidBodyA">The rigid body a.</param>
        /// <param name="rigidBodyB">The rigid body b.</param>
        /// <param name="frameA">The frame a.</param>
        /// <param name="frameB">The frame b.</param>
        /// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
        /// <returns></returns>
        /// <exception cref="System.Exception">
        /// Cannot perform this action when the physics engine is set to CollisionsOnly
        /// or
        /// Both RigidBodies must be valid
        /// </exception>
        public static Constraint CreateConstraint(ConstraintTypes type, RigidBody rigidBodyA, RigidBody rigidBodyB, Matrix frameA, Matrix frameB, bool useReferenceFrameA = false)
        {
            if (rigidBodyA == null || rigidBodyB == null)
            {
                throw new Exception("Both RigidBodies must be valid");
            }
            //todo check if the 2 rbs are on the same engine instance!

            var rbA = rigidBodyA.InternalRigidBody;
            var rbB = rigidBodyB.InternalRigidBody;

            switch (type)
            {
            case ConstraintTypes.Point2Point:
            {
                var constraint = new Point2PointConstraint
                {
                    InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Hinge:
            {
                var constraint = new HingeConstraint
                {
                    InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalHingeConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Slider:
            {
                var constraint = new SliderConstraint
                {
                    InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalSliderConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.ConeTwist:
            {
                var constraint = new ConeTwistConstraint
                {
                    InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, rbB, frameA, frameB),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalConeTwistConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Generic6DoF:
            {
                var constraint = new Generic6DoFConstraint
                {
                    InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Generic6DoFSpring:
            {
                var constraint = new Generic6DoFSpringConstraint
                {
                    InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Gear:
            {
                var constraint = new GearConstraint
                {
                    InternalGearConstraint = new BulletSharp.GearConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalGearConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                return(constraint);
            }
            }

            return(null);
        }
Example #2
0
        /// <summary>
        /// Creates the constraint.
        /// </summary>
        /// <param name="type">The type.</param>
        /// <param name="rigidBodyA">The rigid body a.</param>
        /// <param name="frameA">The frame a.</param>
        /// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
        /// <returns></returns>
        /// <exception cref="System.Exception">
        /// Cannot perform this action when the physics engine is set to CollisionsOnly
        /// or
        /// Both RigidBodies must be valid
        /// or
        /// A Gear constraint always needs two rigidbodies to be created.
        /// </exception>
        public static Constraint CreateConstraint(ConstraintTypes type, RigidBody rigidBodyA, Matrix frameA, bool useReferenceFrameA = false)
        {
            if (rigidBodyA == null)
            {
                throw new Exception("Both RigidBodies must be valid");
            }

            var rbA = rigidBodyA.InternalRigidBody;

            switch (type)
            {
            case ConstraintTypes.Point2Point:
            {
                var constraint = new Point2PointConstraint
                {
                    InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, frameA.TranslationVector),

                    RigidBodyA = rigidBodyA,
                };

                constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Hinge:
            {
                var constraint = new HingeConstraint
                {
                    InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, frameA, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                };

                constraint.InternalConstraint = constraint.InternalHingeConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Slider:
            {
                var constraint = new SliderConstraint
                {
                    InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, frameA, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                };

                constraint.InternalConstraint = constraint.InternalSliderConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.ConeTwist:
            {
                var constraint = new ConeTwistConstraint
                {
                    InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, frameA),

                    RigidBodyA = rigidBodyA
                };

                constraint.InternalConstraint = constraint.InternalConeTwistConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Generic6DoF:
            {
                var constraint = new Generic6DoFConstraint
                {
                    InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, frameA, useReferenceFrameA),

                    RigidBodyA = rigidBodyA
                };

                constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Generic6DoFSpring:
            {
                var constraint = new Generic6DoFSpringConstraint
                {
                    InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, frameA, useReferenceFrameA),

                    RigidBodyA = rigidBodyA
                };

                constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);

                return(constraint);
            }

            case ConstraintTypes.Gear:
            {
                throw new Exception("A Gear constraint always needs two rigidbodies to be created.");
            }
            }

            return(null);
        }
Example #3
0
        /// <summary>
        /// Creates the constraint.
        /// </summary>
        /// <param name="type">The type.</param>
        /// <param name="rigidBodyA">The rigid body a.</param>
        /// <param name="frameA">The frame a.</param>
        /// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
        /// <returns></returns>
        /// <exception cref="System.Exception">
        /// Cannot perform this action when the physics engine is set to CollisionsOnly
        /// or
        /// Both RigidBodies must be valid
        /// or
        /// A Gear constraint always needs two rigidbodies to be created.
        /// </exception>
        public static Constraint CreateConstraint(ConstraintTypes type, RigidBody rigidBodyA, Matrix frameA, bool useReferenceFrameA = false)
        {
            if (rigidBodyA == null) throw new Exception("Both RigidBodies must be valid");

            var rbA = rigidBodyA.InternalRigidBody;

            switch (type)
            {
                case ConstraintTypes.Point2Point:
                    {
                        var constraint = new Point2PointConstraint
                        {
                            InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, frameA.TranslationVector),

                            RigidBodyA = rigidBodyA,
                        };

                        constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Hinge:
                    {
                        var constraint = new HingeConstraint
                        {
                            InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, frameA, useReferenceFrameA),

                            RigidBodyA = rigidBodyA,
                        };

                        constraint.InternalConstraint = constraint.InternalHingeConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Slider:
                    {
                        var constraint = new SliderConstraint
                        {
                            InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, frameA, useReferenceFrameA),

                            RigidBodyA = rigidBodyA,
                        };

                        constraint.InternalConstraint = constraint.InternalSliderConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.ConeTwist:
                    {
                        var constraint = new ConeTwistConstraint
                        {
                            InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, frameA),

                            RigidBodyA = rigidBodyA
                        };

                        constraint.InternalConstraint = constraint.InternalConeTwistConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Generic6DoF:
                    {
                        var constraint = new Generic6DoFConstraint
                        {
                            InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, frameA, useReferenceFrameA),

                            RigidBodyA = rigidBodyA
                        };

                        constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Generic6DoFSpring:
                    {
                        var constraint = new Generic6DoFSpringConstraint
                        {
                            InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, frameA, useReferenceFrameA),

                            RigidBodyA = rigidBodyA
                        };

                        constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Gear:
                    {
                        throw new Exception("A Gear constraint always needs two rigidbodies to be created.");
                    }
            }

            return null;
        }
Example #4
0
        /// <summary>
        /// Creates the constraint.
        /// </summary>
        /// <param name="type">The type.</param>
        /// <param name="rigidBodyA">The rigid body a.</param>
        /// <param name="rigidBodyB">The rigid body b.</param>
        /// <param name="frameA">The frame a.</param>
        /// <param name="frameB">The frame b.</param>
        /// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
        /// <returns></returns>
        /// <exception cref="System.Exception">
        /// Cannot perform this action when the physics engine is set to CollisionsOnly
        /// or
        /// Both RigidBodies must be valid
        /// </exception>
        public static Constraint CreateConstraint(ConstraintTypes type, RigidBody rigidBodyA, RigidBody rigidBodyB, Matrix frameA, Matrix frameB, bool useReferenceFrameA = false)
        {
            if (rigidBodyA == null || rigidBodyB == null) throw new Exception("Both RigidBodies must be valid");
            //todo check if the 2 rbs are on the same engine instance!

            var rbA = rigidBodyA.InternalRigidBody;
            var rbB = rigidBodyB.InternalRigidBody;

            switch (type)
            {
                case ConstraintTypes.Point2Point:
                    {
                        var constraint = new Point2PointConstraint
                        {
                            InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),

                            RigidBodyA = rigidBodyA,
                            RigidBodyB = rigidBodyB
                        };

                        constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);
                        rigidBodyB.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Hinge:
                    {
                        var constraint = new HingeConstraint
                        {
                            InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                            RigidBodyA = rigidBodyA,
                            RigidBodyB = rigidBodyB
                        };

                        constraint.InternalConstraint = constraint.InternalHingeConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);
                        rigidBodyB.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Slider:
                    {
                        var constraint = new SliderConstraint
                        {
                            InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                            RigidBodyA = rigidBodyA,
                            RigidBodyB = rigidBodyB
                        };

                        constraint.InternalConstraint = constraint.InternalSliderConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);
                        rigidBodyB.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.ConeTwist:
                    {
                        var constraint = new ConeTwistConstraint
                        {
                            InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, rbB, frameA, frameB),

                            RigidBodyA = rigidBodyA,
                            RigidBodyB = rigidBodyB
                        };

                        constraint.InternalConstraint = constraint.InternalConeTwistConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);
                        rigidBodyB.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Generic6DoF:
                    {
                        var constraint = new Generic6DoFConstraint
                        {
                            InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                            RigidBodyA = rigidBodyA,
                            RigidBodyB = rigidBodyB
                        };

                        constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);
                        rigidBodyB.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Generic6DoFSpring:
                    {
                        var constraint = new Generic6DoFSpringConstraint
                        {
                            InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                            RigidBodyA = rigidBodyA,
                            RigidBodyB = rigidBodyB
                        };

                        constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);
                        rigidBodyB.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
                case ConstraintTypes.Gear:
                    {
                        var constraint = new GearConstraint
                        {
                            InternalGearConstraint = new BulletSharp.GearConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),

                            RigidBodyA = rigidBodyA,
                            RigidBodyB = rigidBodyB
                        };

                        constraint.InternalConstraint = constraint.InternalGearConstraint;

                        rigidBodyA.LinkedConstraints.Add(constraint);
                        rigidBodyB.LinkedConstraints.Add(constraint);

                        return constraint;
                    }
            }

            return null;
        }
Example #5
0
        /// <summary>
        /// Creates the constraint.
        /// </summary>
        /// <param name="type">The type.</param>
        /// <param name="rigidBodyA">The rigid body a.</param>
        /// <param name="rigidBodyB">The rigid body b.</param>
        /// <param name="frameA">The frame a.</param>
        /// <param name="frameB">The frame b.</param>
        /// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
        /// <returns></returns>
        /// <exception cref="System.Exception">
        /// Cannot perform this action when the physics engine is set to CollisionsOnly
        /// or
        /// Both RigidBodies must be valid
        /// </exception>
        public Constraint CreateConstraint(ConstraintTypes type, RigidBody rigidBodyA, RigidBody rigidBodyB, Matrix frameA, Matrix frameB, bool useReferenceFrameA = false)
        {
            if (discreteDynamicsWorld == null)
            {
                throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
            }
            if (rigidBodyA == null || rigidBodyB == null)
            {
                throw new Exception("Both RigidBodies must be valid");
            }

            var rbA = rigidBodyA.InternalRigidBody;
            var rbB = rigidBodyB.InternalRigidBody;

            switch (type)
            {
            case ConstraintTypes.Point2Point:
            {
                var constraint = new Point2PointConstraint
                {
                    InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                constraint.Engine = this;

                return(constraint);
            }

            case ConstraintTypes.Hinge:
            {
                var constraint = new HingeConstraint
                {
                    InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalHingeConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                constraint.Engine = this;

                return(constraint);
            }

            case ConstraintTypes.Slider:
            {
                var constraint = new SliderConstraint
                {
                    InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalSliderConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                constraint.Engine = this;

                return(constraint);
            }

            case ConstraintTypes.ConeTwist:
            {
                var constraint = new ConeTwistConstraint
                {
                    InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, rbB, frameA, frameB),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalConeTwistConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                constraint.Engine = this;

                return(constraint);
            }

            case ConstraintTypes.Generic6DoF:
            {
                var constraint = new Generic6DoFConstraint
                {
                    InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                constraint.Engine = this;

                return(constraint);
            }

            case ConstraintTypes.Generic6DoFSpring:
            {
                var constraint = new Generic6DoFSpringConstraint
                {
                    InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                constraint.Engine = this;

                return(constraint);
            }

            case ConstraintTypes.Gear:
            {
                var constraint = new GearConstraint
                {
                    InternalGearConstraint = new BulletSharp.GearConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),

                    RigidBodyA = rigidBodyA,
                    RigidBodyB = rigidBodyB
                };

                constraint.InternalConstraint = constraint.InternalGearConstraint;

                rigidBodyA.LinkedConstraints.Add(constraint);
                rigidBodyB.LinkedConstraints.Add(constraint);

                constraint.Engine = this;

                return(constraint);
            }
            }

            return(null);
        }