public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
RigidBodies.RigidBody_DX rbParent = (RigidBodies.RigidBody_DX)this.Parent;
Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix);;
float x = Geometry.DegreeToRadian(180);
if(!oXml.FindChildElement("Constraint", false))
oXml.AddChildElement("Constraint");
oXml.IntoElem();
oXml.SetAttrib("Low",this.m_fltMinAngle);
oXml.SetAttrib("High", this.m_fltMaxAngle);
oXml.OutOfElem();
oXml.AddChildElement("EnableMotor",this.m_bEnableMotor);
oXml.AddChildElement("ServoMotor",this.m_bServoMotor);
oXml.AddChildElement("ServoGain",this.m_fltServoGain);
m_snMaxTorque.SaveData(ref oXml, "MaxTorque");
m_snMaxVelocity.SaveData(ref oXml, "MaxVelocity");
// if(v3Rot.Y >= 180)
// m_v3Axis.TransformCoordinate(/*Matrix.RotationX(Geometry.DegreeToRadian(180))* Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) **/ Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z));
// else
//m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z));
Matrix m = this.CombinedTransformationMatrix;
m.M41 = 0;
m.M42 = 0;
m.M43 = 0;
//Quaternion q = Quaternion.RotationYawPitchRoll(v3Rot.Y, v3Rot.X, v3Rot.Z);
//m_v3Axis.TransformCoordinate(Matrix.RotationQuaternion(q));
m_v3Axis.TransformCoordinate(m);
//Vec3d vRotationAxis = new Vec3d(null,1, 0, 0);
Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z);
Util.SaveVector(ref oXml, "RotationAxis", vRotationAxis);
oXml.OutOfElem();
m_v3Axis = new Vector3(0,0,1);
}
public override void SaveData(ref AnimatTools.DataObjects.Simulation dsSim, ref AnimatTools.DataObjects.Physical.PhysicalStructure doStructure, ref AnimatTools.Interfaces.StdXml oXml)
{
base.SaveData (ref dsSim, ref doStructure, ref oXml);
oXml.IntoElem();
if(!oXml.FindChildElement("Constraint", false))
oXml.AddChildElement("Constraint");
oXml.IntoElem();
oXml.SetAttrib("Low",this.m_fltMinMovement);
oXml.SetAttrib("High", this.m_fltMaxMovement);
oXml.OutOfElem();
oXml.AddChildElement("Length", m_fltLength);
oXml.AddChildElement("EnableMotor",this.m_bEnableMotor);
oXml.AddChildElement("ServoMotor",this.m_bServoMotor);
oXml.AddChildElement("ServoGain",this.m_fltServoGain);
m_snMaxForce.SaveData(ref oXml, "MaxForce");
m_snMaxVelocity.SaveData(ref oXml, "MaxVelocity");
RigidBodies.RigidBody_DX rbParent = (RigidBodies.RigidBody_DX)this.Parent;
Vector3 v3Rot = Util_DX.DecomposeXYZRotationMatrix(this.CombinedTransformationMatrix);;
float x = Geometry.DegreeToRadian(180);
m_v3Axis.TransformCoordinate(Matrix.RotationX(Geometry.DegreeToRadian(180)) * Matrix.RotationY(Geometry.DegreeToRadian(180)) * Matrix.RotationZ(Geometry.DegreeToRadian(180)) * Matrix.RotationX(v3Rot.X)* Matrix.RotationY(v3Rot.Y) * Matrix.RotationZ(v3Rot.Z));
Vec3d vRotationAxis = new Vec3d(null,m_v3Axis.X, m_v3Axis.Y, m_v3Axis.Z);
Util.SaveVector(ref oXml, "RotationAxis", vRotationAxis);
m_v3Axis = new Vector3(0,0,1);
oXml.OutOfElem();
}
