void SetSafeAngles(bool lowerIsFixed, float lowerLimit, float upperLimit)
{
// When out of limits get to limits
if (m_currentAngle < lowerLimit)
{
ScaleUp();
}
if (m_currentAngle > upperLimit)
{
ScaleDown();
}
// Min must be smaller than max
if (upperLimit < lowerLimit)
{
if (lowerIsFixed)
{
upperLimit = lowerLimit;
}
else
{
lowerLimit = upperLimit;
}
}
if (lowerLimit < MIN_LOWER_LIMIT)
{
lowerLimit = float.NegativeInfinity;
}
if (upperLimit > MAX_UPPER_LIMIT)
{
upperLimit = float.PositiveInfinity;
}
m_minAngle.Value = lowerLimit;
m_maxAngle.Value = upperLimit;
m_limitsActive = false;
TryActivateLimits();
if (SafeConstraint != null)
{
m_currentAngle = HkLimitedHingeConstraintData.GetCurrentAngle(SafeConstraint);
}
UpdateText();
RaisePropertiesChanged();
}
public override void UpdateBeforeSimulation()
{
base.UpdateBeforeSimulation();
if (MyFakes.REPORT_INVALID_ROTORS)
{
//Debug.Assert(m_constraint != null, "Rotor constraint is not created although it should be!");
}
if (CheckVelocities())
{
return;
}
if (m_rotorGrid == null || SafeConstraint == null)
{
return;
}
if (SafeConstraint.RigidBodyA == SafeConstraint.RigidBodyB) //welded
{
SafeConstraint.Enabled = false;
return;
}
var oldAngle = m_currentAngle;
m_currentAngle = HkLimitedHingeConstraintData.GetCurrentAngle(SafeConstraint);
if (oldAngle != m_currentAngle)
{
UpdateText();
}
var data = (HkLimitedHingeConstraintData)m_constraint.ConstraintData;
data.MaxFrictionTorque = BrakingTorque;
TryActivateLimits();
if (!m_limitsActive)
{
data.DisableLimits();
}
else if (!data.MinAngularLimit.IsEqual(m_minAngle) || !data.MaxAngularLimit.IsEqual(m_maxAngle))
{
data.MinAngularLimit = m_minAngle;
data.MaxAngularLimit = m_maxAngle;
// Activate even when motor is stopped, so it fixes it's limits
CubeGrid.Physics.RigidBody.Activate();
m_rotorGrid.Physics.RigidBody.Activate();
}
if (m_limitsActive)
{
var handle = LimitReached;
if (handle != null)
{
if (oldAngle > data.MinAngularLimit && m_currentAngle <= data.MinAngularLimit)
{
handle(false);
}
if (oldAngle < data.MaxAngularLimit && m_currentAngle >= data.MaxAngularLimit)
{
handle(true);
}
}
}
m_motor.MaxForce = Torque;
m_motor.MinForce = -Torque;
m_motor.VelocityTarget = TargetVelocity * Sync.RelativeSimulationRatio;
bool motorRunning = IsWorking;
if (data.MotorEnabled != motorRunning)
{
data.SetMotorEnabled(m_constraint, motorRunning);
}
if (motorRunning && m_rotorGrid != null && !m_motor.VelocityTarget.IsZero())
{
CubeGrid.Physics.RigidBody.Activate();
m_rotorGrid.Physics.RigidBody.Activate();
}
}
public override void UpdateBeforeSimulation()
{
base.UpdateBeforeSimulation();
if (m_welded)
{
return;
}
if (TopGrid == null || SafeConstraint == null)
{
return;
}
if (SafeConstraint.RigidBodyA == SafeConstraint.RigidBodyB) //welded
{
SafeConstraint.Enabled = false;
return;
}
var oldAngle = m_currentAngle;
m_currentAngle = HkLimitedHingeConstraintData.GetCurrentAngle(SafeConstraint);
if (oldAngle != m_currentAngle)
{
UpdateText();
}
var data = (HkLimitedHingeConstraintData)m_constraint.ConstraintData;
data.MaxFrictionTorque = BrakingTorque;
TryActivateLimits();
if (!m_limitsActive)
{
data.DisableLimits();
}
else if (!data.MinAngularLimit.IsEqual(m_minAngle) || !data.MaxAngularLimit.IsEqual(m_maxAngle))
{
data.MinAngularLimit = m_minAngle;
data.MaxAngularLimit = m_maxAngle;
// Activate even when motor is stopped, so it fixes it's limits
CubeGrid.Physics.RigidBody.Activate();
TopGrid.Physics.RigidBody.Activate();
}
if (m_limitsActive)
{
var handle = LimitReached;
if (handle != null)
{
if (oldAngle > data.MinAngularLimit && m_currentAngle <= data.MinAngularLimit)
{
handle(false);
}
if (oldAngle < data.MaxAngularLimit && m_currentAngle >= data.MaxAngularLimit)
{
handle(true);
}
}
if (m_currentAngle > MathHelper.TwoPi)
{
ScaleDown();
}
if (m_currentAngle < -MathHelper.TwoPi)
{
ScaleUp();
}
}
var effectiveTorque = Math.Min(Torque, TopGrid.Physics.Mass * TopGrid.Physics.Mass) * Sync.RelativeSimulationRatio;
m_motor.MaxForce = effectiveTorque;
m_motor.MinForce = -effectiveTorque;
m_motor.VelocityTarget = TargetVelocity * Sync.RelativeSimulationRatio;
bool motorRunning = IsWorking;
if (data.MotorEnabled != motorRunning)
{
data.SetMotorEnabled(m_constraint, motorRunning);
}
if (motorRunning && TopGrid != null && !m_motor.VelocityTarget.IsZero())
{
CubeGrid.Physics.RigidBody.Activate();
TopGrid.Physics.RigidBody.Activate();
}
}