void BuildStick(Vector3 position, int linkCount, out List <Bone> bones, out List <Entity> boneEntities)
{
//Set up a bone chain.
bones = new List <Bone>();
boneEntities = new List <Entity>();
var previousBoneEntity = new Cylinder(position, 1, .2m);
var previousBone = new Bone(previousBoneEntity.Position, previousBoneEntity.Orientation, previousBoneEntity.Radius, previousBoneEntity.Height);
bones.Add(previousBone);
boneEntities.Add(previousBoneEntity);
for (int i = 1; i < linkCount; i++)
{
var boneEntity = new Cylinder(previousBone.Position + new Vector3(0, 1, 0), 1, .2m);
var bone = new Bone(boneEntity.Position, boneEntity.Orientation, boneEntity.Radius, boneEntity.Height);
bones.Add(bone);
boneEntities.Add(boneEntity);
//Make a relationship between the two bones and entities.
CollisionRules.AddRule(previousBoneEntity, boneEntity, CollisionRule.NoBroadPhase);
Vector3 anchor = (previousBoneEntity.Position + boneEntity.Position) / 2;
//var dynamicsBallSocketJoint = new BallSocketJoint(previousBoneEntity, boneEntity, anchor);
//var dynamicsAngularFriction = new NoRotationJoint(previousBoneEntity, boneEntity);
//Space.Add(dynamicsBallSocketJoint);
//Space.Add(dynamicsAngularFriction);
var ballSocket = new IKBallSocketJoint(previousBone, bone, anchor);
var angularJoint = new IKAngularJoint(previousBone, bone);
previousBone = bone;
previousBoneEntity = boneEntity;
}
}
public BEPUikBallSocketJoint(BEPUikBone connectionA, BEPUikBone connectionB, Vector3 anchor, BEPUikBallSocketJointDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
joint = new IKBallSocketJoint(connectionA.IkBone, connectionB.IkBone, anchor.toBepuVec3());
setupJoint(definition);
}
