internal DigitalRuneNoRotationJoint(NoRotationJointDescriptor descriptor)
{
WrappedNoRotationJoint = new NoRotationConstraint();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
{
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
}
WrappedNoRotationJoint.BodyA = ((RigidBody)descriptor.RigidBodyA).WrappedRigidBody;
_rigidBodyA = descriptor.RigidBodyA;
if (!(descriptor.RigidBodyB is RigidBody))
{
throw new ArgumentException("The type of the property 'RigidBodyB' must be 'System.Physics.DigitalRune.RigidBody'.");
}
WrappedNoRotationJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedNoRotationJoint.AnchorOrientationALocal = descriptor.AnchorOrientationALocal.ToDigitalRune();
WrappedNoRotationJoint.AnchorOrientationBLocal = descriptor.AnchorOrientationBLocal.ToDigitalRune();
Descriptor = descriptor;
}
public ConstraintSample2(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- PointOnLineConstraint
RigidBody box0 = new RigidBody(new BoxShape(0.1f, 0.5f, 6))
{
Pose = new Pose(new Vector3F(-4, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box0);
RigidBody sphere0 = new RigidBody(new SphereShape(0.5f))
{
Pose = new Pose(new Vector3F(-4, 2, 0))
};
Simulation.RigidBodies.Add(sphere0);
PointOnLineConstraint pointOnLineConstraint = new PointOnLineConstraint
{
BodyA = box0,
// The line goes through this point:
AnchorPositionALocal = new Vector3F(0, -0.25f, 0),
BodyB = sphere0,
AnchorPositionBLocal = new Vector3F(0, 0.5f, 0),
// The line axis:
AxisALocal = Vector3F.UnitZ,
// The movement on the line axis:
Minimum = -3,
Maximum = +3,
CollisionEnabled = false,
};
Simulation.Constraints.Add(pointOnLineConstraint);
// ----- PointOnPlaneConstraint
RigidBody box1 = new RigidBody(new BoxShape(2f, 0.5f, 6))
{
Pose = new Pose(new Vector3F(-1, 3, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(box1);
RigidBody sphere1 = new RigidBody(new SphereShape(0.5f))
{
Pose = new Pose(new Vector3F(-1, 2, 0))
};
Simulation.RigidBodies.Add(sphere1);
PointOnPlaneConstraint pointOnPlaneConstraint = new PointOnPlaneConstraint
{
BodyA = box1,
// The plane goes through this point:
AnchorPositionALocal = new Vector3F(0, -0.25f, 0),
BodyB = sphere1,
AnchorPositionBLocal = new Vector3F(0, 0.5f, 0),
// Two orthonormal vectors that define the plane:
XAxisALocal = Vector3F.UnitX,
YAxisALocal = Vector3F.UnitZ,
// Limits for the x axis and y axis movement:
Minimum = new Vector2F(-1, -3),
Maximum = new Vector2F(1, 3),
CollisionEnabled = false,
};
Simulation.Constraints.Add(pointOnPlaneConstraint);
// ----- NoRotationConstraint
// This constraint keeps two rotations synchronized.
RigidBody box2 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(2, 3, 0)),
};
Simulation.RigidBodies.Add(box2);
RigidBody box3 = new RigidBody(new BoxShape(1, 1, 1))
{
Pose = new Pose(new Vector3F(2.5f, 2, 0))
};
Simulation.RigidBodies.Add(box3);
NoRotationConstraint noRotationConstraint = new NoRotationConstraint
{
BodyA = box2,
BodyB = box3,
CollisionEnabled = true,
};
Simulation.Constraints.Add(noRotationConstraint);
// ----- Distance limit.
// Here, the distance of two cone tips is kept at a constant distance.
RigidBody cone0 = new RigidBody(new ConeShape(0.5f, 1f))
{
Pose = new Pose(new Vector3F(4, 3, 0), Matrix33F.CreateRotationZ(ConstantsF.Pi)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(cone0);
RigidBody cone1 = new RigidBody(new ConeShape(0.5f, 1f))
{
Pose = new Pose(new Vector3F(4, 0, 0))
};
Simulation.RigidBodies.Add(cone1);
DistanceLimit distanceLimit = new DistanceLimit
{
BodyA = cone0,
BodyB = cone1,
// The attachment points are the tips of the cones.
AnchorPositionALocal = new Vector3F(0, 1, 0),
AnchorPositionBLocal = new Vector3F(0, 1, 0),
// The tips should always have a distance of 0.5 units.
MinDistance = 0.5f,
MaxDistance = 0.5f,
};
Simulation.Constraints.Add(distanceLimit);
}
