/// <summary>
/// Присоединит переданный объект, используя переданный Location.
/// </summary>
public void Attach(IPhysical body, Frame3D realLocation, bool joinWithFriction = true)
{
var bb = (BepuBody)body;
var rb = bb.RealBody;
BepuConverter.PutInFrame(rb, realLocation, bb.InitialOrientation);
//bb.RealBody.Position = new Vector3(-bb.RealBody.Position.X, bb.RealBody.Position.Y, bb.RealBody.Position.Z);
rb.Position += RealBody.Position;
rb.Orientation *= RealBody.Orientation;
SolverGroup wj = BepuWorld.MakeWeldJoint(RealBody, rb);
Connection c;
try //есть connection
{
c = _connections.First(x => x.OtherBody == rb);
c.Add(wj);
}
catch (Exception) //нет connection
{
c = new Connection(rb);
c.Add(wj);
_connections.Add(c); //connection добавляем для обоих тел! М.К.
bb._connections.Add(c);
}
}
protected MultipleSubConstraints(SolverGroup multipleSubConstraints)
{
this.multipleSubConstraints = multipleSubConstraints;
}
