public float GetJointAngle1()
{
float angle = 0.0f;
if (m_joint != null)
{
dNewtonJointDoubleHingeActuator joint = (dNewtonJointDoubleHingeActuator)m_joint;
angle = joint.GetAngle1();
}
return(angle);
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointDoubleHingeActuator(matrix, child.GetBody().GetBody(), otherBody);
TargetAngle0 = m_targetAngle0;
AngularRate0 = m_angularRate0;
MaxTorque0 = m_maxTorque0;
TargetAngle1 = m_targetAngle1;
AngularRate1 = m_angularRate1;
MaxTorque1 = m_maxTorque1;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_Pivot, m_Pin0, m_Pin1);
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
m_Joint = new dNewtonJointDoubleHingeActuator(matrix, child.GetBody().GetBody(), otherBody);
TargetAngle0 = m_TargetAngle0;
AngularRate0 = m_AngularRate0;
MaxTorque0 = m_MaxTorque0;
TargetAngle1 = m_TargetAngle1;
AngularRate1 = m_AngularRate1;
MaxTorque1 = m_MaxTorque1;
EnableCollision = m_EnableCollision;
}
