public BEPUikJoint(BEPUikBone connectionA, BEPUikBone connectionB, String name, SimObject instance)
: base(name)
{
this.connectionA = connectionA;
this.connectionB = connectionB;
connectionAPositionOffset = instance.Translation - connectionA.Owner.Translation;
}
public BEPUikDragControl(BEPUikBone bone, BEPUikScene scene, BEPUikDragControlDefinition definition, SimObjectBase instance)
: base(scene, definition.Name)
{
this.bone = bone;
dragControl = new DragControl();
dragControl.TargetBone = bone.IkBone;
dragControl.LinearMotor.Offset = (instance.Translation - bone.Owner.Translation).toBepuVec3();
dragControl.MaximumForce = definition.MaximumForce;
}
internal override void createProduct(SimObjectBase instance, BEPUikScene scene)
{
BEPUikBone bone;
if (LocalRotQuat.HasValue)
{
bone = new BEPUikBoneLocalRot(this, instance, scene);
}
else
{
bone = new BEPUikBone(this, instance, scene);
}
instance.addElement(bone);
}
public BEPUikTwistLimit(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikTwistLimitDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
limit = new IKTwistLimit(connectionA.IkBone, connectionB.IkBone, definition.AxisA.toBepuVec3(), definition.AxisB.toBepuVec3(), definition.MaximumAngle);
if (definition.MeasurementAxisA.HasValue)
{
limit.MeasurementAxisA = definition.MeasurementAxisA.Value.toBepuVec3();
}
if (definition.MeasurementAxisB.HasValue)
{
limit.MeasurementAxisB = definition.MeasurementAxisB.Value.toBepuVec3();
}
setupLimit(definition);
}
internal void addBone(BEPUikBone bone)
{
BEPUikSolver solver;
if (namedSolvers.TryGetValue(bone.SolverName, out solver))
{
solver.addBone(bone);
}
else
{
SimObjectErrorManager.AddAndLogError(new SimObjectError()
{
Subsystem = BEPUikInterface.PluginName,
ElementName = bone.Name,
Type = bone.GetType().Name,
SimObject = bone.Owner.Name,
Message = String.Format("Cannot find an IKSolver named '{0}' Bone not added to scene.", bone.SolverName)
});
}
}
internal override void createProduct(SimObjectBase instance, BEPUikScene scene)
{
BEPUikBone connectionA = null;
BEPUikBone connectionB = null;
SimObject other = instance.getOtherSimObject(ConnectionASimObjectName);
if (other == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionA SimObject named '{0}'", ConnectionASimObjectName);
}
connectionA = other.getElement(ConnectionABoneName) as BEPUikBone;
if (connectionA == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionA bone named '{0}' in '{1}'", ConnectionABoneName, ConnectionASimObjectName);
}
other = instance.getOtherSimObject(ConnectionBSimObjectName);
if (other == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionB SimObject named '{0}'", ConnectionBSimObjectName);
}
connectionB = other.getElement(ConnectionBBoneName) as BEPUikBone;
if (connectionB == null)
{
throw new BEPUikBlacklistException("Cannot find ConnectionB bone named '{0}' in '{1}'", ConnectionBBoneName, ConnectionBSimObjectName);
}
SimElement element = createConstraint(connectionA, connectionB, instance);
if (element != null)
{
instance.addElement(element);
}
}
internal void addBone(BEPUikBone bone)
{
bones.Add(bone);
solveBones.Add(bone.IkBone);
}
public BEPUikPointOnLineJoint(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikPointOnLineJointDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
joint = new IKPointOnLineJoint(connectionA.IkBone, connectionB.IkBone, instance.Translation.toBepuVec3(), definition.LineDirection.toBepuVec3(), instance.Translation.toBepuVec3());
setupJoint(definition);
}
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);
}
protected override SimElement createConstraint(BEPUikBone connectionA, BEPUikBone connectionB, SimObjectBase instance)
{
return(new BEPUikSwivelHingeJoint(connectionA, connectionB, this, Name, instance));
}
protected override SimElement createConstraint(BEPUikBone connectionA, BEPUikBone connectionB, SimObjectBase instance)
{
return(new BEPUikDistanceLimit(connectionA, connectionB, instance.Translation, this, Name, instance));
}
public BEPUikRevoluteJoint(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikRevoluteJointDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
joint = new IKRevoluteJoint(connectionA.IkBone, connectionB.IkBone, definition.WorldFreeAxis.toBepuVec3());
setupJoint(definition);
}
public BEPUikSwingLimit(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikSwingLimitDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
limit = new IKSwingLimit(connectionA.IkBone, connectionB.IkBone, definition.AxisA.toBepuVec3(), definition.AxisB.toBepuVec3(), definition.MaximumAngle);
setupLimit(definition);
}
protected abstract SimElement createConstraint(BEPUikBone connectionA, BEPUikBone connectionB, SimObjectBase instance);
internal void removeBone(BEPUikBone bone)
{
bones.Remove(bone);
solveBones.Remove(bone.IkBone);
}
public BEPUikSwivelHingeJoint(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikSwivelHingeJointDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
joint = new IKSwivelHingeJoint(connectionA.IkBone, connectionB.IkBone, definition.WorldHingeAxis.toBepuVec3(), definition.WorldTwistAxis.toBepuVec3());
setupJoint(definition);
}
public BEPUikAngularJoint(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikAngularJointDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
joint = new IKAngularJoint(connectionA.IkBone, connectionB.IkBone);
setupJoint(definition);
}
public BEPUikDistanceJoint(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikDistanceJointDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
joint = new IKDistanceJoint(connectionA.IkBone, connectionB.IkBone, connectionA.Owner.Translation.toBepuVec3(), connectionB.Owner.Translation.toBepuVec3());
setupJoint(definition);
}
public BEPUikLimit(BEPUikBone connectionA, BEPUikBone connectionB, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
}
public BEPUikDistanceLimit(BEPUikBone connectionA, BEPUikBone connectionB, Vector3 anchor, BEPUikDistanceLimitDefinition definition, String name, SimObject instance)
: base(connectionA, connectionB, name, instance)
{
limit = new IKDistanceLimit(connectionA.IkBone, connectionB.IkBone, anchor.toBepuVec3(), anchor.toBepuVec3(), definition.MinimumDistance, definition.MaximumDistance);
setupLimit(definition);
}
