/// <summary>
/// Constructs a new constraint which attempts to restrict the relative angular velocity of two entities to some value.
/// </summary>
/// <param name="entity">Affected entity.</param>
public SingleEntityAngularMotor(Entity entity)
{
Entity = entity;
settings = new MotorSettingsOrientation(this) {servo = {goal = base.entity.orientation}};
//Since no target relative orientation was specified, just use the current relative orientation. Prevents any nasty start-of-sim 'snapping.'
//mySettings.myServo.springSettings.stiffnessConstant *= .5f;
}
/// <summary>
/// Constructs a new constraint which attempts to restrict the relative angular motion of two entities.
/// </summary>
/// <param name="connectionA">First connection of the pair.</param>
/// <param name="connectionB">Second connection of the pair.</param>
public AngularMotor(Entity connectionA, Entity connectionB)
{
ConnectionA = connectionA;
ConnectionB = connectionB;
settings = new MotorSettingsOrientation(this);
//Compute the rotation from A to B in A's local space.
Quaternion orientationAConjugate;
Quaternion.Conjugate(ref connectionA.orientation, out orientationAConjugate);
Quaternion.Concatenate(ref connectionB.orientation, ref orientationAConjugate, out settings.servo.goal);
}
/// <summary>
/// Constructs a new constraint which attempts to restrict the relative angular motion of two entities.
/// </summary>
/// <param name="connectionA">First connection of the pair.</param>
/// <param name="connectionB">Second connection of the pair.</param>
public AngularMotor(Entity connectionA, Entity connectionB)
{
ConnectionA = connectionA;
ConnectionB = connectionB;
settings = new MotorSettingsOrientation(this);
//Compute the rotation from A to B in A's local space.
System.Numerics.Quaternion orientationAConjugate;
QuaternionEx.Conjugate(ref connectionA.orientation, out orientationAConjugate);
QuaternionEx.Concatenate(ref connectionB.orientation, ref orientationAConjugate, out settings.servo.goal);
}
/// <summary>
/// Constructs a new constraint which attempts to restrict the relative angular motion of two entities.
/// </summary>
/// <param name="connectionA">First connection of the pair.</param>
/// <param name="connectionB">Second connection of the pair.</param>
public AngularMotor(Entity connectionA, Entity connectionB)
{
ConnectionA = connectionA;
ConnectionB = connectionB;
settings = new MotorSettingsOrientation(this);
//Since no target relative orientation was specified, just use the current relative orientation. Prevents any nasty start-of-sim 'snapping.'
Quaternion orientationBConjugate;
Quaternion.Conjugate(ref this.connectionB.orientation, out orientationBConjugate);
Quaternion.Multiply(ref this.connectionA.orientation, ref orientationBConjugate, out settings.servo.goal);
}
/// <summary>
/// Constructs a new constraint which attempts to restrict the relative angular velocity of two entities to some value.
/// This constructor will make the angular motor start with isActive set to false.
/// </summary>
public SingleEntityAngularMotor()
{
settings = new MotorSettingsOrientation(this);
IsActive = false;
}
/// <summary>
/// Constructs a new constraint which attempts to restrict the relative angular motion of two entities.
/// To finish the initialization, specify the connections (ConnectionA and ConnectionB).
/// This constructor sets the constraint's IsActive property to false by default.
/// </summary>
public AngularMotor()
{
IsActive = false;
settings = new MotorSettingsOrientation(this);
}
/// <summary>
/// Constructs a new constraint which attempts to restrict the relative angular motion of two entities.
/// To finish the initialization, specify the connections (ConnectionA and ConnectionB).
/// This constructor sets the constraint's IsActive property to false by default.
/// </summary>
public AngularMotor()
{
IsActive = false;
settings = new MotorSettingsOrientation(this);
}
