protected override CJoint OnInitialise()
{
CJointUserDefinedBilateral joint = new CJointUserDefinedBilateral(this.World.NewtonWorld);
int count = 0;
foreach (UserJointConstraint constraint in _constraints)
{
count += constraint.MaxDofCount;
}
joint.CreateUserBilateral(count, joint_Callback, this.ChildBody.NewtonBody, this.ParentBody.NewtonBody);
return(joint);
}
private void joint_Callback(object sender, CUserBilateralEventArgs e)
{
if (!IsEnabled)
{
return;
}
foreach (UserJointConstraint constraint in _constraints)
{
constraint.ApplyConstraint(this);
}
CJointUserDefinedBilateral handle = this.NewtonJoint;
double maxForce = 0;
// break any constraints
for (int i = 0; i < _constraints.Count; i++)
{
_constraints[i].UpdateForce(this, i);
double force = _constraints[i].Force;
if (force > maxForce)
{
maxForce = force;
}
if ((_constraints[i].MaxForce > 0) &&
(force > _constraints[i].MaxForce))
{
OnBroke();
return;
}
}
double max = this.MaxForce;
if ((max > 0) && (maxForce > max))
{
OnBroke();
}
}
protected virtual void ApplyConstraintProperties(UserJointBase joint)
{
CJointUserDefinedBilateral handle = joint.NewtonJoint;
object value = this.MinFriction;
if (value != null)
{
handle.UserBilateralRowMinimumFriction = (float)(double)value;
}
value = this.MaxFriction;
if (value != null)
{
handle.UserBilateralRowMaximumFriction = (float)(double)value;
}
value = this.Acceleration;
if (value != null)
{
handle.UserBilateralRowAcceleration = (float)(double)value;
}
double dvalue = this.Stiffness;
if (dvalue != STIFFNESS_DEFAULT)
{
handle.UserBilateralRowStiffness = (float)dvalue;
}
value = this.SpringStiffness;
object value2 = this.SpringDamper;
if ((value != null) && (value2 != null))
{
handle.UserBilateralSetRowSpringDamperAcceleration((float)(double)value, (float)(double)value2);
}
}
protected override CJoint OnInitialise()
{
CJointUserDefinedBilateral joint = new CJointUserDefinedBilateral(this.World.NewtonWorld);
int count = 0;
foreach (UserJointConstraint constraint in _constraints)
{
count += constraint.MaxDofCount;
}
joint.CreateUserBilateral(count, joint_Callback, this.ChildBody.NewtonBody, this.ParentBody.NewtonBody);
return joint;
}