public Generic6DofConstraint(RigidBody rbA, RigidBody rbB, ref Matrix frameInA, ref Matrix frameInB ,bool useLinearReferenceFrameA) : base(TypedConstraintType.D6_CONSTRAINT_TYPE,rbA,rbB)
{
m_frameInA = frameInA;
m_frameInB = frameInB;
m_useLinearReferenceFrameA = useLinearReferenceFrameA;
m_useOffsetForConstraintFrame = D6_USE_FRAME_OFFSET;
m_flags = 0;
m_linearLimits = new TranslationalLimitMotor();
m_angularLimits[0] = new RotationalLimitMotor();
m_angularLimits[1] = new RotationalLimitMotor();
m_angularLimits[2] = new RotationalLimitMotor();
CalculateTransforms();
}
protected Generic6DofConstraint(RigidBody rbB, ref Matrix frameInB, bool useLinearReferenceFrameB) : base(TypedConstraintType.D6_CONSTRAINT_TYPE,GetFixedBody(),rbB)
{
m_frameInB = frameInB;
m_useLinearReferenceFrameA = useLinearReferenceFrameB;
m_useOffsetForConstraintFrame = D6_USE_FRAME_OFFSET;
m_flags = 0;
m_linearLimits = new TranslationalLimitMotor();
m_angularLimits[0] = new RotationalLimitMotor();
m_angularLimits[1] = new RotationalLimitMotor();
m_angularLimits[2] = new RotationalLimitMotor();
///not providing rigidbody A means implicitly using worldspace for body A
m_frameInA = MathUtil.BulletMatrixMultiply(rbB.GetCenterOfMassTransform(),m_frameInB);
CalculateTransforms();
}
public TranslationalLimitMotor(TranslationalLimitMotor other )
{
m_lowerLimit = other.m_lowerLimit;
m_upperLimit = other.m_upperLimit;
m_accumulatedImpulse = other.m_accumulatedImpulse;
m_limitSoftness = other.m_limitSoftness ;
m_damping = other.m_damping;
m_restitution = other.m_restitution;
m_normalCFM = other.m_normalCFM;
m_stopERP = other.m_stopERP;
m_stopCFM = other.m_stopCFM;
for(int i=0; i < 3; i++)
{
m_enableMotor[i] = other.m_enableMotor[i];
}
m_targetVelocity = other.m_targetVelocity;
m_maxMotorForce = other.m_maxMotorForce;
}
