void UpdateODEJoint()
{
bool needCreate = PushedToWorld && !Broken;
bool created = jointID != dJointID.Zero;
if (needCreate == created)
{
return;
}
if (needCreate)
{
ODEBody odeBody1 = (ODEBody)Body1;
ODEBody odeBody2 = (ODEBody)Body2;
jointID = Ode.dJointCreateFixed(((ODEPhysicsScene)Scene).worldID, IntPtr.Zero);
Ode.SetJointContactsEnabled(jointID, false); //ContactsEnabled );
Ode.dJointAttach(jointID, odeBody1.bodyID, odeBody2.bodyID);
Ode.dJointSetFixed(jointID);
Ode.BodyDataAddJoint(odeBody1.bodyData, jointID);
Ode.BodyDataAddJoint(odeBody2.bodyData, jointID);
}
else
{
DestroyODEJoint();
}
}
void UpdateODEJoint()
{
bool needCreate = PushedToWorld && !Broken;
bool created = jointID != dJointID.Zero;
if (needCreate == created)
{
return;
}
if (needCreate)
{
ODEBody odeBody1 = (ODEBody)Body1;
ODEBody odeBody2 = (ODEBody)Body2;
jointID = Ode.dJointCreateSlider(((ODEPhysicsScene)Scene).worldID, IntPtr.Zero);
Ode.SetJointContactsEnabled(jointID, ContactsEnabled);
Ode.dJointSetSliderParam(jointID, Ode.dJointParams.dParamFudgeFactor,
Defines.jointFudgeFactor);
Ode.dJointAttach(jointID, odeBody1.bodyID, odeBody2.bodyID);
axis.UpdateToLibrary(true);
Ode.BodyDataAddJoint(odeBody1.bodyData, jointID);
Ode.BodyDataAddJoint(odeBody2.bodyData, jointID);
}
else
{
DestroyODEJoint();
}
}
protected override void OnUpdateContactsEnabled()
{
base.OnUpdateContactsEnabled();
if (jointID != dJointID.Zero)
{
Ode.SetJointContactsEnabled(jointID, ContactsEnabled);
}
}
void UpdateODEJoint()
{
bool needCreate = PushedToWorld && !Broken;
bool created = jointID != dJointID.Zero;
if (needCreate == created)
{
return;
}
if (needCreate)
{
if (Math.Abs(Vec3.Dot(axis1.Direction, axis2.Direction)) > .095f)
{
Log.Warning("UniversalJoint: Invalid axes.");
return;
}
if (Axis1.LimitsEnabled && Axis1.LimitLow > Axis1.LimitHigh)
{
Log.Warning("UniversalJoint: Invalid axis1 limits (low > high).");
return;
}
if (Axis2.LimitsEnabled && Axis2.LimitLow > Axis2.LimitHigh)
{
Log.Warning("UniversalJoint: Invalid axis2 limits (low > high).");
return;
}
ODEBody odeBody1 = (ODEBody)Body1;
ODEBody odeBody2 = (ODEBody)Body2;
jointID = Ode.dJointCreateUniversal(((ODEPhysicsScene)Scene).worldID, IntPtr.Zero);
Ode.SetJointContactsEnabled(jointID, ContactsEnabled);
Ode.dJointSetUniversalParam(jointID, Ode.dJointParams.dParamFudgeFactor,
Defines.jointFudgeFactor);
Ode.dJointSetUniversalParam(jointID, Ode.dJointParams.dParamFudgeFactor2,
Defines.jointFudgeFactor);
Ode.dJointAttach(jointID, odeBody1.bodyID, odeBody2.bodyID);
Ode.dJointSetUniversalAnchor(jointID, Anchor.X, Anchor.Y, Anchor.Z);
axis1.UpdateToLibrary(true);
axis2.UpdateToLibrary(true);
axis1LocalAxis = Body1.Rotation.GetInverse() * axis1.Direction;
axis2LocalAxis = Body1.Rotation.GetInverse() * axis2.Direction;
Ode.BodyDataAddJoint(odeBody1.bodyData, jointID);
Ode.BodyDataAddJoint(odeBody2.bodyData, jointID);
}
else
{
DestroyODEJoint();
}
}
void UpdateODEJoint()
{
bool needCreate = PushedToWorld && !Broken;
bool created = jointID != dJointID.Zero;
if (needCreate == created)
{
return;
}
if (needCreate)
{
if (Axis.LimitsEnabled && Axis.LimitLow > Axis.LimitHigh)
{
Log.Warning("HingeJoint: Invalid axis limits (low > high).");
return;
}
ODEBody odeBody1 = (ODEBody)Body1;
ODEBody odeBody2 = (ODEBody)Body2;
jointID = Ode.dJointCreateHinge(((ODEPhysicsScene)Scene).worldID, IntPtr.Zero);
Ode.SetJointContactsEnabled(jointID, ContactsEnabled);
Ode.dJointSetHingeParam(jointID, Ode.dJointParams.dParamFudgeFactor,
Defines.jointFudgeFactor);
Ode.dJointAttach(jointID, odeBody1.bodyID, odeBody2.bodyID);
Ode.dJointSetHingeAnchor(jointID, Anchor.X, Anchor.Y, Anchor.Z);
axis.UpdateToLibrary(true);
Ode.BodyDataAddJoint(odeBody1.bodyData, jointID);
Ode.BodyDataAddJoint(odeBody2.bodyData, jointID);
}
else
{
DestroyODEJoint();
}
}
void UpdateODEJoint()
{
bool needCreate = PushedToWorld && !Broken;
bool created = jointID != dJointID.Zero;
ODEBody odeBody1 = (ODEBody)Body1;
ODEBody odeBody2 = (ODEBody)Body2;
if (needCreate && (odeBody1.bodyID == dBodyID.Zero || odeBody2.bodyID == dBodyID.Zero))
{
Log.Warning("ODEHinge2Joint: It is necessary that both bodies were not static.");
needCreate = false;
}
if (needCreate == created)
{
return;
}
if (needCreate)
{
if (Math.Abs(Vec3.Dot(axis1.Direction, axis2.Direction)) > .095f)
{
Log.Warning("Hinge2Joint: Invalid axes.");
return;
}
if (Axis1.LimitsEnabled && Axis1.LimitLow > Axis1.LimitHigh)
{
Log.Warning("Hinge2Joint: Invalid axis1 limits (low > high).");
return;
}
if (Axis2.LimitsEnabled && Axis2.LimitLow > Axis2.LimitHigh)
{
Log.Warning("Hinge2Joint: Invalid axis2 limits (low > high).");
return;
}
jointID = Ode.dJointCreateHinge2(((ODEPhysicsScene)Scene).worldID, IntPtr.Zero);
Ode.SetJointContactsEnabled(jointID, ContactsEnabled);
Ode.dJointSetHinge2Param(jointID, Ode.dJointParams.dParamFudgeFactor,
Defines.jointFudgeFactor);
Ode.dJointSetHinge2Param(jointID, Ode.dJointParams.dParamFudgeFactor2,
Defines.jointFudgeFactor);
Ode.dJointAttach(jointID, odeBody1.bodyID, odeBody2.bodyID);
Ode.dJointSetHinge2Anchor(jointID, Anchor.X, Anchor.Y, Anchor.Z);
axis1.UpdateToLibrary(true);
axis2.UpdateToLibrary(true);
UpdateSuspension();
Ode.BodyDataAddJoint(odeBody1.bodyData, jointID);
Ode.BodyDataAddJoint(odeBody2.bodyData, jointID);
}
else
{
DestroyODEJoint();
}
}