/// <summary>
/// Given a vector expressed in the body coordinate system (x,y,z), rotate it to the world coordinate system (result).
/// </summary>
/// <param name="vec"></param>
/// <returns></returns>
public Vector3 BodyVectorToWorld(Vector3 vec)
{
Tao.Ode.Ode.dVector3 temp = new Tao.Ode.Ode.dVector3();
Tao.Ode.Ode.dBodyVectorToWorld(this, vec.X, vec.Y, vec.Z, ref temp);
return(temp);
}
public void BuildSingle(Vector3[] Vertices, int VertexStride, int VertexCount, int[] Indices, int IndexCount, int TriStride)
{
if (Vertices == null)
{
return;
}
if (Vertices.Length == 0)
{
return;
}
Tao.Ode.Ode.dVector3[] buf = new Tao.Ode.Ode.dVector3[VertexCount];
for (int i = 0; i < VertexCount; i++)
{
buf[i] = Vertices[i];
}
Tao.Ode.Ode.dGeomTriMeshDataBuildSingle(this, buf, VertexStride, VertexCount, Indices, IndexCount, TriStride);
}
public override JointAxis GetAxis(int axisNum)
{
// Silently ignore invalid axes.
if (axisNum < 0 || axisNum >= numAxes)
{
return(new JointAxis());
}
// First we need to get an updated direction vector from ODE.
Tao.Ode.Ode.dVector3 direction = new Tao.Ode.Ode.dVector3();
switch (data.Type)
{
case JointType.Hinge:
Tao.Ode.Ode.dJointGetHingeAxis(jointID, ref direction);
break;
case JointType.Universal:
if (0 == axisNum)
{
Tao.Ode.Ode.dJointGetUniversalAxis1(jointID, ref direction);
}
else
{
Tao.Ode.Ode.dJointGetUniversalAxis2(jointID, ref direction);
}
break;
case JointType.Ball:
if (0 == axisNum)
{
Tao.Ode.Ode.dJointGetAMotorAxis(aMotorID, 0, ref direction);
}
else if (1 == axisNum)
{
Tao.Ode.Ode.dJointGetAMotorAxis(aMotorID, 1, ref direction);
}
else
{
Tao.Ode.Ode.dJointGetAMotorAxis(aMotorID, 2, ref direction);
}
break;
case JointType.Slider:
Tao.Ode.Ode.dJointGetSliderAxis(jointID, ref direction);
break;
case JointType.Wheel:
if (0 == axisNum)
{
Tao.Ode.Ode.dJointGetHinge2Axis1(jointID, ref direction);
}
else
{
Tao.Ode.Ode.dJointGetHinge2Axis2(jointID, ref direction);
}
break;
case JointType.Fixed:
// Fixed Joints don't have any axes.
break;
default:
throw new PhysicsException("Unknown bug");
//break;
}
JointAxis axis = data.Axis[axisNum];
// All data in this JointAxis is valid except for the direction
// vector.
axis.Direction = direction;
return(axis);
}
static internal Vector3 FromOdeVector3(Tao.Ode.Ode.dVector3 vector)
{
return(new Vector3(vector.X, vector.Y, vector.Z));
}
/// <summary>
/// Take a point on a body (px,py,pz) and return that point's velocity in body-relative coordinates.
/// </summary>
/// <param name="p"></param>
/// <returns></returns>
public Vector3 GetRelPointVel(Vector3 p)
{
Tao.Ode.Ode.dVector3 result = new Tao.Ode.Ode.dVector3();
Tao.Ode.Ode.dBodyGetRelPointVel(this, p.X, p.Y, p.Z, ref result);
return(result);
}
