void init()
{
m_angularOnly = false;
m_solveTwistLimit = false;
m_solveSwingLimit = false;
m_bMotorEnabled = false;
m_maxMotorImpulse = btScalar.BT_NEG_ONE;
setLimit( ( btScalar.BT_LARGE_FLOAT ), ( btScalar.BT_LARGE_FLOAT ), btScalar.BT_LARGE_FLOAT );
m_damping = (double)( 0.01 );
m_fixThresh = CONETWIST_DEF_FIX_THRESH;
m_flags = 0;
m_linCFM = (double)( 0 );
m_linERP = (double)( 0.7f );
m_angCFM = (double)( 0 );
}
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
public override void setParam( btConstraintParams num, double value, int axis = -1 )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_ERP:
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
if( ( axis >= 0 ) && ( axis < 3 ) )
{
m_linERP = value;
m_flags |= btConeTwistFlags.BT_CONETWIST_FLAGS_LIN_ERP;
}
else
{
m_biasFactor = value;
}
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
if( ( axis >= 0 ) && ( axis < 3 ) )
{
m_linCFM = value;
m_flags |= btConeTwistFlags.BT_CONETWIST_FLAGS_LIN_CFM;
}
else
{
m_angCFM = value;
m_flags |= btConeTwistFlags.BT_CONETWIST_FLAGS_ANG_CFM;
}
break;
default:
btAssertConstrParams( false );
break;
}
}
