///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( btTypedConstraint.btConstraintParams num, double value, int axis = -1 )
{
if( ( axis == -1 ) || ( axis == 5 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_stopERP = value;
m_flags |= btHingeFlags.BT_HINGE_FLAGS_ERP_STOP;
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_stopCFM = value;
m_flags |= btHingeFlags.BT_HINGE_FLAGS_CFM_STOP;
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
m_normalCFM = value;
m_flags |= btHingeFlags.BT_HINGE_FLAGS_CFM_NORM;
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
m_normalERP = value;
m_flags |= btHingeFlags.BT_HINGE_FLAGS_ERP_NORM;
break;
default:
btAssertConstrParams( false );
break;
}
}
else
{
btAssertConstrParams( false );
}
}
void Init()
{
m_angularOnly = ( false );
m_enableAngularMotor = ( false );
//m_useSolveConstraintObsolete = ( false/*HINGE_USE_OBSOLETE_SOLVER*/ );
//m_useOffsetForConstraintFrame = ( true/*HINGE_USE_FRAME_OFFSET*/ );
m_flags = ( 0 );
m_normalCFM = ( 0 );
m_normalERP = ( 0 );
m_stopCFM = ( 0 );
m_stopERP = ( 0 );
#if !_BT_USE_CENTER_LIMIT_
//start with free
m_lowerLimit = (double)( 1.0f );
m_upperLimit = (double)( -1.0f );
m_biasFactor = 0.3f;
m_relaxationFactor = 1.0f;
m_limitSoftness = 0.9f;
m_solveLimit = false;
#endif
}
