///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 )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
if( axis < 1 )
{
m_softnessLimLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_LIMLIN;
}
else if( axis < 3 )
{
m_softnessOrthoLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_ORTLIN;
}
else if( axis == 3 )
{
m_softnessLimAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_LIMANG;
}
else if( axis < 6 )
{
m_softnessOrthoAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_ERP_ORTANG;
}
else
{
btAssertConstrParams( false );
}
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
if( axis < 1 )
{
m_cfmDirLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_DIRLIN;
}
else if( axis == 3 )
{
m_cfmDirAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_DIRANG;
}
else
{
btAssertConstrParams( false );
}
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
if( axis < 1 )
{
m_cfmLimLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_LIMLIN;
}
else if( axis < 3 )
{
m_cfmOrthoLin = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_ORTLIN;
}
else if( axis == 3 )
{
m_cfmLimAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_LIMANG;
}
else if( axis < 6 )
{
m_cfmOrthoAng = value;
m_flags |= btSliderFlags.BT_SLIDER_FLAGS_CFM_ORTANG;
}
else
{
btAssertConstrParams( false );
}
break;
}
}
internal void initParams()
{
m_lowerLinLimit = (double)( 1.0 );
m_upperLinLimit = (double)( -1.0 );
m_lowerAngLimit = btScalar.BT_ZERO;
m_upperAngLimit = btScalar.BT_ZERO;
m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingDirLin = btScalar.BT_ZERO;
m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingDirAng = btScalar.BT_ZERO;
m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING;
m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING;
m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING;
m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM;
m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS;
m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION;
m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING;
m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM;
m_poweredLinMotor = false;
m_targetLinMotorVelocity = btScalar.BT_ZERO;
m_maxLinMotorForce = btScalar.BT_ZERO;
m_accumulatedLinMotorImpulse = (double)( 0.0 );
m_poweredAngMotor = false;
m_targetAngMotorVelocity = btScalar.BT_ZERO;
m_maxAngMotorForce = btScalar.BT_ZERO;
m_accumulatedAngMotorImpulse = (double)( 0.0 );
m_flags = 0;
m_flags = 0;
m_useOffsetForConstraintFrame = true;// USE_OFFSET_FOR_CONSTANT_FRAME;
calculateTransforms( ref m_rbA.m_worldTransform, ref m_rbB.m_worldTransform );
}
