Attempts to achieve some defined relative twist angle between the entities.
Inheritance: BEPUphysics.Constraints.TwoEntity.Motors.Motor, I1DImpulseConstraintWithError, I1DJacobianConstraint
Esempio n. 1
0
        /// <summary>
        /// Constructs a new demo.
        /// </summary>
        /// <param name="game">Game owning this demo.</param>
        public TwistTestDemo(DemosGame game)
            : base(game)
        {
            var a = new Box(new Vector3(-2, 2, 0), 1, 2, 2, 5);
            var b = new Box(new Vector3(2, 2, 0), 1, 2, 2, 5);
            b.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathHelper.PiOver4);
            Space.Add(a);
            Space.Add(b);

            var twistJoint = new TwistJoint(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
            var twistMotor = new TwistMotor(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
            twistMotor.Settings.Mode = MotorMode.Servomechanism;

            //Space.Add(twistJoint);
            Space.Add(twistMotor);

            var ballSocketJoint = new BallSocketJoint(a, b, (a.Position + b.Position) * 0.5f);
            var swingLimit = new SwingLimit(a, b, a.OrientationMatrix.Right, a.OrientationMatrix.Right, MathHelper.PiOver2);

            Space.Add(ballSocketJoint);
            Space.Add(swingLimit);

            Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
            Space.Add(ground);
            game.Camera.Position = new Vector3(0, 6, 15);
        }
Esempio n. 2
0
        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of angular freedom between two entities.
        /// </summary>
        /// <param name="connectionA">First entity of the constraint pair.</param>
        /// <param name="connectionB">Second entity of the constraint pair.</param>
        /// <param name="anchor">Point around which both entities rotate.</param>
        /// <param name="hingeAxis">Axis of allowed rotation in world space to be attached to connectionA.  Will be kept perpendicular with the twist axis.</param>
        public SwivelHingeJoint(Entity connectionA, Entity connectionB, ref Vector3 anchor, ref Vector3 hingeAxis)
        {
            if (connectionA == null)
                connectionA = TwoEntityConstraint.WorldEntity;
            if (connectionB == null)
                connectionB = TwoEntityConstraint.WorldEntity;
            BallSocketJoint = new BallSocketJoint(connectionA, connectionB, ref anchor);
			Vector3 tmp;
			BallSocketJoint.OffsetB.Invert( out tmp );
            AngularJoint = new SwivelHingeAngularJoint(connectionA, connectionB, ref hingeAxis, ref tmp );
            HingeLimit = new RevoluteLimit(connectionA, connectionB);
            HingeMotor = new RevoluteMotor(connectionA, connectionB, hingeAxis);
            TwistLimit = new TwistLimit(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp, 0, 0);
            TwistMotor = new TwistMotor(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp );
            HingeLimit.IsActive = false;
            HingeMotor.IsActive = false;
            TwistLimit.IsActive = false;
            TwistMotor.IsActive = false;

			//Ensure that the base and test direction is perpendicular to the free axis.
			Vector3 baseAxis; anchor.Sub( ref connectionA.position, out baseAxis );
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon) //anchor and connection a in same spot, so try the other way.
                connectionB.position.Sub( ref anchor, out baseAxis );
            baseAxis.AddScaled( ref hingeAxis, -Vector3.Dot( ref baseAxis, ref hingeAxis) , out baseAxis );
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                Vector3.Cross(ref hingeAxis, ref Vector3.Up, out baseAxis);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    Vector3.Cross(ref hingeAxis, ref Vector3.Right, out baseAxis);
                }
            }
            HingeLimit.Basis.SetWorldAxes(ref hingeAxis, ref baseAxis, ref connectionA.orientationMatrix);
            HingeMotor.Basis.SetWorldAxes( ref hingeAxis, ref baseAxis, ref connectionA.orientationMatrix);

			connectionB.position.Sub( ref anchor, out baseAxis );
            baseAxis.AddScaled( ref hingeAxis, -Vector3.Dot(ref baseAxis, ref hingeAxis), out baseAxis );
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                Vector3.Cross(ref hingeAxis, ref Vector3.Up, out baseAxis);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    Vector3.Cross(ref hingeAxis, ref Vector3.Right, out baseAxis);
                }
            }
            HingeLimit.TestAxis = baseAxis;
            HingeMotor.TestAxis = baseAxis;


            Add(BallSocketJoint);
            Add(AngularJoint);
            Add(HingeLimit);
            Add(HingeMotor);
            Add(TwistLimit);
            Add(TwistMotor);
        }
Esempio n. 3
0
        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of angular freedom between two entities.
        /// </summary>
        /// <param name="connectionA">First entity of the constraint pair.</param>
        /// <param name="connectionB">Second entity of the constraint pair.</param>
        /// <param name="anchor">Point around which both entities rotate.</param>
        /// <param name="hingeAxis">Axis of allowed rotation in world space to be attached to connectionA.  Will be kept perpendicular with the twist axis.</param>
        public SwivelHingeJoint(Entity connectionA, Entity connectionB, Vector3 anchor, Vector3 hingeAxis)
        {
            if (connectionA == null)
                connectionA = TwoEntityConstraint.WorldEntity;
            if (connectionB == null)
                connectionB = TwoEntityConstraint.WorldEntity;
            BallSocketJoint = new BallSocketJoint(connectionA, connectionB, anchor);
            AngularJoint = new SwivelHingeAngularJoint(connectionA, connectionB, hingeAxis, -BallSocketJoint.OffsetB);
            HingeLimit = new RevoluteLimit(connectionA, connectionB);
            HingeMotor = new RevoluteMotor(connectionA, connectionB, hingeAxis);
            TwistLimit = new TwistLimit(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB, 0, 0);
            TwistMotor = new TwistMotor(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB);
            HingeLimit.IsActive = false;
            HingeMotor.IsActive = false;
            TwistLimit.IsActive = false;
            TwistMotor.IsActive = false;

            //Ensure that the base and test direction is perpendicular to the free axis.
            Vector3 baseAxis = anchor - connectionA.position;
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon) //anchor and connection a in same spot, so try the other way.
                baseAxis = connectionB.position - anchor;
            baseAxis -= Vector3.Dot(baseAxis, hingeAxis) * hingeAxis;
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                baseAxis = Vector3.Cross(hingeAxis, Vector3.Up);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    baseAxis = Vector3.Cross(hingeAxis, Vector3.Right);
                }
            }
            HingeLimit.Basis.SetWorldAxes(hingeAxis, baseAxis, connectionA.orientationMatrix);
            HingeMotor.Basis.SetWorldAxes(hingeAxis, baseAxis, connectionA.orientationMatrix);

            baseAxis = connectionB.position - anchor;
            baseAxis -= Vector3.Dot(baseAxis, hingeAxis) * hingeAxis;
            if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
            {
                //However, if the free axis is totally aligned (like in an axis constraint), pick another reasonable direction.
                baseAxis = Vector3.Cross(hingeAxis, Vector3.Up);
                if (baseAxis.LengthSquared() < Toolbox.BigEpsilon)
                {
                    baseAxis = Vector3.Cross(hingeAxis, Vector3.Right);
                }
            }
            HingeLimit.TestAxis = baseAxis;
            HingeMotor.TestAxis = baseAxis;


            Add(BallSocketJoint);
            Add(AngularJoint);
            Add(HingeLimit);
            Add(HingeMotor);
            Add(TwistLimit);
            Add(TwistMotor);
        }
 /// <summary>
 /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of twisting angular freedom between two entities.
 /// This constructs the internal constraints, but does not configure them.  Before using a constraint constructed in this manner,
 /// ensure that its active constituent constraints are properly configured.  The entire group as well as all internal constraints are initially inactive (IsActive = false).
 /// </summary>
 public UniversalJoint()
 {
     IsActive = false;
     BallSocketJoint = new BallSocketJoint();
     TwistJoint = new TwistJoint();
     Limit = new TwistLimit();
     Motor = new TwistMotor();
     Add(BallSocketJoint);
     Add(TwistJoint);
     Add(Limit);
     Add(Motor);
 }
 /// <summary>
 /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of twisting angular freedom between two entities.
 /// </summary>
 /// <param name="connectionA">First entity of the constraint pair.</param>
 /// <param name="connectionB">Second entity of the constraint pair.</param>
 /// <param name="anchor">Point around which both entities rotate in world space.</param>
 public UniversalJoint(Entity connectionA, Entity connectionB, Vector3 anchor)
 {
     if (connectionA == null)
         connectionA = TwoEntityConstraint.WorldEntity;
     if (connectionB == null)
         connectionB = TwoEntityConstraint.WorldEntity;
     BallSocketJoint = new BallSocketJoint(connectionA, connectionB, anchor);
     TwistJoint = new TwistJoint(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB);
     Limit = new TwistLimit(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB, 0, 0);
     Motor = new TwistMotor(connectionA, connectionB, BallSocketJoint.OffsetA, -BallSocketJoint.OffsetB);
     Limit.IsActive = false;
     Motor.IsActive = false;
     Add(BallSocketJoint);
     Add(TwistJoint);
     Add(Limit);
     Add(Motor);
 }
        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of angular freedom between two entities.
        /// This constructs the internal constraints, but does not configure them.  Before using a constraint constructed in this manner,
        /// ensure that its active constituent constraints are properly configured.  The entire group as well as all internal constraints are initially inactive (IsActive = false).
        /// </summary>
        public SwivelHingeJoint()
        {
            IsActive = false;
            BallSocketJoint = new BallSocketJoint();
            AngularJoint = new SwivelHingeAngularJoint();
            HingeLimit = new RevoluteLimit();
            HingeMotor = new RevoluteMotor();
            TwistLimit = new TwistLimit();
            TwistMotor = new TwistMotor();

            Add(BallSocketJoint);
            Add(AngularJoint);
            Add(HingeLimit);
            Add(HingeMotor);
            Add(TwistLimit);
            Add(TwistMotor);
        }
Esempio n. 7
0
        /// <summary>
        /// Constructs a new constraint which restricts three degrees of linear freedom and one degree of twisting angular freedom between two entities.
        /// </summary>
        /// <param name="connectionA">First entity of the constraint pair.</param>
        /// <param name="connectionB">Second entity of the constraint pair.</param>
        /// <param name="anchor">Point around which both entities rotate in world space.</param>
        public UniversalJoint(Entity connectionA, Entity connectionB, ref Vector3 anchor)
        {
            if (connectionA == null)
                connectionA = TwoEntityConstraint.WorldEntity;
            if (connectionB == null)
                connectionB = TwoEntityConstraint.WorldEntity;
            BallSocketJoint = new BallSocketJoint(connectionA, connectionB, ref anchor);
			Vector3 tmp; BallSocketJoint.OffsetB.Invert( out tmp );
            TwistJoint = new TwistJoint(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp);
            Limit = new TwistLimit(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp, 0, 0);
            Motor = new TwistMotor(connectionA, connectionB, ref BallSocketJoint.worldOffsetA, ref tmp );
            Limit.IsActive = false;
            Motor.IsActive = false;
            Add(BallSocketJoint);
            Add(TwistJoint);
            Add(Limit);
            Add(Motor);
        }