public override float Speed(AJoint joint, float current)
{
return _motorControl.Speed(joint, current);
}
public override float Speed(AJoint joint, float current)
{
return current + Math.Min(maxTorque, Math.Max(-maxTorque, goal - current));
}
public override void Prepare(AJoint joint)
{
joint.Refs[0] = new Vector3((float)Math.Cos(Angle * sign), 0, (float)Math.Sin(Angle * sign));
}
private void StoreAngularJointControlRef(AJoint.Specs specs)
{
if (specs.Control != null && specs.Control != AJoint.IControl.Default)
{
_aJointControls.Add(specs.Control);
}
}
public void AppendAngularJoint(AJoint.Specs specs, Cluster body0, Body body1)
{
StoreAngularJointControlRef(specs);
btSoftBody_appendAngularJoint4(_native, specs._native, body0._native, body1._native);
}
public void AppendAngularJoint(AJoint.Specs specs, SoftBody body)
{
StoreAngularJointControlRef(specs);
btSoftBody_appendAngularJoint3(_native, specs._native, body._native);
}
public virtual float Speed(AJoint aJoint, float current)
{
return current;
}
public virtual void Prepare(AJoint aJoint)
{
}