/// <summary>
/// Allows you to constrain motion of the specified axis. Be aware that when setting drives for a specific axis
/// you must also take care not to constrain its motion in a conflicting way(for example you cannot add a drive
/// that moves the joint on X axis, and then lock the X axis).
///
/// Unlocking translations degrees of freedom allows the bodies to move along the subset of the unlocked axes.
/// (for example unlocking just one translational axis is the equivalent of a slider joint.)
///
/// Angular degrees of freedom are partitioned as twist(around X axis) and swing(around Y and Z axes). Different
/// effects can be achieves by unlocking their various combinations:
/// - If a single degree of angular freedom is unlocked it should be the twist degree as it has extra options for
/// that case (for example for a hinge joint).
/// - If both swing degrees are unlocked but twist is locked the result is a zero-twist joint.
/// - If one swing and one twist degree of freedom are unlocked the result is a zero-swing joint (for example an
/// arm attached at the elbow)
/// - If all angular degrees of freedom are unlocked the result is the same as the spherical joint.
/// </summary>
/// <param name="axis">Axis to change the motion type for.</param>
/// <param name="motion">Type of motion for the axis.</param>
public void SetMotion(D6JointAxis axis, D6JointMotion motion)
{
if ([email protected][(int)axis] == motion)
{
return;
}
[email protected][(int)axis] = motion;
if (Native != null)
{
Native.SetMotion(axis, motion);
}
}
/// <summary>
/// Sets the motion type around the specified axis.
/// </summary>
/// <remarks>
/// Each axis may independently specify that the degree of freedom is locked (blocking relative movement along or around this axis), limited by the corresponding limit, or free.
/// </remarks>
/// <param name="axis">The axis the degree of freedom around which the motion type is specified.</param>
/// <param name="value">The value.</param>
public void SetMotion(D6JointAxis axis, D6JointMotion value)
{
Internal_SetMotion(unmanagedPtr, axis, value);
}
private static extern void Internal_SetMotion(IntPtr thisPtr, D6JointAxis axis, D6JointMotion motion);
public void SetMotion(D6JointAxis axis, D6JointMotion motion)
{
Internal_SetMotion(mCachedPtr, axis, motion);
}
