private void CreateGeneric6DofSpringConstraint()
{
RigidBody bodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), cubeShape);
bodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody bodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), cubeShape);
bodyB.ActivationState = ActivationState.DisableDeactivation;
Matrix frameInA = Matrix.Translation(10, 0, 0);
Matrix frameInB = Matrix.Identity;
var generic6DofSpring = new Generic6DofSpringConstraint(bodyA, bodyB, frameInA, frameInB, true)
{
LinearUpperLimit = new Vector3(5, 0, 0),
LinearLowerLimit = new Vector3(-5, 0, 0),
AngularLowerLimit = new Vector3(0, 0, -1.5f),
AngularUpperLimit = new Vector3(0, 0, 1.5f),
DebugDrawSize = 5
};
generic6DofSpring.EnableSpring(0, true);
generic6DofSpring.SetStiffness(0, 39.478f);
generic6DofSpring.SetDamping(0, 0.5f);
generic6DofSpring.EnableSpring(5, true);
generic6DofSpring.SetStiffness(5, 39.478f);
generic6DofSpring.SetDamping(0, 0.3f);
generic6DofSpring.SetEquilibriumPoint();
World.AddConstraint(generic6DofSpring, true);
}
/// <summary>
/// Between rigid and rigid six-axis spring add a constraint
/// </summary>
/// <param name="connectedBodyPair">A pair of rigid links</param>
/// <param name="restriction">6-axis motion limits</param>
/// <param name="stiffness">6-axis spring.</param>
public void Add6DofSpringConstraint(Joint6ConnectedBodyPair connectedBodyPair, Joint6Restriction restriction, Joint6Stiffness stiffness)
{
var bodyA = connectedBodyPair.connectedBodyA.rigidBody;
var bodyB = connectedBodyPair.connectedBodyB.rigidBody;
var frameInA = connectedBodyPair.connectedBodyA.world;
var frameInB = connectedBodyPair.connectedBodyB.world;
var constraint = new Generic6DofSpringConstraint(bodyA, bodyB, frameInA, frameInB, true); // 第五引数の効果は謎。どちらでも同じ様に見える……。
var c_p1 = restriction.movementRestriction.c_p1;
var c_p2 = restriction.movementRestriction.c_p2;
var c_r1 = restriction.rotationRestriction.c_r1;
var c_r2 = restriction.rotationRestriction.c_r2;
constraint.LinearLowerLimit = new Vector3(c_p1.X, c_p1.Y, c_p1.Z); // 型はベクトルだがベクトル量ではないのでZは反転しない。
constraint.LinearUpperLimit = new Vector3(c_p2.X, c_p2.Y, c_p2.Z);
constraint.AngularLowerLimit = new Vector3(c_r1.X, c_r1.Y, c_r1.Z);
constraint.AngularUpperLimit = new Vector3(c_r2.X, c_r2.Y, c_r2.Z);
SetStiffness(stiffness.translation.X, 0, constraint);
SetStiffness(stiffness.translation.Y, 1, constraint);
SetStiffness(stiffness.translation.Z, 2, constraint);
SetStiffness(stiffness.rotation.X, 3, constraint);
SetStiffness(stiffness.rotation.Y, 4, constraint);
SetStiffness(stiffness.rotation.Z, 5, constraint);
this.dynamicsWorld.AddConstraint(constraint);
}
public void 剛体と剛体の間に6軸バネ拘束を追加する(六軸ジョイントにつながる剛体のペア つなぐ剛体のペア, 六軸可動制限 六軸可動制限, 六軸バネ剛性 六軸バネ)
{
var bodyA = つなぐ剛体のペア.剛体A.剛体;
var bodyB = つなぐ剛体のペア.剛体B.剛体;
var frameInA = つなぐ剛体のペア.剛体A.ワールド変換行列;
var frameInB = つなぐ剛体のペア.剛体B.ワールド変換行列;
var 拘束 = new Generic6DofSpringConstraint(bodyA, bodyB, frameInA.ToBulletSharp(), frameInB.ToBulletSharp(), true); // 第五引数の効果は謎。どちらでも同じ様に見える……。
var c_p1 = 六軸可動制限.移動制限.移動制限1;
var c_p2 = 六軸可動制限.移動制限.移動制限2;
var c_r1 = 六軸可動制限.回転制限.回転制限1;
var c_r2 = 六軸可動制限.回転制限.回転制限2;
拘束.LinearLowerLimit = new BulletSharp.Math.Vector3(c_p1.X, c_p1.Y, c_p1.Z); // 型はベクトルだがベクトル量ではないのでZは反転しない。
拘束.LinearUpperLimit = new BulletSharp.Math.Vector3(c_p2.X, c_p2.Y, c_p2.Z);
拘束.AngularLowerLimit = new BulletSharp.Math.Vector3(c_r1.X, c_r1.Y, c_r1.Z);
拘束.AngularUpperLimit = new BulletSharp.Math.Vector3(c_r2.X, c_r2.Y, c_r2.Z);
this._拘束にある一つの自由度へのバネを設定する(六軸バネ.平行移動成分.X, 0, 拘束);
this._拘束にある一つの自由度へのバネを設定する(六軸バネ.平行移動成分.Y, 1, 拘束);
this._拘束にある一つの自由度へのバネを設定する(六軸バネ.平行移動成分.Z, 2, 拘束);
this._拘束にある一つの自由度へのバネを設定する(六軸バネ.回転移動成分.X, 3, 拘束);
this._拘束にある一つの自由度へのバネを設定する(六軸バネ.回転移動成分.Y, 4, 拘束);
this._拘束にある一つの自由度へのバネを設定する(六軸バネ.回転移動成分.Z, 5, 拘束);
this._DynamicsWorld.AddConstraint(拘束);
}
/// <summary>
/// Set the spring to the freedom of a captive one
/// </summary>
/// <param name="stiffness">The value of the spring</param>
/// <param name="index">Index to specify the degrees of freedom (0~5。平行移動X, Y, Z, 回転移動X, Y, Zの順)</param>
/// <param name="constraint">Captive</param>
private void SetStiffness(float stiffness, int index, Generic6DofSpringConstraint constraint)
{
if (stiffness == 0.0f)
{
return;
}
constraint.EnableSpring(index, true);
constraint.SetStiffness(index, stiffness);
}
private void _拘束にある一つの自由度へのバネを設定する(float バネの値, int 自由度の種類, Generic6DofSpringConstraint 拘束)
{
if (バネの値 == 0.0f)
{
return;
}
拘束.EnableSpring(自由度の種類, true);
拘束.SetStiffness(自由度の種類, バネの値);
}
public void AddJoint(Physics3DJoint joint, Physics3DRigidBody r1, Physics3DRigidBody r2, Components.JointDesc desc)
{
var t0 = MatrixExt.Transform(desc.Position, ToQuaternion(desc.Rotation));
Matrix4x4.Invert(t0, out var res);
Matrix4x4.Invert(MatrixExt.Transform(r1.defaultPosition, r1.defaultRotation), out var t1);
Matrix4x4.Invert(MatrixExt.Transform(r2.defaultPosition, r2.defaultRotation), out var t2);
t1 = t0 * t1;
t2 = t0 * t2;
var j = new Generic6DofSpringConstraint(r1.rigidBody, r2.rigidBody, GetMatrix(t1), GetMatrix(t2), true);
joint.constraint = j;
j.LinearLowerLimit = GetVector3(desc.PositionMinimum);
j.LinearUpperLimit = GetVector3(desc.PositionMaximum);
j.AngularLowerLimit = GetVector3(desc.RotationMinimum);
j.AngularUpperLimit = GetVector3(desc.RotationMaximum);
S(0, desc.PositionSpring.X);
S(1, desc.PositionSpring.Y);
S(2, desc.PositionSpring.Z);
S(3, desc.RotationSpring.X);
S(4, desc.RotationSpring.Y);
S(5, desc.RotationSpring.Z);
void S(int index, float f)
{
if (f != 0.0f)
{
j.EnableSpring(index, true);
j.SetStiffness(index, f);
}
else
{
j.EnableSpring(index, false);
}
}
world.AddConstraint(joint.constraint);
}
protected override void OnInitializePhysics()
{
SetupEmptyDynamicsWorld();
CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShape groundShape = new StaticPlaneShape(Vector3.UnitY, 40);
CollisionShapes.Add(groundShape);
RigidBody body = LocalCreateRigidBody(0, Matrix.Translation(0, -16, 0), groundShape);
body.UserObject = "Ground";
CollisionShape shape = new BoxShape(new Vector3(CubeHalfExtents));
CollisionShapes.Add(shape);
const float THETA = (float)Math.PI / 4.0f;
float L_1 = 2 - (float)Math.Tan(THETA);
float L_2 = 1 / (float)Math.Cos(THETA);
float RATIO = L_2 / L_1;
RigidBody bodyA;
RigidBody bodyB;
CollisionShape cylA = new CylinderShape(0.2f, 0.25f, 0.2f);
CollisionShape cylB = new CylinderShape(L_1, 0.025f, L_1);
CompoundShape cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
float mass = 6.28f;
Vector3 localInertia;
cyl0.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
ci.StartWorldTransform = Matrix.Translation(-8, 1, -8);
body = new RigidBody(ci); //1,0,cyl0,localInertia);
World.AddRigidBody(body);
body.LinearFactor = Vector3.Zero;
body.AngularFactor = new Vector3(0, 1, 0);
bodyA = body;
cylA = new CylinderShape(0.2f, 0.26f, 0.2f);
cylB = new CylinderShape(L_2, 0.025f, L_2);
cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
mass = 6.28f;
cyl0.CalculateLocalInertia(mass, out localInertia);
ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
Quaternion orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
ci.StartWorldTransform = Matrix.RotationQuaternion(orn) * Matrix.Translation(-10, 2, -8);
body = new RigidBody(ci);//1,0,cyl0,localInertia);
body.LinearFactor = Vector3.Zero;
HingeConstraint hinge = new HingeConstraint(body, Vector3.Zero, new Vector3(0, 1, 0), true);
World.AddConstraint(hinge);
bodyB = body;
body.AngularVelocity = new Vector3(0, 3, 0);
World.AddRigidBody(body);
Vector3 axisA = new Vector3(0, 1, 0);
Vector3 axisB = new Vector3(0, 1, 0);
orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
Matrix mat = Matrix.RotationQuaternion(orn);
axisB = new Vector3(mat.M21, mat.M22, mat.M23);
GearConstraint gear = new GearConstraint(bodyA, bodyB, axisA, axisB, RATIO);
World.AddConstraint(gear, true);
mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), shape);
RigidBody body1 = null;//LocalCreateRigidBody(mass, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), shape);
//RigidBody body1 = LocalCreateRigidBody(0, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), null);
//body1.ActivationState = ActivationState.DisableDeactivation;
//body1.SetDamping(0.3f, 0.3f);
Vector3 pivotInA = new Vector3(CubeHalfExtents, -CubeHalfExtents, -CubeHalfExtents);
Vector3 axisInA = new Vector3(0, 0, 1);
Vector3 pivotInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
}
else
{
pivotInB = pivotInA;
}
Vector3 axisInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
axisInB = Vector3.TransformCoordinate(axisInA, transform);
}
else
{
axisInB = Vector3.TransformCoordinate(axisInA, body0.CenterOfMassTransform);
}
#if P2P
{
TypedConstraint p2p = new Point2PointConstraint(body0, pivotInA);
//TypedConstraint p2p = new Point2PointConstraint(body0, body1, pivotInA, pivotInB);
//TypedConstraint hinge = new HingeConstraint(body0, body1, pivotInA, pivotInB, axisInA, axisInB);
World.AddConstraint(p2p);
p2p.DebugDrawSize = 5;
}
#else
{
hinge = new HingeConstraint(body0, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
const float targetVelocity = 1.0f;
const float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
World.AddConstraint(hinge);
hinge.DebugDrawSize = 5;
}
#endif
RigidBody pRbA1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbA1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbA1.ActivationState = ActivationState.DisableDeactivation;
// add dynamic rigid body B1
RigidBody pRbB1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbB1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbB1.ActivationState = ActivationState.DisableDeactivation;
// create slider constraint between A1 and B1 and add it to world
SliderConstraint spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, true);
//spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, false);
spSlider1.LowerLinearLimit = -15.0f;
spSlider1.UpperLinearLimit = -5.0f;
spSlider1.LowerLinearLimit = 5.0f;
spSlider1.UpperLinearLimit = 15.0f;
spSlider1.LowerLinearLimit = -10.0f;
spSlider1.UpperLinearLimit = -10.0f;
spSlider1.LowerAngularLimit = -(float)Math.PI / 3.0f;
spSlider1.UpperAngularLimit = (float)Math.PI / 3.0f;
World.AddConstraint(spSlider1, true);
spSlider1.DebugDrawSize = 5.0f;
//create a slider, using the generic D6 constraint
Vector3 sliderWorldPos = new Vector3(0, 10, 0);
Vector3 sliderAxis = Vector3.UnitX;
const float angle = 0; //SIMD_RADS_PER_DEG * 10.f;
Matrix trans = Matrix.RotationAxis(sliderAxis, angle) * Matrix.Translation(sliderWorldPos);
d6body0 = LocalCreateRigidBody(mass, trans, shape);
d6body0.ActivationState = ActivationState.DisableDeactivation;
RigidBody fixedBody1 = LocalCreateRigidBody(0, trans, null);
World.AddRigidBody(fixedBody1);
Matrix frameInA = Matrix.Translation(0, 5, 0);
Matrix frameInB = Matrix.Translation(0, 5, 0);
//bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
const bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, frameInA, frameInB, useLinearReferenceFrameA)
{
LinearLowerLimit = lowerSliderLimit,
LinearUpperLimit = hiSliderLimit,
//range should be small, otherwise singularities will 'explode' the constraint
//AngularLowerLimit = new Vector3(-1.5f,0,0),
//AngularUpperLimit = new Vector3(1.5f,0,0),
//AngularLowerLimit = new Vector3(0,0,0),
//AngularUpperLimit = new Vector3(0,0,0),
AngularLowerLimit = new Vector3((float)-Math.PI, 0, 0),
AngularUpperLimit = new Vector3(1.5f, 0, 0)
};
//spSlider6Dof.TranslationalLimitMotor.EnableMotor[0] = true;
spSlider6Dof.TranslationalLimitMotor.TargetVelocity = new Vector3(-5.0f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
World.AddConstraint(spSlider6Dof);
spSlider6Dof.DebugDrawSize = 5;
// create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(pDoorShape);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, Matrix.Translation(-5.0f, -2.0f, 0.0f), pDoorShape);
pDoorBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 btPivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
Vector3 btAxisA = Vector3.UnitY; // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, btPivotA, btAxisA);
//spDoorHinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//spDoorHinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//spDoorHinge.SetLimit(1, -1);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//spDoorHinge.SetLimit(0, 0);
World.AddConstraint(spDoorHinge);
spDoorHinge.DebugDrawSize = 5;
RigidBody pDropBody = LocalCreateRigidBody(10.0f, Matrix.Translation(-5.0f, 2.0f, 0.0f), shape);
// create a generic 6DOF constraint
//RigidBody pBodyA = LocalCreateRigidBody(mass, Matrix.Translation(10.0f, 6.0f, 0), shape);
RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), shape);
//RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), null);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody pBodyB = LocalCreateRigidBody(mass, Matrix.Translation(0, 6, 0), shape);
//RigidBody pBodyB = LocalCreateRigidBody(0, Matrix.Translation(0, 6, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(-5, 0, 0);
frameInB = Matrix.Translation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
//Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, false);
pGen6DOF.LinearLowerLimit = new Vector3(-10, -2, -1);
pGen6DOF.LinearUpperLimit = new Vector3(10, 2, 1);
//pGen6DOF.LinearLowerLimit = new Vector3(-10, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(10, 0, 0);
//pGen6DOF.LinearLowerLimit = new Vector3(0, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(0, 0, 0);
//pGen6DOF.TranslationalLimitMotor.EnableMotor[0] = true;
//pGen6DOF.TranslationalLimitMotor.TargetVelocity = new Vector3(5, 0, 0);
//pGen6DOF.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, (float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, -(float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, 0, -(float)Math.PI);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0, (float)Math.PI);
pGen6DOF.AngularLowerLimit = new Vector3(-(float)Math.PI / 4, -0.75f, -(float)Math.PI * 0.4f);
pGen6DOF.AngularUpperLimit = new Vector3((float)Math.PI / 4, 0.75f, (float)Math.PI * 0.4f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.75f, (float)Math.PI * 0.8f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.75f, -(float)Math.PI * 0.8f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -(float)Math.PI * 0.8f, (float)Math.PI * 1.98f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, (float)Math.PI * 0.8f, -(float)Math.PI * 1.98f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, -0.5f, -0.5f);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0.5f, 0.5f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.7f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.7f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(-1, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(1, 0, 0);
// create a ConeTwist constraint
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), shape);
//pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), shape);
//pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), shape);
frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
coneTwist = new ConeTwistConstraint(pBodyA, pBodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
World.AddConstraint(coneTwist, true);
coneTwist.DebugDrawSize = 5;
// Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
RigidBody pBody = LocalCreateRigidBody(1.0f, Matrix.Identity, shape);
pBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pivotA = new Vector3(10.0f, 0.0f, 0.0f);
btAxisA = new Vector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, pivotA, btAxisA);
//pHinge.EnableAngularMotor(true, -1.0f, 0.165f); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
World.AddConstraint(pHinge);
pHinge.DebugDrawSize = 5;
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some (arbitrary) data to build constraint frames
Vector3 parentAxis = new Vector3(1, 0, 0);
Vector3 childAxis = new Vector3(0, 0, 1);
Vector3 anchor = new Vector3(20, 2, 0);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pUniv.SetLowerLimit(-(float)Math.PI / 4, -(float)Math.PI / 4);
pUniv.SetUpperLimit((float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.DebugDrawSize = 5;
World.AddConstraint(pGen6DOF, true);
pGen6DOF.DebugDrawSize = 5;
// create a generic 6DOF constraint with springs
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(10, 0, 0);
frameInB = Matrix.Identity;
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, frameInA, frameInB, true)
{
LinearUpperLimit = new Vector3(5, 0, 0),
LinearLowerLimit = new Vector3(-5, 0, 0),
AngularLowerLimit = new Vector3(0, 0, -1.5f),
AngularUpperLimit = new Vector3(0, 0, 1.5f),
DebugDrawSize = 5
};
World.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
parentAxis = new Vector3(0, 1, 0);
childAxis = new Vector3(1, 0, 0);
anchor = new Vector3(-20, 0, 0);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pHinge2.SetLowerLimit(-(float)Math.PI / 4);
pHinge2.SetUpperLimit((float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.DebugDrawSize = 5;
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB:
pBodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
axisA = new Vector3(0, 1, 0);
axisB = new Vector3(0, 1, 0);
Vector3 pivotA2 = new Vector3(-5, 0, 0);
Vector3 pivotB = new Vector3(5, 0, 0);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, pivotA2, pivotB, axisA, axisB);
spHingeDynAB.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.DebugDrawSize = 5;
}
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BGeneric6DofSpringConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new Generic6DofSpringConstraint(rba, rbb, frameInA, frameInOther, true);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
// TODO
// m_constraintPtr = new Generic6DofSpringConstraint(rba, m_localConstraintPoint.ToBullet(), m_localConstraintAxisX.ToBullet(), false);
}
if (m_setLimit)
{
((Generic6DofSpringConstraint)m_constraintPtr).SetLimit((int)m_springAxis, m_lowLimit, m_highLimit);
}
((Generic6DofSpringConstraint)m_constraintPtr).EnableSpring((int)m_springAxis, true);
((Generic6DofSpringConstraint)m_constraintPtr).SetStiffness((int)m_springAxis, m_stiffness);
((Generic6DofSpringConstraint)m_constraintPtr).SetDamping((int)m_springAxis, m_damping);
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
public override void AddPoser(Poser poser)
{
var model = poser.Model;
if (_rigidBodies.ContainsKey(poser))
{
return;
}
poser.ResetPosing();
var motionStates = new List <PoserMotionState>();
_motionStates.Add(poser, motionStates);
var rigidBodies = new List <RigidBody>();
_rigidBodies.Add(poser, rigidBodies);
var constraints = new List <Generic6DofSpringConstraint>();
_constraints.Add(poser, constraints);
foreach (var body in model.Rigidbodies)
{
var bodyDimension = body.Dimemsions;
CollisionShape btShape = null;
var btMass = 0.0f;
var btLocalInertia = new Vector3(0.0f, 0.0f, 0.0f);
switch (body.Shape)
{
case MmdRigidBody.RigidBodyShape.RigidShapeSphere:
btShape = new SphereShape(bodyDimension.x);
break;
case MmdRigidBody.RigidBodyShape.RigidShapeBox:
btShape = new BoxShape(new Vector3(bodyDimension.x, bodyDimension.y,
bodyDimension.z));
break;
case MmdRigidBody.RigidBodyShape.RigidShapeCapsule:
btShape = new CapsuleShape(bodyDimension.x, bodyDimension.y);
break;
default:
throw new ArgumentOutOfRangeException();
}
if (body.Type != MmdRigidBody.RigidBodyType.RigidTypeKinematic)
{
btMass = body.Mass;
btShape.CalculateLocalInertia(btMass, out btLocalInertia);
}
var bodyTransform = MathUtil.QuaternionToMatrix4X4(MathUtil.YxzToQuaternion(body.Rotation));
MathUtil.SetTransToMatrix4X4(body.Position, ref bodyTransform);
var btBodyTransform = new Matrix();
MathUtil.UnityMatrixToBulletMatrix(bodyTransform, ref btBodyTransform);
var btMotionState = new PoserMotionState(poser, body, btBodyTransform);
var btInfo =
new RigidBodyConstructionInfo(btMass, btMotionState, btShape, btLocalInertia)
{
LinearDamping = body.TranslateDamp,
AngularDamping = body.RotateDamp,
Restitution = body.Restitution,
Friction = body.Friction
};
var btRigidBody = new RigidBody(btInfo)
{
ActivationState = ActivationState.DisableDeactivation
};
if (body.Type == MmdRigidBody.RigidBodyType.RigidTypeKinematic)
{
btRigidBody.CollisionFlags = btRigidBody.CollisionFlags | CollisionFlags.KinematicObject;
}
_world.AddRigidBody(btRigidBody, (short)(1 << body.CollisionGroup), (short)body.CollisionMask);
#if MMD_PHYSICS_DEBUG
CreateUnityCollisionObjectProxy(btRigidBody, body.Name);
#endif
motionStates.Add(btMotionState);
rigidBodies.Add(btRigidBody);
}
foreach (var constraint in model.Constraints)
{
var btBody1 = rigidBodies[constraint.AssociatedRigidBodyIndex[0]];
var btBody2 = rigidBodies[constraint.AssociatedRigidBodyIndex[1]];
var positionLowLimit = constraint.PositionLowLimit;
var positionHiLimit = constraint.PositionHiLimit;
var rotationLoLimit = constraint.RotationLowLimit;
var rotationHiLimit = constraint.RotationHiLimit;
var constraintTransform = MathUtil.QuaternionToMatrix4X4(MathUtil.YxzToQuaternion(constraint.Rotation));
MathUtil.SetTransToMatrix4X4(constraint.Position, ref constraintTransform);
var btConstraintTransform = new Matrix();
MathUtil.UnityMatrixToBulletMatrix(constraintTransform, ref btConstraintTransform);
var btLocalizationTransform1 = btConstraintTransform * Matrix.Invert(btBody1.WorldTransform); //TODO 验证这个和mmdlib里算出来的是否一样
var btLocalizationTransform2 = btConstraintTransform * Matrix.Invert(btBody2.WorldTransform);
var btConstraint = new Generic6DofSpringConstraint(btBody1, btBody2, btLocalizationTransform1,
btLocalizationTransform2, true)
{
LinearLowerLimit =
new Vector3(positionLowLimit.x, positionLowLimit.y, positionLowLimit.z),
LinearUpperLimit =
new Vector3(positionHiLimit.x, positionHiLimit.y, positionHiLimit.z),
AngularLowerLimit =
new Vector3(rotationLoLimit.x, rotationLoLimit.y, rotationLoLimit.z),
AngularUpperLimit =
new Vector3(rotationHiLimit.x, rotationHiLimit.y, rotationHiLimit.z)
};
for (var j = 0; j < 3; ++j)
{
btConstraint.SetStiffness(j, constraint.SpringTranslate[j]);
btConstraint.EnableSpring(j, true);
btConstraint.SetStiffness(j + 3, constraint.SpringRotate[j]);
btConstraint.EnableSpring(j + 3, true);
}
_world.AddConstraint(btConstraint);
constraints.Add(btConstraint);
}
}
public override void InitializeDemo()
{
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000);
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
SetCameraDistance(26f);
//CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f));
CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.Identity;
groundTransform._origin = new IndexedVector3(0, -56, 0);
RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape);
CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
m_collisionShapes.Add(shape);
IndexedMatrix trans = IndexedMatrix.Identity;
trans._origin = new IndexedVector3(0, 20, 0);
float mass = 1f;
#if true
//point to point constraint (ball socket)
//SEEMS OK
{
RigidBody body0 = LocalCreateRigidBody(mass, ref trans, shape);
trans._origin = new IndexedVector3(2 * CUBE_HALF_EXTENTS, 20, 0);
mass = 1f;
RigidBody body1 = null; //localCreateRigidBody( mass,trans,shape);
IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS);
IndexedVector3 axisInA = new IndexedVector3(0, 0, 1);
IndexedVector3 pivotInB = body1 != null?body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA;
IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis *axisInA)) :
body0.GetCenterOfMassTransform()._basis *axisInA;
HingeConstraint hinge = new HingeConstraint(body0, ref pivotInA, ref axisInA, false);
float targetVelocity = 1f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
m_dynamicsWorld.AddConstraint(hinge); //p2p);
hinge.SetDbgDrawSize(5f);
}
#endif
#if true
//create a slider, using the generic D6 constraint
// SEEMS OK
{
mass = 1f;
IndexedVector3 sliderWorldPos = new IndexedVector3(0, 10, 0);
IndexedVector3 sliderAxis = new IndexedVector3(1, 0, 0);
float angle = 0f;//SIMD_RADS_PER_DEG * 10.f;
IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(Quaternion.CreateFromAxisAngle(sliderAxis.ToVector3(), angle));
trans = IndexedMatrix.Identity;
trans._origin = sliderWorldPos;
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = LocalCreateRigidBody(mass, ref trans, shape);
d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
RigidBody fixedBody1 = LocalCreateRigidBody(0, ref trans, null);
m_dynamicsWorld.AddRigidBody(fixedBody1);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.Identity;
frameInB = IndexedMatrix.Identity;
frameInA._origin = new IndexedVector3(0, 5, 0);
frameInB._origin = new IndexedVector3(0, 5, 0);
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, ref frameInA, ref frameInB, useLinearReferenceFrameA);
spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit);
spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
IndexedVector3 angularLower = new IndexedVector3(-1.5f, 0, 0);
IndexedVector3 angularUpper = -angularLower;
spSlider6Dof.SetAngularLowerLimit(ref angularLower);
spSlider6Dof.SetAngularUpperLimit(ref angularUpper);
// slider.setAngularLowerLimit(IndexedVector3(0,0,0));
// slider.setAngularUpperLimit(IndexedVector3(0,0,0));
spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f;
spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f;
m_dynamicsWorld.AddConstraint(spSlider6Dof);
spSlider6Dof.SetDbgDrawSize(5f);
}
#endif
#if true
{ // create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.Add(pDoorShape);
IndexedMatrix doorTrans = IndexedMatrix.Identity;
doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, ref doorTrans, pDoorShape);
pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3(10f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
IndexedVector3 btAxisA = new IndexedVector3(0.0f, 1.0f, 0.0f); // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, ref btPivotA, ref btAxisA, false);
spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f);
m_dynamicsWorld.AddConstraint(spDoorHinge);
spDoorHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a generic 6DOF constraint
// SEEMS OK - But debug draw a bit wrong?
IndexedMatrix tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(10f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
// RigidBody pBodyA = localCreateRigidBody( mass, tr, shape);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
// RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(0f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.CreateTranslation(-5, 0, 0);
frameInB = IndexedMatrix.CreateTranslation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1);
pGen6DOF.SetLinearLowerLimit(ref linearLower);
IndexedVector3 linearUpper = new IndexedVector3(10, 2, 1);
pGen6DOF.SetLinearUpperLimit(ref linearUpper);
// ? why again?
//linearLower = new IndexedVector3(-10,0,0);
//pGen6DOF.setLinearLowerLimit(ref linearLower);
// pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.));
// pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true;
// pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
// pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI));
IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f);
IndexedVector3 angularUpper = -angularLower;
pGen6DOF.SetAngularLowerLimit(ref angularLower);
pGen6DOF.SetAngularUpperLimit(ref angularUpper);
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.));
m_dynamicsWorld.AddConstraint(pGen6DOF, true);
pGen6DOF.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a ConeTwist constraint
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10, 5, 0);
RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.CreateTranslation(-10, -5, 0);
RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape);
IndexedMatrix frameInA, frameInB;
frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInA._origin = new IndexedVector3(0, -5, 0);
frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInB._origin = new IndexedVector3(0, 5, 0);
ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB);
pCT.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 1.0f, 0.3f, 1.0f); // soft limit == hard limit
m_dynamicsWorld.AddConstraint(pCT, true);
pCT.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
// WORKS OK
IndexedMatrix tr = IndexedMatrix.Identity;
RigidBody pBody = LocalCreateRigidBody(1.0f, ref tr, shape);
pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3(10.0f, 0.0f, 0.0f);
IndexedVector3 btAxisA = new IndexedVector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA, false);
// pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld.AddConstraint(pHinge);
pHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(20, 4, 0);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(20, 0, 0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f);
IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f);
pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.SetDbgDrawSize(5.0f);
}
#endif
#if true
// WORKS OK
{ // create a generic 6DOF constraint with springs
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 16f, 0f);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
tr = IndexedMatrix.CreateTranslation(-10, 16, 0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f, 0f, 0f);
IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f, 0f, 0f);
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f));
pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f));
pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f));
pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f));
m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.SetDbgDrawSize(5.0f);
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
}
#endif
#if true
{
// WORKS OK
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 4f, 0f);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(-20f, 0f, 0f);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f);
pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, -2f, 0f);
RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB:
tr = IndexedMatrix.CreateTranslation(-30f, -2f, 0f);
RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f);
IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB);
spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.SetDbgDrawSize(5.0f);
}
#endif
}
public Physics()
{
SetupEmptyDynamicsWorld();
CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShape groundShape = new StaticPlaneShape(Vector3.UnitY, 40);
CollisionShapes.Add(groundShape);
RigidBody body = LocalCreateRigidBody(0, Matrix.Translation(0, -16, 0), groundShape);
body.UserObject = "Ground";
CollisionShape shape = new BoxShape(new Vector3(CubeHalfExtents));
CollisionShapes.Add(shape);
float mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), shape);
RigidBody body1 = null;//LocalCreateRigidBody(mass, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), shape);
//RigidBody body1 = LocalCreateRigidBody(0, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), null);
//body1.ActivationState = ActivationState.DisableDeactivation;
//body1.SetDamping(0.3f, 0.3f);
Vector3 pivotInA = new Vector3(CubeHalfExtents, -CubeHalfExtents, -CubeHalfExtents);
Vector3 axisInA = new Vector3(0, 0, 1);
Vector3 pivotInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
}
else
{
pivotInB = pivotInA;
}
Vector3 axisInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
axisInB = Vector3.TransformCoordinate(axisInA, transform);
}
else
{
axisInB = Vector3.TransformCoordinate(axisInA, body0.CenterOfMassTransform);
}
if (P2P)
{
TypedConstraint p2p = new Point2PointConstraint(body0, pivotInA);
//TypedConstraint p2p = new Point2PointConstraint(body0,body1,pivotInA,pivotInB);
//TypedConstraint hinge = new HingeConstraint(body0,body1,pivotInA,pivotInB,axisInA,axisInB);
World.AddConstraint(p2p);
p2p.DebugDrawSize = 5;
}
else
{
HingeConstraint hinge = new HingeConstraint(body0, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.0f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
World.AddConstraint(hinge);
hinge.DebugDrawSize = 5;
}
//create a slider, using the generic D6 constraint
Vector3 sliderWorldPos = new Vector3(0, 10, 0);
Vector3 sliderAxis = Vector3.UnitX;
float angle = 0;//SIMD_RADS_PER_DEG * 10.f;
Matrix trans = Matrix.RotationAxis(sliderAxis, angle) * Matrix.Translation(sliderWorldPos);
d6body0 = LocalCreateRigidBody(mass, trans, shape);
d6body0.ActivationState = ActivationState.DisableDeactivation;
RigidBody fixedBody1 = LocalCreateRigidBody(0, trans, null);
World.AddRigidBody(fixedBody1);
Matrix frameInA = Matrix.Translation(0, 5, 0);
Matrix frameInB = Matrix.Translation(0, 5, 0);
//bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, frameInA, frameInB, useLinearReferenceFrameA);
spSlider6Dof.LinearLowerLimit = lowerSliderLimit;
spSlider6Dof.LinearUpperLimit = hiSliderLimit;
//range should be small, otherwise singularities will 'explode' the constraint
//spSlider6Dof.AngularLowerLimit = new Vector3(-1.5f,0,0);
//spSlider6Dof.AngularUpperLimit = new Vector3(1.5f,0,0);
//spSlider6Dof.AngularLowerLimit = new Vector3(0,0,0);
//spSlider6Dof.AngularUpperLimit = new Vector3(0,0,0);
spSlider6Dof.AngularLowerLimit = new Vector3((float)-Math.PI, 0, 0);
spSlider6Dof.AngularUpperLimit = new Vector3(1.5f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.EnableMotor[0] = true;
spSlider6Dof.TranslationalLimitMotor.TargetVelocity = new Vector3(-5.0f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
World.AddConstraint(spSlider6Dof);
spSlider6Dof.DebugDrawSize = 5;
// create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(pDoorShape);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, Matrix.Translation(-5.0f, -2.0f, 0.0f), pDoorShape);
pDoorBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 btPivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
Vector3 btAxisA = Vector3.UnitY; // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, btPivotA, btAxisA);
//spDoorHinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//spDoorHinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//spDoorHinge.SetLimit(1, -1);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//spDoorHinge.SetLimit(0, 0);
World.AddConstraint(spDoorHinge);
spDoorHinge.DebugDrawSize = 5;
RigidBody pDropBody = LocalCreateRigidBody(10.0f, Matrix.Translation(-5.0f, 2.0f, 0.0f), shape);
// create a generic 6DOF constraint
//RigidBody pBodyA = LocalCreateRigidBody(mass, Matrix.Translation(10.0f, 6.0f, 0), shape);
RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), shape);
//RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), null);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody pBodyB = LocalCreateRigidBody(mass, Matrix.Translation(0, 6, 0), shape);
//RigidBody pBodyB = LocalCreateRigidBody(0, Matrix.Translation(0, 6, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(-5, 0, 0);
frameInB = Matrix.Translation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
//Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, false);
pGen6DOF.LinearLowerLimit = new Vector3(-10, -2, -1);
pGen6DOF.LinearUpperLimit = new Vector3(10, 2, 1);
//pGen6DOF.LinearLowerLimit = new Vector3(-10, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(10, 0, 0);
//pGen6DOF.LinearLowerLimit = new Vector3(0, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(0, 0, 0);
//pGen6DOF.TranslationalLimitMotor.EnableMotor[0] = true;
//pGen6DOF.TranslationalLimitMotor.TargetVelocity = new Vector3(5, 0, 0);
//pGen6DOF.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, (float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, -(float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, 0, -(float)Math.PI);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0, (float)Math.PI);
pGen6DOF.AngularLowerLimit = new Vector3(-(float)Math.PI / 4, -0.75f, -(float)Math.PI * 0.4f);
pGen6DOF.AngularUpperLimit = new Vector3((float)Math.PI / 4, 0.75f, (float)Math.PI * 0.4f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.75f, (float)Math.PI * 0.8f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.75f, -(float)Math.PI * 0.8f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -(float)Math.PI * 0.8f, (float)Math.PI * 1.98f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, (float)Math.PI * 0.8f, -(float)Math.PI * 1.98f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, -0.5f, -0.5f);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0.5f, 0.5f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.7f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.7f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(-1, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(1, 0, 0);
// create a ConeTwist constraint
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), shape);
//pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), shape);
//pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), shape);
frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
coneTwist = new ConeTwistConstraint(pBodyA, pBodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
World.AddConstraint(coneTwist, true);
coneTwist.DebugDrawSize = 5;
// Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
RigidBody pBody = LocalCreateRigidBody(1.0f, Matrix.Identity, shape);
pBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 PivotA = new Vector3(10.0f, 0.0f, 0.0f);
btAxisA = new Vector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, btPivotA, btAxisA);
//pHinge.EnableAngularMotor(true, -1.0f, 0.165f); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
World.AddConstraint(pHinge);
pHinge.DebugDrawSize = 5;
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some (arbitrary) data to build constraint frames
Vector3 parentAxis = new Vector3(1, 0, 0);
Vector3 childAxis = new Vector3(0, 0, 1);
Vector3 anchor = new Vector3(20, 2, 0);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pUniv.SetLowerLimit(-(float)Math.PI / 4, -(float)Math.PI / 4);
pUniv.SetUpperLimit((float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.DebugDrawSize = 5;
World.AddConstraint(pGen6DOF, true);
pGen6DOF.DebugDrawSize = 5;
// create a generic 6DOF constraint with springs
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(10, 0, 0);
frameInB = Matrix.Identity;
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
pGen6DOFSpring.LinearUpperLimit = new Vector3(5, 0, 0);
pGen6DOFSpring.LinearLowerLimit = new Vector3(-5, 0, 0);
pGen6DOFSpring.AngularLowerLimit = new Vector3(0, 0, -1.5f);
pGen6DOFSpring.AngularUpperLimit = new Vector3(0, 0, 1.5f);
World.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.DebugDrawSize = 5;
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
parentAxis = new Vector3(0, 1, 0);
childAxis = new Vector3(1, 0, 0);
anchor = new Vector3(-20, 0, 0);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pHinge2.SetLowerLimit(-(float)Math.PI / 4);
pHinge2.SetUpperLimit((float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.DebugDrawSize = 5;
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB:
pBodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
Vector3 axisA = new Vector3(0, 1, 0);
Vector3 axisB = new Vector3(0, 1, 0);
Vector3 pivotA = new Vector3(-5, 0, 0);
Vector3 pivotB = new Vector3(5, 0, 0);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.DebugDrawSize = 5;
}
