public DefaultVehicleRaycaster(DynamicsWorld world) { m_dynamicsWorld = world; }
//---------------------------------------------------------------------------------------------- public DemoApplication() { m_dynamicsWorld = null; m_pickConstraint = null; m_shootBoxShape = null; m_cameraDistance = 30f; m_pitch =(20f/360f)*MathUtil.SIMD_2_PI; m_yaw = 0f; m_cameraPosition = IndexedVector3.Zero; m_cameraTargetPosition = IndexedVector3.Zero; m_scaleBottom = 0.5f; m_scaleFactor = 2f; m_cameraUp = new IndexedVector3(0, 1, 0); m_forwardAxis = 2; m_glutScreenWidth = 0; m_glutScreenHeight = 0; m_ShootBoxInitialSpeed = 40f; m_stepping = true; m_singleStep = false; m_idle = false; m_enableshadows = true; m_lightPosition = new IndexedVector3(5, 5, 5); //m_lightDirection = IndexedVector3.Down; m_lightDirection = new IndexedVector3(.5f, -.5f, .5f); m_lightDirection.Normalize(); //#ifndef BT_NO_PROFILE // m_profileIterator = CProfileManager::Get_Iterator(); //#endif //BT_NO_PROFILE Content.RootDirectory = "Content"; m_graphics = new GraphicsDeviceManager(this); m_graphics.PreferredBackBufferWidth = 800; m_graphics.PreferredBackBufferHeight = 600; SetSize(m_graphics.PreferredBackBufferWidth,m_graphics.PreferredBackBufferHeight); m_nearClip = 1f; m_farClip = 1000f; m_aspect = m_glutScreenWidth / m_glutScreenHeight; m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip); }
public RagDoll (RagDollDemo ragDollDemo,DynamicsWorld ownerWorld, ref IndexedVector3 positionOffset,StreamWriter streamWriter) { m_ownerWorld = ownerWorld; m_ragDollDemo = ragDollDemo; // Setup the geometry m_shapes[(int)BODYPART.PELVIS] = new CapsuleShape(0.15f, 0.20f); m_shapes[(int)BODYPART.SPINE] = new CapsuleShape(0.15f, 0.28f); m_shapes[(int)BODYPART.HEAD] = new CapsuleShape(0.10f, 0.05f); m_shapes[(int)BODYPART.LEFT_UPPER_LEG] = new CapsuleShape(0.07f, 0.45f); m_shapes[(int)BODYPART.LEFT_LOWER_LEG] = new CapsuleShape(0.05f, 0.37f); m_shapes[(int)BODYPART.RIGHT_UPPER_LEG] = new CapsuleShape(0.07f, 0.45f); m_shapes[(int)BODYPART.RIGHT_LOWER_LEG] = new CapsuleShape(0.05f, 0.37f); m_shapes[(int)BODYPART.LEFT_UPPER_ARM] = new CapsuleShape(0.05f, 0.33f); m_shapes[(int)BODYPART.LEFT_LOWER_ARM] = new CapsuleShape(0.04f, 0.25f); m_shapes[(int)BODYPART.RIGHT_UPPER_ARM] = new CapsuleShape(0.05f, 0.33f); m_shapes[(int)BODYPART.RIGHT_LOWER_ARM] = new CapsuleShape(0.04f, 0.25f); // Setup all the rigid bodies IndexedMatrix offset = IndexedMatrix.CreateTranslation(positionOffset); IndexedMatrix transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1,0)); IndexedMatrix adjusted = offset*transform; m_bodies[(int)BODYPART.PELVIS] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.PELVIS],true); m_bodies[(int)BODYPART.PELVIS].SetUserPointer("PELVIS"); transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1.2f,0)); adjusted = offset * transform; m_bodies[(int)BODYPART.SPINE] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.SPINE], true); m_bodies[(int)BODYPART.SPINE].SetUserPointer("SPINE"); transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1.6f,0)); adjusted = offset * transform; m_bodies[(int)BODYPART.HEAD] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.HEAD], true); m_bodies[(int)BODYPART.HEAD].SetUserPointer("HEAD"); transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.65f, 0)); adjusted = offset * transform ; m_bodies[(int)BODYPART.LEFT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_LEG], true); m_bodies[(int)BODYPART.LEFT_UPPER_LEG].SetUserPointer("LEFTUPPERLEG"); transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.2f, 0)); adjusted = offset *transform; m_bodies[(int)BODYPART.LEFT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_LEG], true); m_bodies[(int)BODYPART.LEFT_LOWER_LEG].SetUserPointer("LEFTLOWERLEG"); transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.65f, 0)); adjusted = offset * transform; m_bodies[(int)BODYPART.RIGHT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_LEG], true); m_bodies[(int)BODYPART.RIGHT_UPPER_LEG].SetUserPointer("RIGHTUPPERLEG"); transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.2f, 0)); adjusted = offset*transform; m_bodies[(int)BODYPART.RIGHT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_LEG], true); m_bodies[(int)BODYPART.RIGHT_LOWER_LEG].SetUserPointer("RIGHTLOWERLEG"); transform = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); transform._origin = new IndexedVector3(-0.35f, 1.45f, 0); adjusted = offset *transform; m_bodies[(int)BODYPART.LEFT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_ARM], true); m_bodies[(int)BODYPART.LEFT_UPPER_ARM].SetUserPointer("LEFTUPPERARM"); transform = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); transform._origin = new IndexedVector3(-0.7f, 1.45f, 0); adjusted = offset * transform; m_bodies[(int)BODYPART.LEFT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_ARM], true); m_bodies[(int)BODYPART.LEFT_LOWER_ARM].SetUserPointer("LEFTLOWERARM"); transform = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI); transform._origin = new IndexedVector3(0.35f, 1.45f, 0); adjusted = offset * transform; m_bodies[(int)BODYPART.RIGHT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_ARM], true); m_bodies[(int)BODYPART.RIGHT_UPPER_ARM].SetUserPointer("RIGHTUPPERARM"); transform = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI); transform._origin = new IndexedVector3(0.7f, 1.45f, 0); adjusted = offset * transform; m_bodies[(int)BODYPART.RIGHT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_ARM], true); m_bodies[(int)BODYPART.RIGHT_LOWER_ARM].SetUserPointer("RIGHTLOWERARM"); // Setup some damping on the m_bodies for (int i = 0; i < (int)BODYPART.COUNT; ++i) { if (m_bodies[i] != null) { //m_bodies[i].SetDamping(0.05f, 0.85f); m_bodies[i].SetDamping(0.5f, 0.85f); m_bodies[i].SetDeactivationTime(0.8f); m_bodies[i].SetSleepingThresholds(1.6f, 2.5f); } } // Now setup the constraints HingeConstraint hingeC; ConeTwistConstraint coneC; IndexedMatrix localA = IndexedMatrix.Identity; IndexedMatrix localB = IndexedMatrix.Identity; localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localA._origin = new IndexedVector3(0.0f, 0.15f, 0.0f); localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localB._origin = new IndexedVector3(0.0f, -0.15f, 0.0f); hingeC = new HingeConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.SPINE], ref localA, ref localB); hingeC.SetLimit(-MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI); m_joints[(int)JOINT.PELVIS_SPINE] = hingeC; m_joints[(int)JOINT.PELVIS_SPINE].m_debugName = "PELVIS_SPINE"; hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.PELVIS_SPINE], true); localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); localA._origin = new IndexedVector3(0.0f, 0.30f, 0.0f); localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f); coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.HEAD], ref localA, ref localB); coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI); m_joints[(int)JOINT.SPINE_HEAD] = coneC; m_joints[(int)JOINT.SPINE_HEAD].m_debugName = "SPINE_HEAD"; coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.SPINE_HEAD], true); localA = IndexedMatrix.Identity; localB = IndexedMatrix.Identity; localA = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5); localA._origin = new IndexedVector3(-0.18f, -0.10f, 0.0f); localB = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5); localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f); coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.LEFT_UPPER_LEG], ref localA, ref localB); coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0); m_joints[(int)JOINT.LEFT_HIP] = coneC; m_joints[(int)JOINT.LEFT_HIP].m_debugName = "LEFT_HIP"; coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_HIP], true); localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f); localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f); hingeC = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_LEG], m_bodies[(int)BODYPART.LEFT_LOWER_LEG], ref localA, ref localB); hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI); m_joints[(int)JOINT.LEFT_KNEE] = hingeC; m_joints[(int)JOINT.LEFT_KNEE].m_debugName = "LEFT_KNEE"; hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_KNEE], true); localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI); localA._origin = new IndexedVector3(0.18f, -0.10f, 0.0f); localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI); localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f); coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], ref localA, ref localB); coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0); m_joints[(int)JOINT.RIGHT_HIP] = coneC; m_joints[(int)JOINT.RIGHT_HIP].m_debugName = "RIGHT_HIP"; coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_HIP], true); localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f); localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f); hingeC = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], m_bodies[(int)BODYPART.RIGHT_LOWER_LEG], ref localA, ref localB); hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI); m_joints[(int)JOINT.RIGHT_KNEE] = hingeC; m_joints[(int)JOINT.RIGHT_KNEE].m_debugName = "RIGHT_KNEE"; hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_KNEE], true); localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_PI); localA._origin = new IndexedVector3(-0.2f, 0.15f, 0.0f); localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f); coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.LEFT_UPPER_ARM], ref localA, ref localB); coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0); coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_joints[(int)JOINT.LEFT_SHOULDER] = coneC; m_joints[(int)JOINT.LEFT_SHOULDER].m_debugName = "LEFT_SHOULDER"; m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_SHOULDER], true); localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f); localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f); hingeC = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_ARM], m_bodies[(int)BODYPART.LEFT_LOWER_ARM], ref localA, ref localB); // hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0)); hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI); m_joints[(int)JOINT.LEFT_ELBOW] = hingeC; m_joints[(int)JOINT.LEFT_ELBOW].m_debugName = "LEFT_ELBOW"; hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_ELBOW], true); localA = MathUtil.SetEulerZYX(0, 0, 0); localA._origin = new IndexedVector3(0.2f, 0.15f, 0.0f); localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f); coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], ref localA, ref localB); coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0); m_joints[(int)JOINT.RIGHT_SHOULDER] = coneC; m_joints[(int)JOINT.RIGHT_SHOULDER].m_debugName = "RIGHT_SHOULDER"; coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_SHOULDER], true); localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f); localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0); localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f); hingeC = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], m_bodies[(int)BODYPART.RIGHT_LOWER_ARM], ref localA, ref localB); // hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0)); hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI); m_joints[(int)JOINT.RIGHT_ELBOW] = hingeC; m_joints[(int)JOINT.RIGHT_ELBOW].m_debugName = "RIGHT_ELBOW"; hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE); m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_ELBOW], true); }
public TestRig (DemoApplication demoApplication,DynamicsWorld ownerWorld, ref IndexedVector3 positionOffset, bool bFixed) { m_dynamicsWorld = ownerWorld; IndexedVector3 vUp = new IndexedVector3(0, 1, 0); // // Setup geometry // float fBodySize = 0.25f; float fLegLength = 0.45f; float fForeLegLength = 0.75f; m_shapes[0] = new CapsuleShape(fBodySize, 0.10f); for (int i=0; i<NUM_LEGS; i++) { m_shapes[1 + 2*i] = new CapsuleShape(0.10f, fLegLength); m_shapes[2 + 2*i] = new CapsuleShape(0.08f, fForeLegLength); } // // Setup rigid bodies // float fHeight = 0.5f; IndexedMatrix offset = IndexedMatrix.Identity; offset._origin = positionOffset; // root IndexedVector3 vRoot = new IndexedVector3(0,fHeight,0); IndexedMatrix transform = IndexedMatrix.Identity; transform._origin = vRoot; if (bFixed) { m_bodies[0] = demoApplication.LocalCreateRigidBody(0.0f, offset * transform, m_shapes[0]); } else { m_bodies[0] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[0]); } // legs for (int i=0; i<NUM_LEGS; i++) { float fAngle = MathUtil.SIMD_2_PI * i / NUM_LEGS; float fSin = (float)Math.Sin(fAngle); float fCos = (float)Math.Cos(fAngle); transform = IndexedMatrix.Identity; IndexedVector3 vBoneOrigin = new IndexedVector3(fCos*(fBodySize+0.5f*fLegLength), fHeight, fSin*(fBodySize+0.5f*fLegLength)); transform._origin = vBoneOrigin; // thigh IndexedVector3 vToBone = (vBoneOrigin - vRoot); vToBone.Normalize(); IndexedVector3 vAxis = IndexedVector3.Cross(vToBone,vUp); transform._basis = new IndexedBasisMatrix(Quaternion.CreateFromAxisAngle(vAxis.ToVector3(), MathUtil.SIMD_HALF_PI)); transform._origin = vBoneOrigin; m_bodies[1+2*i] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[1+2*i]); // shin transform = IndexedMatrix.Identity; transform._origin = new IndexedVector3(fCos*(fBodySize+fLegLength), fHeight-0.5f*fForeLegLength, fSin*(fBodySize+fLegLength)); m_bodies[2+2*i] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[2+2*i]); } // Setup some damping on the m_bodies for (int i = 0; i < BODYPART_COUNT; ++i) { m_bodies[i].SetDamping(0.05f, 0.85f); m_bodies[i].SetDeactivationTime(0.8f); //m_bodies[i].setSleepingThresholds(1.6, 2.5); m_bodies[i].SetSleepingThresholds(0.5f, 0.5f); } // // Setup the constraints // HingeConstraint hingeC; IndexedMatrix localA, localB, localC; for (int i=0; i<NUM_LEGS; i++) { float fAngle = MathUtil.SIMD_2_PI * i / NUM_LEGS; float fSin = (float)Math.Sin(fAngle); float fCos = (float)Math.Cos(fAngle); // hip joints localA = IndexedMatrix.Identity; localB= IndexedMatrix.Identity; localA = MathUtil.SetEulerZYX(0f,-fAngle,0f); localA._origin = new IndexedVector3(fCos*fBodySize, 0.0f, fSin*fBodySize); localB = m_bodies[1 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA; if (BulletGlobals.g_streamWriter != null && false) { MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Hip LocalA", localA); MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Hip LocalB", localB); } hingeC = new HingeConstraint(m_bodies[0], m_bodies[1+2*i], ref localA, ref localB); hingeC.SetLimit(-0.75f * MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI/2f); m_joints[2*i] = hingeC; m_dynamicsWorld.AddConstraint(m_joints[2*i], true); // knee joints localA = IndexedMatrix.Identity; localB= IndexedMatrix.Identity; localC = IndexedMatrix.Identity; localA = MathUtil.SetEulerZYX(0f,-fAngle,0f); localA._origin = new IndexedVector3(fCos*(fBodySize+fLegLength), 0.0f, fSin*(fBodySize+fLegLength)); localB = m_bodies[1 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA; localC = m_bodies[2 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA; if (BulletGlobals.g_streamWriter != null && false) { MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalA", localA); MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalB", localB); MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalC", localC); } hingeC = new HingeConstraint(m_bodies[1 + 2 * i], m_bodies[2 + 2 * i], ref localB, ref localC); //hingeC.setLimit(float(-0.01), float(0.01)); hingeC.SetLimit(-MathUtil.SIMD_QUARTER_PI/2f, 0.2f); m_joints[1+2*i] = hingeC; m_dynamicsWorld.AddConstraint(m_joints[1+2*i], true); } }
public void InternalTickCallback(DynamicsWorld world, float timeStep) { MotorDemo motorDemo = (MotorDemo)world.GetWorldUserInfo(); motorDemo.SetMotorTargets(timeStep); }