static private Generic6DoFConstraint CreateWheelConstraint(RigidbodyComponent parent, RigidbodyComponent wheel)
{
Matrix wheelTranslation = Matrix.Translation(wheel.Entity.Transform.Position);
Quaternion wheelRotation = wheel.Entity.Transform.Rotation;
Generic6DoFConstraint wheelConstraint = Simulation.CreateConstraint(
ConstraintTypes.Generic6DoF, parent, wheel,
wheelTranslation, /* the constraint itself should be created at the offset where the wheel itself is */
Matrix.RotationQuaternion(wheelRotation),
useReferenceFrameA: true
) as Generic6DoFConstraint;
/* lock X and Y rotation */
wheelConstraint.AngularLowerLimit = new Vector3(0.0f, 0.0f, -(float)Math.PI);
wheelConstraint.AngularUpperLimit = new Vector3(0.0f, 0.0f, (float)Math.PI);
return(wheelConstraint);
}
private void SetupPhysicsConstraints()
{
var sim = this.GetSimulation();
Generic6DoFConstraint wheel1Constraint = CreateWheelConstraint(vehicleBody, wheelFrontLeft);
Generic6DoFConstraint wheel2Constraint = CreateWheelConstraint(vehicleBody, wheelFrontRight);
Generic6DoFConstraint wheel3Constraint = CreateWheelConstraint(vehicleBody, wheelBackLeft);
Generic6DoFConstraint wheel4Constraint = CreateWheelConstraint(vehicleBody, wheelBackRight);
sim.AddConstraint(wheel1Constraint);
wheelFrontLeftConstraint = wheel1Constraint;
sim.AddConstraint(wheel2Constraint);
wheelFrontRightConstraint = wheel2Constraint;
sim.AddConstraint(wheel3Constraint);
wheelBackLeftConstraint = wheel3Constraint;
sim.AddConstraint(wheel4Constraint);
wheelBackRightConstraint = wheel4Constraint;
}
/// <summary>
/// Creates the constraint.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="rigidBodyB">The rigid body b.</param>
/// <param name="frameA">The frame a.</param>
/// <param name="frameB">The frame b.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
/// <exception cref="System.Exception">
/// Cannot perform this action when the physics engine is set to CollisionsOnly
/// or
/// Both RigidBodies must be valid
/// </exception>
public static Constraint CreateConstraint(ConstraintTypes type, RigidBody rigidBodyA, RigidBody rigidBodyB, Matrix frameA, Matrix frameB, bool useReferenceFrameA = false)
{
if (rigidBodyA == null || rigidBodyB == null) throw new Exception("Both RigidBodies must be valid");
//todo check if the 2 rbs are on the same engine instance!
var rbA = rigidBodyA.InternalRigidBody;
var rbB = rigidBodyB.InternalRigidBody;
switch (type)
{
case ConstraintTypes.Point2Point:
{
var constraint = new Point2PointConstraint
{
InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Hinge:
{
var constraint = new HingeConstraint
{
InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalHingeConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Slider:
{
var constraint = new SliderConstraint
{
InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalSliderConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.ConeTwist:
{
var constraint = new ConeTwistConstraint
{
InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, rbB, frameA, frameB),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalConeTwistConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoF:
{
var constraint = new Generic6DoFConstraint
{
InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoFSpring:
{
var constraint = new Generic6DoFSpringConstraint
{
InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Gear:
{
var constraint = new GearConstraint
{
InternalGearConstraint = new BulletSharp.GearConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGearConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
}
return null;
}
/// <summary>
/// Creates the constraint.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="frameA">The frame a.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
/// <exception cref="System.Exception">
/// Cannot perform this action when the physics engine is set to CollisionsOnly
/// or
/// Both RigidBodies must be valid
/// or
/// A Gear constraint always needs two rigidbodies to be created.
/// </exception>
public static Constraint CreateConstraint(ConstraintTypes type, RigidBody rigidBodyA, Matrix frameA, bool useReferenceFrameA = false)
{
if (rigidBodyA == null) throw new Exception("Both RigidBodies must be valid");
var rbA = rigidBodyA.InternalRigidBody;
switch (type)
{
case ConstraintTypes.Point2Point:
{
var constraint = new Point2PointConstraint
{
InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, frameA.TranslationVector),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Hinge:
{
var constraint = new HingeConstraint
{
InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalHingeConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Slider:
{
var constraint = new SliderConstraint
{
InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalSliderConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.ConeTwist:
{
var constraint = new ConeTwistConstraint
{
InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, frameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalConeTwistConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoF:
{
var constraint = new Generic6DoFConstraint
{
InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoFSpring:
{
var constraint = new Generic6DoFSpringConstraint
{
InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Gear:
{
throw new Exception("A Gear constraint always needs two rigidbodies to be created.");
}
}
return null;
}
