void jointDemo()
{
BepuEntity e1;
BepuEntity e2;
Joint joint;
// Ball & socket joint
e1 = createBox(new Vector3(20, 5, -20), 1, 1, 5);
e1.body.BecomeKinematic();
e2 = createBox(new Vector3(20, 5, -10), 1, 1, 5);
joint = new BallSocketJoint(e1.body, e2.body, new Vector3(20, 5, -15));
space.Add(joint);
// Hinge
e1 = createBox(new Vector3(30, 5, -20), 1, 1, 5);
e1.body.BecomeKinematic();
e2 = createBox(new Vector3(30, 5, -10), 1, 1, 5);
RevoluteJoint hinge = new RevoluteJoint(e1.body, e2.body, new Vector3(20, 5, -15), new Vector3(1, 0, 0));
space.Add(hinge);
// Universal
e1 = createBox(new Vector3(40, 5, -20), 1, 1, 5);
e2 = createBox(new Vector3(40, 5, -10), 1, 1, 5);
UniversalJoint uni = new UniversalJoint(e1.body, e2.body, new Vector3(40, 5, -15));
space.Add(uni);
// Weld Joint
e1 = createBox(new Vector3(50, 5, -20), 1, 1, 5);
e2 = createBox(new Vector3(50, 5, -10), 1, 1, 5);
WeldJoint weld = new WeldJoint(e1.body, e2.body);
space.Add(weld);
// PointOnLine Joint
// create the line
e1 = createBox(new Vector3(60, 5, -20), 1, 1, 5);
e1.body.BecomeKinematic();
e2 = createBox(new Vector3(60, 10, -10), 1, 1, 1);
PointOnLineJoint pol = new PointOnLineJoint(e1.body, e2.body, new Vector3(60, 5, -20), new Vector3(0, 0, -1), new Vector3(60, 5, -10));
space.Add(pol);
}
public RopeSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
const float capsuleHeight = 0.6f;
CapsuleShape shape = new CapsuleShape(0.15f, capsuleHeight);
for (int i = 0; i < 20; i++)
{
// A segment of the rope:
RigidBody body = new RigidBody(shape)
{
Pose = new Pose(new Vector3F(0, 1 + i * capsuleHeight, 0)),
};
Simulation.RigidBodies.Add(body);
if (i > 0)
{
// Connect the last body with the current body using a UniversalJoint that
// allows rotations on two axes (no twist).
RigidBody lastBody = Simulation.RigidBodies[i];
UniversalJoint ballJoint = new UniversalJoint
{
BodyA = lastBody,
// This attachment point is a the top of the first capsule.
// The universal joint allows rotations around the first and the second axis.
// The last axis is the twist axis where no rotation is allowed.
// --> To define the constraint anchor orientation:
// The columns are the axes. We set the local x axis in the first column and the
// -z axis in the second column. The third column is y axis about which no rotation
// is allowed.
// (All three columns are orthonormal and form a valid rotation matrix.)
AnchorPoseALocal = new Pose(new Vector3F(0, capsuleHeight / 2, 0),
new Matrix33F(1, 0, 0,
0, 0, 1,
0, -1, 0)),
BodyB = body,
// This attachment point is at the bottom of the second capsule.
// The anchor orientation is defined as above.
AnchorPoseBLocal = new Pose(new Vector3F(0, -capsuleHeight / 2, 0),
new Matrix33F(1, 0, 0,
0, 0, 1,
0, -1, 0)),
// Disable collision between body A and B.
CollisionEnabled = false,
// ErrorReduction and Softness are tweaked to create an appropriate amount
// of springiness and damping.
ErrorReduction = 0.1f,
Softness = 0.0001f,
// We allow a +/- 60° rotation around the first and the second constraint axis.
Minimum = -new Vector2F(MathHelper.ToRadians(60), MathHelper.ToRadians(60)),
Maximum = new Vector2F(MathHelper.ToRadians(60), MathHelper.ToRadians(60))
};
Simulation.Constraints.Add(ballJoint);
}
else
{
// This is the first body. There is no former body to link too.
// We set a velocity for this body to give the rope an initial movement.
body.LinearVelocity = new Vector3F(1, 0, 0);
}
}
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public DogbotDemo(DemosGame game)
: base(game)
{
Entity body = new Box(new Vector3(0, 0, 0), 4, 2, 2, 20);
Space.Add(body);
Entity head = new Cone(body.Position + new Vector3(3.2f, .3f, 0), 1.5f, .7f, 4);
head.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
Space.Add(head);
//Attach the head to the body
var universalJoint = new UniversalJoint(body, head, head.Position + new Vector3(-.8f, 0, 0));
Space.Add(universalJoint);
//Keep the head from swinging around too much.
var angleLimit = new SwingLimit(body, head, Vector3.Right, Vector3.Right, MathHelper.PiOver4);
Space.Add(angleLimit);
var tail = new Box(body.Position + new Vector3(-3f, 1f, 0), 1.6f, .1f, .1f, 4);
Space.Add(tail);
//Keep the tail from twisting itself off.
universalJoint = new UniversalJoint(body, tail, tail.Position + new Vector3(.8f, 0, 0));
Space.Add(universalJoint);
//Give 'em some floppy ears.
var ear = new Box(head.Position + new Vector3(-.2f, 0, -.65f), .01f, .7f, .2f, 1);
Space.Add(ear);
var ballSocketJoint = new BallSocketJoint(head, ear, head.Position + new Vector3(-.2f, .35f, -.65f));
Space.Add(ballSocketJoint);
ear = new Box(head.Position + new Vector3(-.2f, 0, .65f), .01f, .7f, .3f, 1);
Space.Add(ear);
ballSocketJoint = new BallSocketJoint(head, ear, head.Position + new Vector3(-.2f, .35f, .65f));
Space.Add(ballSocketJoint);
Box arm;
Cylinder shoulder;
PointOnLineJoint pointOnLineJoint;
//************* First Arm *************//
arm = new Box(body.Position + new Vector3(-1.8f, -.5f, 1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(-1.8f, .3f, 1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
var axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
shoulder.OrientationMatrix *= Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.Pi); //Force the walker's legs out of phase.
//************* Second Arm *************//
arm = new Box(body.Position + new Vector3(1.8f, -.5f, 1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(1.8f, .3f, 1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
//************* Third Arm *************//
arm = new Box(body.Position + new Vector3(-1.8f, -.5f, -1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(-1.8f, .3f, -1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
shoulder.OrientationMatrix *= Matrix3x3.CreateFromAxisAngle(Vector3.Forward, MathHelper.Pi); //Force the walker's legs out of phase.
//************* Fourth Arm *************//
arm = new Box(body.Position + new Vector3(1.8f, -.5f, -1.5f), .5f, 3, .2f, 20);
Space.Add(arm);
shoulder = new Cylinder(body.Position + new Vector3(1.8f, .3f, -1.25f), .1f, .7f, 10);
shoulder.OrientationMatrix = Matrix3x3.CreateFromAxisAngle(Vector3.Right, MathHelper.PiOver2);
Space.Add(shoulder);
//Connect the shoulder to the body.
axisJoint = new RevoluteJoint(body, shoulder, shoulder.Position, Vector3.Forward);
//Motorize the connection.
axisJoint.Motor.IsActive = true;
axisJoint.Motor.Settings.VelocityMotor.GoalVelocity = 1;
Space.Add(axisJoint);
//Connect the arm to the shoulder.
axisJoint = new RevoluteJoint(shoulder, arm, shoulder.Position + new Vector3(0, .6f, 0), Vector3.Forward);
Space.Add(axisJoint);
//Connect the arm to the body.
pointOnLineJoint = new PointOnLineJoint(arm, body, arm.Position, Vector3.Up, arm.Position + new Vector3(0, -.4f, 0));
Space.Add(pointOnLineJoint);
//Add some ground.
Space.Add(new Box(new Vector3(0, -3.5f, 0), 20f, 1, 20f));
game.Camera.Position = new Vector3(0, 2, 20);
}
public static void AddRollingBeats(Scene scene, TransformNode parentTrans)
{
Vector3 size = new Vector3(10.0f, 0.25f, 0.25f);
Vector3 location = new Vector3(0, 3, 3);
GeometryNode bar;
// //////////////////////////////////////////////////////////////////
//
// Create a bar and attach it to the world with a hinge with limits
//
// //////////////////////////////////////////////////////////////////
{
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
pileTrans.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathHelper.PiOver2);
Material barMat = new Material();
barMat.Diffuse = Color.Purple.ToVector4();
barMat.Specular = Color.White.ToVector4();
barMat.SpecularPower = 10;
bar = new GeometryNode("Bar");
bar.Model = new Cylinder(size.Y, size.Y, size.X, 20);
bar.Material = barMat;
bar.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
bar.AddToPhysicsEngine = true;
bar.Physics.Interactable = true;
bar.Physics.Collidable = true;
bar.Physics.Shape = ShapeType.Cylinder;
bar.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(bar);
Vector3 pivot = location + parentTrans.Translation;
Vector3 pin = Vector3.UnitY;
pivot.X -= size.X * 0.5f;
HingeJoint joint = new HingeJoint(pivot, pin);
joint.NewtonHingeCallback = doubleDoor;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(bar.Physics, null, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a sliding visualObject with limits
//
////////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X += size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.Red.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Slider");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
sliderLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
sliderLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
SliderJoint joint = new SliderJoint(pivot, pin);
sliderUpdate = delegate(IntPtr slider, ref Newton.NewtonHingeSliderUpdateDesc desc)
{
float distance = Newton.NewtonSliderGetJointPosit(slider);
if (distance < sliderLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.X);
return(1);
}
else if (distance > sliderLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.Y);
return(1);
}
// no action need it if the joint angle is with the limits
return(0);
};
joint.NewtonSliderCallback = sliderUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a corkscrew visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Corkscrew");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
corkscrewLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
corkscrewLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
CorkscrewJoint joint = new CorkscrewJoint(pivot, pin);
corkscrewUpdate = delegate(IntPtr corkscrew, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float distance = Newton.NewtonCorkscrewGetJointPosit(corkscrew);
// The first entry in NewtonHingeSliderUpdateDesc control the screw linear acceleration
if (distance < corkscrewLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew,
ref desc[0], corkscrewLimit.X);
retCode |= 1;
}
else if (distance > corkscrewLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew, ref
desc[0], corkscrewLimit.Y);
retCode |= 1;
}
// The second entry in NewtonHingeSliderUpdateDesc control the screw angular acceleration.
// Make s small screw motor by setting the angular acceleration of the screw axis
// We are not going to limit the angular rotation of the screw, but is we did we should
// or return code with 2
float omega = Newton.NewtonCorkscrewGetJointOmega(corkscrew);
desc[1].m_Accel = 1.5f - 0.2f * omega;
// or with 0x10 to tell newton this axis is active
retCode |= 2;
// return the code
return(retCode);
};
joint.NewtonCorkscrewCallback = corkscrewUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a universal joint visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.45f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Universal");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin0 = Vector3.UnitX;
Vector3 pin1 = Vector3.UnitY;
universalLimit.X = -30.0f * MathHelper.Pi / 180.0f;
universalLimit.Y = 30.0f * MathHelper.Pi / 180.0f;
UniversalJoint joint = new UniversalJoint(pivot, pin0, pin1);
universalUpdate = delegate(IntPtr universal, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float omega = Newton.NewtonUniversalGetJointOmega0(universal);
desc[0].m_Accel = -1.5f - 0.2f * omega;
retCode |= 1;
float angle = Newton.NewtonUniversalGetJointAngle1(universal);
if (angle < universalLimit.X)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.X);
retCode |= 2;
}
else if (angle > universalLimit.Y)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.Y);
retCode |= 2;
}
// return the code
return(retCode);
};
joint.NewtonUniversalCallback = universalUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
}
public ICollisionJoint[] LoadSimulationJoints(
ICollisionShape[] objects)
{
var xmlDoc = new XmlDocument();
xmlDoc.Load(FileNameObjectProperties);
XmlNodeList xmlList = xmlDoc.SelectNodes(nodePathJoints);
ICollisionJoint[] joints = new ICollisionJoint[xmlList.Count];
for (int i = 0; i < xmlList.Count; i++)
{
//Object index A
int indexA = Convert.ToInt32(xmlList[i][objectIndexAAttribute].InnerText);
//Object index B
int indexB = Convert.ToInt32(xmlList[i][objectIndexBAttribute].InnerText);
XmlNodeList jointPropertiesList = xmlList[i].SelectNodes(jointProperties);
ICollisionJoint[] joint = new ICollisionJoint[jointPropertiesList.Count];
for (int j = 0; j < jointPropertiesList.Count; j++)
{
//Joint type
var jointType = (JointType)Convert.ToInt32(jointPropertiesList[j][this.jointType].InnerText);
//Restore coefficient
double K = Convert.ToDouble(jointPropertiesList[j][restoreCoeffAttribute].InnerText);
//Stretch coefficient
double C = Convert.ToDouble(jointPropertiesList[j][stretchCoeffAttribute].InnerText);
//Position
var startAnchorPosition = new Vector3d(
Convert.ToDouble(jointPropertiesList[j][positionJointAttribute].Attributes["x"].Value),
Convert.ToDouble(jointPropertiesList[j][positionJointAttribute].Attributes["y"].Value),
Convert.ToDouble(jointPropertiesList[j][positionJointAttribute].Attributes["z"].Value));
//Action Axis
var actionAxis = new Vector3d(
Convert.ToDouble(jointPropertiesList[j][this.actionAxis].Attributes["x"].Value),
Convert.ToDouble(jointPropertiesList[j][this.actionAxis].Attributes["y"].Value),
Convert.ToDouble(jointPropertiesList[j][this.actionAxis].Attributes["z"].Value));
switch (jointType)
{
case JointType.Fixed:
joint [j] = new FixedJoint(
objects[indexA],
objects[indexB],
K,
C);
break;
case JointType.BallAndSocket:
joint[j] = new BallAndSocketJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
K,
C);
break;
case JointType.Slider:
joint[j] = new SliderJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
K,
C);
joint[j].SetLinearLimit(Convert.ToDouble(jointPropertiesList[j][linearLimitMin].InnerText), Convert.ToDouble(jointPropertiesList[j][linearLimitMax].InnerText));
break;
case JointType.Piston:
joint[j] = new PistonJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
K,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
joint[j].SetLinearLimit(
Convert.ToDouble(jointPropertiesList[j][linearLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][linearLimitMax].InnerText));
break;
case JointType.Hinge:
joint[j] = new HingeJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
K,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
joint[j].SetAxis1Motor(3.0, 0.15);
break;
case JointType.Universal:
joint[j] = new UniversalJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
new Vector3d(1.0, 0.0, 0.0),
K,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
joint[j].SetAxis2AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
break;
case JointType.Hinge2:
joint[j] = new Hinge2Joint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
new Vector3d(1.0, 0.0, 0.0),
K,
1.0,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
//joint[j].SetAxis2Motor(4.0, 3.0);
break;
case JointType.Angular:
joint[j] = new AngularJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
new Vector3d(1.0, 0.0, 0.0),
new Vector3d(0.0, 1.0, 0.0),
0.16,
0.008,
0.008);
break;
}
joints[i] = joint[j];
}
}
return(joints);
}
