public float GetJointAngle()
{
float angle = 0.0f;
if (m_joint != null)
{
dNewtonJointHingeActuator joint = (dNewtonJointHingeActuator)m_joint;
angle = joint.GetAngle();
}
return(angle);
}
public override void Create()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_posit, Quaternion.Euler(m_rotation));
IntPtr otherBody = (m_otherBody != null) ? m_otherBody.GetBody().GetBody() : new IntPtr(0);
m_joint = new dNewtonJointHingeActuator(matrix, child.GetBody().GetBody(), otherBody);
TargetAngle = m_targetAngle;
AngularRate = m_angularRate;
MaxTorque = m_maxTorque;
}
public override void InitJoint()
{
NewtonBody child = GetComponent <NewtonBody>();
dMatrix matrix = Utils.ToMatrix(m_Pivot, m_Pin);
IntPtr otherBody = (m_OtherBody != null) ? m_OtherBody.GetBody().GetBody() : IntPtr.Zero;
m_Joint = new dNewtonJointHingeActuator(matrix, child.GetBody().GetBody(), otherBody);
TargetAngle = m_TargetAngle;
AngularRate = m_AngularRate;
MaxTorque = m_MaxTorque;
EnableCollision = m_EnableCollision;
}
