public override SimElementDefinition saveToDefinition()
{
var definition = new BEPUikTwistJointDefinition(Name)
{
AxisA = joint.AxisA.toEngineVec3(),
AxisB = joint.AxisB.toEngineVec3(),
MeasurementAxisA = joint.MeasurementAxisA.toEngineVec3(),
MeasurementAxisB = joint.MeasurementAxisB.toEngineVec3()
};
setupJointDefinition(definition);
return definition;
}
public BEPUikTwistJoint(BEPUikBone connectionA, BEPUikBone connectionB, BEPUikTwistJointDefinition definition, String name, SimObject instance)
:base(connectionA, connectionB, name, instance)
{
joint = new IKTwistJoint(connectionA.IkBone, connectionB.IkBone, definition.AxisA.toBepuVec3(), definition.AxisB.toBepuVec3());
if (definition.MeasurementAxisA.HasValue)
{
joint.MeasurementAxisA = definition.MeasurementAxisA.Value.toBepuVec3();
}
if (definition.MeasurementAxisB.HasValue)
{
joint.MeasurementAxisB = definition.MeasurementAxisB.Value.toBepuVec3();
}
setupJoint(definition);
}
public TwistJointRenderer(BEPUikTwistJointDefinition definition)
{
this.definition = definition;
}