public JointLimitTestDemo(DemosGame game)
: base(game)
{
float bounciness = 1;
float baseMass = 100;
float armMass = 10;
//DistanceLimit
Box boxA = new Box(new Vector3(-21, 4, 0), 3, 3, 3, baseMass);
Box boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var distanceLimit = new DistanceLimit(boxA, boxB, boxA.Position, boxB.Position - new Vector3(0, 2, 0), 1, 6);
distanceLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(distanceLimit);
//EllipseSwingLimit
boxA = new Box(new Vector3(-14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var ellipseSwingLimit = new EllipseSwingLimit(boxA, boxB, Vector3.Up, MathHelper.Pi / 1.5f, MathHelper.Pi / 3);
ellipseSwingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(ellipseSwingLimit);
//LinearAxisLimit
boxA = new Box(new Vector3(-7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
var pointOnLineJoint = new PointOnLineJoint(boxA, boxB, boxA.Position, Vector3.Up, boxB.Position + new Vector3(0, -2, 0));
var linearAxisLimit = new LinearAxisLimit(boxA, boxB, boxA.Position, boxB.Position + new Vector3(0, -2, 0), Vector3.Up, 0, 4);
linearAxisLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(pointOnLineJoint);
Space.Add(linearAxisLimit);
//RevoluteLimit
boxA = new Box(new Vector3(0, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Forward);
var revoluteLimit = new RevoluteLimit(boxA, boxB, Vector3.Forward, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
revoluteLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(revoluteLimit);
//SwingLimit
boxA = new Box(new Vector3(7, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
var swingLimit = new SwingLimit(boxA, boxB, Vector3.Up, Vector3.Up, MathHelper.PiOver4);
swingLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
//TwistLimit
boxA = new Box(new Vector3(14, 4, 0), 3, 3, 3, baseMass);
boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
boxB.ActivityInformation.IsAlwaysActive = true;
ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Up);
var twistLimit = new TwistLimit(boxA, boxB, Vector3.Up, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
twistLimit.Bounciness = bounciness;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
Space.Add(twistLimit);
Space.Add(new Box(new Vector3(0, 0, 0), 60, 1, 60));
game.Camera.Position = new Vector3(0, 6, 15);
}
public override SolverUpdateable GetBaseJoint()
{
DistanceLimit dl = new DistanceLimit(Ent1.Body, Ent2.Body, (Ent1Pos + Ent1.GetPosition()).ToBVector(), (Ent2Pos + Ent2.GetPosition()).ToBVector(), Min, Max);
return dl;
}
private void CreateRope()
{
Entity.AngularMomentum = Vector3.Zero;
Entity.LinearMomentum = Vector3.Zero;
mRopeLimit = new DistanceLimit(mOwner.Entity, Entity, mOwner.Entity.Position, Entity.Position, 0.0f, (Entity.Position - mOwner.Entity.Position).Length());
//mRopeLimit.Bounciness = 0.8f;
World.Space.Add(mRopeLimit);
}