/// <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;
}
/// <summary>
/// Removes the rigid body from the engine processing pipeline.
/// </summary>
/// <param name="rigidBody">The rigid body.</param>
/// <exception cref="System.Exception">Cannot perform this action when the physics engine is set to CollisionsOnly</exception>
public void RemoveRigidBody(RigidBody rigidBody)
{
if (discreteDynamicsWorld == null) throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
discreteDynamicsWorld.RemoveRigidBody(rigidBody.InternalRigidBody);
rigidBody.Simulation = null;
}
/// <summary>
/// Adds the rigid body to the engine processing pipeline.
/// </summary>
/// <param name="rigidBody">The rigid body.</param>
/// <param name="group">The group.</param>
/// <param name="mask">The mask.</param>
/// <exception cref="System.Exception">Cannot perform this action when the physics engine is set to CollisionsOnly</exception>
public void AddRigidBody(RigidBody rigidBody, CollisionFilterGroupFlags group, CollisionFilterGroupFlags mask)
{
if (discreteDynamicsWorld == null) throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
discreteDynamicsWorld.AddRigidBody(rigidBody.InternalRigidBody, (short)group, (short)mask);
rigidBody.Simulation = this;
}
/// <summary>
/// Creates the rigid body.
/// </summary>
/// <param name="collider">The collider.</param>
/// <returns></returns>
public RigidBody CreateRigidBody(ColliderShape collider)
{
var rb = new RigidBody(collider);
rb.InternalRigidBody = new BulletSharp.RigidBody(0.0f, rb.MotionState, collider.InternalShape, Vector3.Zero)
{
UserObject = rb
};
rb.InternalCollider = rb.InternalRigidBody;
rb.InternalCollider.ContactProcessingThreshold = !canCcd ? 1e18f : 1e30f;
if (collider.NeedsCustomCollisionCallback)
{
rb.InternalCollider.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (collider.Is2D) //set different defaults for 2D shapes
{
rb.InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
rb.InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
return rb;
}
public XenkoMotionState(RigidBody rb)
{
rigidBody = rb;
}