public Joint(Link parentLink, Vector3 position, double minValue, double maxValue, double velocity)
{
this.parentLink = parentLink;
this.position = position;
this.minValue = minValue;
this.maxValue = maxValue;
this.velocity = velocity;
setPending();
}
private void DrawLink(Link link)
{
Matrix[] transforms = new Matrix[link.Model.Bones.Count];
link.Model.CopyBoneTransformsTo(transforms);
foreach (ModelMesh mesh in link.Model.Meshes)
{
foreach (BasicEffect effect in mesh.Effects)
{
effect.EnableDefaultLighting();
effect.View = camera.View;
effect.Projection = camera.Projection;
effect.World = transforms[mesh.ParentBone.Index] *
link.Transform;
mesh.Draw();
}
}
}
public RevoluteJoint(Link parentLink, Vector3 position, float angle, Vector3 axis, double minValue, double maxValue, double velocity)
: base(parentLink, position, minValue, maxValue, velocity)
{
this.Value = angle;
this.axis = axis;
}
public bool IsColliding(Link link)
{
if (link.Intersects(obb))
{
if (octree != null)
{
foreach (OctreeNode oct in octree)
{
bool collision = oct.IsColliding(link);
if (collision)
return true;
}
}
else
{
foreach (TriangleData tri in triangles)
{
if (link.Intersects(tri))
{
return true;
}
}
}
}
return false;
}
public PrismaticJoint(Link parentLink, Vector3 position, float displacement, Vector3 axis, double minValue, double maxValue, double velocity)
: base(parentLink, position, minValue, maxValue, velocity)
{
this.Value = displacement;
this.axis = axis;
}
