public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel,
float maxMotorForce);
public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (forceVel)
{
case SLIDER_MOTOR_VELOCITY:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetTargetLinMotorVelocity(val);
break;
case SLIDER_ANGULAR:
constraint.SetTargetAngMotorVelocity(val);
break;
}
break;
case SLIDER_MAX_MOTOR_FORCE:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetMaxLinMotorForce(val);
break;
case SLIDER_ANGULAR:
constraint.SetMaxAngMotorForce(val);
break;
}
break;
}
return true;
}
public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
// ===================================================================================== // btCollisionObject entries public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel,
float maxMotorForce);
public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
public abstract bool SetFrames(BulletConstraint constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain,
bool disableCollisionsBetweenLinkedObjects);
public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
public abstract bool SetFrames(BulletConstraint constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool CalculateTransforms(BulletConstraint constrain);
public abstract bool CalculateTransforms(BulletConstraint constrain);
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value,
ConstraintParamAxis axis);
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain,
bool disableCollisionsBetweenLinkedObjects);
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
// ===================================================================================== // btCollisionObject entries public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value,
ConstraintParamAxis axis);
public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (softRestDamp)
{
case SLIDER_SET_SOFTNESS:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
}
break;
}
break;
case SLIDER_SET_RESTITUTION:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
}
break;
}
break;
case SLIDER_SET_DAMPING:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
}
break;
}
break;
}
return true;
}
public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
break;
case SLIDER_ANGULAR:
constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
break;
}
return true;
}
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
