internal DigitalRuneDistanceRangeJoint(DistanceRangeJointDescriptor descriptor)
{
WrappedDistanceRangeJoint = new DistanceLimit();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
{
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
}
WrappedDistanceRangeJoint.BodyA = ((RigidBody)descriptor.RigidBodyA).WrappedRigidBody;
_rigidBodyA = descriptor.RigidBodyA;
if (!(descriptor.RigidBodyB is RigidBody))
{
throw new ArgumentException("The type of the property 'RigidBodyB' must be 'System.Physics.DigitalRune.RigidBody'.");
}
WrappedDistanceRangeJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedDistanceRangeJoint.AnchorPositionALocal = descriptor.AnchorPositionALocal.ToDigitalRune();
WrappedDistanceRangeJoint.AnchorPositionBLocal = descriptor.AnchorPositionBLocal.ToDigitalRune();
WrappedDistanceRangeJoint.MinDistance = descriptor.MinimumDistance;
WrappedDistanceRangeJoint.MaxDistance = descriptor.MaximumDistance;
Descriptor = descriptor;
}
public IDistanceRangeJoint Create(DistanceRangeJointDescriptor descriptor)
{
var constraint = new DigitalRuneDistanceRangeJoint(descriptor);
_simulator._wrappedSimulation.Constraints.Add(constraint.WrappedDistanceRangeJoint);
return(constraint);
}
private void CreateChain <TShape, TShapeDescriptor>(MaterialDescriptor materialDescriptor,
TShapeDescriptor shapeDescriptor,
DistanceRangeJointDescriptor constraintDescriptor,
int count, float space, int staticBall, float xOffset, float yOffset, float zOffset)
where TShapeDescriptor : struct, IDescriptor
where TShape : IShape, IDescriptible <TShapeDescriptor>
{
var bodies = new IRigidBody[count];
var rigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Static, Matrices.I, true);
for (int i = 0; i < count; i++)
{
rigidBodyDescriptor.Pose = Matrices.Translate(xOffset + (space + i * space - ((count - 1) * space / 2)), yOffset, zOffset);
bodies[i] = _simulator.ActorsFactory.Create <IRigidBody, RigidBodyDescriptor>(rigidBodyDescriptor);
bodies[i].UserData = String.Format("chain {0}", i);
var fixture = bodies[i].FixtureFactory.Create <ISimpleFixture, FixtureDescriptor>(new FixtureDescriptor(Matrices.I));
fixture.ShapeFactory.Create <TShape, TShapeDescriptor>(shapeDescriptor);
fixture.MaterialFactory.Create <IMaterial, MaterialDescriptor>(materialDescriptor);
if (i > 0)
{
constraintDescriptor.RigidBodyA = bodies[i - 1];
constraintDescriptor.RigidBodyB = bodies[i];
_simulator.ConstraintsFactory.Create <IDistanceRangeJoint, DistanceRangeJointDescriptor>(
constraintDescriptor);
}
else
{
rigidBodyDescriptor.MotionType = MotionType.Static;
}
}
}
public DefaultDistanceRangeJoint(DistanceRangeJointDescriptor descriptor)
{
Descriptor = descriptor;
}
public static IDistanceRangeJoint CreateDistanceRangeJoint(this IFactory <IConstraint> factory,
DistanceRangeJointDescriptor descriptor)
{
return(factory.Create <IDistanceRangeJoint, DistanceRangeJointDescriptor>(descriptor));
}
