public IPrismaticJoint Create(PrismaticJointDescriptor descriptor)
{
var constraint = new DigitalRunePrismaticJoint(descriptor);
_simulator._wrappedSimulation.Constraints.Add(constraint.WrappedPrismaticJoint);
return(constraint);
}
internal DigitalRunePrismaticJoint(PrismaticJointDescriptor descriptor)
{
WrappedPrismaticJoint = new PrismaticJoint();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
{
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
}
WrappedPrismaticJoint.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'.");
}
WrappedPrismaticJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedPrismaticJoint.AnchorPoseALocal = descriptor.AnchorPoseALocal.ToDigitalRune();
WrappedPrismaticJoint.AnchorPoseBLocal = descriptor.AnchorPoseBLocal.ToDigitalRune();
WrappedPrismaticJoint.Maximum = descriptor.MaximumDistance;
WrappedPrismaticJoint.Minimum = descriptor.MinimumDistance;
Descriptor = descriptor;
}
public DefaultPrismaticJoint(PrismaticJointDescriptor descriptor)
{
Descriptor = descriptor;
}
public static IPrismaticJoint CreatePrismaticJoint(this IFactory <IConstraint> factory,
PrismaticJointDescriptor descriptor)
{
return(factory.Create <IPrismaticJoint, PrismaticJointDescriptor>(descriptor));
}
