public void RenderArm(Entity p)
{
Vector3 pos = p.Position;
if (Bobbing)
{
pos.Y += p.anim.bobbingModel;
}
SetupState(p);
game.Graphics.SetBatchFormat(VertexFormat.P3fT2fC4b);
ApplyTexture(p);
Matrix4 translate;
if (game.ClassicArmModel)
{
// TODO: Position's not quite right.
// Matrix4.Translate(out m, -armX / 16f + 0.2f, -armY / 16f - 0.20f, 0);
// is better, but that breaks the dig animation
Matrix4.Translate(out translate, -armX / 16f, -armY / 16f - 0.10f, 0);
}
else
{
Matrix4.Translate(out translate, -armX / 16f + 0.10f, -armY / 16f - 0.26f, 0);
}
Matrix4 m = p.TransformMatrix(p.ModelScale, pos);
Matrix4.Mult(out m, ref m, ref game.Graphics.View);
Matrix4.Mult(out m, ref translate, ref m);
game.Graphics.LoadMatrix(ref m);
Rotate = RotateOrder.YZX;
DrawArm(p);
Rotate = RotateOrder.ZYX;
game.Graphics.LoadMatrix(ref game.Graphics.View);
}
internal btGeneric6DofSpring2Constraint( btRigidBody rbB, ref btTransform frameInB, RotateOrder rotOrder )
: base( btObjectTypes.D6_SPRING_2_CONSTRAINT_TYPE, getFixedBody(), rbB )
{
m_frameInB = ( frameInB );
m_rotateOrder = ( rotOrder );
m_flags = ( 0 );
///not providing rigidbody A means implicitly using worldspace for body A
rbB.m_worldTransform.Apply( ref m_frameInB, out m_frameInA );
calculateTransforms();
}
/*
void setAxis( ref btVector3 axis1, ref btVector3 axis2 );
void setBounce( int index, double bounce );
void enableMotor( int index, bool onOff );
void setServo( int index, bool onOff ); // set the type of the motor (servo or not) (the motor has to be turned on for servo also)
void setTargetVelocity( int index, double velocity );
void setServoTarget( int index, double target );
void setMaxMotorForce( int index, double force );
void enableSpring( int index, bool onOff );
void setStiffness( int index, double stiffness, bool limitIfNeeded = true ); // if limitIfNeeded is true the system will automatically limit the stiffness in necessary situations where otherwise the spring would move unrealistically too widely
void setDamping( int index, double damping, bool limitIfNeeded = true ); // if limitIfNeeded is true the system will automatically limit the damping in necessary situations where otherwise the spring would blow up
void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
void setEquilibriumPoint( int index ); // set the current constraint position/orientation as an equilibrium point for given DOF
void setEquilibriumPoint( int index, double val );
*/
//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
//If no axis is provided, it uses the default axis for this constraint.
internal btGeneric6DofSpring2Constraint( btRigidBody rbA, btRigidBody rbB, ref btTransform frameInA, ref btTransform frameInB, RotateOrder rotOrder )
: base( btObjectTypes.D6_SPRING_2_CONSTRAINT_TYPE, rbA, rbB )
{
m_frameInA = ( frameInA );
m_frameInB = ( frameInB );
m_rotateOrder = ( rotOrder );
m_flags = ( 0 );
calculateTransforms();
}
void setRotationOrder( RotateOrder order ) { m_rotateOrder = order; }
public Generic6DofSpring2Constraint CreateGeneric6DofSpring2Constraint(RigidBody rbA, RigidBody rbB, ref Matrix frameInA, ref Matrix frameInB, RotateOrder rotateOrder)
{
Generic6DofSpring2Constraint constraint = new Generic6DofSpring2Constraint(rbA, rbB, frameInA, frameInB, rotateOrder);
_allocatedConstraints.Add(constraint);
return constraint;
}
static extern IntPtr btGeneric6DofSpring2Constraint_new4(IntPtr rbB, [In] ref Matrix frameInB, RotateOrder rotOrder);
public Generic6DofSpring2Constraint(RigidBody rigidBodyB, Matrix frameInB,
RotateOrder rotOrder)
: base(btGeneric6DofSpring2Constraint_new4(rigidBodyB._native, ref frameInB,
rotOrder))
{
_rigidBodyA = GetFixedBody();
_rigidBodyB = rigidBodyB;
}
public Generic6DofSpring2Constraint(RigidBody rigidBodyA, RigidBody rigidBodyB,
Matrix frameInA, Matrix frameInB, RotateOrder rotOrder)
: base(btGeneric6DofSpring2Constraint_new2(rigidBodyA._native, rigidBodyB._native,
ref frameInA, ref frameInB, rotOrder))
{
_rigidBodyA = rigidBodyA;
_rigidBodyB = rigidBodyB;
}
static extern void btGeneric6DofSpring2Constraint_setRotationOrder(IntPtr obj, RotateOrder order);
