/*
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();
}
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();
}
//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.
public override void setParam( btConstraintParams num, double value, int axis = -1 )
{
if( ( axis >= 0 ) && ( axis < 3 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_linearLimits.m_stopERP[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_linearLimits.m_stopCFM[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
m_linearLimits.m_motorERP[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_MOTO2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
m_linearLimits.m_motorCFM[axis] = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_MOTO2[axis];
break;
default:
btAssertConstrParams( false );
break;
}
}
else if( ( axis >= 3 ) && ( axis < 6 ) )
{
switch( num )
{
case btConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_angularLimits[axis - 3].m_stopERP = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_angularLimits[axis - 3].m_stopCFM = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_STOP2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_ERP:
m_angularLimits[axis - 3].m_motorERP = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_ERP_MOTO2[axis];
break;
case btConstraintParams.BT_CONSTRAINT_CFM:
m_angularLimits[axis - 3].m_motorCFM = value;
m_flags |= bt6DofFlagsIndexed.BT_6DOF_FLAGS_CFM_MOTO2[axis];
break;
default:
btAssertConstrParams( false );
break;
}
}
else
{
btAssertConstrParams( false );
}
}
