A modified distance constraint allowing a range of lengths between two anchor points.
Inheritance: JointLimit, I1DImpulseConstraintWithError, I1DJacobianConstraint
Exemplo n.º 1
0
        public JointLimitTestDemo(DemosGame game)
            : base(game)
        {
            float bounciness = 1;
            float baseMass = 100;
            float armMass = 10;
            //DistanceLimit
            Box boxA = new Box(new Vector3(-21, 4, 0), 3, 3, 3, baseMass);
            Box boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            var distanceLimit = new DistanceLimit(boxA, boxB, boxA.Position, boxB.Position - new Vector3(0, 2, 0), 1, 6);
            distanceLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(distanceLimit);

            //EllipseSwingLimit
            boxA = new Box(new Vector3(-14, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            var ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            var ellipseSwingLimit = new EllipseSwingLimit(boxA, boxB, Vector3.Up, MathHelper.Pi / 1.5f, MathHelper.Pi / 3);
            ellipseSwingLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(ellipseSwingLimit);

            //LinearAxisLimit
            boxA = new Box(new Vector3(-7, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            var pointOnLineJoint = new PointOnLineJoint(boxA, boxB, boxA.Position, Vector3.Up, boxB.Position + new Vector3(0, -2, 0));
            var linearAxisLimit = new LinearAxisLimit(boxA, boxB, boxA.Position, boxB.Position + new Vector3(0, -2, 0), Vector3.Up, 0, 4);
            linearAxisLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(pointOnLineJoint);
            Space.Add(linearAxisLimit);

            //RevoluteLimit
            boxA = new Box(new Vector3(0, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            var revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Forward);
            var revoluteLimit = new RevoluteLimit(boxA, boxB, Vector3.Forward, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
            revoluteLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(revoluteAngularJoint);
            Space.Add(revoluteLimit);

            //SwingLimit
            boxA = new Box(new Vector3(7, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            var swingLimit = new SwingLimit(boxA, boxB, Vector3.Up, Vector3.Up, MathHelper.PiOver4);
            swingLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(swingLimit);

            //TwistLimit
            boxA = new Box(new Vector3(14, 4, 0), 3, 3, 3, baseMass);
            boxB = new Box(boxA.Position + new Vector3(0, 5, 0), 1, 4, 1, armMass);
            CollisionRules.AddRule(boxA, boxB, CollisionRule.NoBroadPhase);
            boxB.ActivityInformation.IsAlwaysActive = true;

            ballSocketJoint = new BallSocketJoint(boxA, boxB, boxB.Position + new Vector3(0, -2, 0));
            revoluteAngularJoint = new RevoluteAngularJoint(boxA, boxB, Vector3.Up);
            var twistLimit = new TwistLimit(boxA, boxB, Vector3.Up, Vector3.Up, -MathHelper.PiOver4, MathHelper.PiOver4);
            twistLimit.Bounciness = bounciness;

            Space.Add(boxA);
            Space.Add(boxB);
            Space.Add(ballSocketJoint);
            Space.Add(revoluteAngularJoint);
            Space.Add(twistLimit);

            Space.Add(new Box(new Vector3(0, 0, 0), 60, 1, 60));
            game.Camera.Position = new Vector3(0, 6, 15);
        }
Exemplo n.º 2
0
 public override SolverUpdateable GetBaseJoint()
 {
     DistanceLimit dl = new DistanceLimit(Ent1.Body, Ent2.Body, (Ent1Pos + Ent1.GetPosition()).ToBVector(), (Ent2Pos + Ent2.GetPosition()).ToBVector(), Min, Max);
     return dl;
 }
Exemplo n.º 3
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 private void CreateRope()
 {
     Entity.AngularMomentum = Vector3.Zero;
     Entity.LinearMomentum = Vector3.Zero;
     mRopeLimit = new DistanceLimit(mOwner.Entity, Entity, mOwner.Entity.Position, Entity.Position, 0.0f, (Entity.Position - mOwner.Entity.Position).Length());
     //mRopeLimit.Bounciness = 0.8f;
     World.Space.Add(mRopeLimit);
 }