public void jointCreate(SceneObjectPart part)
{
// by turning a joint proxy object physical, we cause creation of a joint in the ODE scene.
// note that, as a special case, joints have no bodies or geoms in the physics scene, even though they are physical.
PhysicsJointType jointType;
if (part.IsHingeJoint())
{
jointType = PhysicsJointType.Hinge;
}
else if (part.IsBallJoint())
{
jointType = PhysicsJointType.Ball;
}
else
{
jointType = PhysicsJointType.Ball;
}
List<string> bodyNames = new List<string>();
string RawParams = part.Description;
string[] jointParams = RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
string trackedBodyName = null;
if (jointParams.Length >= 2)
{
for (int iBodyName = 0; iBodyName < 2; iBodyName++)
{
string bodyName = jointParams[iBodyName];
bodyNames.Add(bodyName);
if (bodyName != "NULL")
{
if (trackedBodyName == null)
{
trackedBodyName = bodyName;
}
}
}
}
SceneObjectPart trackedBody = GetSceneObjectPart(trackedBodyName); // FIXME: causes a sequential lookup
Quaternion localRotation = Quaternion.Identity;
if (trackedBody != null)
{
localRotation = Quaternion.Inverse(trackedBody.RotationOffset) * part.RotationOffset;
}
else
{
// error, output it below
}
PhysicsJoint joint;
joint = m_scene.PhysicsScene.RequestJointCreation(part.Name, jointType,
part.AbsolutePosition,
part.RotationOffset,
part.Description,
bodyNames,
trackedBodyName,
localRotation);
if (trackedBody == null)
{
jointErrorMessage(joint, "warning: tracked body name not found! joint location will not be updated properly. joint: " + part.Name);
}
}
