/// <summary>
/// Removes the constraint from the engine processing pipeline.
/// </summary>
/// <param name="constraint">The constraint.</param>
/// <exception cref="System.Exception">Cannot perform this action when the physics engine is set to CollisionsOnly</exception>
public void RemoveConstraint(Constraint constraint)
{
if (discreteDynamicsWorld == null) throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
discreteDynamicsWorld.RemoveConstraint(constraint.InternalConstraint);
constraint.Simulation = null;
}
void CreatePoint2PointConstraint()
{
cubeRigidBody.LinearFactor = Vector3.Zero;
cubeRigidBody.AngularFactor = Vector3.Zero;
sphereRigidBody.LinearFactor = new Vector3(1, 1, 1);
sphereRigidBody.AngularFactor = new Vector3(1, 1, 1);
currentConstraint = Simulation.CreateConstraint(ConstraintTypes.Point2Point, cubeRigidBody, sphereRigidBody,
Matrix.Identity, Matrix.Translation(new Vector3(4, 0, 0)));
simulation.AddConstraint(currentConstraint);
constraintNameBlock.Text = "Point to Point";
//there are no limits so the sphere will orbit once we apply this
sphereRigidBody.ApplyImpulse(new Vector3(0, 0, 18));
}
/// <summary>
/// Adds the constraint to the engine processing pipeline.
/// </summary>
/// <param name="constraint">The constraint.</param>
/// <param name="disableCollisionsBetweenLinkedBodies">if set to <c>true</c> [disable collisions between linked bodies].</param>
/// <exception cref="System.Exception">Cannot perform this action when the physics engine is set to CollisionsOnly</exception>
public void AddConstraint(Constraint constraint, bool disableCollisionsBetweenLinkedBodies)
{
if (discreteDynamicsWorld == null) throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
discreteDynamicsWorld.AddConstraint(constraint.InternalConstraint, disableCollisionsBetweenLinkedBodies);
constraint.Simulation = this;
}
void CreateGeneric6DoFConstraint()
{
cubeRigidBody.LinearFactor = Vector3.Zero;
cubeRigidBody.AngularFactor = Vector3.Zero;
sphereRigidBody.LinearFactor = new Vector3(1, 1, 1);
sphereRigidBody.AngularFactor = new Vector3(1, 1, 1);
currentConstraint = Simulation.CreateConstraint(ConstraintTypes.Generic6DoF, cubeRigidBody, sphereRigidBody,
Matrix.Identity, Matrix.Translation(new Vector3(4, 0, 0)));
simulation.AddConstraint(currentConstraint);
constraintNameBlock.Text = "Generic 6D of Freedom";
sphereRigidBody.ApplyImpulse(new Vector3(0, 0, 18));
}
void CreateConeTwistConstraint()
{
cubeRigidBody.LinearFactor = Vector3.Zero;
cubeRigidBody.AngularFactor = Vector3.Zero;
sphereRigidBody.LinearFactor = new Vector3(1, 1, 1);
sphereRigidBody.AngularFactor = new Vector3(1, 1, 1);
currentConstraint = Simulation.CreateConstraint(ConstraintTypes.ConeTwist, cubeRigidBody, sphereRigidBody,
Matrix.Identity, Matrix.Translation(new Vector3(4, 0, 0)));
simulation.AddConstraint(currentConstraint);
constraintNameBlock.Text = "Cone Twist";
var coneTwist = (ConeTwistConstraint)currentConstraint;
coneTwist.SetLimit(0.5f, 0.5f, 0.5f);
//applying this impulse will show the cone limits
sphereRigidBody.ApplyImpulse(new Vector3(0, 0, 18));
}
void CreateSliderConstraint()
{
cubeRigidBody.LinearFactor = Vector3.Zero;
cubeRigidBody.AngularFactor = Vector3.Zero;
sphereRigidBody.LinearFactor = new Vector3(1, 1, 1);
sphereRigidBody.AngularFactor = new Vector3(1, 1, 1);
currentConstraint = Simulation.CreateConstraint(ConstraintTypes.Slider, cubeRigidBody, sphereRigidBody, Matrix.Identity, Matrix.Identity, true);
simulation.AddConstraint(currentConstraint);
constraintNameBlock.Text = "Slider";
var slider = (SliderConstraint)currentConstraint;
slider.LowerLinearLimit = -4;
slider.UpperLinearLimit = 0;
//avoid strange movements
slider.LowerAngularLimit = (float)-Math.PI / 3.0f;
slider.UpperAngularLimit = (float)Math.PI / 3.0f;
//applying this impulse will let the sphere reach the lower linear limit and afterwards will be dragged back towards the cube
sphereRigidBody.ApplyImpulse(new Vector3(-25, 0, 0));
}
void CreateGearConstraint()
{
cubeRigidBody.LinearFactor = Vector3.Zero;
cubeRigidBody.AngularFactor = new Vector3(1, 1, 1);
sphereRigidBody.LinearFactor = Vector3.Zero;
sphereRigidBody.AngularFactor = new Vector3(1, 1, 1);
currentConstraint = Simulation.CreateConstraint(ConstraintTypes.Gear, sphereRigidBody, cubeRigidBody,
Matrix.Translation(new Vector3(1, 0, 0)), Matrix.Translation(new Vector3(1, 0, 0)));
simulation.AddConstraint(currentConstraint);
constraintNameBlock.Text = "Gear";
var gear = (GearConstraint) currentConstraint;
gear.Ratio = 0.5f;
//this force will start a motion in the sphere which gets propagated into the cube
sphereRigidBody.AngularVelocity = new Vector3(25, 0 ,0);
}
void CreateHingeConstraint()
{
cubeRigidBody.LinearFactor = Vector3.Zero;
cubeRigidBody.AngularFactor = Vector3.Zero;
sphereRigidBody.LinearFactor = new Vector3(1, 1, 1);
sphereRigidBody.AngularFactor = new Vector3(1, 1, 1);
currentConstraint = Simulation.CreateConstraint(ConstraintTypes.Hinge, cubeRigidBody, sphereRigidBody,
Matrix.Identity, Matrix.Translation(new Vector3(4, 0, 0)));
simulation.AddConstraint(currentConstraint);
constraintNameBlock.Text = "Hinge";
//applying this impulse will show the hinge limits stopping it
sphereRigidBody.ApplyImpulse(new Vector3(0, 0, 18));
}