protected override void InitializeConstraint()
{
Matrix frameA = _rigidbody.transform.localToWorldMatrix.ToBullet();
Matrix frameB = _connectedBody.transform.localToWorldMatrix.ToBullet();
_constraint = new FixedConstraint(_rigidbody.BodyInstance, _connectedBody.BodyInstance, frameA, frameB);// TODO: Actually make this fixed
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
RigidBody rbb = (RigidBody)targetRigidBodyB.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BulletSharp.Math.Matrix frameInA = BulletSharp.Math.Matrix.Translation(localPointInA.ToBullet());
BulletSharp.Math.Matrix frameInB = BulletSharp.Math.Matrix.Translation(localPointInB.ToBullet());
constraintPtr = new FixedConstraint(rba, rbb, frameInA, frameInB);
constraintPtr.Userobject = this;
return(true);
}
//todo should be properties so can capture changes and propagate to scene
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
if (m_constraintType == ConstraintType.constrainToPointInSpace)
{
Debug.LogError("A FixedConstraint can only be constrained to another object.");
return(false);
}
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("Fixed Constraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body is not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new FixedConstraint(rbb, rba, frameInOther, frameInA);
}
else
{
Debug.LogError(errormsg);
return(false);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null && m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("Fixed Constraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body is not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
initialTransform = BM.Matrix.AffineTransformation(1f, localRotationOffset.ToBullet(), m_localConstraintPoint.ToBullet());
m_constraintPtr = new FixedConstraint(rba, rbb, BM.Matrix.Identity, initialTransform)
{
Userobject = this,
DebugDrawSize = m_debugDrawSize,
BreakingImpulseThreshold = m_breakingImpulseThreshold,
OverrideNumSolverIterations = m_overrideNumSolverIterations
};
return(true);
}
