public ISphericalJoint Create(SphericalJointDescriptor descriptor)
{
var constraint = new DigitalRuneSphericalJoint(descriptor);
_simulator._wrappedSimulation.Constraints.Add(constraint.WrappedSphericalJoint);
return(constraint);
}
internal SphericalJoint(PhysXSimulator simulator, SphericalJointDescriptor descriptor)
{
Actor wrappedActorA = ((RigidBody)descriptor.RigidBodyA).WrappedActor;
if (!wrappedActorA.IsDynamic)
{
var vector4 = GMath.mul(new Vector4(descriptor.AnchorPositionALocal, 1), descriptor.RigidBodyA.Pose);
descriptor.AnchorPositionALocal = new Vector3(vector4.X, vector4.Y, vector4.Z);
wrappedActorA = null;
}
Actor wrappedActorB = ((RigidBody)descriptor.RigidBodyB).WrappedActor;
if (!wrappedActorB.IsDynamic)
{
var vector4 = GMath.mul(new Vector4(descriptor.AnchorPositionBLocal, 1), descriptor.RigidBodyB.Pose);
descriptor.AnchorPositionBLocal = new Vector3(vector4.X, vector4.Y, vector4.Z);
wrappedActorB = null;
}
var sphericalJointDescription = new SphericalJointDescription
{
Actor1 = wrappedActorA,
Actor2 = wrappedActorB,
LocalAnchor1 = descriptor.AnchorPositionALocal.ToPhysX(),
LocalAnchor2 = descriptor.AnchorPositionBLocal.ToPhysX(),
JointFlags = JointFlag.CollisionEnabled
};
_wrappedSphericalJoint = (PX.SphericalJoint)simulator._wrappedScene.CreateJoint(sphericalJointDescription);
_rigidBodyA = descriptor.RigidBodyA;
_rigidBodyB = descriptor.RigidBodyB;
_anchorPositionALocal = descriptor.AnchorPositionALocal;
_anchorPositionBLocal = descriptor.AnchorPositionBLocal;
UserData = descriptor.UserData;
}
internal DigitalRuneSphericalJoint(SphericalJointDescriptor descriptor)
{
WrappedSphericalJoint = new BallJoint();
#region set RigidBodies
if (!(descriptor.RigidBodyA is RigidBody))
{
throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody)));
}
WrappedSphericalJoint.BodyA = ((RigidBody)descriptor.RigidBodyA).WrappedRigidBody;
_rigidBodyA = descriptor.RigidBodyA;
if (!(descriptor.RigidBodyB is RigidBody))
{
throw new ArgumentException("The type of the property 'RigidBodyB' must be 'System.Physics.DigitalRune.RigidBody'.");
}
WrappedSphericalJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody;
_rigidBodyB = descriptor.RigidBodyB;
#endregion
WrappedSphericalJoint.AnchorPositionALocal = descriptor.AnchorPositionALocal.ToDigitalRune();
WrappedSphericalJoint.AnchorPositionBLocal = descriptor.AnchorPositionBLocal.ToDigitalRune();
Descriptor = descriptor;
}
public DefaultSphericalJoint(SphericalJointDescriptor descriptor)
{
Descriptor = descriptor;
}
public static ISphericalJoint CreateSphericalJoint(this IFactory <IConstraint> factory,
SphericalJointDescriptor descriptor)
{
return(factory.Create <ISphericalJoint, SphericalJointDescriptor>(descriptor));
}
ISphericalJoint IFactoryOf <ISphericalJoint, SphericalJointDescriptor> .Create(SphericalJointDescriptor descriptor)
{
return(new SphericalJoint(_simulator, descriptor));
}