/// <summary>
/// Adds the hinge constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="pivotInA">The pivot in a.</param>
/// <param name="axisInA">The axis in a.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA, float3 axisInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btHingeConstraint = new HingeConstraint(btRigidBodyA, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(axisInA.x, axisInA.y, axisInA.z), useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
/*//TODO: What about inheritance problems -> should return any constraint type
* public IPoint2PointConstraintImp GetConstraint(int i)
* {
* return (Point2PointConstraintImp)BtWorld.GetConstraint(0).UserObject;
* }*/
//HingeConstraint
/// <summary>
/// Adds the hinge constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="frameInA">The frame in a.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFframeInA = Translator.Float4X4ToBtMatrix(frameInA);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btFframeInA, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}