public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
pivotInA, pivotInB,
axisInA, axisInB,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
}
public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
pivotInA, pivotInB,
axisInA, axisInB,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
}
// Create a btGeneric6DofConstraint
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
frame1, frame1rot,
frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
}
// Create a btGeneric6DofConstraint
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
frame1, frame1rot,
frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
}
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
{
world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
m_enabled = false;
}
else
{
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
if (m_constraint.ptr == IntPtr.Zero)
{
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
}
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
{
world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
m_enabled = false;
}
else
{
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
if (m_constraint.ptr == IntPtr.Zero)
{
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
}
public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val);
public abstract bool SetFrames(BulletConstraint constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation);
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
{
TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
bool onOff = ponOff != 0;
bool ret = false;
switch (tconstrain.GetConstraintType())
{
case TypedConstraintType.D6_CONSTRAINT_TYPE:
Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
ret = true;
break;
}
return ret;
}
public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
constraint.SetLinearLowerLimit(lowlimit);
constraint.SetLinearUpperLimit(highlimit);
return true;
}
//SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
// 20131224 not used IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
constraint.SetFrames(ref frame1, ref frame2);
return true;
}
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetUseFrameOffset((onOff == 0) ? false : true);
return true;
}
// ===================================================================================== // btCollisionObject entries public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
body.AddConstraintRef(constrain);
}
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
return true;
}
public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
public override bool CalculateTransforms(BulletConstraint pConstraint)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.CalculateTransforms();
return true;
}
public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val);
public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.RemoveConstraint(constraint);
return true;
}
public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
{
/* TODO */
return Vector3.Zero;
}
public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool CalculateTransforms(BulletConstraint constrain);
public abstract bool CalculateTransforms(BulletConstraint constrain);
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
// ===================================================================================== // btCollisionObject entries public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse);
public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val);
public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
public abstract bool SetFrames(BulletConstraint constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
