protected virtual void OnSceneGUI()
{
BallAndSocketJoint ballAndSocket = (BallAndSocketJoint)target;
EditorGUI.BeginChangeCheck();
EditorUtilities.EditPivot(ballAndSocket.worldFromA, ballAndSocket.worldFromB, ballAndSocket.AutoSetConnected,
ref ballAndSocket.PositionLocal, ref ballAndSocket.PositionInConnectedEntity, ballAndSocket);
}
/// <summary>
/// Creates a rope-like object by connecting several ball and socket joints.
/// </summary>
/// <param name="scene"></param>
/// <param name="parentTrans"></param>
public static void AddRope(Scene scene, TransformNode parentTrans)
{
Vector3 size = new Vector3(1.5f, 0.25f, 0.25f);
Vector3 location = new Vector3(0, 9, 0);
IPhysicsObject link0 = null;
Color[] colors = { Color.Red, Color.Orange, Color.Yellow, Color.Green, Color.Blue,
Color.Indigo, Color.Violet };
PrimitiveModel capsule = new Capsule(size.Y, size.X, 12);
for (int i = 0; i < 7; i++)
{
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
Material linkMat = new Material();
linkMat.Diffuse = colors[i].ToVector4();
linkMat.Specular = Color.White.ToVector4();
linkMat.SpecularPower = 10;
GeometryNode link1 = new GeometryNode("Link " + i);
link1.Model = capsule;
link1.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
link1.Material = linkMat;
link1.AddToPhysicsEngine = true;
link1.Physics.Interactable = true;
link1.Physics.Collidable = true;
link1.Physics.Shape = ShapeType.Capsule;
link1.Physics.Mass = 2.0f;
link1.Physics.LinearDamping = 1f;
link1.Physics.AngularDamping = new Vector3(1f, 1f, 1f);
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(link1);
Vector3 pivot = location + parentTrans.Translation;
pivot.Y += (size.X - size.Y) * 0.5f;
BallAndSocketJoint joint = new BallAndSocketJoint(pivot);
joint.Pin = -Vector3.UnitY;
joint.MaxConeAngle = 0.0f;
joint.MaxTwistAngle = 10.0f * MathHelper.Pi / 180;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(link1.Physics, link0, joint);
link0 = link1.Physics;
location = new Vector3(location.X, location.Y
- (size.X - size.Y), location.Z);
}
}
private ICollisionJoint[] GetBridgeConstraints(List <ICollisionShape> shape)
{
ICollisionJoint[] constraints = new ICollisionJoint[30];
int idx = 0;
double zValue = -1.8;
double yValue = 1.2;
for (int i = 0; i < 10; i++)
{
constraints[idx] = new BallAndSocketJoint(
shape[i],
shape[i + 1],
new Vector3d(0.5, yValue, zValue),
0.9,
0.00016);
idx++;
constraints[idx] = new BallAndSocketJoint(
shape[i],
shape[i + 1],
new Vector3d(-0.5, yValue, zValue),
0.9,
0.00016);
idx++;
constraints[idx] = new AngularJoint(
shape[i],
shape[i + 1],
new Vector3d(-0.5, yValue, zValue),
new Vector3d(1.0, 0.0, 0.0),
new Vector3d(0.0, 1.0, 0.0),
0.5,
0.008,
0.008);
idx++;
zValue = -1.25;
yValue = 0.0;
}
return(constraints);
}
public ICollisionJoint[] LoadSimulationJoints(
ICollisionShape[] objects)
{
var xmlDoc = new XmlDocument();
xmlDoc.Load(FileNameObjectProperties);
XmlNodeList xmlList = xmlDoc.SelectNodes(nodePathJoints);
ICollisionJoint[] joints = new ICollisionJoint[xmlList.Count];
for (int i = 0; i < xmlList.Count; i++)
{
//Object index A
int indexA = Convert.ToInt32(xmlList[i][objectIndexAAttribute].InnerText);
//Object index B
int indexB = Convert.ToInt32(xmlList[i][objectIndexBAttribute].InnerText);
XmlNodeList jointPropertiesList = xmlList[i].SelectNodes(jointProperties);
ICollisionJoint[] joint = new ICollisionJoint[jointPropertiesList.Count];
for (int j = 0; j < jointPropertiesList.Count; j++)
{
//Joint type
var jointType = (JointType)Convert.ToInt32(jointPropertiesList[j][this.jointType].InnerText);
//Restore coefficient
double K = Convert.ToDouble(jointPropertiesList[j][restoreCoeffAttribute].InnerText);
//Stretch coefficient
double C = Convert.ToDouble(jointPropertiesList[j][stretchCoeffAttribute].InnerText);
//Position
var startAnchorPosition = new Vector3d(
Convert.ToDouble(jointPropertiesList[j][positionJointAttribute].Attributes["x"].Value),
Convert.ToDouble(jointPropertiesList[j][positionJointAttribute].Attributes["y"].Value),
Convert.ToDouble(jointPropertiesList[j][positionJointAttribute].Attributes["z"].Value));
//Action Axis
var actionAxis = new Vector3d(
Convert.ToDouble(jointPropertiesList[j][this.actionAxis].Attributes["x"].Value),
Convert.ToDouble(jointPropertiesList[j][this.actionAxis].Attributes["y"].Value),
Convert.ToDouble(jointPropertiesList[j][this.actionAxis].Attributes["z"].Value));
switch (jointType)
{
case JointType.Fixed:
joint [j] = new FixedJoint(
objects[indexA],
objects[indexB],
K,
C);
break;
case JointType.BallAndSocket:
joint[j] = new BallAndSocketJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
K,
C);
break;
case JointType.Slider:
joint[j] = new SliderJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
K,
C);
joint[j].SetLinearLimit(Convert.ToDouble(jointPropertiesList[j][linearLimitMin].InnerText), Convert.ToDouble(jointPropertiesList[j][linearLimitMax].InnerText));
break;
case JointType.Piston:
joint[j] = new PistonJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
K,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
joint[j].SetLinearLimit(
Convert.ToDouble(jointPropertiesList[j][linearLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][linearLimitMax].InnerText));
break;
case JointType.Hinge:
joint[j] = new HingeJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
K,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
joint[j].SetAxis1Motor(3.0, 0.15);
break;
case JointType.Universal:
joint[j] = new UniversalJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
new Vector3d(1.0, 0.0, 0.0),
K,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
joint[j].SetAxis2AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
break;
case JointType.Hinge2:
joint[j] = new Hinge2Joint(
objects[indexA],
objects[indexB],
startAnchorPosition,
actionAxis,
new Vector3d(1.0, 0.0, 0.0),
K,
1.0,
C);
joint[j].SetAxis1AngularLimit(
Convert.ToDouble(jointPropertiesList[j][angularLimitMin].InnerText),
Convert.ToDouble(jointPropertiesList[j][angularLimitMax].InnerText));
//joint[j].SetAxis2Motor(4.0, 3.0);
break;
case JointType.Angular:
joint[j] = new AngularJoint(
objects[indexA],
objects[indexB],
startAnchorPosition,
new Vector3d(1.0, 0.0, 0.0),
new Vector3d(0.0, 1.0, 0.0),
0.16,
0.008,
0.008);
break;
}
joints[i] = joint[j];
}
}
return(joints);
}
