public void addElement(String name, Wheel Element)
{
D6JointDescription jointDesc = null;
if (name == "Cylindrical")
{
jointDesc = new D6JointDescription();
jointDesc.Actor1 = this.actor;
jointDesc.Actor2 = Element.actor;
jointDesc.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 0));
//jointDesc.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(1, 0, 0));
jointDesc.TwistMotion = D6JointMotion.Locked;
jointDesc.Swing1Motion = D6JointMotion.Locked;
jointDesc.Swing2Motion = D6JointMotion.Locked;
jointDesc.XMotion = D6JointMotion.Free;
jointDesc.YMotion = D6JointMotion.Free;
jointDesc.ZMotion = D6JointMotion.Free;
jointDesc.ProjectionMode = JointProjectionMode.None;
}
//D6Joint joint = game.scene.CreateJoint(jointDesc) as D6Joint;
//joint.SetDriveAngularVelocity(new StillDesign.PhysX.MathPrimitives.Vector3(0,0,0));
MotorDescription motorDesc = new MotorDescription();
motorDesc.MaximumForce = 200;
motorDesc.VelocityTarget = 0;
motorDesc.FreeSpinEnabled = false;
//joint.Motor = motorDesc;
//joint.BreakableMaxTorque = 100;
//Element.shape = this.actor.CreateShape(Element.shapeDesc) as WheelShape;
//elements.Add(Element);
}
public void ReleaseJoint()
{
using( CreateCoreAndScene() )
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
actorA = this.Scene.CreateActor( actorDesc );
}
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 2, 5, 7 ) }
};
actorB = this.Scene.CreateActor( actorDesc );
}
D6JointDescription d6JointDesc = new D6JointDescription()
{
Actor1 = actorA,
Actor2 = actorB
};
d6JointDesc.SetGlobalAnchor( new Vector3( 5, 6, 7 ) );
d6JointDesc.SetGlobalAxis( new Vector3( 0, 0, 1 ) );
D6Joint d6 = this.Scene.CreateJoint( d6JointDesc ) as D6Joint;
d6.Dispose();
}
}
public void ReleaseJoint()
{
using (CreateCoreAndScene())
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(20),
Shapes = { new BoxShapeDescription(5, 6, 7) }
};
actorA = this.Scene.CreateActor(actorDesc);
}
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(20),
Shapes = { new BoxShapeDescription(2, 5, 7) }
};
actorB = this.Scene.CreateActor(actorDesc);
}
D6JointDescription d6JointDesc = new D6JointDescription()
{
Actor1 = actorA,
Actor2 = actorB
};
d6JointDesc.SetGlobalAnchor(new Vector3(5, 6, 7));
d6JointDesc.SetGlobalAxis(new Vector3(0, 0, 1));
D6Joint d6 = this.Scene.CreateJoint(d6JointDesc) as D6Joint;
d6.Dispose();
}
}
public SLJoint(
SLAct actorA, SLAct actorB, float anchor_x, float anchor_y, float anchor_z, float axis_x, float axis_y, float axis_z)
{
Vector3 anchor = new Vector3(anchor_x, anchor_y, anchor_z);
Vector3 axis = new Vector3(axis_x, axis_y, axis_z);
act_anc = anchor;
d6JointDesc = new StillDesign.PhysX.D6JointDescription();
d6JointDesc.SetToDefault();
d6JointDesc.Actor1 = actorA != null ? actorA.actor : null;
d6JointDesc.Actor2 = actorB != null ? actorB.actor : null;
d6JointDesc.DriveLinearVelocity = new Vector3(0, 0, 0);
// グローバル座標でのアンカーの場所
d6JointDesc.SetGlobalAnchor(anchor);
// グローバル座標での回転軸
d6JointDesc.SetGlobalAxis(axis);
// 回転方向の制約
d6JointDesc.TwistMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.Swing1Motion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.Swing2Motion = StillDesign.PhysX.D6JointMotion.Locked;
// 移動方向の制約
d6JointDesc.XMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.YMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.ZMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.ProjectionMode = StillDesign.PhysX.JointProjectionMode.None;
act1 = actorA;
act2 = actorB;
}