public IFixedJoint Create(FixedJointDescriptor descriptor) { var constraint = new DigitalRuneFixedJoint(descriptor); _simulator._wrappedSimulation.Constraints.Add(constraint.WrappedFixedJoint); return(constraint); }
internal DigitalRuneFixedJoint(FixedJointDescriptor descriptor) { WrappedFixedJoint = new FixedJoint(); #region set RigidBodies if (!(descriptor.RigidBodyA is RigidBody)) { throw new ArgumentException(String.Format("The type of the property 'RigidBodyA' must be '{0}'.", typeof(RigidBody))); } WrappedFixedJoint.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'."); } WrappedFixedJoint.BodyB = ((RigidBody)descriptor.RigidBodyB).WrappedRigidBody; _rigidBodyB = descriptor.RigidBodyB; #endregion WrappedFixedJoint.AnchorPoseALocal = descriptor.AnchorPoseALocal.ToDigitalRune(); WrappedFixedJoint.AnchorPoseBLocal = descriptor.AnchorPoseBLocal.ToDigitalRune(); Descriptor = descriptor; }
public static IFixedJoint CreateFixedJoint(this IFactory <IConstraint> factory, FixedJointDescriptor descriptor) { return(factory.Create <IFixedJoint, FixedJointDescriptor>(descriptor)); }
public DefaultFixedJoint(FixedJointDescriptor descriptor) { Descriptor = descriptor; }