public static void DebugDrawConstraint(TypedConstraint constraint, IDebugDraw debugDraw) { bool drawFrames = (debugDraw.GetDebugMode() & DebugDrawModes.DBG_DrawConstraints) != 0; bool drawLimits = (debugDraw.GetDebugMode() & DebugDrawModes.DBG_DrawConstraintLimits) != 0; float dbgDrawSize = constraint.GetDbgDrawSize(); if (dbgDrawSize <= 0f) { return; } switch (constraint.GetConstraintType()) { case TypedConstraintType.POINT2POINT_CONSTRAINT_TYPE: { Point2PointConstraint p2pC = constraint as Point2PointConstraint; IndexedMatrix tr = IndexedMatrix.Identity; IndexedVector3 pivot = p2pC.GetPivotInA(); pivot = p2pC.GetRigidBodyA().GetCenterOfMassTransform() * pivot; tr._origin = pivot; debugDraw.DrawTransform(ref tr, dbgDrawSize); // that ideally should draw the same frame pivot = p2pC.GetPivotInB(); pivot = p2pC.GetRigidBodyB().GetCenterOfMassTransform() * pivot; tr._origin = pivot; if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } } break; case TypedConstraintType.HINGE_CONSTRAINT_TYPE: { HingeConstraint pHinge = constraint as HingeConstraint; IndexedMatrix tr = pHinge.GetRigidBodyA().GetCenterOfMassTransform() * pHinge.GetAFrame(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } tr = pHinge.GetRigidBodyB().GetCenterOfMassTransform() * pHinge.GetBFrame(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } float minAng = pHinge.GetLowerLimit(); float maxAng = pHinge.GetUpperLimit(); if (minAng == maxAng) { break; } bool drawSect = true; if (minAng > maxAng) { minAng = 0f; maxAng = MathUtil.SIMD_2_PI; drawSect = false; } if (drawLimits) { IndexedVector3 center = tr._origin; IndexedVector3 normal = tr._basis.GetColumn(2); IndexedVector3 axis = tr._basis.GetColumn(0); IndexedVector3 zero = IndexedVector3.Zero; debugDraw.DrawArc(ref center, ref normal, ref axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, ref zero, drawSect); } } break; case TypedConstraintType.CONETWIST_CONSTRAINT_TYPE: { ConeTwistConstraint pCT = constraint as ConeTwistConstraint; IndexedMatrix tr = pCT.GetRigidBodyA().GetCenterOfMassTransform() * pCT.GetAFrame(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } tr = pCT.GetRigidBodyB().GetCenterOfMassTransform() * pCT.GetBFrame(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } IndexedVector3 zero = IndexedVector3.Zero; if (drawLimits) { //const float length = float(5); float length = dbgDrawSize; const int nSegments = 8 * 4; float fAngleInRadians = MathUtil.SIMD_2_PI * (float)(nSegments - 1) / (float)nSegments; IndexedVector3 pPrev = pCT.GetPointForAngle(fAngleInRadians, length); pPrev = tr * pPrev; for (int i = 0; i < nSegments; i++) { fAngleInRadians = MathUtil.SIMD_2_PI * (float)i / (float)nSegments; IndexedVector3 pCur = pCT.GetPointForAngle(fAngleInRadians, length); pCur = tr * pCur; debugDraw.DrawLine(ref pPrev, ref pCur, ref zero); if (i % (nSegments / 8) == 0) { IndexedVector3 origin = tr._origin; debugDraw.DrawLine(ref origin, ref pCur, ref zero); } pPrev = pCur; } float tws = pCT.GetTwistSpan(); float twa = pCT.GetTwistAngle(); bool useFrameB = (pCT.GetRigidBodyB().GetInvMass() > 0f); if (useFrameB) { tr = pCT.GetRigidBodyB().GetCenterOfMassTransform() * pCT.GetBFrame(); } else { tr = pCT.GetRigidBodyA().GetCenterOfMassTransform() * pCT.GetAFrame(); } IndexedVector3 pivot = tr._origin; IndexedVector3 normal = tr._basis.GetColumn(0); IndexedVector3 axis = tr._basis.GetColumn(1); debugDraw.DrawArc(ref pivot, ref normal, ref axis, dbgDrawSize, dbgDrawSize, -twa - tws, -twa + tws, ref zero, true); } } break; case TypedConstraintType.D6_CONSTRAINT_TYPE: case TypedConstraintType.D6_SPRING_CONSTRAINT_TYPE: { Generic6DofConstraint p6DOF = constraint as Generic6DofConstraint; IndexedMatrix tr = p6DOF.GetCalculatedTransformA(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } tr = p6DOF.GetCalculatedTransformB(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } IndexedVector3 zero = IndexedVector3.Zero; if (drawLimits) { tr = p6DOF.GetCalculatedTransformA(); IndexedVector3 center = p6DOF.GetCalculatedTransformB()._origin; // up is axis 1 not 2 ? IndexedVector3 up = tr._basis.GetColumn(1); IndexedVector3 axis = tr._basis.GetColumn(0); float minTh = p6DOF.GetRotationalLimitMotor(1).m_loLimit; float maxTh = p6DOF.GetRotationalLimitMotor(1).m_hiLimit; float minPs = p6DOF.GetRotationalLimitMotor(2).m_loLimit; float maxPs = p6DOF.GetRotationalLimitMotor(2).m_hiLimit; debugDraw.DrawSpherePatch(ref center, ref up, ref axis, dbgDrawSize * .9f, minTh, maxTh, minPs, maxPs, ref zero); axis = tr._basis.GetColumn(1); float ay = p6DOF.GetAngle(1); float az = p6DOF.GetAngle(2); float cy = (float)Math.Cos(ay); float sy = (float)Math.Sin(ay); float cz = (float)Math.Cos(az); float sz = (float)Math.Sin(az); IndexedVector3 ref1 = new IndexedVector3( cy * cz * axis.X + cy * sz * axis.Y - sy * axis.Z, -sz * axis.X + cz * axis.Y, cz * sy * axis.X + sz * sy * axis.Y + cy * axis.Z); tr = p6DOF.GetCalculatedTransformB(); IndexedVector3 normal = -tr._basis.GetColumn(0); float minFi = p6DOF.GetRotationalLimitMotor(0).m_loLimit; float maxFi = p6DOF.GetRotationalLimitMotor(0).m_hiLimit; if (minFi > maxFi) { debugDraw.DrawArc(ref center, ref normal, ref ref1, dbgDrawSize, dbgDrawSize, -MathUtil.SIMD_PI, MathUtil.SIMD_PI, ref zero, false); } else if (minFi < maxFi) { debugDraw.DrawArc(ref center, ref normal, ref ref1, dbgDrawSize, dbgDrawSize, minFi, maxFi, ref zero, false); } tr = p6DOF.GetCalculatedTransformA(); IndexedVector3 bbMin = p6DOF.GetTranslationalLimitMotor().m_lowerLimit; IndexedVector3 bbMax = p6DOF.GetTranslationalLimitMotor().m_upperLimit; debugDraw.DrawBox(ref bbMin, ref bbMax, ref tr, ref zero); } } break; case TypedConstraintType.SLIDER_CONSTRAINT_TYPE: { SliderConstraint pSlider = constraint as SliderConstraint; IndexedMatrix tr = pSlider.GetCalculatedTransformA(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } tr = pSlider.GetCalculatedTransformB(); if (drawFrames) { debugDraw.DrawTransform(ref tr, dbgDrawSize); } IndexedVector3 zero = IndexedVector3.Zero; if (drawLimits) { IndexedMatrix tr2 = pSlider.GetCalculatedTransformA(); IndexedVector3 li_min = tr2 * new IndexedVector3(pSlider.GetLowerLinLimit(), 0f, 0f); IndexedVector3 li_max = tr2 * new IndexedVector3(pSlider.GetUpperLinLimit(), 0f, 0f); debugDraw.DrawLine(ref li_min, ref li_max, ref zero); IndexedVector3 normal = tr._basis.GetColumn(0); IndexedVector3 axis = tr._basis.GetColumn(1); float a_min = pSlider.GetLowerAngLimit(); float a_max = pSlider.GetUpperAngLimit(); IndexedVector3 center = pSlider.GetCalculatedTransformB()._origin; debugDraw.DrawArc(ref center, ref normal, ref axis, dbgDrawSize, dbgDrawSize, a_min, a_max, ref zero, true); } } break; default: break; } return; }
public override void InitializeDemo() { m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000); m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); m_dynamicsWorld.SetDebugDrawer(m_debugDraw); SetCameraDistance(26f); //CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f)); CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.Identity; groundTransform._origin = new IndexedVector3(0, -56, 0); RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape); CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS)); m_collisionShapes.Add(shape); IndexedMatrix trans = IndexedMatrix.Identity; trans._origin = new IndexedVector3(0, 20, 0); float mass = 1f; #if true //point to point constraint (ball socket) //SEEMS OK { RigidBody body0 = LocalCreateRigidBody(mass, ref trans, shape); trans._origin = new IndexedVector3(2 * CUBE_HALF_EXTENTS, 20, 0); mass = 1f; RigidBody body1 = null; //localCreateRigidBody( mass,trans,shape); IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS); IndexedVector3 axisInA = new IndexedVector3(0, 0, 1); IndexedVector3 pivotInB = body1 != null?body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA; IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis *axisInA)) : body0.GetCenterOfMassTransform()._basis *axisInA; HingeConstraint hinge = new HingeConstraint(body0, ref pivotInA, ref axisInA, false); float targetVelocity = 1f; float maxMotorImpulse = 1.0f; hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse); m_dynamicsWorld.AddConstraint(hinge); //p2p); hinge.SetDbgDrawSize(5f); } #endif #if true //create a slider, using the generic D6 constraint // SEEMS OK { mass = 1f; IndexedVector3 sliderWorldPos = new IndexedVector3(0, 10, 0); IndexedVector3 sliderAxis = new IndexedVector3(1, 0, 0); float angle = 0f;//SIMD_RADS_PER_DEG * 10.f; IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(Quaternion.CreateFromAxisAngle(sliderAxis.ToVector3(), angle)); trans = IndexedMatrix.Identity; trans._origin = sliderWorldPos; //trans.setBasis(sliderOrientation); sliderTransform = trans; d6body0 = LocalCreateRigidBody(mass, ref trans, shape); d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION); RigidBody fixedBody1 = LocalCreateRigidBody(0, ref trans, null); m_dynamicsWorld.AddRigidBody(fixedBody1); IndexedMatrix frameInA, frameInB; frameInA = IndexedMatrix.Identity; frameInB = IndexedMatrix.Identity; frameInA._origin = new IndexedVector3(0, 5, 0); frameInB._origin = new IndexedVector3(0, 5, 0); // bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, ref frameInA, ref frameInB, useLinearReferenceFrameA); spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit); spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit); //range should be small, otherwise singularities will 'explode' the constraint IndexedVector3 angularLower = new IndexedVector3(-1.5f, 0, 0); IndexedVector3 angularUpper = -angularLower; spSlider6Dof.SetAngularLowerLimit(ref angularLower); spSlider6Dof.SetAngularUpperLimit(ref angularUpper); // slider.setAngularLowerLimit(IndexedVector3(0,0,0)); // slider.setAngularUpperLimit(IndexedVector3(0,0,0)); spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true; spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f; spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f; m_dynamicsWorld.AddConstraint(spSlider6Dof); spSlider6Dof.SetDbgDrawSize(5f); } #endif #if true { // create a door using hinge constraint attached to the world CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f)); m_collisionShapes.Add(pDoorShape); IndexedMatrix doorTrans = IndexedMatrix.Identity; doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f); RigidBody pDoorBody = LocalCreateRigidBody(1.0f, ref doorTrans, pDoorShape); pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedVector3 btPivotA = new IndexedVector3(10f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside IndexedVector3 btAxisA = new IndexedVector3(0.0f, 1.0f, 0.0f); // pointing upwards, aka Y-axis spDoorHinge = new HingeConstraint(pDoorBody, ref btPivotA, ref btAxisA, false); spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f); m_dynamicsWorld.AddConstraint(spDoorHinge); spDoorHinge.SetDbgDrawSize(5.0f); } #endif #if true { // create a generic 6DOF constraint // SEEMS OK - But debug draw a bit wrong? IndexedMatrix tr = IndexedMatrix.Identity; tr._origin = new IndexedVector3(10f, 6f, 0f); //tr.getBasis().setEulerZYX(0,0,0); // RigidBody pBodyA = localCreateRigidBody( mass, tr, shape); RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape); // RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); tr = IndexedMatrix.Identity; tr._origin = new IndexedVector3(0f, 6f, 0f); //tr.getBasis().setEulerZYX(0,0,0); RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameInA, frameInB; frameInA = IndexedMatrix.CreateTranslation(-5, 0, 0); frameInB = IndexedMatrix.CreateTranslation(5, 0, 0); Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true); // btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false); IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1); pGen6DOF.SetLinearLowerLimit(ref linearLower); IndexedVector3 linearUpper = new IndexedVector3(10, 2, 1); pGen6DOF.SetLinearUpperLimit(ref linearUpper); // ? why again? //linearLower = new IndexedVector3(-10,0,0); //pGen6DOF.setLinearLowerLimit(ref linearLower); // pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.)); // pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.)); // pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.)); // pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true; // pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f; // pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f; // pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI)); IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f); IndexedVector3 angularUpper = -angularLower; pGen6DOF.SetAngularLowerLimit(ref angularLower); pGen6DOF.SetAngularUpperLimit(ref angularUpper); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.)); m_dynamicsWorld.AddConstraint(pGen6DOF, true); pGen6DOF.SetDbgDrawSize(5.0f); } #endif #if true { // create a ConeTwist constraint IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10, 5, 0); RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); tr = IndexedMatrix.CreateTranslation(-10, -5, 0); RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape); IndexedMatrix frameInA, frameInB; frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); frameInA._origin = new IndexedVector3(0, -5, 0); frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); frameInB._origin = new IndexedVector3(0, 5, 0); ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB); pCT.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 1.0f, 0.3f, 1.0f); // soft limit == hard limit m_dynamicsWorld.AddConstraint(pCT, true); pCT.SetDbgDrawSize(5.0f); } #endif #if true { // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver) // WORKS OK IndexedMatrix tr = IndexedMatrix.Identity; RigidBody pBody = LocalCreateRigidBody(1.0f, ref tr, shape); pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedVector3 btPivotA = new IndexedVector3(10.0f, 0.0f, 0.0f); IndexedVector3 btAxisA = new IndexedVector3(0.0f, 0.0f, 1.0f); HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA, false); // pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver m_dynamicsWorld.AddConstraint(pHinge); pHinge.SetDbgDrawSize(5.0f); } #endif #if true { // WORKS OK // create a universal joint using generic 6DOF constraint // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(20, 4, 0); RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB (child) below it : tr = IndexedMatrix.CreateTranslation(20, 0, 0); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some (arbitrary) data to build constraint frames IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f); IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f); IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f); UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis); pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f); pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(pUniv, true); // draw constraint frames and limits for debugging pUniv.SetDbgDrawSize(5.0f); } #endif #if true // WORKS OK { // create a generic 6DOF constraint with springs IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 16f, 0f); //tr.setIdentity(); //tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.))); //tr.getBasis().setEulerZYX(0,0,0); RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); //tr.setIdentity(); //tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.))); //tr.getBasis().setEulerZYX(0,0,0); tr = IndexedMatrix.CreateTranslation(-10, 16, 0); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f, 0f, 0f); IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f, 0f, 0f); Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true); pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f)); pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f)); pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f)); pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f)); m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true); pGen6DOFSpring.SetDbgDrawSize(5.0f); pGen6DOFSpring.EnableSpring(0, true); pGen6DOFSpring.SetStiffness(0, 39.478f); pGen6DOFSpring.SetDamping(0, 0.5f); pGen6DOFSpring.EnableSpring(5, true); pGen6DOFSpring.SetStiffness(5, 39.478f); pGen6DOFSpring.SetDamping(0, 0.3f); pGen6DOFSpring.SetEquilibriumPoint(); } #endif #if true { // WORKS OK // create a Hinge2 joint // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 4f, 0f); RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB (child) below it : tr = IndexedMatrix.CreateTranslation(-20f, 0f, 0f); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some data to build constraint frames IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f); IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f); Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis); pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f); pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(pHinge2, true); // draw constraint frames and limits for debugging pHinge2.SetDbgDrawSize(5.0f); } #endif #if true { // WORKS OK // create a Hinge joint between two dynamic bodies // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, -2f, 0f); RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB: tr = IndexedMatrix.CreateTranslation(-30f, -2f, 0f); RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some data to build constraint frames IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f); IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f); spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB); spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(spHingeDynAB, true); // draw constraint frames and limits for debugging spHingeDynAB.SetDbgDrawSize(5.0f); } #endif }