public IObservable <JointFeedback> Process(IObservable <Joint> source)
{
return(source.Select(joint =>
{
var feedback = new JointFeedback();
joint.Feedback = feedback;
return feedback;
}));
}
public void JointFeedback_ApplyBodyForce_ReadNonZeroFeedback()
{
const dReal StepSize = (dReal)0.1;
using (var body1 = new Body(world))
using (var body2 = new Body(world))
using (var joint = new Ball(world))
{
body1.Position = new Vector3(1, 0, 0);
body2.Position = new Vector3(0, 1, 0);
joint.Attach(body1, body2);
var feedback = new JointFeedback();
joint.Feedback = feedback;
world.QuickStep(StepSize);
Assert.AreEqual(Vector3.Zero, joint.Feedback.ForceOnBody1);
body1.AddForce(new Vector3(0, 0, 1));
world.QuickStep(StepSize);
Assert.AreNotEqual(Vector3.Zero, joint.Feedback.ForceOnBody1);
}
}
public static extern void JointSetFeedback(IntPtr j, out JointFeedback feedback);