/// <summary>
///
/// </summary>
/// <param name="pWorld"></param>
/// <param name="pBody1"></param>
/// <param name="pBody2"></param>
/// <param name="pjoinPoint"></param>
/// <param name="puseLinearReferenceFrameA"></param>
/// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
/// <returns></returns>
public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
IndexedMatrix mat = IndexedMatrix.Identity;
mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
consttr.CalculateTransforms();
world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
return new BulletConstraintXNA(consttr);
}
/// <summary>
///
/// </summary>
/// <param name="pWorld"></param>
/// <param name="pBody1"></param>
/// <param name="pBody2"></param>
/// <param name="pjoinPoint"></param>
/// <param name="puseLinearReferenceFrameA"></param>
/// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
/// <returns></returns>
internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
RigidBody body1 = pBody1 as RigidBody;
RigidBody body2 = pBody2 as RigidBody;
IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
IndexedMatrix mat = IndexedMatrix.Identity;
mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
consttr.CalculateTransforms();
world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
return consttr;
}
public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1,
Vector3 pframe1, Quaternion pframe1rot,
bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB);
consttr.CalculateTransforms();
world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
return new BulletConstraintXNA(consttr);
}
//BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
RigidBody body1 = pBody1 as RigidBody;
RigidBody body2 = pBody2 as RigidBody;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
puseLinearReferenceFrameA);
consttr.CalculateTransforms();
world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
return consttr;
}
