public abstract bool SetFrames(BulletConstraint constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetUseFrameOffset((onOff == 0) ? false : true);
return true;
}
public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations);
//SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetBreakingImpulseThreshold(threshold);
return true;
}
//SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot,
Vector3 pframe2, Quaternion pframe2rot)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
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;
// 20131224 not used 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;
constraint.SetFrames(ref frame1, ref frame2);
return true;
}
public abstract bool CalculateTransforms(BulletConstraint constrain);
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value,
ConstraintParamAxis axis);
public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel,
float maxMotorForce);
public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
public abstract bool SetFrames(BulletConstraint constrain,
Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot);
public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce);
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public override bool HasAnisotripicFriction(BulletConstraint pconstrain)
{
/* TODO */
return false;
}
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain,
bool disableCollisionsBetweenLinkedObjects);
public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetOverrideNumSolverIterations((int)cnt);
}
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity,
float maxMotorForce)
{
TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
bool onOff = ponOff != 0;
bool ret = false;
switch (tconstrain.GetConstraintType())
{
case TypedConstraintType.D6_CONSTRAINT_TYPE:
Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
ret = true;
break;
}
return ret;
}
// ===================================================================================== // btCollisionObject entries public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
public override bool CalculateTransforms(BulletConstraint pConstraint)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.CalculateTransforms();
return true;
}
public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict);
public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi);
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public abstract bool UseFrameOffset(BulletConstraint constrain, float enable);
public abstract bool CalculateTransforms(BulletConstraint constrain);
public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict)
{
/* TODO */
return Vector3.Zero;
}
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetEnabled((p_2 == 0) ? false : true);
}
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
//m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex,
float paramvalue, ConstraintParamAxis axis)
{
Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 0);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 1);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 2);
}
if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
}
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
}
return true;
}
// ===================================================================================== // btCollisionObject entries public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain);
public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
constraint.SetLinearLowerLimit(lowlimit);
constraint.SetLinearUpperLimit(highlimit);
return true;
}
public abstract bool HasAnisotripicFriction(BulletConstraint constrain);
public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
body.AddConstraintRef(constrain);
}
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint,
bool pDisableCollisionsBetweenLinkedObjects)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
return true;
}
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.RemoveConstraint(constraint);
return true;
}
public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse);
