BulletSim: add API and calls for spring constraint parameters.
parent
719380380a
commit
0acde92af9
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@ -596,6 +596,30 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo
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return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold);
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}
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public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse)
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{
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BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
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return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse);
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}
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public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint)
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{
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BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
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return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint);
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}
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public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss)
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{
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BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
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return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss);
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}
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public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping)
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{
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BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
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return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping);
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}
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public override bool CalculateTransforms(BulletConstraint constrain)
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{
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BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
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@ -1600,6 +1624,18 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping);
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[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
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public static extern bool CalculateTransforms2(IntPtr constrain);
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@ -752,6 +752,44 @@ private sealed class BulletConstraintXNA : BulletConstraint
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constraint.SetBreakingImpulseThreshold(threshold);
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return true;
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}
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public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
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{
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Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
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constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true));
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return true;
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}
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public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
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{
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Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
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if (index == -1)
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{
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constraint.SetEquilibriumPoint();
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}
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else
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{
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if (equilibriumPoint == -1)
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constraint.SetEquilibriumPoint(index);
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else
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constraint.SetEquilibriumPoint(index, equilibriumPoint);
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}
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return true;
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}
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public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness)
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{
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Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
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constraint.SetStiffness(index, stiffness);
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return true;
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}
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public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping)
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{
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Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
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constraint.SetDamping(index, damping);
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return true;
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}
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//BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
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public override void SetAngularDamping(BulletBody pBody, float angularDamping)
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{
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@ -441,6 +441,14 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e
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public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold);
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public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse);
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public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint);
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public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss);
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public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping);
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public abstract bool CalculateTransforms(BulletConstraint constrain);
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public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
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