dgHingeConstraint* dgWorld::CreateHingeConstraint (
const dgVector& pivot,
const dgVector& pinDir,
dgBody* const body0,
dgBody* const body1)
{
dgAssert (body0);
dgAssert (body0 != body1);
dgHingeConstraint* const constraint = new (m_allocator) dgHingeConstraint;
AttachConstraint (constraint, body0, body1);
constraint->SetPivotAndPinDir (pivot, pinDir, constraint->m_localMatrix0, constraint->m_localMatrix1);
return constraint;
}
dgBallConstraint* dgWorld::CreateBallConstraint (
const dgVector& pivot,
dgBody* const body0,
dgBody* const body1)
{
dgAssert (body0);
dgAssert (body0 != body1);
dgBallConstraint* const constraint = new (m_allocator) dgBallConstraint;
AttachConstraint (constraint, body0, body1);
constraint->SetPivotPoint (pivot);
return constraint;
}
dgCorkscrewConstraint* dgWorld::CreateCorkscrewConstraint (
const dgVector& pivot,
const dgVector& pinDir,
dgBody* const body0,
dgBody* const body1)
{
dgAssert (body0);
dgAssert (body0 != body1);
dgCorkscrewConstraint* const constraint = new (m_allocator) dgCorkscrewConstraint;
AttachConstraint (constraint, body0, body1);
constraint->SetPivotAndPinDir (pivot, pinDir);
return constraint;
}
dgUniversalConstraint* dgWorld::CreateUniversalConstraint (
const dgVector& pivot,
const dgVector& pin0,
const dgVector& pin1,
dgBody* const body0,
dgBody* const body1)
{
dgAssert (body0);
dgAssert (body0 != body1);
dgUniversalConstraint* const constraint = new (m_allocator) dgUniversalConstraint;
AttachConstraint (constraint, body0, body1);
constraint->SetPivotAndPinDir(pivot, pin0, pin1);
return constraint;
}
dgBallConstraint* dgWorld::CreateBallConstraint (
const dgVector& pivot,
dgBody* const body0,
dgBody* const body1)
{
dgBallConstraint *constraint;
_ASSERTE (body0);
_ASSERTE (body0 != body1);
// constraint = dgBallConstraint::Create(this);
constraint = new (m_allocator) dgBallConstraint;
AttachConstraint (constraint, body0, body1);
constraint->SetPivotPoint (pivot);
return constraint;
}
dgSlidingConstraint* dgWorld::CreateSlidingConstraint (
const dgVector& pivot,
const dgVector& pinDir,
dgBody* const body0,
dgBody* const body1)
{
dgSlidingConstraint *constraint;
_ASSERTE (body0);
_ASSERTE (body0 != body1);
// constraint = dgSlidingConstraint::Create(this);
constraint = new (m_allocator) dgSlidingConstraint;
AttachConstraint (constraint, body0, body1);
constraint->SetPivotAndPinDir (pivot, pinDir);
return constraint;
}
