public override CollisionShape GetShape(ShapeCustomData sc)
{
var result = base.GetShape(sc);
result.CalculateLocalInertia(this.Mass);
return(result);
}
public void UpdateResource(IPluginOut ForPin, Device OnDevice)
{
if (this.FMeshes.ContainsKey(OnDevice))
{
this.FMeshes[OnDevice].Dispose();
this.FMeshes.Remove(OnDevice); // = null;
}
List <Mesh> meshes = new List <Mesh>();
if (this.FBodies.SliceCount > 0)
{
int cnt = this.FBodies.SliceCount;
for (int i = 0; i < cnt; i++)
{
RigidBody body = this.FBodies[i];
CollisionShape shape = body.CollisionShape;
ShapeCustomData sd = (ShapeCustomData)shape.UserObject;
BulletMesh m = sd.ShapeDef.GetMesh(OnDevice);
meshes.AddRange(m.Meshes);
}
this.FMeshes.Add(OnDevice, Mesh.Concatenate(OnDevice, meshes.ToArray(), MeshFlags.Use32Bit | MeshFlags.Managed));
}
}
public void Evaluate(int SpreadMax)
{
this.frameBodyOutput.Clear();
IRigidBodyContainer world = this.worldInput[0];
if (world != null)
{
this.persistedList.UpdateWorld(world);
if (this.shapesInput.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (doCreate[i])
{
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
ShapeCustomData shapeData = new ShapeCustomData();
shapeData.ShapeDef = this.shapesInput[i];
CollisionShape collisionShape = shapeData.ShapeDef.GetShape(shapeData);
Vector3 localInertia = Vector3.Zero;
Tuple<RigidBody, int> bodyCreateResult = world.CreateRigidBody(collisionShape, ref pose, ref properties, ref localInertia, 0.0f);
bodyCreateResult.Item1.CollisionFlags = CollisionFlags.StaticObject;
this.persistedList.Append(bodyCreateResult.Item1, bodyCreateResult.Item2);
frameBodyOutput.Add(bodyCreateResult.Item1);
}
}
}
this.bodiesOutput.SliceCount = this.persistedList.Bodies.Count;
this.idOutput.SliceCount = this.persistedList.Ids.Count;
List<RigidBody> bodies = this.persistedList.Bodies;
List<int> ids = this.persistedList.Ids;
for (int i = 0; i < bodies.Count; i++)
{
this.bodiesOutput[i] = bodies[i];
this.idOutput[i] = ids[i];
}
this.createdBodiesOutput.SliceCount = this.frameBodyOutput.Count;
for (int i = 0; i < frameBodyOutput.Count; i++)
{
this.createdBodiesOutput[i] = frameBodyOutput[i];
}
}
else
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
this.createdBodiesOutput.SliceCount = 0;
}
}
public virtual CollisionShape GetShape(ShapeCustomData sc)
{
CollisionShape shape = this.CreateShape();
shape.LocalScaling = this.Scaling;
sc.CustomString = this.CustomString;
shape.UserObject = sc;
return(shape);
}
public void Evaluate(int SpreadMax)
{
this.frameBodyOutput.Clear();
this.frameIdOutput.Clear();
if (SpreadMax == 0)
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
return;
}
IRigidBodyContainer world = this.worldInput[0];
if (world != null && this.shapesInput.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (doCreate[i])
{
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
ShapeCustomData shapeData = new ShapeCustomData();
shapeData.ShapeDef = this.shapesInput[i];
CollisionShape collisionShape = shapeData.ShapeDef.GetShape(shapeData);
Vector3 localInertia = Vector3.Zero;
Tuple <RigidBody, int> bodyCreateResult = world.CreateRigidBody(collisionShape, ref pose, ref properties, ref localInertia, 0.0f, this.customString[i]);
bodyCreateResult.Item1.CollisionFlags = CollisionFlags.StaticObject;
this.frameBodyOutput.Add(bodyCreateResult.Item1);
this.frameIdOutput.Add(bodyCreateResult.Item2);
}
}
this.bodiesOutput.SliceCount = this.frameBodyOutput.Count;
this.idOutput.SliceCount = this.frameIdOutput.Count;
for (int i = 0; i < frameBodyOutput.Count; i++)
{
this.bodiesOutput[i] = frameBodyOutput[i];
this.idOutput[i] = frameIdOutput[i];
}
}
else
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
}
}
protected override CollisionShape CreateShape()
{
CompoundShape shape = new CompoundShape();
foreach (AbstractRigidShapeDefinition shapedef in this.children)
{
ShapeCustomData sc = new ShapeCustomData();
sc.Id = 0;
sc.ShapeDef = shapedef;
shape.AddChildShape((Matrix)shapedef.Pose, shapedef.GetShape(sc));
}
return(shape);
}
public void Evaluate(int SpreadMax)
{
int cnt = 0;
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.FBodies[i];
CollisionShape shape = body.CollisionShape;
ShapeCustomData sd = (ShapeCustomData)shape.UserObject;
cnt += sd.ShapeDef.ShapeCount;
}
this.FMeshOut.SliceCount = cnt;
}
public CollisionShape GetShape(ShapeCustomData sc)
{
CollisionShape shape = this.CreateShape();
shape.LocalScaling = this.Scaling;
sc.CustomString = this.CustomString;
if (sc.CustomObject != null)
{
sc.CustomObject = (ICloneable)this.CustomObject.Clone();
}
shape.UserObject = sc;
shape.CalculateLocalInertia(this.Mass);
return(shape);
}
protected override CollisionShape CreateShape()
{
CompoundShape shape = new CompoundShape();
foreach (AbstractRigidShapeDefinition shapedef in this.children)
{
ShapeCustomData sc = new ShapeCustomData();
sc.Id = 0;
sc.ShapeDef = shapedef;
Matrix tr = Matrix.Translation(shapedef.Translation);
Matrix rot = Matrix.RotationQuaternion(shapedef.Rotation);
shape.AddChildShape(Matrix.Multiply(rot, tr), shapedef.GetShape(sc));
}
return(shape);
}
public void Evaluate(int SpreadMax)
{
this.FType.SliceCount = SpreadMax;
this.FAABBMin.SliceCount = SpreadMax;
this.FAABBMax.SliceCount = SpreadMax;
this.FCustom.SliceCount = SpreadMax;
this.FHasCustomObj.SliceCount = SpreadMax;
this.FCustomObj.SliceCount = SpreadMax;
this.FScaling.SliceCount = SpreadMax;
for (int i = 0; i < SpreadMax; i++)
{
CollisionShape shape = FShapes[i];
ShapeCustomData sc = (ShapeCustomData)shape.UserObject;
Vector3 min;
Vector3 max;
shape.GetAabb(Matrix.Identity, out min, out max);
this.FAABBMin[i] = min.ToVVVVector();
this.FAABBMax[i] = max.ToVVVVector();
this.FScaling[i] = shape.LocalScaling.ToVVVVector();
FType[i] = shape.ShapeType;
this.FCustom[i] = sc.CustomString;
if (sc.CustomObject != null)
{
this.FHasCustomObj[i] = true;
this.FCustomObj[i] = sc.CustomObject;
}
else
{
this.FHasCustomObj[i] = false;
this.FCustomObj[i] = null;
}
}
}
//[Import()]
//VVVV. FLog;
public void Evaluate(int SpreadMax)
{
if (this.FBodies.PluginIO.IsConnected)
{
this.FId.SliceCount = this.FBodies.SliceCount;
this.FPosition.SliceCount = this.FBodies.SliceCount;
this.FRotation.SliceCount = this.FBodies.SliceCount;
this.FShapes.SliceCount = this.FBodies.SliceCount;
this.FCustom.SliceCount = this.FBodies.SliceCount;
this.FIsNew.SliceCount = this.FBodies.SliceCount;
this.FLinVel.SliceCount = this.FBodies.SliceCount;
this.FAngVel.SliceCount = this.FBodies.SliceCount;
this.FActive.SliceCount = this.FBodies.SliceCount;
this.FContactResponse.SliceCount = this.FBodies.SliceCount;
this.FStatic.SliceCount = this.FBodies.SliceCount;
this.FKinematic.SliceCount = this.FBodies.SliceCount;
this.FShapeTransform.SliceCount = this.FBodies.SliceCount;
this.FHasCustomObj.SliceCount = this.FBodies.SliceCount;
this.FCustomObj.SliceCount = this.FBodies.SliceCount;
List <Matrix4x4> transforms = new List <Matrix4x4>();
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.FBodies[i];
this.FPosition[i] = new Vector3D(body.MotionState.WorldTransform.M41,
body.MotionState.WorldTransform.M42, body.MotionState.WorldTransform.M43);
Quaternion rot = body.Orientation;
this.FRotation[i] = new Vector4D(rot.X, rot.Y, rot.Z, rot.W);
this.FLinVel[i] = body.LinearVelocity.ToVVVVector();
this.FAngVel[i] = body.AngularVelocity.ToVVVVector();
CollisionShape shape = body.CollisionShape;
if (shape.IsCompound)
{
//CompoundShape sp = new CompoundShape(
CompoundShape comp = (CompoundShape)shape;
this.FShapes[i].SliceCount = comp.NumChildShapes;
this.FShapeTransform[i].SliceCount = comp.NumChildShapes;
for (int j = 0; j < comp.NumChildShapes; j++)
{
CollisionShape child = comp.GetChildShape(j);
this.FShapes[i][j] = child;
Matrix m = comp.GetChildTransform(j);
Matrix4x4 mn = new Matrix4x4(m.M11, m.M12, m.M13, m.M14,
m.M21, m.M22, m.M23, m.M24, m.M31, m.M32, m.M33, m.M34,
m.M41, m.M42, m.M43, m.M44);
mn *= VMath.Scale(child.LocalScaling.ToVVVVector());
this.FShapeTransform[i][j] = mn;
//comp.
//comp.GetChildTransform(
//this.FShapes[i][j].
}
}
else
{
this.FShapes[i].SliceCount = 1;
this.FShapes[i][0] = shape;
this.FShapeTransform[i].SliceCount = 1;
this.FShapeTransform[i][0] = VMath.Scale(shape.LocalScaling.ToVVVVector());
//transforms.Add(VMath.IdentityMatrix);
}
BodyCustomData bd = (BodyCustomData)body.UserObject;
ShapeCustomData sc = (ShapeCustomData)shape.UserObject;
this.FActive[i] = body.IsActive;
this.FContactResponse[i] = body.HasContactResponse;
this.FStatic[i] = body.IsStaticObject;
this.FKinematic[i] = body.IsKinematicObject;
//this.FShapeCount[i] = sc.ShapeDef.ShapeCount;
this.FId[i] = bd.Id;
this.FIsNew[i] = bd.Created;
this.FCustom[i] = bd.Custom;
if (bd.CustomObject != null)
{
this.FHasCustomObj[i] = true;
this.FCustomObj[i] = bd.CustomObject;
}
else
{
this.FHasCustomObj[i] = false;
this.FCustomObj[i] = null;
}
}
//this.FShapeTransform.SliceCount = transforms.Count;
//this.FShapeTransform.AssignFrom(transforms);
}
else
{
this.FId.SliceCount = 0;
this.FPosition.SliceCount = 0;
this.FRotation.SliceCount = 0;
this.FShapes.SliceCount = 0;
this.FCustom.SliceCount = 0;
this.FIsNew.SliceCount = 0;
this.FLinVel.SliceCount = 0;
this.FAngVel.SliceCount = 0;
this.FShapeTransform.SliceCount = 0;
}
}
public override void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.CanCreate(i))
{
wheelRadius = FwheelRadius[0];
wheelWidth = FwheelWidth[0];
CUBE_HALF_EXTENTS = FwheelDistance[0];
RaycastVehicle vehicle;
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
CompoundShape compound = new CompoundShape();
CollisionShape chassisShape = shapedef.GetShape(sc);
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
float mass = shapedef.Mass;
bool isDynamic = (mass != 0.0f);
isFrontWheel = true;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
chassisShape.CalculateLocalInertia(mass, out localInertia);
}
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, compound, localInertia);
RigidBody carChassis = new RigidBody(rbInfo);
BodyCustomData bd = new BodyCustomData();
carChassis.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
this.FWorld[0].Register(carChassis);
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
VehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(this.FWorld[0].World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
this.FWorld[0].World.AddAction(vehicle);
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), FconnectionHeight[0], 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), FconnectionHeight[0], 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), FconnectionHeight[0], -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), FconnectionHeight[0], -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = FsuspensionStiffness[0];
wheel.WheelDampingRelaxation = FDampingRelaxation[0];
wheel.WheelDampingCompression = FDampingCompression[0];
wheel.FrictionSlip = FwheelFriction[0];
wheel.RollInfluence = FrollInfluence[0];
wheel.MaxSuspensionTravelCm = FmaxSuspensionTravelCm[0];
wheel.MaxSuspensionForce = FmaxSuspensionForce[0];
}
FOutVehicle.SliceCount = 1;
FOutVehicle[0] = vehicle;
}
}
}
public void Evaluate(int SpreadMax)
{
this.frameBodyOutput.Clear();
this.frameIdOutput.Clear();
if (SpreadMax == 0)
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
return;
}
IRigidBodyContainer world = this.worldInput[0];
if (world != null && this.shapesInput.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (doCreate[i])
{
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
RigidBodyMotionProperties motionProperties = this.initialMotionProperties.IsConnected ? this.initialMotionProperties[i] : new RigidBodyMotionProperties();
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase shape = this.shapesInput[i];
shapeData.ShapeDef = shape;
CollisionShape collisionShape = shapeData.ShapeDef.GetShape(shapeData);
//Build mass for dynamic object
Vector3 localinertia = Vector3.Zero;
if (shape.Mass > 0.0f)
{
collisionShape.CalculateLocalInertia(shape.Mass, out localinertia);
}
Tuple <RigidBody, int> createBodyResult = world.CreateRigidBody(collisionShape, ref pose, ref properties, ref localinertia, shape.Mass);
createBodyResult.Item1.ApplyMotionProperties(ref motionProperties);
this.frameBodyOutput.Add(createBodyResult.Item1);
this.frameIdOutput.Add(createBodyResult.Item2);
}
}
this.bodiesOutput.SliceCount = this.frameBodyOutput.Count;
this.idOutput.SliceCount = this.frameIdOutput.Count;
for (int i = 0; i < frameBodyOutput.Count; i++)
{
this.bodiesOutput[i] = frameBodyOutput[i];
this.idOutput[i] = frameIdOutput[i];
}
}
else
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
}
}
public void Evaluate(int SpreadMax)
{
IRigidBulletWorld inputWorld = this.worldInput[0];
SpreadMax = 1;
if (inputWorld != null)
{
this.persistedList.UpdateWorld(inputWorld);
if (this.chassisShape.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.doCreate[i])
{
RigidBodyPose initialPose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase chassisShapeDefinition = this.chassisShape[i];
CollisionShape chassisShape = chassisShapeDefinition.GetShape(shapeData);
shapeData.ShapeDef = chassisShapeDefinition;
RaycastVehicle vehicle;
CompoundShape compoundShape = new CompoundShape();
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compoundShape.AddChildShape(localTrans, chassisShape);
//Build mass for dynamic object
Vector3 localInertia = Vector3.Zero;
if (chassisShapeDefinition.Mass > 0.0f)
{
compoundShape.CalculateLocalInertia(chassisShapeDefinition.Mass, out localInertia);
}
Tuple <RigidBody, int> createBodyResult = inputWorld.CreateRigidBody(chassisShape, ref initialPose, ref properties, ref localInertia, chassisShapeDefinition.Mass, this.customString[i]);
RigidBody carChassis = createBodyResult.Item1;
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
DefaultVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(inputWorld.World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
carChassis.ActivationState = ActivationState.DisableDeactivation;
inputWorld.World.AddAction(vehicle);
int wheelCount = this.wheelConstruction.SliceCount;
//Add wheels
for (int j = 0; j < this.wheelConstruction[i].SliceCount; j++)
{
WheelConstructionProperties wcs = this.wheelConstruction[i][j];
Vector3 connectionPointCS0 = wcs.localPosition.ToBulletVector();
WheelInfo wheel = vehicle.AddWheel(connectionPointCS0, wcs.wheelDirection.ToBulletVector(), wcs.wheelAxis.ToBulletVector(), wcs.SuspensionRestLength, wcs.WheelRadius, tuning, wcs.isFrontWheel);
}
//Set Wheel Properties
WheelProperties wis = this.wheelInfoSettings[i] != null ? this.wheelInfoSettings[i] : new WheelProperties();
for (int j = 0; j < vehicle.NumWheels; j++)
{
WheelInfo wheel = vehicle.GetWheelInfo(j);
wheel.SuspensionStiffness = wis.SuspensionStiffness;
wheel.WheelsDampingRelaxation = wis.WheelsDampingRelaxation;
wheel.WheelsDampingCompression = wis.WheelsDampingCompression;
wheel.FrictionSlip = wis.FrictionSlip;
wheel.RollInfluence = wis.RollInfluence;
}
BodyCustomData bd = (BodyCustomData)carChassis.UserObject;
bd.Vehicle = vehicle;
this.persistedList.Append(createBodyResult.Item1, createBodyResult.Item2);
}
}
List <RigidBody> bodies = this.persistedList.Bodies;
this.vehicleOutput.SliceCount = bodies.Count;
this.chassisOutput.SliceCount = bodies.Count;
for (int i = 0; i < bodies.Count; i++)
{
BodyCustomData bd = (BodyCustomData)bodies[i].UserObject;
this.vehicleOutput[i] = bd.Vehicle;
this.chassisOutput[i] = bodies[i];
}
}
}
else
{
this.vehicleOutput.SliceCount = 0;
this.chassisOutput.SliceCount = 0;
}
}
public void Evaluate(int SpreadMax)
{
this.frameBodyOutput.Clear();
IRigidBodyContainer inputWorld = this.worldInput[0];
if (inputWorld != null)
{
this.persistedList.UpdateWorld(inputWorld);
if (this.shapesInput.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (doCreate[i])
{
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
RigidBodyMotionProperties motionProperties = this.initialMotionProperties.IsConnected ? this.initialMotionProperties[i] : new RigidBodyMotionProperties();
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase shape = this.shapesInput[i];
shapeData.ShapeDef = shape;
CollisionShape collisionShape = shapeData.ShapeDef.GetShape(shapeData);
//Build mass for dynamic object
Vector3 localinertia = Vector3.Zero;
if (shape.Mass > 0.0f)
{
collisionShape.CalculateLocalInertia(shape.Mass, out localinertia);
}
Tuple <RigidBody, int> createBodyResult = inputWorld.CreateRigidBody(collisionShape, ref pose, ref properties, ref localinertia, shape.Mass);
createBodyResult.Item1.CollisionFlags |= CollisionFlags.KinematicObject;
createBodyResult.Item1.ApplyMotionProperties(ref motionProperties);
this.persistedList.Append(createBodyResult.Item1, createBodyResult.Item2);
frameBodyOutput.Add(createBodyResult.Item1);
}
}
}
this.bodiesOutput.SliceCount = this.persistedList.Bodies.Count;
this.idOutput.SliceCount = this.persistedList.Ids.Count;
List <RigidBody> bodies = this.persistedList.Bodies;
List <int> ids = this.persistedList.Ids;
for (int i = 0; i < bodies.Count; i++)
{
this.bodiesOutput[i] = bodies[i];
this.idOutput[i] = ids[i];
}
this.createdBodiesOutput.SliceCount = this.frameBodyOutput.Count;
for (int i = 0; i < frameBodyOutput.Count; i++)
{
this.createdBodiesOutput[i] = frameBodyOutput[i];
}
}
else
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
this.createdBodiesOutput.SliceCount = 0;
}
}
protected RigidBody CreateBody(int i, out int id)
{
if (this.CanCreate(i))
{
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
CollisionShape shape = shapedef.GetShape(sc);
Vector3 localinertia = Vector3.Zero;
if (!this.FKinematic[i] && !this.FStatic[i])
{
if (shapedef.Mass > 0.0f)
{
shape.CalculateLocalInertia(shapedef.Mass, out localinertia);
}
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(shapedef.Mass,
ms, shape, localinertia);
rbInfo.Friction = this.FFriction[i];
rbInfo.Restitution = this.FRestitution[i];
RigidBody body = new RigidBody(rbInfo);
if (!this.FActive[i])
{
body.ActivationState |= ActivationState.DisableSimulation;
}
if (!this.FAllowSleep[i])
{
body.ActivationState = ActivationState.DisableDeactivation;
}
body.LinearVelocity = this.FLinearVelocity[i].ToBulletVector();
body.AngularVelocity = this.FAngularVelocity[i].ToBulletVector();
body.CollisionFlags = CollisionFlags.None;
if (!this.FContactResponse[i])
{
body.CollisionFlags |= CollisionFlags.NoContactResponse;
}
if (this.FKinematic[i])
{
body.CollisionFlags |= CollisionFlags.KinematicObject;
}
if (this.FStatic[i])
{
body.CollisionFlags |= CollisionFlags.StaticObject;
}
BodyCustomData bd = new BodyCustomData();
body.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
if (this.FCustomObj.PluginIO.IsConnected)
{
bd.CustomObject = (ICloneable)this.FCustomObj[i].Clone();
}
else
{
bd.CustomObject = null;
}
this.FWorld[0].Register(body);
id = bd.Id;
return(body);
}
else
{
id = -1;
return(null);
}
}
