///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="position">Local position of the shape.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of mass and inertia computation.</param>
public CompoundShapeEntry(EntityShape shape, Vector3 position, float weight)
{
position.Validate();
LocalTransform = new RigidTransform(position);
Shape = shape;
Weight = weight;
}
public virtual EntityShape GetShape(BlockDamage damage, out Location offset, bool shrink)
{
if ((shrink ? ShrunkBlockShapeCache : BlockShapeCache) != null)
{
offset = (shrink ? ShrunkOffsetCache : OffsetCache);
return (shrink ? ShrunkBlockShapeCache : BlockShapeCache);
}
List<Vector3> vecs = GetVertices(new Vector3(0, 0, 0), false, false, false, false, false, false);
Vector3 offs;
if (vecs.Count == 0)
{
throw new Exception("No vertices for shape " + this);
}
if (shrink)
{
for (int i = 0; i < vecs.Count; i++)
{
vecs[i] = (vecs[i] - new Vector3(0.5f, 0.5f, 0.5f)) * SHRINK_CONSTANT + new Vector3(0.5f, 0.5f, 0.5f);
}
}
ConvexHullShape shape = new ConvexHullShape(vecs, out offs) { CollisionMargin = 0 };
offset = new Location(offs);
if (shrink)
{
ShrunkBlockShapeCache = shape;
ShrunkOffsetCache = offset;
}
else
{
BlockShapeCache = shape;
OffsetCache = offset;
}
return shape;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="localTransform">Local transform of the shape.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of rotation computation.</param>
public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform, float weight)
{
localTransform.Validate();
LocalTransform = localTransform;
Shape = shape;
Weight = weight;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="orientation">Local orientation of the shape.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of rotation computation.</param>
public CompoundShapeEntry(EntityShape shape, Quaternion orientation, float weight)
{
orientation.Validate();
LocalTransform = new RigidTransform(orientation);
Shape = shape;
Weight = weight;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="orientation">Local orientation of the shape.</param>
public CompoundShapeEntry(EntityShape shape, Quaternion orientation)
{
LocalTransform = new RigidTransform(orientation);
Shape = shape;
Weight = shape.ComputeVolume();
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of rotation computation.</param>
public CompoundShapeEntry(EntityShape shape, float weight)
{
LocalTransform = RigidTransform.Identity;
Shape = shape;
Weight = weight;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="position">Local position of the shape.</param>
public CompoundShapeEntry(EntityShape shape, Vector3 position)
{
LocalTransform = new RigidTransform(position);
Shape = shape;
Weight = shape.ComputeVolume();
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="position">Local position of the shape.</param>
public CompoundShapeEntry(EntityShape shape, Vector3 position)
{
position.Validate();
LocalTransform = new RigidTransform(position);
Shape = shape;
Weight = shape.ComputeVolume();
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="position">Local position of the shape.</param>
public CompoundShapeEntry(EntityShape shape, System.Numerics.Vector3 position)
{
position.Validate();
LocalTransform = new RigidTransform(position);
Shape = shape;
Weight = shape.Volume;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="localTransform">Local transform of the shape.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of rotation computation.</param>
public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform, float weight)
{
LocalTransform = localTransform;
Shape = shape;
Weight = weight;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="orientation">Local orientation of the shape.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of rotation computation.</param>
public CompoundShapeEntry(EntityShape shape, Quaternion orientation, float weight)
{
LocalTransform = new RigidTransform(orientation);
Shape = shape;
Weight = weight;
}
///<summary>
/// Constructs a new entity.
///</summary>
///<param name="shape">Shape to use with the entity.</param>
///<param name="mass">Mass of the entity. If positive, the entity will be dynamic. Otherwise, it will be kinematic.</param>
/// <param name="inertiaTensor">Inertia tensor of the entity. Only used for a dynamic entity.</param>
public Entity(EntityShape shape, float mass, Matrix3x3 inertiaTensor)
: this()
{
Initialize(shape.GetCollidableInstance(), mass, inertiaTensor);
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="localTransform">Local transform of the shape.</param>
public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform)
{
localTransform.Validate();
LocalTransform = localTransform;
Shape = shape;
Weight = shape.Volume;
}
///<summary>
/// Constructs a new kinematic entity.
///</summary>
///<param name="shape">Shape to use with the entity.</param>
public Entity(EntityShape shape)
: this()
{
Initialize(shape.GetCollidableInstance());
}
///<summary>
/// Constructs a new entity.
///</summary>
///<param name="shape">Shape to use with the entity.</param>
///<param name="mass">Mass of the entity. If positive, the entity will be dynamic. Otherwise, it will be kinematic.</param>
public Entity(EntityShape shape, float mass)
: this()
{
Initialize(shape.GetCollidableInstance(), mass);
}
protected EntityCollidable(EntityShape shape)
{
base.Shape = shape;
}
///<summary>
/// Gets the volume distribution contributed by a single shape.
///</summary>
///<param name="shape">Shape to use to compute a contribution.</param>
///<param name="transform">Transform of the shape.</param>
///<param name="center">Center to use when computing the distribution.</param>
///<param name="weight">Weighting to apply to the contribution.</param>
///<param name="contribution">Volume distribution of the contribution.</param>
public static void GetContribution(EntityShape shape, ref RigidTransform transform, ref Vector3 center, float weight, out Matrix3x3 contribution)
{
contribution = shape.ComputeVolumeDistribution();
TransformContribution(ref transform, ref center, ref contribution, weight, out contribution);
//return TransformContribution(ref transform, ref center, ref contribution, weight);
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="orientation">Local orientation of the shape.</param>
public CompoundShapeEntry(EntityShape shape, Quaternion orientation)
{
orientation.Validate();
LocalTransform = new RigidTransform(orientation);
Shape = shape;
Weight = shape.ComputeVolume();
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
public CompoundShapeEntry(EntityShape shape)
{
LocalTransform = RigidTransform.Identity;
Shape = shape;
Weight = shape.ComputeVolume();
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
public CompoundShapeEntry(EntityShape shape)
{
LocalTransform = RigidTransform.Identity;
Shape = shape;
Weight = shape.Volume;
}
///<summary>
/// Gets the volume distribution contributed by a single shape.
///</summary>
///<param name="shape">Shape to use to compute a contribution.</param>
///<param name="transform">Transform of the shape.</param>
///<param name="center">Center to use when computing the distribution.</param>
///<param name="weight">Weighting to apply to the contribution.</param>
///<param name="contribution">Volume distribution of the contribution.</param>
public static void GetContribution(EntityShape shape, ref RigidTransform transform, ref Vector3 center, float weight, out Matrix3X3 contribution)
{
contribution = shape.ComputeVolumeDistribution();
TransformContribution(ref transform, ref center, ref contribution, weight, out contribution);
//return TransformContribution(ref transform, ref center, ref contribution, weight);
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="localTransform">Local transform of the shape.</param>
public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform)
{
LocalTransform = localTransform;
Shape = shape;
Weight = shape.ComputeVolume();
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="position">Local position of the shape.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of mass and inertia computation.</param>
public CompoundShapeEntry(EntityShape shape, Vector3 position, float weight)
{
LocalTransform = new RigidTransform(position);
Shape = shape;
Weight = weight;
}
///<summary>
/// Constructs a new morphable entity.
///</summary>
///<param name="shape">Shape to use with the entity.</param>
///<param name="mass">Mass of the entity.</param>
public MorphableEntity(EntityShape shape, float mass)
: base(shape, mass)
{
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="weight">Weight of the entry. This defines how much the entry contributes to its owner
/// for the purposes of center of rotation computation.</param>
public CompoundShapeEntry(EntityShape shape, float weight)
{
LocalTransform = RigidTransform.Identity;
Shape = shape;
Weight = weight;
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="orientation">Local orientation of the shape.</param>
public CompoundShapeEntry(EntityShape shape, System.Numerics.Quaternion orientation)
{
orientation.Validate();
LocalTransform = new RigidTransform(orientation);
Shape = shape;
Weight = shape.Volume;
}
///<summary>
/// Constructs a new morphable entity.
///</summary>
///<param name="shape">Shape to use with the entity.</param>
public MorphableEntity(EntityShape shape)
: base(shape)
{
}
///<summary>
/// Constructs a new compound shape entry using the volume of the shape as a weight.
///</summary>
///<param name="shape">Shape to use.</param>
///<param name="localTransform">Local transform of the shape.</param>
public CompoundShapeEntry(EntityShape shape, RigidTransform localTransform)
{
LocalTransform = localTransform;
Shape = shape;
Weight = shape.ComputeVolume();
}
///<summary>
/// Constructs a new morphable entity.
///</summary>
///<param name="shape">Shape to use with the entity.</param>
///<param name="mass">Mass of the entity.</param>
/// <param name="inertiaTensor">Inertia tensor of the entity.</param>
public MorphableEntity(EntityShape shape, float mass, Matrix3X3 inertiaTensor)
: base(shape, mass, inertiaTensor)
{
}
///<summary>
/// Constructs a new morphable entity.
///</summary>
///<param name="shape">Shape to use with the entity.</param>
///<param name="mass">Mass of the entity.</param>
/// <param name="inertiaTensor">Inertia tensor of the entity.</param>
/// <param name="volume">Volume of the entity.</param>
public MorphableEntity(EntityShape shape, float mass, Matrix3x3 inertiaTensor, float volume)
: base(shape, mass, inertiaTensor, volume)
{
}
