public JitterRaycastResult(CollisionSystem collisionSystem, Ray ray)
{
float fraction;
JVector rayOrigin = JitterDatatypesMapping.Convert(ref ray.Origin);
JVector rayDirection = JitterDatatypesMapping.Convert(ref ray.Direction);
Found = collisionSystem.Raycast(rayOrigin, rayDirection, null, out RigidBody,
out JVectorNormal, out fraction);
Vector3D surfaceNormal = Vector3D.Zero;
JitterDatatypesMapping.Convert(ref JVectorNormal, ref surfaceNormal);
SurfaceNormal = surfaceNormal;
}
private void CreatePointPointDistanceJoint()
{
JVector anchor1;
Vector3D tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.Anchor1);
JitterDatatypesMapping.Convert(ref tempVector, out anchor1);
JVector anchor2;
tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.Anchor2);
JitterDatatypesMapping.Convert(ref tempVector, out anchor2);
Constraint = new PointPointDistance(RigidBodyA, RigidBodyB, anchor1, anchor2);
}
private void CreateSingleBodyPointOnLineJoint()
{
JVector anchor;
Vector3D tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.Anchor1);
JitterDatatypesMapping.Convert(ref tempVector, out anchor);
JVector lineDirection;
tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.LineDirection);
JitterDatatypesMapping.Convert(ref tempVector, out lineDirection);
Constraint = new global::Jitter.Dynamics.Constraints.SingleBody.PointOnLine(RigidBodyA,
anchor, lineDirection);
}
private void CreateHingeJoint(JitterPhysics physicsManager)
{
JVector position;
Vector3D tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.Position);
JitterDatatypesMapping.Convert(ref tempVector, out position);
JVector hingeAxis;
tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.HingeAxis);
JitterDatatypesMapping.Convert(ref tempVector, out hingeAxis);
Joint = new HingeJoint(physicsManager.jitterWorld, RigidBodyA, RigidBodyB, position,
hingeAxis);
}
public JitterPhysics()
{
collisionSystem = new CollisionSystemSAP();
jitterWorld = new World(collisionSystem)
{
AllowDeactivation = true
};
jitterWorld.SetIterations(100, 100);
jitterWorld.SetDampingFactors(0.95f, 0.95f);
jitterWorld.SetInactivityThreshold(0.005f, 0.005f, 10);
jitterWorld.Gravity = JitterDatatypesMapping.ConvertSlow(DefaultGravity);
jitterWorld.Events.BodiesBeginCollide += BeginCollision;
jitterWorld.Events.BodiesEndCollide += EndCollision;
CreateGroundBody();
}
public JitterBody(JitterPhysics physicsManager, PhysicsShape shape, Vector3D initialPosition,
float mass, float restitution)
: base(shape)
{
CreateShape();
RotationMatrix = Matrix.Identity;
jitterBody = new RigidBody(jitterShape)
{
IsStatic = false,
Mass = mass,
Material = { Restitution = restitution },
Position = JitterDatatypesMapping.Convert(ref initialPosition),
Tag = this
};
physicsManager.jitterWorld.AddBody(jitterBody);
}
private void CreatePointOnPointJoint()
{
JVector localAnchor;
Vector3D tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.Anchor1);
JitterDatatypesMapping.Convert(ref tempVector, out localAnchor);
if (RigidBodyB != null)
{
Constraint = new PointOnPoint(RigidBodyA, RigidBodyB, localAnchor);
}
else
{
Constraint = new global::Jitter.Dynamics.Constraints.SingleBody.PointOnPoint(RigidBodyA,
localAnchor);
}
}
private void CreatePointOnLineJoint()
{
JVector lineStartPointBody1;
Vector3D tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.LineStartPointBody);
JitterDatatypesMapping.Convert(ref tempVector, out lineStartPointBody1);
JVector pointBody2;
tempVector = ArrayExtensions.GetWithDefault <PropertyType, Vector3D>(Properties,
PropertyType.PointBody);
JitterDatatypesMapping.Convert(ref tempVector, out pointBody2);
if (RigidBodyB != null)
{
Constraint = new PointOnLine(RigidBodyA, RigidBodyB, lineStartPointBody1, pointBody2);
}
else
{
Logger.Warning("You're trying to create PointOnLine with second " +
"body at null.Maybe you should create SingleBodyPointOnLine.");
}
}
public override void SetGravity(Vector3D gravity)
{
jitterWorld.Gravity = JitterDatatypesMapping.Convert(ref gravity);
}
public override void ApplyAngularImpulse(Vector3D impulse)
{
jitterBody.ApplyImpulse(JitterDatatypesMapping.Convert(ref impulse));
}
/// <summary>
/// Apply an impulse at a point. This immediately modifies the velocity. It wakes up the body
/// and modifies the angular velocity if the point of application is not at the center of mass.
/// </summary>
public override void ApplyLinearImpulse(Vector3D impulse, Vector3D impulsePosition)
{
jitterBody.ApplyImpulse(JitterDatatypesMapping.Convert(ref impulse),
JitterDatatypesMapping.Convert(ref impulsePosition));
}
/// <summary>
/// Apply a torque. This affects the angular velocity without affecting the linear velocity of
/// the center of mass. It wakes up the body.
/// </summary>
public override void ApplyTorque(Vector3D torque)
{
jitterBody.AddTorque(JitterDatatypesMapping.Convert(ref torque));
}
/// <summary>
/// Apply a force at a world point. If the force is not applied at the center of mass, it will
/// generate a torque and affect the angular velocity. This wakes up the body.
/// </summary>
public override void ApplyForce(Vector3D force, Vector3D forcePosition)
{
jitterBody.AddForce(JitterDatatypesMapping.Convert(ref force),
JitterDatatypesMapping.Convert(ref forcePosition));
}
