public void ApplyRandomForce()
{
Vector3 pos = new NxVec3(Rand.Uniform(-4.0f, 4.0f), Rand.Uniform(-4.0f, 4.0f), Rand.Uniform(-4.0f, 4.0f));
float force = Rand.Uniform(_bodyActor.Mass * 0.5f, _bodyActor.Mass * 2.0f);
_bodyActor.AddForceAtLocalPos(new Vector3(0, force * 100.0f, 0), pos);
}
public void StandUp()
{
NxVec3 pos = _bodyActor.GlobalPosition + new Vector3(0, 2, 0);
Matrix rot = _bodyActor.GlobalOrientation;
NxVec3 front = Vector3.TransformNormal(new NxVec3(1, 0, 0), rot);
front.Y = 0;
front.Normalize();
float dotproduct = front.X;
float angle = Math.Sign(-front.Z) * (float)Math.Acos(dotproduct);
rot = Matrix.RotationY(angle);
_bodyActor.GlobalPosition = pos;
_bodyActor.GlobalOrientation = rot;
_bodyActor.LinearVelocity = new NxVec3(0, 0, 0);
_bodyActor.AngularVelocity = new NxVec3(0, 0, 0);
}
private unsafe void _ComputeLocalVelocity()
{
NxVec3 relativeVelocity;
_ComputeMostTouchedActor();
if (_mostTouchedActor == null || !_mostTouchedActor.IsDynamic)
{
relativeVelocity = _bodyActor.LinearVelocity;
}
else
{
relativeVelocity = _bodyActor.LinearVelocity - _mostTouchedActor.LinearVelocity;
}
_localVelocity = relativeVelocity;
Matrix rotation = Matrix.Invert(_bodyActor.GlobalOrientation);
Vector3.TransformNormal(ref _localVelocity, ref rotation, out _localVelocity);
}