private static CompoundShape create_shapes(RepeatedField <Collider> colliders)
{
if (colliders == null || colliders.Count == 0)
{
throw new Exception("Colliders is null or count is zero");
}
var shape_buffer = new List <TransformedShape>();
foreach (var collider in colliders)
{
Shape shape = null;
Vector3 center;
Quaternion rotation;
switch (collider.ShapeCase)
{
case Collider.ShapeOneofCase.None:
throw new Exception("Collider without any shape");
case Collider.ShapeOneofCase.Box:
var box = collider.Box;
shape = new Jitter.Collision.Shapes.BoxShape(box.Length, box.Height, box.Width);
center = box.Center;
rotation = box.Rotation;
break;
case Collider.ShapeOneofCase.Sphere:
var sphere = collider.Sphere;
shape = new Jitter.Collision.Shapes.SphereShape(sphere.Radius);
center = sphere.Center;
rotation = sphere.Rotation;
break;
case Collider.ShapeOneofCase.Capsule:
var capsule = collider.Capsule;
shape = new Jitter.Collision.Shapes.CapsuleShape(capsule.Height, capsule.Radius);
center = capsule.Center;
rotation = capsule.Rotation;
break;
default:
Debug.Assert(false, "Unhandled enum value " + collider.ShapeCase);
throw new Exception();
}
var center_j = to_j(center);
var rotation_j = to_j(rotation);
var transformed_shape = new TransformedShape(shape, JMatrix.Identity, center_j);
shape_buffer.Add(transformed_shape);
if (collider.Children != null && collider.Children.Count > 0)
{
create_shapes(collider.Children);
}
}
return(new CompoundShape(shape_buffer));
}
protected virtual RigidBody GeneratePhysicsDescription()
{
BoundingSphere bounds = model.CalculateBounds(WorldMatrix);
Shape collisionShape = new SphereShape(bounds.Radius);
var rigidBody = new RigidBody(collisionShape)
{
Position = PhysicsSystem.toJVector(Position),
Orientation = PhysicsSystem.toJMatrix(OrientationMatrix),
IsStatic = false,
EnableDebugDraw = true,
Tag = this,
};
return rigidBody;
}
/// <summary>
/// LoadContent will be called once per game and is the place to load
/// all of your content.
/// </summary>
protected override void LoadContent()
{
// Create a new SpriteBatch, which can be used to draw textures.
spriteBatch = new SpriteBatch(GraphicsDevice);
if (content == null)
content = new ContentManager(this.Services, "Content");
/*
player = new Player();
world.AddBody(player.body);
*/
// ball
JVector position = new JVector(0f, 5f, -10f);
Shape sphereShape = new SphereShape(1.0f);
ball = new RigidBody(sphereShape);
ball.Position = position;
ball.Material.Restitution = 2.0f;
ball.Mass = 10f;
ball.IsStatic = true;
// floor
Shape boxShape = new BoxShape(new JVector(20f, 1.5f, 40f));
floor = new RigidBody(boxShape);
floor.Position = JVector.Zero;
floor.IsStatic = true;
// paddles
Shape box = new BoxShape(new JVector(5f, 5f, 0.5f));
paddle1 = new RigidBody(box);
paddle2 = new RigidBody(box);
paddle1.Position = JVector.Zero - new JVector(0f,0f,20f);
paddle2.Position = JVector.Zero + new JVector(0f, 0f, 20f);
paddle1.IsStatic = true;
paddle2.IsStatic = true;
world.AddBody(paddle1);
world.AddBody(paddle2);
world.AddBody(ball);
world.AddBody(floor);
}
public override void Build()
{
this.Demo.World.Solver = Jitter.World.SolverType.Sequential;
AddGround();
RigidBody boxb = new RigidBody(new BoxShape(7,1,2));
boxb.Position = new JVector(3.0f,12,0);
this.Demo.World.AddBody(boxb);
boxb.Tag = BodyTag.DontDrawMe;
boxb.IsStatic = true;
this.Demo.World.Solver = Jitter.World.SolverType.Sequential;
//this.Demo.World.SetDampingFactors(1.0f, 1.0f);
SphereShape shape = new SphereShape(0.501f);
for (int i = 0; i < 7; i++)
{
RigidBody body = new RigidBody(shape);
body.Position = new JVector(i, 6, 0);
DistanceConstraint dc1 = new DistanceConstraint(boxb, body, body.Position + JVector.Up * 6 + JVector.Backward * 5 + JVector.Down * 0.5f, body.Position);
dc1.Softness = 1.0f;
DistanceConstraint dc2 = new DistanceConstraint(boxb, body, body.Position + JVector.Up * 6 + JVector.Forward * 5 + JVector.Down * 0.5f, body.Position);
dc2.Softness = 1.0f;
dc1.BiasFactor = dc2.BiasFactor = 0.8f;
dc1.IsMaxDistance = dc2.IsMaxDistance = false;
this.Demo.World.AddBody(body);
this.Demo.World.AddConstraint(dc1);
this.Demo.World.AddConstraint(dc2);
body.Restitution = 1.0f;
body.StaticFriction = 1.0f;
// this.Demo.World.SetDampingFactors(1.0f, 1.0f);
}
//for (int i = 0; i < 5; i++)
//{
// RigidBody sBody = new RigidBody(new SphereShape(0.5f));
// sBody.Position = new JVector(0, 0.5f, i);
// this.Demo.World.AddBody(sBody);
// sBody.Restitution = 1.0f;
// sBody.Friction = 0.0f;
//}
//for (int i = 0; i < 3; i++)
//{
// RigidBody sBody = new RigidBody(new SphereShape(0.5f));
// sBody.Position = new JVector(0, 0.5f, 10 + i);
// this.Demo.World.AddBody(sBody);
// sBody.LinearVelocity = JVector.Forward * 3;
// sBody.Restitution = 1.0f;
// sBody.Friction = 0.0f;
//}
//this.Demo.World.SetDampingFactors(1, 1);
}
public Body CreateSphereBody(float radius, Vector3 position, bool isStatic = false)
{
var shape = new SphereShape(radius);
var rigidBody = CreateRigidBody(shape, isStatic);
rigidBody.Position = Conversion.ToJitterVector(ref position);
var body = new Body(rigidBody);
rigidBody.Tag = body;
Bodies.Add(body);
PhysicsWorld.AddBody(rigidBody);
return body;
}
void IConstructable.Construct(IDictionary<string, string> param)
{
var type = param["type"];
switch (type)
{
case "trimesh":
var physData = ResourceFactory.LoadAsset<PhysicsData>(param["physData"]);
Shape shape = new TriangleMeshShape(physData.Octree);
Body = new RigidBody(shape) { Material = { Restitution = 0f, KineticFriction = 0f } };
break;
case "hull":
physData = ResourceFactory.LoadAsset<PhysicsData>(param["physData"]);
shape = new ConvexHullShape(physData.Vertices);
Body = new RigidBody(shape);
break;
case "sphere":
shape = new SphereShape(float.Parse(param["radius"], CultureInfo.InvariantCulture));
Body = new RigidBody(shape);
break;
case "box":
var d = param["size"].ConvertToVector();
var offset = param.Get("offset", "0;0;0").ConvertToVector();
shape = new BoxShape(2.0f * d.ToJVector());
Body = new RigidBody(shape) { Position = offset.ToJVector() };
break;
case "capsule":
var height = float.Parse(param["height"], CultureInfo.InvariantCulture);
var radius = float.Parse(param["radius"], CultureInfo.InvariantCulture);
shape = new CapsuleShape(height, radius);
Body = new RigidBody(shape)
{
Position = JVector.Backward * (0.5f * height + radius),
Orientation = JMatrix.CreateRotationX(MathHelper.PiOver2)
};
break;
default:
throw new Exception("Unknown shape: " + type);
}
Body.IsStatic = Convert.ToBoolean(param.Get("static", "false"));
Body.Material.KineticFriction = 0.5f;
Body.Material.StaticFriction = 0.5f;
Body.Material.Restitution = 0.5f;
}
