Beispiel #1
0
        /// <summary>
        /// Creates a capsule body.
        /// </summary>
        /// <param name="simulation">The simulation to use.</param>
        /// <param name="position">The position of the body.</param>
        /// <param name="rotation">The rotation of the body.</param>
        /// <param name="radius">The radius of the capsule.</param>
        /// <param name="height">The height of the cylinder part of the capsule.</param>
        /// <returns>The capsule body that was created.</returns>
        public static CapsuleBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation,
                                         float radius, float height)
        {
            var obj = new CapsuleBody(simulation);

            obj.Position = position;
            obj.Rotation = rotation;
            obj.Radius   = radius;
            obj.Height   = height;
            simulation.Register(obj);
            return(obj);
        }
Beispiel #2
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        /// <summary>
        /// Determine whether a capsule and a sphere intersect.
        /// </summary>
        /// <param name="capsule">Capsule physics object</param>
        /// <param name="sphere">Sphere physics object</param>
        public static bool CapsuleSphereCollision(CapsuleBody capsule, SphereBody sphere)
        {
            // reference frame: capsule at (0, 0, 0), pointing in positive y direction
            var sphereCoordsRelative = sphere.Position - capsule.Position;

            // to transform coordinate system to have capsule be axis-aligned, we apply
            // the reverse of the rotation to the sphere coordinates
            var inverse = new Quaternion(capsule.Rotation.X, capsule.Rotation.Y, capsule.Rotation.Z, -capsule.Rotation.W);
            var sphereCoordsTransformed = Vector3.Transform(sphereCoordsRelative, inverse);

            // coordinates of the line in the centre of the cylinder part
            const int capsuleMinY = 0;
            var       capsuleMaxY = capsule.Height;

            const int closestPointToSphereX = 0;
            var       closestPointToSphereY = Math.Clamp(sphereCoordsTransformed.Y, capsuleMinY, capsuleMaxY);
            const int closestPointToSphereZ = 0;

            return(Vector3.DistanceSquared(sphereCoordsTransformed,
                                           new Vector3(closestPointToSphereX, closestPointToSphereY, closestPointToSphereZ))
                   < Math.Pow(capsule.Radius + sphere.Radius, 2));
        }
Beispiel #3
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        public static CapsuleBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector2 size)
        {
            var shape = new Capsule(size.X, size.Y);

            shape.ComputeInertia(1, out var inertia);

            var index = simulation.Simulation.Shapes.Add(shape);

            var collidable = new CollidableDescription(index, 0.1f);

            var activity = new BodyActivityDescription(0.01f);

            var pose = new RigidPose(position, rotation);

            var descriptor = BodyDescription.CreateDynamic(pose, inertia, collidable, activity);

            var handle = simulation.Simulation.Bodies.Add(descriptor);

            var obj = new CapsuleBody(simulation, handle);

            simulation.Register(obj);

            return(obj);
        }
Beispiel #4
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 /// <summary>
 /// Determine whether a capsule and a box intersect.
 /// </summary>
 /// <param name="capsule">The capsule</param>
 /// <param name="box">The box</param>
 public static bool CapsuleBoxCollision(CapsuleBody capsule, BoxBody box)
 {
     throw new NotImplementedException("Capsule-box collision checks are not implemented.");
 }
Beispiel #5
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 /// <summary>
 /// Determine whether two capsules intersect.
 /// </summary>
 /// <param name="firstCapsule">The first capsule</param>
 /// <param name="secondCapsule">The second capsule</param>
 public static bool CapsuleCapsuleCollision(CapsuleBody firstCapsule, CapsuleBody secondCapsule)
 {
     throw new NotImplementedException("Capsule-capsule collision checks are not implemented.");
 }