/// <summary>
/// Поставит углы, схватит gimbal lock у pitch, но пока так, хоть Yaw верный.
/// </summary>
private static Frame3D SetAngles(Frame3D frame, BEPUphysics.MathExtensions.Matrix matrix)
{
AIRLab.Mathematics.Matrix m = new AIRLab.Mathematics.Matrix(4, 4);
m[0, 0] = matrix.M11;
m[0, 1] = matrix.M12;
m[0, 2] = matrix.M13;
m[0, 3] = 0.0f;
m[1, 0] = matrix.M21;
m[1, 1] = matrix.M22;
m[1, 2] = matrix.M23;
m[1, 3] = 0.0f;
m[2, 0] = matrix.M31;
m[2, 1] = matrix.M32;
m[2, 2] = matrix.M33;
m[2, 3] = 0.0f;
m[3, 0] = frame.X;
m[3, 1] = frame.Y;
m[3, 2] = frame.Z;
m[3, 3] = 1.0f;
var yaw = Geometry.Atan2(m[1, 0], m[0, 0]);
var pitch = Geometry.Atan2(-m[2, 0], Geometry.Hypot(m[2, 1], m[2, 2]));
var roll = Geometry.Atan2(m[2, 1], m[2, 2]);
Frame3D fr = new Frame3D(frame.X, frame.Y, frame.Z, pitch, yaw, roll);
return fr;
}
/// <summary>
/// [Utility] Recovers the object from entity.
/// </summary>
/// <param name="entity">The entity.</param>
/// <returns></returns>
public static IObject RecoverObjectFromEntity(BEPUphysics.Entities.Entity entity)
{
IPhysicObject phy = (entity.CollisionInformation.Tag as IPhysicObject);
if (phy != null)
return phy.ObjectOwner;
return null;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var wrappedShape = DisplayedObject.CollisionInformation.Shape as WrappedShape;
if (wrappedShape == null)
throw new ArgumentException("Wrong shape type");
var points = new List<Vector3>();
Vector3 max;
var direction = new Vector3();
float angleChange = MathHelper.TwoPi / NumSamples;
for (int i = 1; i < NumSamples / 2 - 1; i++)
{
float phi = MathHelper.PiOver2 - i * angleChange;
var sinPhi = (float)Math.Sin(phi);
var cosPhi = (float)Math.Cos(phi);
for (int j = 0; j < NumSamples; j++)
{
float theta = j * angleChange;
direction.X = (float)Math.Cos(theta) * cosPhi;
direction.Y = sinPhi;
direction.Z = (float)Math.Sin(theta) * cosPhi;
wrappedShape.GetLocalExtremePoint(direction, out max);
points.Add(max);
}
}
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
wrappedShape.GetLocalExtremePoint(Toolbox.UpVector, out max);
points.Add(max);
wrappedShape.GetLocalExtremePoint(Toolbox.DownVector, out max);
points.Add(max);
var hullTriangleVertices = new List<Vector3>();
var hullTriangleIndices = new List<int>();
Toolbox.GetConvexHull(points, hullTriangleIndices, hullTriangleVertices);
//The hull triangle vertices are used as a dummy to get the unnecessary hull vertices, which are cleared afterwards.
hullTriangleVertices.Clear();
foreach (int i in hullTriangleIndices)
{
hullTriangleVertices.Add(points[i]);
}
for (short i = 0; i < hullTriangleVertices.Count; i += 3)
{
Vector3 normal = Vector3.Normalize(Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i]));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 1], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 2], color));
indices.Add(i);
indices.Add((short)(i + 1));
indices.Add((short)(i + 2));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
//this is called when we hit something
public void HitObject(BEPUphysics.Collidables.MobileCollidables.EntityCollidable sender, BEPUphysics.Collidables.Collidable other,
BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler pair, BEPUphysics.CollisionTests.ContactData contact)
{
if (!sploded && !actor.IsShutdown && !actor.MarkedForDeath)
{
Vector3 mypos = actor.PhysicsObject.Position;
StartAttack(ref mypos);
}
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
ConeShape coneShape = DisplayedObject.CollisionInformation.Shape as ConeShape;
if (coneShape == null)
throw new ArgumentException("Wrong shape type.");
float verticalOffset = -coneShape.Height / 4;
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = coneShape.Radius;
//Create the vertex list
var topVertexPosition = new Vector3(0, coneShape.Height + verticalOffset, 0);
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
for (int i = 0; i < NumSides; i++)
{
float theta = i * angleBetweenFacets;
var position = new Vector3((float)Math.Cos(theta) * radius, verticalOffset, (float)Math.Sin(theta) * radius);
Vector3 offset = topVertexPosition - position;
Vector3 normal = Vector3.Normalize(Vector3.Cross(Vector3.Cross(offset, Vector3.Up), offset));
//Top vertex
vertices.Add(new VertexPositionColor(topVertexPosition, color));
//Sloped vertices
vertices.Add(new VertexPositionColor(position, color));
//Bottom vertices
vertices.Add(new VertexPositionColor(position, color));
}
//Create the index list
for (short i = 0; i < vertices.Count; i += 3)
{
//Each iteration, the loop advances to the next vertex 'column.'
//Four triangles per column (except for the four degenerate cap triangles).
//Sloped Triangles
indices.Add(i);
indices.Add((short)(i + 1));
indices.Add((short)((i + 4) % vertices.Count));
//Bottom cap triangles.
var nextIndex = (short)((i + 5) % vertices.Count);
if (nextIndex != 2) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add((short)(i + 2));
indices.Add(2);
indices.Add(nextIndex);
}
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public override void InitialCollisionDetected(BEPUphysics.Collidables.MobileCollidables.EntityCollidable sender, Collidable other, BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler collisionPair)
{
base.InitialCollisionDetected(sender, other, collisionPair);
if (other.Tag is CharacterSynchronizer)
{
((other.Tag as CharacterSynchronizer).body.Tag as Creature).Poisoned = true;
((other.Tag as CharacterSynchronizer).body.Tag as Creature).Damage(0, mOwner as Creature);
}
World.Remove(this);
}
/// <summary>
/// Calculates the gravitational force to apply to the entity.
/// </summary>
/// <param name="e">Target of the impulse.</param>
/// <param name="dt">Time since the last frame in simulation seconds.</param>
/// <param name="impulse">Force to apply at the given position.</param>
protected override void CalculateImpulse(BEPUphysics.Entities.Entity e, float dt, out Vector3 impulse)
{
Vector3 r = e.Position - Origin;
float length = r.Length();
float force = dt * Math.Min(MaxForce, Multiplier * e.Mass / (length * length * length));
impulse = -force * r;
//Could use a linear dropoff for a slightly faster calculation (divide by length^2 instead of length^3).
//Vector3 r = e.Position - Origin;
//float force = dt * Math.Min(MaxForce, Multiplier * e.Mass / (r.LengthSquared()));
//impulse = -force * r;
}
public bool FilterHandle(BEPUphysics.BroadPhaseEntries.BroadPhaseEntry entry)
{
if (entry is BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable)
{
long eid = ((PhysicsEntity)((BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable)entry).Entity.Tag).EID;
if (NoCollide.Contains(eid))
{
return false;
}
}
return TheRegion.Collision.ShouldCollide(entry);
}
public void ApplyHook(PlayerEntity player, ItemStack item, Location Position, BEPUphysics.Entities.Entity HitEnt)
{
RemoveHook(player);
PhysicsEntity pe;
double len = (double)(Position - player.GetCenter()).Length();
Location step = (player.GetCenter() - Position) / len;
Location forw = Utilities.VectorToAngles(step);
BEPUutilities.Quaternion quat = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), (double)(forw.Pitch * Utilities.PI180)) *
Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), (double)(forw.Yaw * Utilities.PI180));
if (HitEnt == null)
{
ModelEntity mod = new ModelEntity("cube", player.TheRegion);
mod.Mass = 0;
mod.CanSave = false;
mod.scale = new Location(0.023, 0.05, 0.05);
mod.mode = ModelCollisionMode.AABB;
mod.SetPosition(Position);
mod.SetOrientation(quat);
player.TheRegion.SpawnEntity(mod);
pe = mod;
player.Hooks.Add(new HookInfo() { Joint = null, Hit = pe, IsBar = true });
}
else
{
pe = (PhysicsEntity)HitEnt.Tag;
}
JointDistance jd;
//jd = new JointDistance(player, pe, 0.01f, len + 0.01f, player.GetCenter(), Position);
//player.TheRegion.AddJoint(jd);
//player.Hooks.Add(new HookInfo() { Joint = jd, Hit = pe, IsBar = false });
PhysicsEntity cent = pe;
for (double f = 0; f < len - 1f; f += 0.5f)
{
Location cpos = Position + step * f;
ModelEntity ce = new ModelEntity("cube", player.TheRegion);
ce.Mass = 15;
ce.CanSave = false;
ce.scale = new Location(0.023, 0.05, 0.05);
ce.mode = ModelCollisionMode.AABB;
ce.SetPosition(cpos + step * 0.5);
ce.SetOrientation(quat);
player.TheRegion.SpawnEntity(ce);
jd = new JointDistance(ce, cent, 0.01f, 0.5f, ce.GetPosition(), (ReferenceEquals(cent, pe) ? Position: cent.GetPosition()));
CollisionRules.AddRule(player.Body, ce.Body, CollisionRule.NoBroadPhase);
player.TheRegion.AddJoint(jd);
player.Hooks.Add(new HookInfo() { Joint = jd, Hit = ce, IsBar = true });
cent = ce;
}
jd = new JointDistance(cent, player, 0.01f, 0.5f, cent.GetPosition(), player.GetCenter());
player.TheRegion.AddJoint(jd);
player.Hooks.Add(new HookInfo() { Joint = jd, Hit = player, IsBar = false });
}
public bool FilterHandle(BEPUphysics.BroadPhaseEntries.BroadPhaseEntry entry)
{
if (entry is BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable)
{
long eid = ((PhysicsEntity)((BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable)entry).Entity.Tag).EID;
if (NoCollide.Contains(eid))
{
return false;
}
}
if (entry.CollisionRules.Group == CollisionUtil.NonSolid)
{
return false;
}
return true;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
MobileMeshShape shape = DisplayedObject.CollisionInformation.Shape as MobileMeshShape;
var tempVertices = new VertexPositionNormalTexture[shape.TriangleMesh.Data.Vertices.Length];
for (int i = 0; i < shape.TriangleMesh.Data.Vertices.Length; i++)
{
Vector3 position;
shape.TriangleMesh.Data.GetVertexPosition(i, out position);
tempVertices[i] = new VertexPositionNormalTexture(
position,
Vector3.Zero,
Vector2.Zero);
}
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
for (int i = 0; i < shape.TriangleMesh.Data.Indices.Length; i++)
{
indices.Add((short)shape.TriangleMesh.Data.Indices[i]);
}
for (int i = 0; i < indices.Count; i += 3)
{
int a = indices[i];
int b = indices[i + 1];
int c = indices[i + 2];
Vector3 normal = Vector3.Normalize(Vector3.Cross(
tempVertices[c].Position - tempVertices[a].Position,
tempVertices[b].Position - tempVertices[a].Position));
tempVertices[a].Normal += normal;
tempVertices[b].Normal += normal;
tempVertices[c].Normal += normal;
}
for (int i = 0; i < tempVertices.Length; i++)
{
tempVertices[i].Normal.Normalize();
vertices.Add(new VertexPositionColor(tempVertices[i].Position,color));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public ConvexHullTestDemo(DemosGame game)
: base(game)
{
var vertices = new[]
{
new Vector3(0, -1.750886E-9f, -1.5f),
new Vector3(1, 1, 0.5f),
new Vector3(1, -1, 0.5f),
new Vector3(-1, 1, 0.5f),
new Vector3(-1, -1, 0.5f),
};
RawList<Vector3> hullVertices = new RawList<Vector3>();
ConvexHullHelper.GetConvexHull(vertices, hullVertices);
ConvexHull hull = new ConvexHull(vertices, 5);
ShapeDistributionInformation shapeInfo;
hull.CollisionInformation.Shape.ComputeDistributionInformation(out shapeInfo);
Space.Add(hull);
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var convexHullShape = DisplayedObject.CollisionInformation.Shape as ConvexHullShape;
if (convexHullShape == null)
throw new ArgumentException("Wrong shape type.");
var hullTriangleVertices = new List<Vector3>();
var hullTriangleIndices = new List<int>();
Toolbox.GetConvexHull(convexHullShape.Vertices, hullTriangleIndices, hullTriangleVertices);
//The hull triangle vertices are used as a dummy to get the unnecessary hull vertices, which are cleared afterwards.
hullTriangleVertices.Clear();
foreach (int i in hullTriangleIndices)
{
hullTriangleVertices.Add(convexHullShape.Vertices[i]);
}
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
Vector3 normal;
for (short i = 0; i < hullTriangleVertices.Count; i += 3)
{
normal = Vector3.Normalize(Vector3.Cross(hullTriangleVertices[i + 2] - hullTriangleVertices[i], hullTriangleVertices[i + 1] - hullTriangleVertices[i]));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 1], color));
vertices.Add(new VertexPositionColor(hullTriangleVertices[i + 2],color));
indices.Add(i);
indices.Add((short)(i + 1));
indices.Add((short)(i + 2));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var boxShape = DisplayedObject.CollisionInformation.Shape as BoxShape;
var boundingBox = new BoundingBox(
new Vector3(-boxShape.HalfWidth,
-boxShape.HalfHeight,
-boxShape.HalfLength),
new Vector3(boxShape.HalfWidth,
boxShape.HalfHeight,
boxShape.HalfLength));
Vector3[] corners = boundingBox.GetCorners();
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
vertices.Add(new VertexPositionColor(corners[0], color));
vertices.Add(new VertexPositionColor(corners[1], color));
vertices.Add(new VertexPositionColor(corners[2], color));
vertices.Add(new VertexPositionColor(corners[3], color));
indices.Add(0);
indices.Add(1);
indices.Add(2);
indices.Add(0);
indices.Add(2);
indices.Add(3);
vertices.Add(new VertexPositionColor(corners[1], color));
vertices.Add(new VertexPositionColor(corners[2], color));
vertices.Add(new VertexPositionColor(corners[5], color));
vertices.Add(new VertexPositionColor(corners[6], color));
indices.Add(4);
indices.Add(6);
indices.Add(7);
indices.Add(4);
indices.Add(7);
indices.Add(5);
vertices.Add(new VertexPositionColor(corners[4], color));
vertices.Add(new VertexPositionColor(corners[5], color));
vertices.Add(new VertexPositionColor(corners[6], color));
vertices.Add(new VertexPositionColor(corners[7], color));
indices.Add(9);
indices.Add(8);
indices.Add(11);
indices.Add(9);
indices.Add(11);
indices.Add(10);
vertices.Add(new VertexPositionColor(corners[0], color));
vertices.Add(new VertexPositionColor(corners[3], color));
vertices.Add(new VertexPositionColor(corners[4], color));
vertices.Add(new VertexPositionColor(corners[7], color));
indices.Add(14);
indices.Add(12);
indices.Add(13);
indices.Add(14);
indices.Add(13);
indices.Add(15);
vertices.Add(new VertexPositionColor(corners[0], color));
vertices.Add(new VertexPositionColor(corners[1], color));
vertices.Add(new VertexPositionColor(corners[4], color));
vertices.Add(new VertexPositionColor(corners[5], color));
indices.Add(16);
indices.Add(19);
indices.Add(17);
indices.Add(16);
indices.Add(18);
indices.Add(19);
vertices.Add(new VertexPositionColor(corners[2], color));
vertices.Add(new VertexPositionColor(corners[3], color));
vertices.Add(new VertexPositionColor(corners[6], color));
vertices.Add(new VertexPositionColor(corners[7], color));
indices.Add(21);
indices.Add(20);
indices.Add(22);
indices.Add(21);
indices.Add(22);
indices.Add(23);
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
/// <summary>
/// [Utility] Recovers the physic object from entity.
/// </summary>
/// <param name="entity">The entity.</param>
/// <returns></returns>
public static IPhysicObject RecoverIPhysicObjectFromEntity(BEPUphysics.Entities.Entity entity)
{
return (entity.CollisionInformation.Tag as IPhysicObject);
}
public override void AddToGame(BEPUphysics.Space s)
{
levelTheme.SetUpLighting();
TemporarilyMuteVoice = false;
MediaSystem.PlayTrack(levelTheme.Song);
overlay = new OpeningOverlay(levelNumber, false, levelName);
time = new TimeSpan();
RebuildTiming();
int i = 0;
foreach(OperationalMachine m in MachineList.Keys)
if(i < 11)
{
s.Add(m);
i++;
}
else
break;
s.Add(levelModel);
i = 0;
foreach(Tube t in tubeList)
{
if(i < 110)
s.Add(t);
else
break;
i++;
}
i = 0;
foreach(BaseModel m in glassModels)
if(i < 6)
{
if(m.Ent.Space == null)
s.Add(m);
i++;
}
else
break;
s.Add(dispenser);
if(levelTheme.Fluid != null)
s.Add(levelTheme.Fluid);
addModelsToRenderer();
results = null;
ending = badEnding = false;
}
public override void RemoveFromGame(BEPUphysics.Space s)
{
RenderingDevice.Remove(buff);
normalCatcher = catcherTheFirst;
if(moved)
{
RenderingDevice.Remove(baseTheSecond);
catcherTheSecond.RemoveFromGame();
}
moved = false;
base.RemoveFromGame(s);
}
bool IgnorePlayer(BEPUphysics.BroadPhaseEntries.BroadPhaseEntry entry)
{
if (entry is EntityCollidable)
{
Entity e = (Entity)((EntityCollidable)entry).Entity.Tag;
if (e == Player || e == Player.Vehicle)
{
return false;
}
}
return TheRegion.Collision.ShouldCollide(entry);
}
public override void AddToGame(BEPUphysics.Space s)
{
base.AddToGame(s);
//s.Add(extras); // no real reason to give these collision
}
/// <summary>
/// Locates the closest support entity by performing a raycast at collected candidates.
/// </summary>
/// <param name="supportEntity">The closest supporting entity.</param>
/// <param name="supportLocation">The support location where the ray hit the entity.</param>
/// <param name="supportNormal">The normal at the surface where the ray hit the entity.</param>
/// <param name="supportDistance">Distance from the character to the support location.</param>
/// <returns>Whether or not a support was located.</returns>
private bool findSupport(out object supportEntityTag, out BEPUphysics.Entities.Entity supportEntity, out Vector3 supportLocation, out Vector3 supportNormal, out float supportDistance)
{
supportEntity = null;
supportEntityTag = null;
supportLocation = BEPUutilities.Toolbox.NoVector;
supportNormal = BEPUutilities.Toolbox.NoVector;
supportDistance = float.MaxValue;
const float fudgeFactor = 0.1f;
Vector3 rayOrigin = this.Body.Position;
rayOrigin.Y += fudgeFactor + this.Body.Height * -0.5f;
for (int i = 0; i < this.collisionPairCollector.CollisionInformation.Pairs.Count; i++)
{
var pair = this.collisionPairCollector.CollisionInformation.Pairs[i];
//Determine which member of the collision pair is the possible support.
Collidable candidate = (pair.BroadPhaseOverlap.EntryA == collisionPairCollector.CollisionInformation ? pair.BroadPhaseOverlap.EntryB : pair.BroadPhaseOverlap.EntryA) as Collidable;
//Ensure that the candidate is a valid supporting entity.
if (candidate.CollisionRules.Personal >= CollisionRule.NoSolver)
continue; //It is invalid!
if (candidate.CollisionRules.Group == Character.NoCollideGroup)
continue;
//The maximum length is supportHeight * 2 instead of supportHeight alone because the character should be able to step downwards.
//This acts like a sort of 'glue' to help the character stick on the ground in general.
float maximumDistance;
//The 'glue' effect should only occur if the character has a solid hold on the ground though.
//Otherwise, the character is falling or sliding around uncontrollably.
if (this.HasTraction && !this.IsSwimming)
maximumDistance = fudgeFactor + (this.SupportHeight * 2.0f);
else
maximumDistance = fudgeFactor + this.SupportHeight;
foreach (Vector3 rayStart in this.rayOffsets.Select(x => x + rayOrigin))
{
BEPUutilities.RayHit rayHit;
// Fire a ray at the candidate and determine some details!
if (candidate.RayCast(new Ray(rayStart, Vector3.Down), maximumDistance, out rayHit))
{
Vector3 n = Vector3.Normalize(rayHit.Normal);
if (n.Y > supportNormal.Y)
supportNormal = n;
// We want to find the closest support, so compare it against the last closest support.
if (rayHit.T < supportDistance && n.Y > 0.25f)
{
supportDistance = rayHit.T - fudgeFactor;
supportLocation = rayHit.Location;
if (rayHit.T < 0.0f)
supportNormal = Vector3.Up;
var entityInfo = candidate as EntityCollidable;
if (entityInfo != null)
{
supportEntity = entityInfo.Entity;
supportEntityTag = supportEntity != null ? supportEntity.Tag : candidate.Tag;
}
else
supportEntityTag = candidate.Tag;
}
}
}
}
bool isSupported = supportDistance < float.MaxValue;
if (!isSupported && this.WallRunState.Value == Player.WallRun.None)
{
foreach (Contact contact in this.Body.CollisionInformation.Pairs.SelectMany(x => x.Contacts.Select(y => y.Contact)))
{
Vector3 normal = (contact.Position - this.Body.Position).SetComponent(Direction.PositiveY, 0);
float length = normal.Length();
if (length > 0.5f)
this.Body.LinearVelocity += -0.1f * (normal / length);
}
}
return isSupported;
}
void Events_ContactCreated(EntityCollidable sender, Collidable other, BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler pair, ContactData contact)
{
this.Collided.Execute(other, pair.Contacts);
}
public override void Create(Vector3 position, Quaternion orientation, Vector3 velocity, BEPUphysics.Entities.Entity target)
{
Create(position, orientation, velocity);
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var cylinderShape = DisplayedObject.CollisionInformation.Shape as CylinderShape;
if (cylinderShape == null)
throw new ArgumentException("Wrong shape type.");
float verticalOffset = cylinderShape.Height / 2;
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = cylinderShape.Radius;
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
//Create the vertex list
for (int i = 0; i < NumSides; i++)
{
float theta = i * angleBetweenFacets;
float x = (float)Math.Cos(theta) * radius;
float z = (float)Math.Sin(theta) * radius;
//Top cap
vertices.Add(new VertexPositionColor(new Vector3(x, verticalOffset, z), color));
//Top part of body
vertices.Add(new VertexPositionColor(new Vector3(x, verticalOffset, z), color));
//Bottom part of body
vertices.Add(new VertexPositionColor(new Vector3(x, -verticalOffset, z), color));
//Bottom cap
vertices.Add(new VertexPositionColor(new Vector3(x, -verticalOffset, z), color));
}
//Create the index list
//The vertices are arranged a little nonintuitively.
//0 is part of the top cap, 1 is the upper body, 2 is lower body, and 3 is bottom cap.
for (short i = 0; i < vertices.Count; i += 4)
{
//Each iteration, the loop advances to the next vertex 'column.'
//Four triangles per column (except for the four degenerate cap triangles).
//Top cap triangles
var nextIndex = (short)((i + 4) % vertices.Count);
if (nextIndex != 0) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add(i);
indices.Add(nextIndex);
indices.Add(0);
}
//Body triangles
nextIndex = (short)((i + 5) % vertices.Count);
indices.Add((short)(i + 1));
indices.Add((short)(i + 2));
indices.Add(nextIndex);
indices.Add(nextIndex);
indices.Add((short)(i + 2));
indices.Add((short)((i + 6) % vertices.Count));
//Bottom cap triangles.
nextIndex = (short)((i + 7) % vertices.Count);
if (nextIndex != 3) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add((short)(i + 3));
indices.Add(3);
indices.Add(nextIndex);
}
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
public override void Create(Vector3 position, Quaternion orientation, Vector3 velocity, BEPUphysics.Entities.Entity target)
{
throw new NotImplementedException();
}
public static IPhysicObject RecoverIPhysicObjectFromCollidable(BEPUphysics.Collidables.Collidable collidable)
{
IPhysicObject phy = (collidable.Tag as IPhysicObject);
if (phy != null)
return phy;
return null;
}
/// <summary>
/// Collision happened
/// </summary>
/// <param name="sender"></param>
/// <param name="other"></param>
/// <param name="pair"></param>
void Events_InitialCollisionDetected(BEPUphysics.Collidables.MobileCollidables.EntityCollidable sender, BEPUphysics.Collidables.Collidable other, BEPUphysics.NarrowPhaseSystems.Pairs.CollidablePairHandler pair)
{
IObject send = BepuEntityObject.RecoverObjectFromEntity(sender.Entity);
IObject obj = BepuEntityObject.RecoverObjectFromCollidable(other);
///Verifica se esta bola ja foi considerada
///Consider just the first collision
if (alreadProcessed.Contains(obj.GetId()))
return;
alreadProcessed.Add(obj.GetId());
///se o objeto colidido for diferente do cenario
///dont consider the island model (triangle meshes in general)
if (obj.PhysicObject.PhysicObjectTypes != PhysicObjectTypes.TRIANGLEMESHOBJECT)
{
shouldDraw = true;
///Envia uma mensagem para o canal de comunicacao CUBO
///Send a message to the channel
Message m = new Message(send.GetId(), PrincipalConstants.InvalidId, "cubo", Priority.MEDIUM, -1, SenderType.OBJECT, null, "CHANGECOLOR");
MessageDeliver.SendMessage(m);
///Esta mensagem foi enviada sem Sender (Quem receber a mensagem nao sabera quem enviou)
///Envia uma mensagem para o "CUBO QUE VAI MUDAR DE COR" (lembre que o id dele eh 77 !!)
///Send a message to the specific id (first cube)
m = new Message(PrincipalConstants.InvalidId, 77, null, Priority.MEDIUM, -1, SenderType.OBJECT, null, "CHANGECOLOR");
MessageDeliver.SendMessage(m);
}
objNameTemp = obj.Name;
}
public override void OnAdditionToSpace(BEPUphysics.ISpace s)
{
s.Add(baseJoint);
foreach(WeldJoint j in joints)
s.Add(j);
base.OnAdditionToSpace(s);
}
public static DebugInfo GetDebugInfo(BEPUphysics.Entities.Entity DisplayedObject, Color color)
{
var capsuleShape = DisplayedObject.CollisionInformation.Shape as CapsuleShape;
if (capsuleShape == null)
throw new ArgumentException("Wrong shape type.");
var n = new Vector3();
var offset = new Vector3(0, capsuleShape.Length / 2, 0);
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = capsuleShape.Radius;
//Create the vertex list
//Top
List<VertexPositionColor> vertices = new List<VertexPositionColor>();
List<short> indices = new List<short>();
vertices.Add(new VertexPositionColor(new Vector3(0, radius + capsuleShape.Length / 2, 0),color));
//Upper hemisphere
for (int i = 1; i <= NumSides / 4; i++)
{
float phi = MathHelper.PiOver2 - i * angleBetweenFacets;
var sinPhi = (float)Math.Sin(phi);
var cosPhi = (float)Math.Cos(phi);
for (int j = 0; j < NumSides; j++)
{
float theta = j * angleBetweenFacets;
n.X = (float)Math.Cos(theta) * cosPhi;
n.Y = sinPhi;
n.Z = (float)Math.Sin(theta) * cosPhi;
vertices.Add(new VertexPositionColor(n * radius + offset, color));
}
}
//Lower hemisphere
for (int i = NumSides / 4; i < NumSides / 2; i++)
{
float phi = MathHelper.PiOver2 - i * angleBetweenFacets;
var sinPhi = (float)Math.Sin(phi);
var cosPhi = (float)Math.Cos(phi);
for (int j = 0; j < NumSides; j++)
{
float theta = j * angleBetweenFacets;
n.X = (float)Math.Cos(theta) * cosPhi;
n.Y = sinPhi;
n.Z = (float)Math.Sin(theta) * cosPhi;
vertices.Add(new VertexPositionColor(n * radius - offset, color));
}
}
//Bottom
vertices.Add(new VertexPositionColor(new Vector3(0, -radius - capsuleShape.Length / 2, 0), color));
//Create the index list
for (int i = 0; i < NumSides; i++)
{
indices.Add((short)(vertices.Count - 1));
indices.Add((short)(vertices.Count - 2 - i));
indices.Add((short)(vertices.Count - 2 - (i + 1) % NumSides));
}
for (int i = 0; i < NumSides / 2 - 1; i++)
{
for (int j = 0; j < NumSides; j++)
{
int nextColumn = (j + 1) % NumSides;
indices.Add((short)(i * NumSides + nextColumn + 1));
indices.Add((short)(i * NumSides + j + 1));
indices.Add((short)((i + 1) * NumSides + j + 1));
indices.Add((short)((i + 1) * NumSides + nextColumn + 1));
indices.Add((short)(i * NumSides + nextColumn + 1));
indices.Add((short)((i + 1) * NumSides + j + 1));
}
}
for (int i = 0; i < NumSides; i++)
{
indices.Add(0);
indices.Add((short)(i + 1));
indices.Add((short)((i + 1) % NumSides + 1));
}
DebugInfo DebugInfo = new DebugInfo();
DebugInfo.vertices = vertices.ToArray();
DebugInfo.indices = indices.ToArray();
return DebugInfo;
}
void detectorVolume_EntityStoppedTouching(DetectorVolume volume, BEPUphysics.Entities.Entity toucher)
{
actor.EndCollision((Actor)toucher.CollisionInformation.OwningActor);
}
public override void OnAdditionToSpace(BEPUphysics.ISpace s)
{
foreach(WeldJoint j in joints)
s.Add(j);
s.Add(glassJoint1);
s.Add(glassJoint2);
s.Add(baseJoint);
s.Add(wheelsJoint1);
s.Add(wheelsJoint2);
base.OnAdditionToSpace(s);
}
