public void Evaluate(int SpreadMax)
{
if (this.FBodies.IsConnected)
{
this.FId.SliceCount = this.FBodies.SliceCount;
this.FPosition.SliceCount = this.FBodies.SliceCount;
this.FRadius.SliceCount = this.FBodies.SliceCount;
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.FBodies[i];
BodyCustomData bd = (BodyCustomData)body.UserObject;
this.FId[i] = bd.Id;
CollisionShape shape = body.CollisionShape;
Vector3 center;
float radius;
shape.GetBoundingSphere(out center, out radius);
this.FPosition[i] = center.ToVVVVector();
this.FRadius[i] = radius;
}
}
else
{
this.FId.SliceCount = 0;
this.FPosition.SliceCount = 0;
this.FRadius.SliceCount = 0;
}
}
public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected)
{
this.FHit.SliceCount = SpreadMax;
List <double> fraction = new List <double>();
List <Vector3D> position = new List <Vector3D>();
List <Vector3D> normal = new List <Vector3D>();
List <RigidBody> body = new List <RigidBody>();
List <int> bodyid = new List <int>();
List <int> qidx = new List <int>();
for (int i = 0; i < SpreadMax; i++)
{
Vector3 from = this.FFrom[i].ToBulletVector();
Vector3 to = this.FTo[i].ToBulletVector();
CollisionWorld.ClosestRayResultCallback cb =
new CollisionWorld.ClosestRayResultCallback(from, to);
//cb.CollisionFilterMask =
this.FWorld[0].World.RayTest(from, to, cb);
if (cb.HasHit)
{
this.FHit[i] = true;
BodyCustomData bd = (BodyCustomData)cb.CollisionObject.UserObject;
fraction.Add(cb.ClosestHitFraction);
position.Add(cb.HitPointWorld.ToVVVVector());
normal.Add(cb.HitNormalWorld.ToVVVVector());
body.Add((RigidBody)cb.CollisionObject);
bodyid.Add(bd.Id);
qidx.Add(i);
}
else
{
this.FHit[i] = false;
}
}
this.FId.AssignFrom(bodyid);
this.FHitFraction.AssignFrom(fraction);
this.FHitNormal.AssignFrom(normal);
this.FHitPosition.AssignFrom(position);
this.FQueryIndex.AssignFrom(qidx);
this.FBody.AssignFrom(body);
}
else
{
this.FHit.SliceCount = 0;
this.FId.SliceCount = 0;
this.FHitFraction.SliceCount = 0;
this.FHitPosition.SliceCount = 0;
}
}
public bool Filter(RigidBody body)
{
if (IdList == null)
{
return(false);
}
BodyCustomData data = (BodyCustomData)body.UserObject;
return(IdList.Contains(data.Id));
}
public void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
RigidBody rb = this.FInput[i];
if (rb != null && FSet[i])
{
BodyCustomData bd = (BodyCustomData)rb.UserObject;
bd.Custom = FString[i];
}
}
}
internal void ProcessDelete()
{
int cnt = this.RigidBodies.Count;
for (int i = 0; i < cnt; i++)
{
RigidBody body = this.RigidBodies[i];
BodyCustomData bd = (BodyCustomData)body.UserObject;
bd.Created = false;
if (bd.MarkedForDeletion)
{
if (this.RigidBodyDeleted != null)
{
this.RigidBodyDeleted(body, bd.Id);
}
this.Unregister(body);
}
}
cnt = this.SoftBodies.Count;
for (int i = 0; i < cnt; i++)
{
SoftBody body = this.SoftBodies[i];
BodyCustomData bd = (BodyCustomData)body.UserObject;
bd.Created = false;
if (bd.MarkedForDeletion)
{
if (this.SoftBodyDeleted != null)
{
this.SoftBodyDeleted(body, bd.Id);
}
this.Unregister(body);
}
}
cnt = this.Constraints.Count;
for (int i = 0; i < cnt; i++)
{
TypedConstraint cst = this.constraints[i];
ConstraintCustomData cd = (ConstraintCustomData)cst.UserObject;
cd.Created = false;
if (cd.MarkedForDeletion)
{
if (this.ConstraintDeleted != null)
{
this.ConstraintDeleted(cst, cd.Id);
}
this.Unregister(cst);
}
}
}
public void Evaluate(int SpreadMax)
{
if (this.FBodies.IsConnected)
{
this.FCustom.SliceCount = this.FBodies.SliceCount;
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.FBodies[i];
BodyCustomData bd = (BodyCustomData)body.UserObject;
this.FCustom[i] = bd.Custom;
}
}
else
{
this.FCustom.SliceCount = 0;
}
}
protected override void ProcessObject(RigidBody obj, int slice)
{
if (obj.CollisionShape.IsCompound && FWorld.PluginIO.IsConnected)
{
CompoundShape comp = (CompoundShape)obj.CollisionShape;
BodyCustomData bc = (BodyCustomData)obj.UserObject;
bc.MarkedForDeletion = true;
for (int i = 0; i < comp.ChildList.Count; i++)
{
CollisionShape shape = comp.GetChildShape(i);
float mass = 1.0f / obj.InvMass;
float massshape = mass / (float)comp.ChildList.Count;
Vector3 inert;
shape.CalculateLocalInertia(massshape, out inert);
Matrix m = obj.MotionState.WorldTransform;
MotionState ms = new DefaultMotionState(m);
//List<RigidBody> bodies = new List<RigidBody>();
RigidBody rb = new RigidBody(new RigidBodyConstructionInfo(mass, ms, shape, inert));
rb.LinearVelocity = obj.LinearVelocity;
rb.AngularVelocity = obj.AngularVelocity;
rb.Restitution = obj.Restitution;
rb.Friction = obj.Friction;
//rb.CollisionShape = shape;
BodyCustomData copy = new BodyCustomData();
copy.Id = this.FWorld[0].GetNewBodyId();
copy.Custom = bc.Custom;
rb.UserObject = copy;
this.FWorld[0].Register(rb);
//bodies.Add(rb);
}
}
}
public void Evaluate(int SpreadMax)
{
if (this.bodies.IsConnected)
{
this.id.SliceCount = this.bodies.SliceCount;
var ids = this.id.Stream.Buffer;
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.bodies[i];
BodyCustomData bd = (BodyCustomData)body.UserObject;
ids[i] = bd.Id;
}
this.id.Flush(true);
}
else
{
this.id.SliceCount = 0;
}
}
protected override void ProcessObject(CollisionObject obj, int slice)
{
BodyCustomData bd = (BodyCustomData)obj.UserObject;
bd.MarkedForDeletion = true;
}
public void Evaluate(int SpreadMax)
{
IRigidBulletWorld inputWorld = this.worldInput[0];
SpreadMax = 1;
if (inputWorld != null)
{
this.persistedList.UpdateWorld(inputWorld);
if (this.chassisShape.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.doCreate[i])
{
RigidBodyPose initialPose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase chassisShapeDefinition = this.chassisShape[i];
CollisionShape chassisShape = chassisShapeDefinition.GetShape(shapeData);
shapeData.ShapeDef = chassisShapeDefinition;
RaycastVehicle vehicle;
CompoundShape compoundShape = new CompoundShape();
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compoundShape.AddChildShape(localTrans, chassisShape);
//Build mass for dynamic object
Vector3 localInertia = Vector3.Zero;
if (chassisShapeDefinition.Mass > 0.0f)
{
compoundShape.CalculateLocalInertia(chassisShapeDefinition.Mass, out localInertia);
}
Tuple <RigidBody, int> createBodyResult = inputWorld.CreateRigidBody(chassisShape, ref initialPose, ref properties, ref localInertia, chassisShapeDefinition.Mass, this.customString[i]);
RigidBody carChassis = createBodyResult.Item1;
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
DefaultVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(inputWorld.World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
carChassis.ActivationState = ActivationState.DisableDeactivation;
inputWorld.World.AddAction(vehicle);
int wheelCount = this.wheelConstruction.SliceCount;
//Add wheels
for (int j = 0; j < this.wheelConstruction[i].SliceCount; j++)
{
WheelConstructionProperties wcs = this.wheelConstruction[i][j];
Vector3 connectionPointCS0 = wcs.localPosition.ToBulletVector();
WheelInfo wheel = vehicle.AddWheel(connectionPointCS0, wcs.wheelDirection.ToBulletVector(), wcs.wheelAxis.ToBulletVector(), wcs.SuspensionRestLength, wcs.WheelRadius, tuning, wcs.isFrontWheel);
}
//Set Wheel Properties
WheelProperties wis = this.wheelInfoSettings[i] != null ? this.wheelInfoSettings[i] : new WheelProperties();
for (int j = 0; j < vehicle.NumWheels; j++)
{
WheelInfo wheel = vehicle.GetWheelInfo(j);
wheel.SuspensionStiffness = wis.SuspensionStiffness;
wheel.WheelsDampingRelaxation = wis.WheelsDampingRelaxation;
wheel.WheelsDampingCompression = wis.WheelsDampingCompression;
wheel.FrictionSlip = wis.FrictionSlip;
wheel.RollInfluence = wis.RollInfluence;
}
BodyCustomData bd = (BodyCustomData)carChassis.UserObject;
bd.Vehicle = vehicle;
this.persistedList.Append(createBodyResult.Item1, createBodyResult.Item2);
}
}
List <RigidBody> bodies = this.persistedList.Bodies;
this.vehicleOutput.SliceCount = bodies.Count;
this.chassisOutput.SliceCount = bodies.Count;
for (int i = 0; i < bodies.Count; i++)
{
BodyCustomData bd = (BodyCustomData)bodies[i].UserObject;
this.vehicleOutput[i] = bd.Vehicle;
this.chassisOutput[i] = bodies[i];
}
}
}
else
{
this.vehicleOutput.SliceCount = 0;
this.chassisOutput.SliceCount = 0;
}
}
internal void ProcessDelete(double dt)
{
List <RigidBody> todelete = new List <RigidBody>();
List <int> deleteid = new List <int>();
int cnt = this.RigidBodies.Count;
for (int i = 0; i < cnt; i++)
{
RigidBody body = this.RigidBodies[i];
BodyCustomData bd = (BodyCustomData)body.UserObject;
if (!bd.Created)
{
bd.LifeTime += dt;
}
bd.Created = false;
if (bd.MarkedForDeletion)
{
todelete.Add(body);
deleteid.Add(bd.Id);
}
}
for (int i = 0; i < todelete.Count; i++)
{
RigidBody body = todelete[i];
if (this.RigidBodyDeleted != null)
{
this.RigidBodyDeleted(body, deleteid[i]);
}
this.Unregister(body);
}
cnt = this.SoftBodies.Count;
for (int i = 0; i < cnt; i++)
{
SoftBody body = this.SoftBodies[i];
BodyCustomData bd = (BodyCustomData)body.UserObject;
if (!bd.Created)
{
bd.LifeTime += dt;
}
bd.Created = false;
if (bd.MarkedForDeletion)
{
if (this.SoftBodyDeleted != null)
{
this.SoftBodyDeleted(body, bd.Id);
}
this.Unregister(body);
}
}
cnt = this.Constraints.Count;
for (int i = 0; i < cnt; i++)
{
TypedConstraint cst = this.constraints[i];
ConstraintCustomData cd = (ConstraintCustomData)cst.UserObject;
if (!cd.Created)
{
cd.LifeTime += dt;
}
cd.Created = false;
if (cd.MarkedForDeletion)
{
if (this.ConstraintDeleted != null)
{
this.ConstraintDeleted(cst, cd.Id);
}
this.Unregister(cst);
}
else
{
cd.LifeTime += dt;
}
}
}
public void Evaluate(int dummy)
{
if (this.FWorld.IsConnected)
{
fraction.Clear();
position.Clear();
normal.Clear();
body.Clear();
qidx.Clear();
//Ignore slice count for excluded bodies, as 0 is allowed (means we do a full search)
int spreadMax = SpreadUtils.SpreadMax(FWorld, FFrom, FTo);
this.FHit.SliceCount = spreadMax;
this.FHitCount.SliceCount = spreadMax;
for (int i = 0; i < spreadMax; i++)
{
Vector3 from = this.FFrom[i].ToBulletVector();
Vector3 to = this.FTo[i].ToBulletVector();
if (cb == null)
{
cb = new AllHitsRayResultCallback(from, to);
}
cb.HitFractions.Clear();
cb.HitNormalWorld.Clear();
cb.HitPointWorld.Clear();
cb.CollisionObjects.Clear();
this.FWorld[0].World.RayTest(from, to, cb);
if (cb.HasHit)
{
this.FHitCount[i] = cb.HitFractions.Count;
float minfrac = float.MaxValue;
RigidBody closest = null;
int minidx = 0;
for (int h = 0; h < cb.HitFractions.Count; h++)
{
RigidBody rb = (RigidBody)cb.CollisionObjects[h];
BodyCustomData bd = (BodyCustomData)rb.UserObject;
if (cb.HitFractions[h] < minfrac && !this.FExcludedBody.Contains(rb))
{
closest = rb;
minidx = h;
}
}
if (closest != null)
{
this.FHit[i] = true;
Vector3 diff = to - from;
Vector3 inter = from + diff * cb.HitFractions[minidx];
position.Add(inter.ToVVVVector());
fraction.Add(cb.HitFractions[minidx]);
normal.Add(cb.HitNormalWorld[minidx].ToVVVVector());
body.Add(closest);
qidx.Add(i);
}
else
{
this.FHit[i] = false;
}
}
else
{
this.FHit[i] = false;
this.FHitCount[i] = 0;
}
}
this.FHitFraction.SliceCount = fraction.Count;
this.FHitNormal.SliceCount = fraction.Count;
this.FHitPosition.SliceCount = fraction.Count;
this.FQueryIndex.SliceCount = fraction.Count;
this.FBody.SliceCount = fraction.Count;
for (int i = 0; i < fraction.Count; i++)
{
this.FHitFraction[i] = fraction[i];
this.FHitNormal[i] = normal[i];
this.FHitPosition[i] = position[i];
this.FBody[i] = body[i];
this.FQueryIndex[i] = qidx[i];
}
}
else
{
this.FHit.SliceCount = 0;
this.FHitFraction.SliceCount = 0;
this.FHitPosition.SliceCount = 0;
this.FHitNormal.SliceCount = 0;
this.FHitCount.SliceCount = 0;
this.FQueryIndex.SliceCount = 0;
}
}
float wheelFriction = 1000; //BT_LARGE_FLOAT;
#endregion Fields
#region Methods
public override void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.CanCreate(i))
{
RaycastVehicle vehicle;
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
CompoundShape compound = new CompoundShape();
//List<AbstractRigidShapeDefinition> children = new List<AbstractRigidShapeDefinition>();
CollisionShape chassisShape = shapedef.GetShape(sc);
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
float mass = shapedef.Mass;
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
chassisShape.CalculateLocalInertia(mass, out localInertia);
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, compound, localInertia);
RigidBody carChassis = new RigidBody(rbInfo);
BodyCustomData bd = new BodyCustomData();
carChassis.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
this.FWorld[0].Register(carChassis);
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
VehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(this.FWorld[0].World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
this.FWorld[0].World.AddAction(vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
FOutVehicle.SliceCount = 1;
FOutVehicle[0] = vehicle;
}
}
}
public bool Filter(RigidBody body)
{
BodyCustomData data = (BodyCustomData)body.UserObject;
return(Id.HasValue ? data.Id == Id : false);
}
public override void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.CanCreate(i))
{
wheelRadius = FwheelRadius[0];
wheelWidth = FwheelWidth[0];
CUBE_HALF_EXTENTS = FwheelDistance[0];
RaycastVehicle vehicle;
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
CompoundShape compound = new CompoundShape();
CollisionShape chassisShape = shapedef.GetShape(sc);
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
float mass = shapedef.Mass;
bool isDynamic = (mass != 0.0f);
isFrontWheel = true;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
chassisShape.CalculateLocalInertia(mass, out localInertia);
}
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, compound, localInertia);
RigidBody carChassis = new RigidBody(rbInfo);
BodyCustomData bd = new BodyCustomData();
carChassis.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
this.FWorld[0].Register(carChassis);
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
VehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(this.FWorld[0].World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
this.FWorld[0].World.AddAction(vehicle);
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), FconnectionHeight[0], 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), FconnectionHeight[0], 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), FconnectionHeight[0], -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), FconnectionHeight[0], -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = FsuspensionStiffness[0];
wheel.WheelDampingRelaxation = FDampingRelaxation[0];
wheel.WheelDampingCompression = FDampingCompression[0];
wheel.FrictionSlip = FwheelFriction[0];
wheel.RollInfluence = FrollInfluence[0];
wheel.MaxSuspensionTravelCm = FmaxSuspensionTravelCm[0];
wheel.MaxSuspensionForce = FmaxSuspensionForce[0];
}
FOutVehicle.SliceCount = 1;
FOutVehicle[0] = vehicle;
}
}
}
public void Evaluate(int SpreadMax)
{
if (this.FWorld.PluginIO.IsConnected)
{
this.FHit.SliceCount = SpreadMax;
this.FHitCount.SliceCount = SpreadMax;
List <double> fraction = new List <double>();
List <Vector3D> position = new List <Vector3D>();
List <Vector3D> normal = new List <Vector3D>();
List <RigidBody> body = new List <RigidBody>();
List <int> bodyid = new List <int>();
List <int> qidx = new List <int>();
for (int i = 0; i < SpreadMax; i++)
{
Vector3 from = this.FFrom[i].ToBulletVector();
Vector3 to = this.FTo[i].ToBulletVector();
if (cb == null)
{
cb = new CollisionWorld.AllHitsRayResultCallback(from, to);
}
cb.HitFractions.Clear();
cb.HitNormalWorld.Clear();
cb.HitPointWorld.Clear();
cb.CollisionObjects.Clear();
this.FWorld[0].World.RayTest(from, to, cb);
if (cb.HasHit)
{
this.FHitCount[i] = cb.HitFractions.Count;
float minfrac = float.MaxValue;
RigidBody closest = null;
int minidx = 0;
for (int h = 0; h < cb.HitFractions.Count; h++)
{
RigidBody rb = (RigidBody)cb.CollisionObjects[h];
if (cb.HitFractions[h] < minfrac && !this.FExcludedBody.Contains(rb))
{
closest = rb;
minidx = h;
}
}
if (closest != null)
{
this.FHit[i] = true;
BodyCustomData bd = (BodyCustomData)closest.UserObject;
fraction.Add(cb.HitFractions[minidx]);
position.Add(cb.HitPointWorld[minidx].ToVVVVector());
normal.Add(cb.HitNormalWorld[minidx].ToVVVVector());
body.Add(closest);
bodyid.Add(bd.Id);
qidx.Add(i);
}
else
{
this.FHit[i] = false;
}
}
else
{
this.FHit[i] = false;
this.FHitCount[i] = 0;
}
}
this.FId.AssignFrom(bodyid);
this.FHitFraction.AssignFrom(fraction);
this.FHitNormal.AssignFrom(normal);
this.FHitPosition.AssignFrom(position);
this.FQueryIndex.AssignFrom(qidx);
this.FBody.AssignFrom(body);
}
else
{
this.FHit.SliceCount = 0;
this.FId.SliceCount = 0;
this.FHitFraction.SliceCount = 0;
this.FHitPosition.SliceCount = 0;
this.FHitCount.SliceCount = 0;
}
}
public bool Filter(RigidBody body)
{
BodyCustomData data = (BodyCustomData)body.UserObject;
return(data.LifeTime <= MinimumAge);
}
protected RigidBody CreateBody(int i,out int id)
{
if (this.CanCreate(i))
{
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
CollisionShape shape = shapedef.GetShape(sc);
Vector3 localinertia = Vector3.Zero;
if (!this.FKinematic[i] && !this.FStatic[i])
{
if (shapedef.Mass > 0.0f)
{
shape.CalculateLocalInertia(shapedef.Mass, out localinertia);
}
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(shapedef.Mass,
ms, shape, localinertia);
rbInfo.Friction = this.FFriction[i];
rbInfo.Restitution = this.FRestitution[i];
RigidBody body = new RigidBody(rbInfo);
if (!this.FActive[i]) { body.ActivationState |= ActivationState.DisableSimulation; }
if (!this.FAllowSleep[i]) { body.ActivationState = ActivationState.DisableDeactivation; }
body.LinearVelocity = this.FLinearVelocity[i].ToBulletVector();
body.AngularVelocity = this.FAngularVelocity[i].ToBulletVector();
body.CollisionFlags = CollisionFlags.None;
if (!this.FContactResponse[i]) { body.CollisionFlags |= CollisionFlags.NoContactResponse; }
if (this.FKinematic[i]) { body.CollisionFlags |= CollisionFlags.KinematicObject; }
if (this.FStatic[i]) { body.CollisionFlags |= CollisionFlags.StaticObject; }
BodyCustomData bd = new BodyCustomData();
body.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
if (this.FCustomObj.PluginIO.IsConnected)
{
bd.CustomObject = (ICloneable)this.FCustomObj[i].Clone();
}
else
{
bd.CustomObject = null;
}
this.FWorld[0].Register(body);
id = bd.Id;
return body;
}
else
{
id = -1;
return null;
}
}
//[Import()]
//VVVV. FLog;
public void Evaluate(int SpreadMax)
{
if (this.FBodies.PluginIO.IsConnected)
{
this.FId.SliceCount = this.FBodies.SliceCount;
this.FPosition.SliceCount = this.FBodies.SliceCount;
this.FRotation.SliceCount = this.FBodies.SliceCount;
this.FShapes.SliceCount = this.FBodies.SliceCount;
this.FCustom.SliceCount = this.FBodies.SliceCount;
this.FIsNew.SliceCount = this.FBodies.SliceCount;
this.FLinVel.SliceCount = this.FBodies.SliceCount;
this.FAngVel.SliceCount = this.FBodies.SliceCount;
this.FActive.SliceCount = this.FBodies.SliceCount;
this.FContactResponse.SliceCount = this.FBodies.SliceCount;
this.FStatic.SliceCount = this.FBodies.SliceCount;
this.FKinematic.SliceCount = this.FBodies.SliceCount;
this.FShapeTransform.SliceCount = this.FBodies.SliceCount;
this.FHasCustomObj.SliceCount = this.FBodies.SliceCount;
this.FCustomObj.SliceCount = this.FBodies.SliceCount;
List <Matrix4x4> transforms = new List <Matrix4x4>();
for (int i = 0; i < SpreadMax; i++)
{
RigidBody body = this.FBodies[i];
this.FPosition[i] = new Vector3D(body.MotionState.WorldTransform.M41,
body.MotionState.WorldTransform.M42, body.MotionState.WorldTransform.M43);
Quaternion rot = body.Orientation;
this.FRotation[i] = new Vector4D(rot.X, rot.Y, rot.Z, rot.W);
this.FLinVel[i] = body.LinearVelocity.ToVVVVector();
this.FAngVel[i] = body.AngularVelocity.ToVVVVector();
CollisionShape shape = body.CollisionShape;
if (shape.IsCompound)
{
//CompoundShape sp = new CompoundShape(
CompoundShape comp = (CompoundShape)shape;
this.FShapes[i].SliceCount = comp.NumChildShapes;
this.FShapeTransform[i].SliceCount = comp.NumChildShapes;
for (int j = 0; j < comp.NumChildShapes; j++)
{
CollisionShape child = comp.GetChildShape(j);
this.FShapes[i][j] = child;
Matrix m = comp.GetChildTransform(j);
Matrix4x4 mn = new Matrix4x4(m.M11, m.M12, m.M13, m.M14,
m.M21, m.M22, m.M23, m.M24, m.M31, m.M32, m.M33, m.M34,
m.M41, m.M42, m.M43, m.M44);
mn *= VMath.Scale(child.LocalScaling.ToVVVVector());
this.FShapeTransform[i][j] = mn;
//comp.
//comp.GetChildTransform(
//this.FShapes[i][j].
}
}
else
{
this.FShapes[i].SliceCount = 1;
this.FShapes[i][0] = shape;
this.FShapeTransform[i].SliceCount = 1;
this.FShapeTransform[i][0] = VMath.Scale(shape.LocalScaling.ToVVVVector());
//transforms.Add(VMath.IdentityMatrix);
}
BodyCustomData bd = (BodyCustomData)body.UserObject;
ShapeCustomData sc = (ShapeCustomData)shape.UserObject;
this.FActive[i] = body.IsActive;
this.FContactResponse[i] = body.HasContactResponse;
this.FStatic[i] = body.IsStaticObject;
this.FKinematic[i] = body.IsKinematicObject;
//this.FShapeCount[i] = sc.ShapeDef.ShapeCount;
this.FId[i] = bd.Id;
this.FIsNew[i] = bd.Created;
this.FCustom[i] = bd.Custom;
if (bd.CustomObject != null)
{
this.FHasCustomObj[i] = true;
this.FCustomObj[i] = bd.CustomObject;
}
else
{
this.FHasCustomObj[i] = false;
this.FCustomObj[i] = null;
}
}
//this.FShapeTransform.SliceCount = transforms.Count;
//this.FShapeTransform.AssignFrom(transforms);
}
else
{
this.FId.SliceCount = 0;
this.FPosition.SliceCount = 0;
this.FRotation.SliceCount = 0;
this.FShapes.SliceCount = 0;
this.FCustom.SliceCount = 0;
this.FIsNew.SliceCount = 0;
this.FLinVel.SliceCount = 0;
this.FAngVel.SliceCount = 0;
this.FShapeTransform.SliceCount = 0;
}
}
protected RigidBody CreateBody(int i, out int id)
{
if (this.CanCreate(i))
{
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
CollisionShape shape = shapedef.GetShape(sc);
Vector3 localinertia = Vector3.Zero;
if (!this.FKinematic[i] && !this.FStatic[i])
{
if (shapedef.Mass > 0.0f)
{
shape.CalculateLocalInertia(shapedef.Mass, out localinertia);
}
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(shapedef.Mass,
ms, shape, localinertia);
rbInfo.Friction = this.FFriction[i];
rbInfo.Restitution = this.FRestitution[i];
RigidBody body = new RigidBody(rbInfo);
if (!this.FActive[i])
{
body.ActivationState |= ActivationState.DisableSimulation;
}
if (!this.FAllowSleep[i])
{
body.ActivationState = ActivationState.DisableDeactivation;
}
body.LinearVelocity = this.FLinearVelocity[i].ToBulletVector();
body.AngularVelocity = this.FAngularVelocity[i].ToBulletVector();
body.CollisionFlags = CollisionFlags.None;
if (!this.FContactResponse[i])
{
body.CollisionFlags |= CollisionFlags.NoContactResponse;
}
if (this.FKinematic[i])
{
body.CollisionFlags |= CollisionFlags.KinematicObject;
}
if (this.FStatic[i])
{
body.CollisionFlags |= CollisionFlags.StaticObject;
}
BodyCustomData bd = new BodyCustomData();
body.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
if (this.FCustomObj.PluginIO.IsConnected)
{
bd.CustomObject = (ICloneable)this.FCustomObj[i].Clone();
}
else
{
bd.CustomObject = null;
}
this.FWorld[0].Register(body);
id = bd.Id;
return(body);
}
else
{
id = -1;
return(null);
}
}
