public RigidBody(float mass, MotionState motionState, CollisionShape collisionShape, Vector3 localInertia, float linearDamping, float angularDamping, float friction, float restitution)
{
_optionalMotionState = motionState;
_angularFactor = 1;
_angularDamping = 0.5f;
if (motionState != null)
{
motionState.GetWorldTransform(out _worldTransform);
}
else
{
WorldTransform = Matrix.Identity;
}
InterpolationWorldTransform = WorldTransform;
InterpolationLinearVelocity = new Vector3();
InterpolationAngularVelocity = new Vector3();
//moved to btCollisionObject
Friction = friction;
Restitution = restitution;
CollisionShape = collisionShape;
_debugBodyId = UniqueID++;
//m_internalOwner is to allow upcasting from collision object to rigid body
Owner = this;
SetMassProps(mass, localInertia);
SetDamping(linearDamping, angularDamping);
UpdateInertiaTensor();
}
public SolidBlock BuildSolidBlock(string name, Locator loc, Vector size, CollisionShape shape, Viewer viewer)
{
SolidBlock obj = new SolidBlock(name);
obj.Viewer = viewer;
obj.LocalCenter = loc.Center;
obj.LocalAngle = loc.Angle;
obj.LocalZIndex = loc.ZIndex;
obj.CollisionShape = shape;
obj.Size = size;
map.AddObject(obj);
obj.LocationChanged += map.UpdateObject;
obj.LocationChanged += GameProcess.Current_Game.Manager.RegisterObject;
obj.Crashed += map.RemoveObject;
obj.Crashed += GameProcess.Current_Game.Camera.TryRemoveIndicator;
obj.Crashed += GameProcess.Current_Game.Manager.UnRegisterObject;
obj.LifeChanged += GameProcess.Current_Game.Camera.IndicateLifeChange;
return obj;
}
public ConvexBody3D(World world, ModelVisual3D model, CollisionShape collisionShape, double radius, double height)
: base(world, model)
{
// Validate
switch (collisionShape)
{
case CollisionShape.Capsule:
case CollisionShape.ChamferCylinder:
case CollisionShape.Cone:
case CollisionShape.Cylinder:
break;
default:
throw new ArgumentException("This constructor overload only supports collision shapes of cone, cylinder, capsule, chamfer cylinder");
}
// Store the definition of the collision shape
_collisionShape = collisionShape;
_collisionShapeRatio1 = radius;
_collisionShapeRatio2 = height;
_collisionShapeRatio3 = -1d;
// Calculate the collision mask
RecalculateCollisionMask();
}
/// <summary>
/// コンストラクター
/// </summary>
public CollisionObject()
{
this.shape = null;
this.ghostObject = null;
this.offset = new Vector3 (0, 0, 0);
this.collideWith = -1;
this.ignoreWith = 0;
}
/// <summary>
/// Primitive object constructor
/// </summary>
public PrimitiveObject() : base(string.Empty)
{
Size = new Vector(_initialObjSize, _initialObjSize);
Viewer = null;
CollisionShape = CollisionShape.None;
}
/// <summary>
/// Leaf object constructor
/// </summary>
/// <param name="name"></param>
public PrimitiveObject(string name, Locator locator) : base(name, locator)
{
Size = new Vector(_initialObjSize, _initialObjSize);
Viewer = null;
CollisionShape = CollisionShape.None;
}
public bool Collides(CollisionShape a_cs)
{
if (a_cs is CollisionRectangle)
{
CollisionRectangle a_cr = (CollisionRectangle) a_cs;
if (a_cr.contains(m_point1) || contains(new Vector2 (a_cr.m_x, a_cr.my)))
{
return true;
}
}
else
{
//throw new NotImplementedException("Triangles cannot collide with triangles");
return false;
}
}
public override void BuildSpecialObject(string name, String type, Locator loc, Vector size, CollisionShape shape, Viewer viewer)
{
switch (type.ToLower())
{
case "solidblock":
{
BuildSolidBlock(name, loc, size, shape, viewer);
}
break;
case "woodbox":
{
BuildWoodBox(name, loc, size, shape, viewer);
}
break;
case "steelblock":
{
BuildSteelBlock(name, loc, size, shape, viewer);
}
break;
case "brickblock":
{
BuildBrickBlock(name, loc, size, shape, viewer);
}
break;
case "barrel":
{
BuildBarrel(name, loc, size, shape, viewer);
}
break;
case "respaun":
{
BuildRespaun(name, loc, size, shape, viewer);
}
break;
default:
{
BuildStandartObject(name, loc, size, shape, viewer);
}
break;
}
}
public ConvexBody3D(World world, ModelVisual3D model, CollisionShape collisionShape, double ratioX, double ratioY, double ratioZ)
: base(world, model)
{
// Validate
switch (collisionShape)
{
case CollisionShape.Cube:
case CollisionShape.Sphere:
break;
default:
throw new ArgumentException("This constructor overload only supports collision shapes of cube and sphere");
}
// Store the definition of the collision shape
_collisionShape = collisionShape;
_collisionShapeRatio1 = ratioX; // reusing 3 doubles so I don't waste as much memory (it's not much, but makes me feel better)
_collisionShapeRatio2 = ratioY;
_collisionShapeRatio3 = ratioZ;
// Calculate the collision mask
RecalculateCollisionMask();
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null)
{
BCollisionShape[] css = GetComponentsInChildren <BCollisionShape>();
colliders = new BCollisionShape[css.Length - 1];
int ii = 0;
for (int i = 0; i < css.Length; i++)
{
if (css[i] == this)
{
//skip
}
else
{
colliders[ii] = css[i];
ii++;
}
}
if (colliders.Length == 0)
{
Debug.LogError("Compound collider");
}
//TODO
// some of the collider types (non-finite and other compound colliders) are probably not
// can only be added to game object with rigid body attached.
// allowed should check for these.
// what about scaling not sure if it is handled correctly
CompoundShape cs = new CompoundShape();
collisionShapePtr = cs;
for (int i = 0; i < colliders.Length; i++)
{
CollisionShape chcs = colliders[i].GetCollisionShape();
Vector3 up = Vector3.up;
Vector3 origin = Vector3.zero;
Vector3 forward = Vector3.forward;
//to world
up = colliders[i].transform.TransformPoint(up);
origin = colliders[i].transform.TransformPoint(origin);
forward = colliders[i].transform.TransformPoint(forward);
//to compound collider
up = transform.InverseTransformPoint(up);
origin = transform.InverseTransformPoint(origin);
forward = transform.InverseTransformPoint(forward);
Quaternion q = Quaternion.LookRotation(forward, up);
/*
* Some collision shapes can have local scaling applied. Use
* btCollisionShape::setScaling(vector3).Non uniform scaling with different scaling
* values for each axis, can be used for btBoxShape, btMultiSphereShape,
* btConvexShape, btTriangleMeshShape.Note that a non - uniform scaled
* sphere can be created by using a btMultiSphereShape with 1 sphere.
*/
BulletSharp.Math.Matrix m = BulletSharp.Math.Matrix.AffineTransformation(1f, q.ToBullet(), origin.ToBullet());
cs.AddChildShape(m, chcs);
}
}
return(collisionShapePtr);
}
//todo(erwincoumans) Quick hack, reference to InvertedPendulumPDControl implementation. Will create a separate header/source file for this.
public MultiBody createInvertedPendulumMultiBody(float radius, MultiBodyDynamicsWorld world, Matrix baseWorldTrans, bool fixedBase)
{
BulletSharp.Math.Vector4[] colors = new BulletSharp.Math.Vector4[]
{
new BulletSharp.Math.Vector4(1, 0, 0, 1),
new BulletSharp.Math.Vector4(0, 1, 0, 1),
new BulletSharp.Math.Vector4(0, 1, 1, 1),
new BulletSharp.Math.Vector4(1, 1, 0, 1),
};
int curColor = 0;
bool damping = false;
bool gyro = false;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
BulletSharp.Math.Vector3 linkHalfExtents = new BulletSharp.Math.Vector3(0.05f, 0.37f, 0.1f);
BulletSharp.Math.Vector3 baseHalfExtents = new BulletSharp.Math.Vector3(0.04f, 0.35f, 0.08f);
//mbC.forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
//init the base
BulletSharp.Math.Vector3 baseInertiaDiag = new BulletSharp.Math.Vector3(0.0f, 0.0f, 0.0f);
float baseMass = fixedBase ? 0.0f : 10.0f;
if (baseMass != 0)
{
//CollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(BulletSharp.Math.Vector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
CollisionShape shape = new BoxShape(new BulletSharp.Math.Vector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
shape.CalculateLocalInertia(baseMass, out baseInertiaDiag);
shape.Dispose();
}
Debug.Log("NumLinks " + numLinks);
MultiBody pMultiBody = new MultiBody(numLinks, 0, baseInertiaDiag, fixedBase, canSleep);
pMultiBody.BaseWorldTransform = baseWorldTrans;
BulletSharp.Math.Vector3 vel = new BulletSharp.Math.Vector3(0, 0, 0);
// pMultiBody.setBaseVel(vel);
//init the links
BulletSharp.Math.Vector3 hingeJointAxis = new BulletSharp.Math.Vector3(1, 0, 0);
//y-axis assumed up
BulletSharp.Math.Vector3 parentComToCurrentCom = new BulletSharp.Math.Vector3(0, -linkHalfExtents[1] * 2.0f, 0); //par body's COM to cur body's COM offset
BulletSharp.Math.Vector3 currentPivotToCurrentCom = new BulletSharp.Math.Vector3(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
BulletSharp.Math.Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
//////
float q0 = 1.0f * Mathf.PI / 180.0f;
BulletSharp.Math.Quaternion quat0 = new BulletSharp.Math.Quaternion(new BulletSharp.Math.Vector3(1, 0, 0), q0);
quat0.Normalize();
/////
for (int i = 0; i < numLinks; ++i)
{
float linkMass = 1.0f;
//if (i==3 || i==2)
// linkMass= 1000;
BulletSharp.Math.Vector3 linkInertiaDiag = new BulletSharp.Math.Vector3(0.0f, 0.0f, 0.0f);
CollisionShape shape = null;
if (i == 0)
{
shape = new BoxShape(new BulletSharp.Math.Vector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//
}
else
{
shape = new SphereShape(radius);
}
shape.CalculateLocalInertia(linkMass, out linkInertiaDiag);
shape.Dispose();
if (!spherical)
{
//pMultiBody.setupRevolute(i, linkMass, linkInertiaDiag, i - 1, BulletSharp.Math.Quaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
if (i == 0)
{
pMultiBody.SetupRevolute(i, linkMass, linkInertiaDiag, i - 1,
new BulletSharp.Math.Quaternion(0.0f, 0.0f, 0.0f, 1.0f),
hingeJointAxis,
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
}
else
{
parentComToCurrentCom = new BulletSharp.Math.Vector3(0, -radius * 2.0f, 0); //par body's COM to cur body's COM offset
currentPivotToCurrentCom = new BulletSharp.Math.Vector3(0, -radius, 0); //cur body's COM to cur body's PIV offset
parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
pMultiBody.SetupFixed(i, linkMass, linkInertiaDiag, i - 1,
new BulletSharp.Math.Quaternion(0.0f, 0.0f, 0.0f, 1.0f),
parentComToCurrentPivot,
currentPivotToCurrentCom);
}
}
else
{
//pMultiBody.setupPlanar(i, linkMass, linkInertiaDiag, i - 1, BulletSharp.Math.Quaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, BulletSharp.Math.Vector3(1, 0, 0), parentComToCurrentPivot*2, false);
pMultiBody.SetupSpherical(i, linkMass, linkInertiaDiag, i - 1, new BulletSharp.Math.Quaternion(0.0f, 0.0f, 0.0f, 1.0f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
}
pMultiBody.FinalizeMultiDof();
world.AddMultiBody(pMultiBody);
MultiBody mbC = pMultiBody;
mbC.CanSleep = (canSleep);
mbC.HasSelfCollision = (selfCollide);
mbC.UseGyroTerm = (gyro);
//
if (!damping)
{
mbC.LinearDamping = (0.0f);
mbC.AngularDamping = (0.0f);
}
else
{
mbC.LinearDamping = (0.1f);
mbC.AngularDamping = (0.9f);
}
if (numLinks > 0)
{
q0 = 180.0f * Mathf.PI / 180.0f;
if (!spherical)
{
mbC.SetJointPosMultiDof(0, new float[] { q0 });
}
else
{
BulletSharp.Math.Vector3 vv = new BulletSharp.Math.Vector3(1, 1, 0);
vv.Normalize();
quat0 = new BulletSharp.Math.Quaternion(vv, q0);
quat0.Normalize();
float[] quat0fs = new float[] { quat0.X, quat0.Y, quat0.Z, quat0.W };
mbC.SetJointPosMultiDof(0, quat0fs);
}
}
///
BulletSharp.Math.Quaternion[] world_to_local; //btAlignedObjectArray<BulletSharp.Math.Quaternion>
world_to_local = new BulletSharp.Math.Quaternion[pMultiBody.NumLinks + 1];
BulletSharp.Math.Vector3[] local_origin; //btAlignedObjectArray<BulletSharp.Math.Vector3>
local_origin = new BulletSharp.Math.Vector3[pMultiBody.NumLinks + 1];
world_to_local[0] = pMultiBody.WorldToBaseRot;
local_origin[0] = pMultiBody.BasePosition;
// double friction = 1;
{
if (true)
{
CollisionShape shape = new BoxShape(new BulletSharp.Math.Vector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); //new btSphereShape(baseHalfExtents[0]);
// guiHelper.createCollisionShapeGraphicsObject(shape);
MultiBodyLinkCollider col = new MultiBodyLinkCollider(pMultiBody, -1);
links.Add(col);
col.CollisionShape = shape;
Matrix tr = new Matrix();
tr.ScaleVector = BulletSharp.Math.Vector3.One;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
tr.Origin = local_origin[0];
BulletSharp.Math.Quaternion orn = new BulletSharp.Math.Quaternion(new BulletSharp.Math.Vector3(0, 0, 1), 0.25f * 3.1415926538f);
tr.Rotation = (orn);
col.WorldTransform = (tr);
bool isDynamic = (baseMass > 0 && !fixedBase);
CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter ^ CollisionFilterGroups.StaticFilter;
world.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask);//, 2,1+2);
BulletSharp.Math.Vector4 color = new BulletSharp.Math.Vector4(0.0f, 0.0f, 0.5f, 1f);
//guiHelper.createCollisionObjectGraphicsObject(col, color);
// col.setFriction(friction);
pMultiBody.BaseCollider = (col);
}
}
for (int i = 0; i < pMultiBody.NumLinks; ++i)
{
int parent = pMultiBody.GetParent(i);
world_to_local[i + 1] = pMultiBody.GetParentToLocalRot(i) * world_to_local[parent + 1];
BulletSharp.Math.Vector3 vv = world_to_local[i + 1].Inverse.Rotate(pMultiBody.GetRVector(i));
local_origin[i + 1] = local_origin[parent + 1] + vv;
}
for (int i = 0; i < pMultiBody.NumLinks; ++i)
{
BulletSharp.Math.Vector3 posr = local_origin[i + 1];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
float[] quat = new float[] { -world_to_local[i + 1].X, -world_to_local[i + 1].Y, -world_to_local[i + 1].Z, world_to_local[i + 1].W };
CollisionShape shape = null;
if (i == 0)
{
shape = new BoxShape(new BulletSharp.Math.Vector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//btSphereShape(linkHalfExtents[0]);
}
else
{
shape = new SphereShape(radius);
}
//guiHelper.createCollisionShapeGraphicsObject(shape);
MultiBodyLinkCollider col = new MultiBodyLinkCollider(pMultiBody, i);
links.Add(col);
col.CollisionShape = (shape);
Matrix tr = new Matrix();
tr.ScaleVector = new BulletSharp.Math.Vector3();
tr.Origin = (posr);
tr.Rotation = (new BulletSharp.Math.Quaternion(quat[0], quat[1], quat[2], quat[3]));
col.WorldTransform = (tr);
// col.setFriction(friction);
bool isDynamic = true;//(linkMass > 0);
CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter ^ CollisionFilterGroups.StaticFilter;
//if (i==0||i>numLinks-2)
{
world.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask);//,2,1+2);
BulletSharp.Math.Vector4 color = colors[curColor];
curColor++;
curColor &= 3;
//guiHelper.createCollisionObjectGraphicsObject(col, color);
pMultiBody.GetLink(i).Collider = col;
}
}
return(pMultiBody);
}
public override void OnAttachedToNode(Node node)
{
base.OnAttachedToNode(node);
this.planetFactory = this.Scene.GetComponent <PlanetFactory>()
?? throw new InvalidOperationException("'PlanetFactory' not found");
this.joystickServer = this.Scene.GetComponent <JoystickServer>()
?? throw new InvalidOperationException("'JoystickServer' not found");
this.focusManager = this.Scene.GetComponent <FocusManager>()
?? throw new InvalidOperationException("'FocusManager' not found");
this.cameraNode = this.Scene.GetChild("MainCamera", false)
?? throw new InvalidOperationException("'MainCamera' not found");
// Geometry.
this.geometryNode = this.Node.CreateChild("Geometry");
var planeModel = this.geometryNode.CreateComponent <StaticModel>();
planeModel.Model = this.Application.ResourceCache.GetModel("Models\\Rocket.mdl");
planeModel.Material = this.Application.ResourceCache.GetMaterial("Materials\\RocketMaterial.xml");
// Gravity.
this.rigidBody = this.Node.CreateComponent <RigidBody>();
this.rigidBody.Mass = Constants.RocketDefaultMass;
this.rigidBody.LinearRestThreshold = 0.0003f;
this.rigidBody.AngularDamping = 0;
this.rigidBody.SetAngularFactor(Vector3.Zero);
rigidBody.SetLinearVelocity(this.cameraNode.Rotation * Constants.RocketLaunchVelocity);
// Engine particle emitter.
var engineParticleNode = this.Node.CreateChild("RocketEngine");
this.engineParticleEmitter = engineParticleNode.CreateComponent <ParticleEmitter>();
this.engineParticleEmitter.Enabled = false;
this.engineParticleEmitter.Effect = this.Application.ResourceCache.GetParticleEffect("Particles\\RocketEngine.xml");
engineParticleNode.Translate(new Vector3(0, 0, -0.03f));
// Collision particles.
var collisionParticleNode = this.Node.CreateChild("CollisionParticle");
this.collisionParticleEmitter = collisionParticleNode.CreateComponent <ParticleEmitter>();
this.collisionParticleEmitter.Enabled = false;
this.collisionParticleEmitter.Effect = this.Application.ResourceCache.GetParticleEffect("Particles\\Explosion.xml");
// Collision detection.
this.collisionShape = this.Node.CreateComponent <CollisionShape>();
this.collisionShape.SetCylinder(0.07f, 0.015f, Vector3.Zero, Quaternion.Identity);
// Background sound.
this.rocketSoundSource = this.Node.CreateComponent <SoundSource3D>();
this.rocketSoundSource.SetDistanceAttenuation(0.0f, 2.0f, 1.0f);
var sound = this.Application.ResourceCache.GetSound("Sounds\\Rocket.wav");
sound.Looped = true;
this.rocketSoundSource.Play(sound);
this.rocketSoundSource.Gain = 0.1f;
this.soundBaseFrequency = this.rocketSoundSource.Frequency;
// Collision sound.
this.collisionSoundSource = this.Node.CreateComponent <SoundSource3D>();
this.collisionSound = this.Application.ResourceCache.GetSound("Sounds\\Collision.wav");
this.collisionSoundSource.SetDistanceAttenuation(0.0f, 5.0f, 3.0f);
// Engine sound.
this.engineSoundSource = this.Node.CreateComponent <SoundSource3D>();
this.engineSound = this.Application.ResourceCache.GetSound("Sounds\\RocketEngine.wav");
this.engineSoundSource.SetDistanceAttenuation(0.0f, 5.0f, 1.0f);
this.engineSound.Looped = true;
}
public static GameObject CreateLooseEntity(string id, string name, string desc, float mass, bool unitMass, KAnimFile anim, string initialAnim, Grid.SceneLayer sceneLayer, CollisionShape collisionShape, float width = 1f, float height = 1f, bool isPickupable = false, int sortOrder = 0, SimHashes element = SimHashes.Creature, List <Tag> additionalTags = null)
{
GameObject template = CreateBasicEntity(id, name, desc, mass, unitMass, anim, initialAnim, sceneLayer, element, additionalTags, 293f);
template = AddCollision(template, collisionShape, width, height);
KBatchedAnimController component = template.GetComponent <KBatchedAnimController>();
component.isMovable = true;
template.AddOrGet <Modifiers>();
if (isPickupable)
{
Pickupable pickupable = template.AddOrGet <Pickupable>();
pickupable.SetWorkTime(5f);
pickupable.sortOrder = sortOrder;
}
return(template);
}
public virtual void DrawShadow(ref IndexedMatrix m, ref IndexedVector3 extrusion, CollisionShape shape, ref IndexedVector3 worldBoundsMin, ref IndexedVector3 worldBoundsMax)
{
if (shape.GetShapeType() == BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
UniformScalingShape scalingShape = (UniformScalingShape)(shape);
ConvexShape convexShape = scalingShape.GetChildShape();
float scalingFactor = (float)scalingShape.GetUniformScalingFactor();
IndexedMatrix tmpScaling = IndexedMatrix.CreateScale(scalingFactor);
tmpScaling *= m;
DrawShadow(ref tmpScaling, ref extrusion, convexShape, ref worldBoundsMin, ref worldBoundsMax);
return;
}
else if (shape.GetShapeType() == BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE)
{
CompoundShape compoundShape = (CompoundShape)(shape);
for (int i = compoundShape.GetNumChildShapes() - 1; i >= 0; i--)
{
IndexedMatrix childTrans = compoundShape.GetChildTransform(i);
CollisionShape colShape = compoundShape.GetChildShape(i);
//float childMat[16];
//childTrans.getOpenGLMatrix(childMat);
IndexedVector3 transformedExtrude = childTrans._basis * extrusion;
DrawShadow(ref childTrans, ref transformedExtrude, colShape, ref worldBoundsMin, ref worldBoundsMax);
}
}
else
{
bool useWireframeFallback = true;
if (shape.IsConvex())
{
ShapeCache sc = Cache(shape as ConvexShape);
ShapeHull hull = sc.m_shapehull;
//glBegin(GL_QUADS);
for (int i = 0; i < sc.m_edges.Count; ++i)
{
float d = IndexedVector3.Dot(sc.m_edges[i].n[0], extrusion);
if ((d * IndexedVector3.Dot(sc.m_edges[i].n[1], extrusion)) < 0)
{
int q = d < 0?1:0;
IndexedVector3 a = hull.m_vertices[sc.m_edges[i].v[q]];
IndexedVector3 b = hull.m_vertices[sc.m_edges[i].v[1 - q]];
IndexedVector3 ae = a + extrusion;
IndexedVector3 be = b + extrusion;
Vector2 tex = new Vector2(0, 0);
// fix me.
IndexedVector3 normal = new IndexedVector3(0, 1, 0);
// gl_quad turned into two triangles.
AddVertex(ref a, ref normal, ref tex);
AddVertex(ref b, ref normal, ref tex);
AddVertex(ref be, ref normal, ref tex);
AddVertex(ref be, ref normal, ref tex);
AddVertex(ref ae, ref normal, ref tex);
AddVertex(ref a, ref normal, ref tex);
}
}
//glEnd();
}
}
if (shape.IsConcave()) //>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape.getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
// if (shape.getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
ConcaveShape concaveMesh = (ConcaveShape)shape;
XNADrawcallback drawCallback = new XNADrawcallback(this, ref m);
drawCallback.m_wireframe = false;
concaveMesh.ProcessAllTriangles(drawCallback, ref worldBoundsMin, ref worldBoundsMax);
}
//glPopMatrix();
}
public void DrawXNA(ref IndexedMatrix m, CollisionShape shape, ref IndexedVector3 color, DebugDrawModes debugMode, ref IndexedVector3 worldBoundsMin, ref IndexedVector3 worldBoundsMax, ref IndexedMatrix view, ref IndexedMatrix projection)
{
//btglMultMatrix(m);
if (shape == null)
{
return;
}
if (shape.GetShapeType() == BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
UniformScalingShape scalingShape = (UniformScalingShape)shape;
ConvexShape convexShape = scalingShape.GetChildShape();
float scalingFactor = scalingShape.GetUniformScalingFactor();
IndexedMatrix scaleMatrix = IndexedMatrix.CreateScale(scalingFactor);
IndexedMatrix finalMatrix = scaleMatrix * m;
DrawXNA(ref finalMatrix, convexShape, ref color, debugMode, ref worldBoundsMin, ref worldBoundsMax, ref view, ref projection);
return;
}
if (shape.GetShapeType() == BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE)
{
CompoundShape compoundShape = (CompoundShape)shape;
for (int i = compoundShape.GetNumChildShapes() - 1; i >= 0; i--)
{
IndexedMatrix childTrans = compoundShape.GetChildTransform(i);
CollisionShape colShape = compoundShape.GetChildShape(i);
IndexedMatrix childMat = childTrans;
//childMat = MathUtil.bulletMatrixMultiply(m, childMat);
//childMat = childMat * m;
childMat = m * childMat;
DrawXNA(ref childMat, colShape, ref color, debugMode, ref worldBoundsMin, ref worldBoundsMax, ref view, ref projection);
}
}
else
{
bool useWireframeFallback = true;
if ((debugMode & DebugDrawModes.DBG_DrawWireframe) == 0)
{
///you can comment out any of the specific cases, and use the default
///the benefit of 'default' is that it approximates the actual collision shape including collision margin
//BroadphaseNativeTypes shapetype = m_textureEnabled ? BroadphaseNativeTypes.MAX_BROADPHASE_COLLISION_TYPES : shape.getShapeType();
BroadphaseNativeTypes shapetype = shape.GetShapeType();
switch (shapetype)
{
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
{
BoxShape boxShape = shape as BoxShape;
IndexedVector3 halfExtents = boxShape.GetHalfExtentsWithMargin();
DrawSolidCube(ref halfExtents, ref m, ref view, ref projection, ref color);
//drawSolidSphere(halfExtents.X, 10, 10, ref m, ref view, ref projection);
//drawCylinder(halfExtents.X, halfExtents.Y, 1, ref m, ref view, ref projection);
//drawSolidCone(halfExtents.Y, halfExtents.X, ref m, ref view, ref projection);
//DrawText("Hello World", new IndexedVector3(20, 20, 0), new IndexedVector3(255, 255, 255));
useWireframeFallback = false;
break;
}
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
{
SphereShape sphereShape = shape as SphereShape;
float radius = sphereShape.GetMargin();//radius doesn't include the margin, so draw with margin
DrawSolidSphere(radius, 10, 10, ref m, ref view, ref projection, ref color);
//glutSolidSphere(radius,10,10);
useWireframeFallback = false;
break;
}
case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
{
CapsuleShape capsuleShape = shape as CapsuleShape;
float radius = capsuleShape.GetRadius();
float halfHeight = capsuleShape.GetHalfHeight();
int upAxis = capsuleShape.GetUpAxis();
IndexedVector3 capStart = IndexedVector3.Zero;
capStart[upAxis] = -halfHeight;
IndexedVector3 capEnd = IndexedVector3.Zero;
capEnd[upAxis] = halfHeight;
// Draw the ends
{
IndexedMatrix childTransform = IndexedMatrix.Identity;
childTransform._origin = m * capStart;
DrawSolidSphere(radius, 5, 5, ref childTransform, ref view, ref projection, ref color);
}
{
IndexedMatrix childTransform = IndexedMatrix.Identity;
childTransform._origin = m * capEnd;
DrawSolidSphere(radius, 5, 5, ref childTransform, ref view, ref projection, ref color);
}
DrawCylinder(radius, halfHeight, upAxis, ref m, ref view, ref projection, ref color);
break;
}
case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
{
ConeShape coneShape = (ConeShape)(shape);
int upIndex = coneShape.GetConeUpIndex();
float radius = coneShape.GetRadius(); //+coneShape.getMargin();
float height = coneShape.GetHeight(); //+coneShape.getMargin();
IndexedMatrix rotateMatrix = IndexedMatrix.Identity;
switch (upIndex)
{
case 0:
rotateMatrix = IndexedMatrix.CreateRotationX(-MathUtil.SIMD_HALF_PI);
break;
case 1:
break;
case 2:
rotateMatrix = IndexedMatrix.CreateRotationX(MathUtil.SIMD_HALF_PI);
break;
default:
{
break;
}
}
;
IndexedMatrix translationMatrix = IndexedMatrix.CreateTranslation(0f, 0f, -0.5f * height);
IndexedMatrix resultant = m * rotateMatrix * translationMatrix;
DrawSolidCone(height, radius, ref resultant, ref view, ref projection, ref color);
useWireframeFallback = false;
break;
}
case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
{
StaticPlaneShape staticPlaneShape = shape as StaticPlaneShape;
float planeConst = staticPlaneShape.GetPlaneConstant();
IndexedVector3 planeNormal = staticPlaneShape.GetPlaneNormal();
IndexedVector3 planeOrigin = planeNormal * planeConst;
IndexedVector3 vec0, vec1;
TransformUtil.PlaneSpace1(ref planeNormal, out vec0, out vec1);
float vecLen = 100f;
IndexedVector3 pt0 = planeOrigin + vec0 * vecLen;
IndexedVector3 pt1 = planeOrigin - vec0 * vecLen;
IndexedVector3 pt2 = planeOrigin + vec1 * vecLen;
IndexedVector3 pt3 = planeOrigin - vec1 * vecLen;
// Fallback to debug draw - needs tidying
IndexedVector3 colour = new IndexedVector3(255, 255, 255);
DrawLine(ref pt0, ref pt1, ref colour);
DrawLine(ref pt1, ref pt2, ref colour);
DrawLine(ref pt2, ref pt3, ref colour);
DrawLine(ref pt3, ref pt1, ref colour);
break;
}
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
{
CylinderShape cylinder = (CylinderShape)(shape);
int upAxis = cylinder.GetUpAxis();
float radius = cylinder.GetRadius();
float halfHeight = cylinder.GetHalfExtentsWithMargin()[upAxis];
DrawCylinder(radius, halfHeight, upAxis, ref m, ref view, ref projection, ref color);
break;
}
default:
{
if (shape.IsConvex())
{
ShapeCache sc = Cache(shape as ConvexShape);
//if (shape.getUserPointer())
{
//glutSolidCube(1.0);
ShapeHull hull = sc.m_shapehull /*(btShapeHull*)shape.getUserPointer()*/;
int numTriangles = hull.NumTriangles();
int numIndices = hull.NumIndices();
int numVertices = hull.NumVertices();
if (numTriangles > 0)
{
int index = 0;
IList <int> idx = hull.m_indices;
IList <IndexedVector3> vtx = hull.m_vertices;
for (int i = 0; i < numTriangles; i++)
{
int i1 = index++;
int i2 = index++;
int i3 = index++;
Debug.Assert(i1 < numIndices &&
i2 < numIndices &&
i3 < numIndices);
int index1 = idx[i1];
int index2 = idx[i2];
int index3 = idx[i3];
Debug.Assert(index1 < numVertices &&
index2 < numVertices &&
index3 < numVertices);
IndexedVector3 v1 = m * vtx[index1];
IndexedVector3 v2 = m * vtx[index2];
IndexedVector3 v3 = m * vtx[index3];
IndexedVector3 normal = IndexedVector3.Cross((v3 - v1), (v2 - v1));
normal.Normalize();
Vector2 tex = new Vector2(0, 0);
AddVertex(ref v1, ref normal, ref tex);
AddVertex(ref v2, ref normal, ref tex);
AddVertex(ref v3, ref normal, ref tex);
}
}
}
}
break;
}
}
}
/// for polyhedral shapes
if (debugMode == DebugDrawModes.DBG_DrawFeaturesText && (shape.IsPolyhedral()))
{
PolyhedralConvexShape polyshape = (PolyhedralConvexShape)shape;
{
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape.getExtraDebugInfo());
IndexedVector3 colour = new IndexedVector3(255, 255, 255);
for (int i = 0; i < polyshape.GetNumVertices(); i++)
{
IndexedVector3 vtx;
polyshape.GetVertex(i, out vtx);
String buf = " " + i;
DrawText(buf, ref vtx, ref colour);
}
for (int i = 0; i < polyshape.GetNumPlanes(); i++)
{
IndexedVector3 normal;
IndexedVector3 vtx;
polyshape.GetPlane(out normal, out vtx, i);
float d = IndexedVector3.Dot(vtx, normal);
vtx *= d;
String buf = " plane " + i;
DrawText(buf, ref vtx, ref colour);
}
}
}
if (shape.IsConcave() && !shape.IsInfinite()) //>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape.getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
// if (shape.getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
ConcaveShape concaveMesh = shape as ConcaveShape;
XNADrawcallback drawCallback = new XNADrawcallback(this, ref m);
drawCallback.m_wireframe = (debugMode & DebugDrawModes.DBG_DrawWireframe) != 0;
concaveMesh.ProcessAllTriangles(drawCallback, ref worldBoundsMin, ref worldBoundsMax);
}
//glDisable(GL_DEPTH_TEST);
//glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if ((debugMode & DebugDrawModes.DBG_DrawText) != 0)
{
IndexedVector3 position = IndexedVector3.Zero;
IndexedVector3 colour = new IndexedVector3(255, 255, 255);
DrawText(shape.GetName(), ref position, ref colour);
}
if ((debugMode & DebugDrawModes.DBG_DrawFeaturesText) != 0)
{
//drawText(shape.getEx]
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape.getExtraDebugInfo());
}
//glEnable(GL_DEPTH_TEST);
//// glPopMatrix();
//if(m_textureenabled) glDisable(GL_TEXTURE_2D);
// }
// glPopMatrix();
}
}
protected void RemoveCollisionShape(CollisionShape shape)
{
m_collisionShapes.Remove(shape);
shape.Dispose();
}
public int RemoveReferences(CollisionShape pcs)
{
return btSparseSdf3_RemoveReferences(_native, (pcs != null) ? pcs._native : IntPtr.Zero);
}
protected virtual void OnShapeChanged(CollisionShape collisionShape)
{
}
protected void AddCollisionShape(CollisionShape shape)
{
m_collisionShapes.Add(shape);
}
bool MyCompoundChildShapeCallback(CollisionShape shape0, CollisionShape shape1)
{
return(true);
}
//[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.FShapeScaling.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.FAlive.SliceCount = this.FBodies.SliceCount;
List <Matrix4x4> transforms = new List <Matrix4x4>();
List <Vector3> scaling = new List <Vector3>();
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;
this.FAlive[i] = bd.LifeTime;
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;
this.FAlive.SliceCount = 0;
}
}
public override RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = isDynamic ? shape.CalculateLocalInertia(mass) : Vector3.Zero;
using (var rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia))
{
var body = new RigidBody(rbInfo)
{
ContactProcessingThreshold = defaultContactProcessingThreshold,
WorldTransform = startTransform
};
World.AddRigidBody(body);
return(body);
}
}
void CreateTile(Vector2 pos, Sprite tileSprite, CollisionShape collisionShape)
{
var cube = new GameObject();
switch (collisionShape)
{
case CollisionShape.Square:
BoxCollider2D boxCollider = cube.AddComponent<BoxCollider2D>();
boxCollider.size = new Vector2(tileWidth, tileHeight);
break;
case CollisionShape.Incline:
{
PolygonCollider2D polyCollider = cube.AddComponent<PolygonCollider2D>();
Vector2[] points = new Vector2[3];
points[0] = new Vector2(-tileWidth/2, -tileHeight/2);
points[1] = new Vector2( tileWidth/2, -tileHeight/2);
points[2] = new Vector2( tileWidth/2, tileHeight/2);
polyCollider.SetPath(0, points);
}
break;
case CollisionShape.Decline:
{
PolygonCollider2D polyCollider = cube.AddComponent<PolygonCollider2D>();
Vector2[] points = new Vector2[3];
points[0] = new Vector2(-tileWidth/2, tileHeight/2);
points[1] = new Vector2(-tileWidth/2, -tileHeight/2);
points[2] = new Vector2( tileWidth/2, -tileHeight/2);
polyCollider.SetPath(0, points);
}
break;
}
SpriteRenderer spriteRenderer = cube.AddComponent<SpriteRenderer>();
spriteRenderer.sprite = tileSprite;
cube.transform.position = pos;
cube.transform.parent = mapParent.transform;
cube.name = "tile";
cube.layer = 10;
}
// Creates a rigid body from the given shape and adds it to the Unity scene.
protected RigidBody CreateRigidBody(float mass, BulletSharp.Math.Vector3 inertia, Matrix startTransform, CollisionShape shape, Material renderMat, float friction = 0.5f, bool isKinematic = false, bool viz = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic)
{
localInertia = inertia;
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
rbInfo.Friction = friction;
//rbInfo.RollingFriction = friction;
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
m_world.AddRigidBody(body);
// create unity object from it
if (viz)
{
AddUnityObject(body, renderMat);
}
return(body);
}
public SoftBody(SoftBodyWorldInfo worldInfo)
: base(btSoftBody_new2(worldInfo._native))
{
_collisionShape = new CollisionShape(btCollisionObject_getCollisionShape(_native), true);
_worldInfo = worldInfo;
}
protected RigidBody ResetRigidBody(RigidBody rb, float newMass, BulletSharp.Math.Vector3 newInertia, Matrix startTransform, CollisionShape shape, float friction = 0.5f, bool isKinematic = false)
{
// basically detroys a rigid body and re-initializes it efficiently
// doesn't recalculate moment of inertia or re-create the gfx object
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects\
float mass = newMass;
BulletSharp.Math.Vector3 localInertia = newInertia;
DestroyRigidBody(rb);
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
rbInfo.Friction = friction;
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
m_world.AddRigidBody(body);
return(body);
}
void CreateScene()
{
var cache = ResourceCache;
scene = new Scene();
// Create scene subsystem components
scene.CreateComponent <Octree>();
physicsWorld = scene.CreateComponent <PhysicsWorld>();
// Create camera and define viewport. We will be doing load / save, so it's convenient to create the camera outside the scene,
// so that it won't be destroyed and recreated, and we don't have to redefine the viewport on load
CameraNode = new Node();
Camera camera = CameraNode.CreateComponent <Camera>();
camera.FarClip = 300.0f;
Renderer.SetViewport(0, new Viewport(Context, scene, camera, null));
// Create static scene content. First create a zone for ambient lighting and fog control
Node zoneNode = scene.CreateChild("Zone");
Zone zone = zoneNode.CreateComponent <Zone>();
zone.AmbientColor = new Color(0.15f, 0.15f, 0.15f);
zone.FogColor = new Color(0.5f, 0.5f, 0.7f);
zone.FogStart = 100.0f;
zone.FogEnd = 300.0f;
zone.SetBoundingBox(new BoundingBox(-1000.0f, 1000.0f));
// Create a directional light with cascaded shadow mapping
Node lightNode = scene.CreateChild("DirectionalLight");
lightNode.SetDirection(new Vector3(0.3f, -0.5f, 0.425f));
Light light = lightNode.CreateComponent <Light>();
light.LightType = LightType.Directional;
light.CastShadows = true;
light.ShadowBias = new BiasParameters(0.00025f, 0.5f);
light.ShadowCascade = new CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f);
light.SpecularIntensity = 0.5f;
// Create the floor object
Node floorNode = scene.CreateChild("Floor");
floorNode.Position = new Vector3(0.0f, -0.5f, 0.0f);
floorNode.Scale = new Vector3(200.0f, 1.0f, 200.0f);
StaticModel sm = floorNode.CreateComponent <StaticModel>();
sm.Model = cache.GetModel("Models/Box.mdl");
sm.SetMaterial(cache.GetMaterial("Materials/Stone.xml"));
RigidBody body = floorNode.CreateComponent <RigidBody>();
// Use collision layer bit 2 to mark world scenery. This is what we will raycast against to prevent camera from going
// inside geometry
body.CollisionLayer = 2;
CollisionShape shape = floorNode.CreateComponent <CollisionShape>();
shape.SetBox(Vector3.One, Vector3.Zero, Quaternion.Identity);
// Create mushrooms of varying sizes
uint numMushrooms = 60;
for (uint i = 0; i < numMushrooms; ++i)
{
Node objectNode = scene.CreateChild("Mushroom");
objectNode.Position = new Vector3(NextRandom(180.0f) - 90.0f, 0.0f, NextRandom(180.0f) - 90.0f);
objectNode.Rotation = new Quaternion(0.0f, NextRandom(360.0f), 0.0f);
objectNode.SetScale(2.0f + NextRandom(5.0f));
StaticModel o = objectNode.CreateComponent <StaticModel>();
o.Model = cache.GetModel("Models/Mushroom.mdl");
o.SetMaterial(cache.GetMaterial("Materials/Mushroom.xml"));
o.CastShadows = true;
body = objectNode.CreateComponent <RigidBody>();
body.CollisionLayer = 2;
shape = objectNode.CreateComponent <CollisionShape>();
shape.SetTriangleMesh(o.Model, 0, Vector3.One, Vector3.Zero, Quaternion.Identity);
}
// Create movable boxes. Let them fall from the sky at first
const uint numBoxes = 100;
for (uint i = 0; i < numBoxes; ++i)
{
float scale = NextRandom(2.0f) + 0.5f;
Node objectNode = scene.CreateChild("Box");
objectNode.Position = new Vector3(NextRandom(180.0f) - 90.0f, NextRandom(10.0f) + 10.0f, NextRandom(180.0f) - 90.0f);
objectNode.Rotation = new Quaternion(NextRandom(360.0f), NextRandom(360.0f), NextRandom(360.0f));
objectNode.SetScale(scale);
StaticModel o = objectNode.CreateComponent <StaticModel>();
o.Model = cache.GetModel("Models/Box.mdl");
o.SetMaterial(cache.GetMaterial("Materials/Stone.xml"));
o.CastShadows = true;
body = objectNode.CreateComponent <RigidBody>();
body.CollisionLayer = 2;
// Bigger boxes will be heavier and harder to move
body.Mass = scale * 2.0f;
shape = objectNode.CreateComponent <CollisionShape>();
shape.SetBox(Vector3.One, Vector3.Zero, Quaternion.Identity);
}
}
// Creates a Unity game object from the given Bullet CollisionObject.
protected void AddUnityObject(CollisionObject co, Material mat)
{
CollisionShape cs = co.CollisionShape;
GameObject go;
if (cs.ShapeType == BroadphaseNativeType.SoftBodyShape)
{
BulletSharp.SoftBody.SoftBody sb = (BulletSharp.SoftBody.SoftBody)co;
if (sb.Faces.Count == 0)
{
//rope
go = CreateUnitySoftBodyRope(sb);
}
else
{
go = CreateUnitySoftBodyCloth(sb);
}
}
else
{
//rigid body
if (cs.ShapeType == BroadphaseNativeType.CompoundShape)
{
//BulletSharp.Math.Matrix transform = co.WorldTransform;
go = new GameObject("Compund Shape");
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co as RigidBody;
foreach (BulletSharp.CompoundShapeChild child in (cs as CompoundShape).ChildList)
{
BulletSharp.Math.Matrix childTransform = child.Transform;
GameObject ggo = new GameObject(child.ToString());
MeshFilter mf = ggo.AddComponent <MeshFilter>();
Mesh m = mf.mesh;
MeshFactory2.CreateShape(child.ChildShape, m);
MeshRenderer mr = ggo.AddComponent <MeshRenderer>();
mr.sharedMaterial = mat;
ggo.transform.SetParent(go.transform);
Matrix4x4 mt = childTransform.ToUnity();
ggo.transform.localPosition = BSExtensionMethods2.ExtractTranslationFromMatrix(ref mt);
ggo.transform.localRotation = BSExtensionMethods2.ExtractRotationFromMatrix(ref mt);
ggo.transform.localScale = BSExtensionMethods2.ExtractScaleFromMatrix(ref mt);
/*
* BulletRigidBodyProxy rbp = ggo.AddComponent<BulletRigidBodyProxy>();
* rbp.target = body;
* return go;
*/
//InitRigidBodyInstance(colObj, child.ChildShape, ref childTransform);
}
}
else if (cs.ShapeType == BroadphaseNativeType.CapsuleShape)
{
CapsuleShape css = (CapsuleShape)cs;
GameObject ggo = GameObject.CreatePrimitive(PrimitiveType.Capsule);
Destroy(ggo.GetComponent <Collider>());
go = new GameObject();
ggo.transform.parent = go.transform;
ggo.transform.localPosition = UnityEngine.Vector3.zero;
ggo.transform.localRotation = UnityEngine.Quaternion.identity;
ggo.transform.localScale = new UnityEngine.Vector3(css.Radius * 2f, css.HalfHeight * 2f, css.Radius * 2f);
BulletRigidBodyProxy rbp = go.AddComponent <BulletRigidBodyProxy>();
rbp.target = co;
}
else
{
//Debug.Log("Creating " + cs.ShapeType + " for " + co.ToString());
go = CreateUnityCollisionObjectProxy(co as CollisionObject, mat);
}
}
m_createdObjs.Add(go);
}
public void DrawXNA(IndexedMatrix m, CollisionShape shape, IndexedVector3 color, DebugDrawModes debugMode, IndexedVector3 worldBoundsMin, IndexedVector3 worldBoundsMax, IndexedMatrix view, IndexedMatrix projection)
{
DrawXNA(ref m, shape, ref color, debugMode, ref worldBoundsMin, ref worldBoundsMax, ref view, ref projection);
}
public override RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
var body = base.LocalCreateRigidBody(mass, startTransform, shape);
body.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
body.UserObject = "plastic.wav";
return(body);
}
/**
* Creates or configures a RigidBody based on the current settings. Does not alter the internal state of this component in any way.
* Can be used to create copies of this BRigidBody for use in other physics simulations.
*/
public bool CreateOrConfigureRigidBody(ref RigidBody rb, ref BulletSharp.Math.Vector3 localInertia, CollisionShape cs, MotionState motionState)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic())
{
cs.CalculateLocalInertia(_mass, out localInertia);
}
if (rb == null)
{
float bulletMass = _mass;
if (!isDynamic())
{
bulletMass = 0f;
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(bulletMass, motionState, cs, localInertia);
rbInfo.Friction = _friction;
rbInfo.RollingFriction = _rollingFriction;
rbInfo.LinearDamping = _linearDamping;
rbInfo.AngularDamping = _angularDamping;
rbInfo.Restitution = _restitution;
rbInfo.LinearSleepingThreshold = _linearSleepingThreshold;
rbInfo.AngularSleepingThreshold = _angularSleepingThreshold;
rbInfo.AdditionalDamping = _additionalDamping;
rbInfo.AdditionalAngularDampingFactor = _additionalAngularDampingFactor;
rbInfo.AdditionalAngularDampingThresholdSqr = _additionalAngularDampingThresholdSqr;
rbInfo.AdditionalDampingFactor = _additionalDampingFactor;
rbInfo.AdditionalLinearDampingThresholdSqr = _additionalLinearDampingThresholdSqr;
rb = new RigidBody(rbInfo);
rbInfo.Dispose();
}
else
{
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
rb.SetMassProps(usedMass, localInertia);
rb.Friction = _friction;
rb.RollingFriction = _rollingFriction;
rb.SetDamping(_linearDamping, _angularDamping);
rb.Restitution = _restitution;
rb.SetSleepingThresholds(_linearSleepingThreshold, _angularSleepingThreshold);
rb.CollisionShape = cs;
}
rb.AngularVelocity = angularVelocity.ToBullet();
rb.LinearVelocity = velocity.ToBullet();
rb.CollisionFlags = m_collisionFlags;
rb.LinearFactor = _linearFactor.ToBullet();
rb.AngularFactor = _angularFactor.ToBullet();
if (m_rigidBody != null)
{
rb.DeactivationTime = m_rigidBody.DeactivationTime;
rb.InterpolationLinearVelocity = m_rigidBody.InterpolationLinearVelocity;
rb.InterpolationAngularVelocity = m_rigidBody.InterpolationAngularVelocity;
rb.InterpolationWorldTransform = m_rigidBody.InterpolationWorldTransform;
}
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
rb.ActivationState = ActivationState.DisableDeactivation;
}
return(true);
}
public static void ExtractCollisionShapes(Mesh mesh, string path)
{
PhysicsData physicsData = null;
List <string> deleteEm = new List <string>();
int count = mesh.SubMeshCount;
for (int i = 0; i < count; i++)
{
SubMesh subMesh = mesh.GetSubMesh(i);
CollisionShape shape = null;
string targetName = null;
bool cv = String.Compare(subMesh.Name.Substring(0, 5), "mvcv_", false) == 0;
bool rg = String.Compare(subMesh.Name.Substring(0, 5), "mvrg_", false) == 0;
int firstIndex = 0;
if (cv)
{
firstIndex = 5;
}
else if (rg)
{
string rest = subMesh.Name.Substring(5);
firstIndex = rest.IndexOf("_") + 1 + 5;
}
if (cv || rg)
{
// It's probably a collision volume - - check the
// shape type to make sure
if (String.Compare(subMesh.Name.Substring(firstIndex, 4), "obb_", false) == 0)
{
shape = ExtractBox(subMesh);
}
else if (String.Compare(subMesh.Name.Substring(firstIndex, 5), "aabb_", false) == 0)
{
shape = ExtractBox(subMesh);
}
else if (String.Compare(subMesh.Name.Substring(firstIndex, 7), "sphere_", false) == 0)
{
shape = ExtractSphere(subMesh);
}
else if (String.Compare(subMesh.Name.Substring(firstIndex, 8), "capsule_", false) == 0)
{
shape = ExtractCapsule(subMesh);
}
if (shape != null)
{
targetName = GetTargetSubmesh(mesh, subMesh.Name);
}
}
if (shape != null)
{
deleteEm.Add(subMesh.Name);
if (physicsData == null)
{
physicsData = new PhysicsData();
}
physicsData.AddCollisionShape(targetName, shape);
}
}
for (int i = 0; i < deleteEm.Count; i++)
{
mesh.RemoveSubMesh(deleteEm[i]);
}
if (physicsData != null)
{
PhysicsSerializer serializer = new PhysicsSerializer();
serializer.ExportPhysics(physicsData, path + ".physics");
}
if (DoLog)
{
CloseLog();
}
}
public virtual void BuildSpecialObject(string name, String type, Locator loc, Vector size, CollisionShape shape, Viewer viewer)
{
BuildStandartObject(name, loc, size, shape, viewer);
}
public CollisionShapeWithTransform(CollisionShape shape, Transform transform)
{
Shape = shape;
Transform = transform;
}
void CreateScene()
{
var cache = ResourceCache;
scene = new Scene();
// Create scene subsystem components
scene.CreateComponent <Octree>();
scene.CreateComponent <PhysicsWorld>();
// Create camera and define viewport. We will be doing load / save, so it's convenient to create the camera outside the scene,
// so that it won't be destroyed and recreated, and we don't have to redefine the viewport on load
CameraNode = new Node();
Camera camera = CameraNode.CreateComponent <Camera>();
camera.FarClip = 500.0f;
Renderer.SetViewport(0, new Viewport(Context, scene, camera, null));
// Create static scene content. First create a zone for ambient lighting and fog control
Node zoneNode = scene.CreateChild("Zone");
Zone zone = zoneNode.CreateComponent <Zone>();
zone.AmbientColor = new Color(0.15f, 0.15f, 0.15f);
zone.FogColor = new Color(0.5f, 0.5f, 0.7f);
zone.FogStart = 300.0f;
zone.FogEnd = 500.0f;
zone.SetBoundingBox(new BoundingBox(-2000.0f, 2000.0f));
// Create a directional light with cascaded shadow mapping
Node lightNode = scene.CreateChild("DirectionalLight");
lightNode.SetDirection(new Vector3(0.3f, -0.5f, 0.425f));
Light light = lightNode.CreateComponent <Light>();
light.LightType = LightType.Directional;
light.CastShadows = true;
light.ShadowBias = new BiasParameters(0.00025f, 0.5f);
light.ShadowCascade = new CascadeParameters(10.0f, 50.0f, 200.0f, 0.0f, 0.8f);
light.SpecularIntensity = 0.5f;
// Create heightmap terrain with collision
Node terrainNode = scene.CreateChild("Terrain");
terrainNode.Position = (Vector3.Zero);
Terrain terrain = terrainNode.CreateComponent <Terrain>();
terrain.PatchSize = 64;
terrain.Spacing = new Vector3(2.0f, 0.1f, 2.0f); // Spacing between vertices and vertical resolution of the height map
terrain.Smoothing = true;
terrain.SetHeightMap(cache.GetImage("Textures/HeightMap.png"));
terrain.Material = cache.GetMaterial("Materials/Terrain.xml");
// The terrain consists of large triangles, which fits well for occlusion rendering, as a hill can occlude all
// terrain patches and other objects behind it
terrain.Occluder = true;
RigidBody body = terrainNode.CreateComponent <RigidBody>();
body.CollisionLayer = 2; // Use layer bitmask 2 for static geometry
CollisionShape shape = terrainNode.CreateComponent <CollisionShape>();
shape.SetTerrain(0);
// Create 1000 mushrooms in the terrain. Always face outward along the terrain normal
const uint numMushrooms = 1000;
for (uint i = 0; i < numMushrooms; ++i)
{
Node objectNode = scene.CreateChild("Mushroom");
Vector3 position = new Vector3(NextRandom(2000.0f) - 1000.0f, 0.0f, NextRandom(2000.0f) - 1000.0f);
position.Y = terrain.GetHeight(position) - 0.1f;
objectNode.Position = (position);
// Create a rotation quaternion from up vector to terrain normal
objectNode.Rotation = Quaternion.FromRotationTo(Vector3.UnitY, terrain.GetNormal(position));
objectNode.SetScale(3.0f);
StaticModel sm = objectNode.CreateComponent <StaticModel>();
sm.Model = (cache.GetModel("Models/Mushroom.mdl"));
sm.SetMaterial(cache.GetMaterial("Materials/Mushroom.xml"));
sm.CastShadows = true;
body = objectNode.CreateComponent <RigidBody>();
body.CollisionLayer = 2;
shape = objectNode.CreateComponent <CollisionShape>();
shape.SetTriangleMesh(sm.Model, 0, Vector3.One, Vector3.Zero, Quaternion.Identity);
}
}
public override RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
body.ContactProcessingThreshold = defaultContactProcessingThreshold;
body.WorldTransform = startTransform;
World.AddRigidBody(body);
return(body);
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal override bool _BuildCollisionObject()
{
if (td == null)
{
Debug.LogError("Must be attached to an object with a terrain ");
return(false);
}
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveCollisionObject(this);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this collision shape is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return(false);
}
if (!(m_collisionShape is BHeightfieldTerrainShape))
{
Debug.LogError("The collision shape needs to be a BHeightfieldTerrainShape. " + name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new CollisionObject();
m_collisionObject.CollisionShape = cs;
m_collisionObject.UserObject = this;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
Vector3 pos = transform.position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
else
{
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans = BulletSharp.Math.Matrix.Identity;
Vector3 pos = transform.position + new Vector3(td.size.x * .5f, td.size.y * .5f, td.size.z * .5f);
worldTrans.Origin = pos.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionFlags = m_collisionFlags;
}
return(true);
}
public static GameObject CreateAndRegisterSeedForPlant(GameObject plant, SeedProducer.ProductionType productionType, string id, string name, string desc, KAnimFile anim, string initialAnim = "object", int numberOfSeeds = 1, List <Tag> additionalTags = null, SingleEntityReceptacle.ReceptacleDirection planterDirection = SingleEntityReceptacle.ReceptacleDirection.Top, Tag replantGroundTag = default(Tag), int sortOrder = 0, string domesticatedDescription = "", CollisionShape collisionShape = CollisionShape.CIRCLE, float width = 0.25f, float height = 0.25f, Recipe.Ingredient[] recipe_ingredients = null, string recipe_description = "", bool ignoreDefaultSeedTag = false)
{
GameObject gameObject = CreateLooseEntity(id, name, desc, 1f, true, anim, initialAnim, Grid.SceneLayer.Front, collisionShape, width, height, true, SORTORDER.SEEDS + sortOrder, SimHashes.Creature, null);
gameObject.AddOrGet <EntitySplitter>();
CreateAndRegisterCompostableFromPrefab(gameObject);
PlantableSeed plantableSeed = gameObject.AddOrGet <PlantableSeed>();
plantableSeed.PlantID = new Tag(plant.name);
plantableSeed.replantGroundTag = replantGroundTag;
plantableSeed.domesticatedDescription = domesticatedDescription;
plantableSeed.direction = planterDirection;
KPrefabID component = gameObject.GetComponent <KPrefabID>();
foreach (Tag additionalTag in additionalTags)
{
component.AddTag(additionalTag, false);
}
if (!ignoreDefaultSeedTag)
{
component.AddTag(GameTags.Seed, false);
}
component.AddTag(GameTags.PedestalDisplayable, false);
KPrefabID component2 = gameObject.GetComponent <KPrefabID>();
Assets.AddPrefab(component2);
SeedProducer seedProducer = plant.AddOrGet <SeedProducer>();
seedProducer.Configure(gameObject.name, productionType, numberOfSeeds);
return(gameObject);
}
public void ExitPhysics()
{
if (m_inverseModel != null)
{
Debug.Log("Dispose inverse model " + m_inverseModel.NumBodies);
m_inverseModel.Dispose();
}
Debug.Log("InverseDynamicsExitPhysics");
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
if (m_dynamicsWorld == null)
{
int i;
for (i = m_dynamicsWorld.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint tc = m_dynamicsWorld.GetConstraint(i);
m_dynamicsWorld.RemoveConstraint(tc);
tc.Dispose();
}
for (i = m_dynamicsWorld.NumMultiBodyConstraints - 1; i >= 0; i--)
{
MultiBodyConstraint mbc = m_dynamicsWorld.GetMultiBodyConstraint(i);
m_dynamicsWorld.RemoveMultiBodyConstraint(mbc);
mbc.Dispose();
}
for (i = m_dynamicsWorld.NumMultibodies - 1; i >= 0; i--)
{
MultiBody mb = m_dynamicsWorld.GetMultiBody(i);
m_dynamicsWorld.RemoveMultiBody(mb);
mb.Dispose();
}
for (i = m_dynamicsWorld.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = m_dynamicsWorld.CollisionObjectArray[i];
RigidBody body = RigidBody.Upcast(obj);
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
m_dynamicsWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
}
if (m_multiBody != null)
{
m_multiBody.Dispose();
}
//delete collision shapes
for (int j = 0; j < CollisionShapes.Count; j++)
{
CollisionShape shape = CollisionShapes[j];
shape.Dispose();
}
CollisionShapes.Clear();
m_dynamicsWorld.Dispose();
m_dynamicsWorld = null;
m_solver.Dispose();
m_solver = null;
Broadphase.Dispose();
Broadphase = null;
Dispatcher.Dispose();
Dispatcher = null;
m_pairCache.Dispose();
m_pairCache = null;
CollisionConf.Dispose();
CollisionConf = null;
CollisionShapes.Clear();
links.Clear();
Debug.Log("After dispose B");
}
public void Evaluate(int SpreadMax)
{
this.frameBodyOutput.Clear();
IRigidBodyContainer inputWorld = this.worldInput[0];
if (inputWorld != null)
{
this.persistedList.UpdateWorld(inputWorld);
if (this.shapesInput.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (doCreate[i])
{
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
RigidBodyMotionProperties motionProperties = this.initialMotionProperties.IsConnected ? this.initialMotionProperties[i] : new RigidBodyMotionProperties();
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase shape = this.shapesInput[i];
shapeData.ShapeDef = shape;
CollisionShape collisionShape = shapeData.ShapeDef.GetShape(shapeData);
//Build mass for dynamic object
Vector3 localinertia = Vector3.Zero;
if (shape.Mass > 0.0f)
{
collisionShape.CalculateLocalInertia(shape.Mass, out localinertia);
}
Tuple <RigidBody, int> createBodyResult = inputWorld.CreateRigidBody(collisionShape, ref pose, ref properties, ref localinertia, shape.Mass, this.customString[i]);
createBodyResult.Item1.CollisionFlags |= CollisionFlags.KinematicObject;
createBodyResult.Item1.ApplyMotionProperties(ref motionProperties);
this.persistedList.Append(createBodyResult.Item1, createBodyResult.Item2);
frameBodyOutput.Add(createBodyResult.Item1);
}
}
}
this.bodiesOutput.SliceCount = this.persistedList.Bodies.Count;
this.idOutput.SliceCount = this.persistedList.Ids.Count;
List <RigidBody> bodies = this.persistedList.Bodies;
List <int> ids = this.persistedList.Ids;
for (int i = 0; i < bodies.Count; i++)
{
this.bodiesOutput[i] = bodies[i];
this.idOutput[i] = ids[i];
}
this.createdBodiesOutput.SliceCount = this.frameBodyOutput.Count;
for (int i = 0; i < frameBodyOutput.Count; i++)
{
this.createdBodiesOutput[i] = frameBodyOutput[i];
}
}
else
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
this.createdBodiesOutput.SliceCount = 0;
}
}
public SoftBody(SoftBodyWorldInfo worldInfo, int nodeCount, Vector3[] x, float[] m)
: base(btSoftBody_new(worldInfo._native, nodeCount, x, m))
{
_collisionShape = new CollisionShape(btCollisionObject_getCollisionShape(_native), true);
_worldInfo = worldInfo;
}
public override void _Ready()
{
_animationPlayer = GetNode <AnimationPlayer>("AnimationPlayer");
_collisionShape = GetNode <CollisionShape>("CollisionShape");
}
//private AlignedIntArray _userIndexMapping;
internal SoftBody(IntPtr native)
: base(native)
{
//_collisionShape = new SoftBodyCollisionShape(CollisionShape);
_collisionShape = new CollisionShape(btCollisionObject_getCollisionShape(native), true);
}
//public void startDraw(GraphicsDevice graphicsDevice,ref IndexedMatrix view, ref IndexedMatrix projection)
//{
// ((DefaultDebugDraw)m_debugDraw).update(graphicsDevice, ref view, ref projection);
//}
public virtual void DrawShadow(IndexedMatrix m, IndexedVector3 extrusion, CollisionShape shape, IndexedVector3 worldBoundsMin, IndexedVector3 worldBoundsMax)
{
DrawShadow(m, extrusion, shape, worldBoundsMin, worldBoundsMax);
}
public void DebugDrawObject(Matrix worldTransform, CollisionShape shape, Vector3 color)
{
if (shape.ShapeType == BroadphaseNativeTypes.Compound)
{
CompoundShape compoundShape = shape as CompoundShape;
for (int i = compoundShape.ChildShapeCount - 1; i >= 0; i--)
{
Matrix childTrans = compoundShape.GetChildTransform(i);
CollisionShape colShape = compoundShape.GetChildShape(i);
DebugDrawObject(worldTransform * childTrans, colShape, color);
}
}
else
{
switch (shape.ShapeType)
{
case BroadphaseNativeTypes.Sphere:
{
SphereShape sphereShape = shape as SphereShape;
float radius = sphereShape.Margin;//radius doesn't include the margin, so draw with margin
Vector3 start = worldTransform.Translation;
DebugDrawer.DrawLine(start, start + Vector3.TransformNormal(new Vector3(radius, 0, 0), worldTransform), color);
DebugDrawer.DrawLine(start, start + Vector3.TransformNormal(new Vector3(0, radius, 0), worldTransform), color);
DebugDrawer.DrawLine(start, start + Vector3.TransformNormal(new Vector3(0, 0, radius), worldTransform), color);
//drawSphere
break;
}
case BroadphaseNativeTypes.MultiSphere:
case BroadphaseNativeTypes.Cone:
{
ConeShape coneShape = shape as ConeShape;
float radius = coneShape.Radius;//+coneShape->getMargin();
float height = coneShape.Height;//+coneShape->getMargin();
Vector3 start = worldTransform.Translation;
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(radius, 0f, -0.5f * height), worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(-radius, 0f, -0.5f * height), worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(0f, radius, -0.5f * height), worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(new Vector3(0f, 0f, 0.5f * height), worldTransform), start + Vector3.TransformNormal(new Vector3(0f, -radius, -0.5f * height), worldTransform), color);
break;
}
case BroadphaseNativeTypes.Cylinder:
{
CylinderShape cylinder = shape as CylinderShape;
int upAxis = cylinder.UpAxis;
float radius = cylinder.Radius;
float halfHeight = MathHelper.GetElement(cylinder.HalfExtents, upAxis);
Vector3 start = worldTransform.Translation;
Vector3 offsetHeight = new Vector3();
MathHelper.SetElement(ref offsetHeight, upAxis, halfHeight);
Vector3 offsetRadius = new Vector3();
MathHelper.SetElement(ref offsetRadius, (upAxis + 1) % 3, radius);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(offsetHeight + offsetRadius, worldTransform), start + Vector3.TransformNormal(-offsetHeight + offsetRadius, worldTransform), color);
DebugDrawer.DrawLine(start + Vector3.TransformNormal(offsetHeight - offsetRadius, worldTransform), start + Vector3.TransformNormal(-offsetHeight - offsetRadius, worldTransform), color);
break;
}
default:
{
if (shape.ShapeType == BroadphaseNativeTypes.TriangleMesh)
{
TriangleMeshShape concaveMesh = shape as TriangleMeshShape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//todo pass camera, for some culling
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
Vector3 aabbMin = new Vector3(-1e30f, -1e30f, -1e30f);
DebugDrawCallback drawCallback = new DebugDrawCallback(DebugDrawer, worldTransform, color);
concaveMesh.ProcessAllTriangles(drawCallback, aabbMin, aabbMax);
}
if (shape.ShapeType == BroadphaseNativeTypes.ConvexTriangleMesh)
{
ConvexTriangleMeshShape convexMesh = shape as ConvexTriangleMeshShape;
//todo: pass camera for some culling
Vector3 aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
Vector3 aabbMin = new Vector3(-1e30f, -1e30f, -1e30f);
//DebugDrawcallback drawCallback;
DebugDrawCallback drawCallback = new DebugDrawCallback(DebugDrawer, worldTransform, color);
convexMesh.getStridingMesh().InternalProcessAllTriangles(drawCallback, aabbMin, aabbMax);
}
// for polyhedral shapes
if (shape.IsPolyhedral)
{
PolyhedralConvexShape polyshape = shape as PolyhedralConvexShape;
for (int i = 0; i < polyshape.EdgeCount; i++)
{
Vector3 a, b;
polyshape.GetEdge(i, out a, out b);
a = Vector3.TransformNormal(a, worldTransform);
b = Vector3.TransformNormal(b, worldTransform);
DebugDrawer.DrawLine(a, b, color);
}
}
break;
}
}
}
}
public override RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
RigidBody body;
using (var rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia))
{
body = new RigidBody(rbInfo);
}
body.WorldTransform = startTransform;
World.AddRigidBody(body, CollisionFilterGroups.DefaultFilter,
CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter);
return(body);
}
