public void SetCollision()
{
MotionState motionState = new MotionState();
motionState.Position = Position;
motionState.Orientation = Quaternion.Identity;
Entity = new Sphere(motionState, radius, mass);
}
public void SetCollision()
{
var motionState = new MotionState();
motionState.Position = Position;
motionState.Orientation = Quaternion.Identity;
Entity = new Box(motionState, initscale.X, initscale.Y, initscale.Z, mass);
}
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 static MotionState CreateMotionState(Vector3 position, Quaternion orientation, Vector3 velocity)
{
MotionState newState = new MotionState();
newState.Position = position;
newState.Orientation = orientation;
newState.LinearVelocity = velocity;
return newState;
}
public MotionPropertiesComponent(GameObject parent, float mass, float maxGroundVelocity, float maxAirVelocity)
: base(parent)
{
this.State = MotionState.Unknown;
this.MaxGroundSpeed = maxGroundVelocity;
this.MaxAirSpeed = maxAirVelocity;
this.Mass = mass;
this.LastAccelerationVector = Vector2.Zero;
this.AccelerationVector = Vector2.Zero;
this._velocityVector = Vector2.Zero;
this.Impulses = new List<Impulse>();
}
/// <summary>
///
/// </summary>
/// <param name="game"></param>
/// <param name="space"></param>
public RigidBody ( Entity entity, World world, float w, float h, float d, float mass ) : base(entity,world)
{
this.space = ((MPWorld)world).PhysSpace;
var ms = new MotionState();
ms.AngularVelocity = MathConverter.Convert( entity.AngularVelocity );
ms.LinearVelocity = MathConverter.Convert( entity.LinearVelocity );
ms.Orientation = MathConverter.Convert( entity.Rotation );
ms.Position = MathConverter.Convert( entity.Position );
box = new Box( ms, w, h, d, mass );
box.PositionUpdateMode = PositionUpdateMode.Continuous;
box.Tag = entity;
space.Add( box );
}
internal void Enable()
{
//Turn everything on.
lock (FlipLocker)
{
int initialCount = Math.Max(manager.entities.Count, 64);
backBuffer = new MotionState[initialCount];
frontBuffer = new MotionState[initialCount];
for (int i = 0; i < manager.entities.Count; i++)
{
Entity entity = manager.entities[i];
backBuffer[i].Position = entity.position;
backBuffer[i].Orientation = entity.orientation;
backBuffer[i].LinearVelocity = entity.linearVelocity;
backBuffer[i].AngularVelocity = entity.angularVelocity;
}
Array.Copy(backBuffer, frontBuffer, backBuffer.Length);
}
}
protected override void OnUpdate( FingerGestures.IFingerList touches )
{
if( Finger.IsDown )
{
if( !wasDown )
{
Moves = 0;
AnchorPos = Finger.Position;
State = MotionState.Stationary;
}
if( Finger.Phase == FingerGestures.FingerPhase.Moved )
{
if( State != MotionState.Moving )
{
Vector2 delta = Finger.Position - AnchorPos;
// check if we moved beyond the threshold
if( delta.sqrMagnitude >= MoveThreshold * MoveThreshold )
State = MotionState.Moving;
else
State = MotionState.Stationary;
}
}
else
{
State = MotionState.Stationary;
}
}
else
{
State = MotionState.None;
}
RaiseEvents();
PreviousState = State;
wasDown = Finger.IsDown;
}
///<summary>
/// Gets the states of all entities atomically.
///</summary>
///<param name="states">Entity states.</param>
///<exception cref="InvalidOperationException">Thrown when the array is too small.</exception>
public void GetStates(MotionState[] states)
{
lock (FlipLocker)
{
if (states.Length < manager.entities.Count)
{
throw new ArgumentException("Array is not large enough to hold the buffer.", "states");
}
Array.Copy(frontBuffer, states, manager.entities.Count);
}
}
internal void Add(Entity e)
{
//Don't need to lock since the parent manager handles it.
if (frontBuffer.Length <= e.BufferedStates.motionStateIndex)
{
var newStates = new MotionState[frontBuffer.Length * 2]; //TODO: shifty
frontBuffer.CopyTo(newStates, 0);
frontBuffer = newStates;
}
frontBuffer[e.BufferedStates.motionStateIndex].Position = e.position;
frontBuffer[e.BufferedStates.motionStateIndex].Orientation = e.orientation;
if (backBuffer.Length <= e.BufferedStates.motionStateIndex)
{
var newStates = new MotionState[backBuffer.Length * 2]; //TODO: shifty
backBuffer.CopyTo(newStates, 0);
backBuffer = newStates;
}
backBuffer[e.BufferedStates.motionStateIndex].Position = e.position;
backBuffer[e.BufferedStates.motionStateIndex].Orientation = e.orientation;
}
public StateChangeEventArgs(MotionState oldState, MotionState state)
{
Previous = oldState;
Current = state;
}
public override void PrepareForIteration(float timestep)
{
RigidBody body;
float depth;
bool collidesWithLadder = world.CollisionSystem.Raycast(Body1.Position + JVector.Forward * (FeetPosition - 0.1f),
new JVector(0, 1, 0),
(b, n, f) => b != Body1 && (b.BroadphaseTag & (int)BodyTags.Ghost) == 0,
out body, out normal, out depth);
bool collidesWithGround = world.CollisionSystem.Raycast(Body1.Position + new JVector(0, 0.5f, 0) + JVector.Forward * (FeetPosition - 0.1f),
JVector.Forward,
(b, n, f) => b != Body1 && (b.BroadphaseTag & (int)BodyTags.Ghost) == 0,
out body, out normal, out depth);
BodyWalkingOn = ((!collidesWithGround || depth > 0.2f) ? null : body);
var oldState = State;
switch (oldState)
{
case MotionState.Grounded:
if (BodyWalkingOn != null)
{
if (tryClimb)
{
State = MotionState.Climbing;
tryClimb = false;
}
else if (Body1.LinearVelocity.Z < JumpVelocity && tryJump) State = MotionState.Jumping;
}
else if (-Body1.LinearVelocity.Z < FallVelocity) State = MotionState.Falling;
break;
case MotionState.Jumping:
if (-Body1.LinearVelocity.Z < FallVelocity) State = MotionState.Falling;
else if (depth < 0.1f && Body1.LinearVelocity.Z < 0.0f) State = MotionState.Grounded;
break;
case MotionState.Falling:
if (BodyWalkingOn != null && depth < 0.1f && Body1.LinearVelocity.Z < 0.0f) State = MotionState.Grounded;
break;
case MotionState.Climbing:
if (BodyWalkingOn == null && !collidesWithLadder)
State = MotionState.Grounded;
break;
}
if (State != oldState)
{
if (StateChanged != null) StateChanged(this, new StateChangeEventArgs(oldState, State));
Log.WriteLine(LogLevel.Debug, "switched from {0} to {1}", oldState, State);
}
}
public static MotionState CreateMotionState(Vector3 position, Quaternion orientation)
{
MotionState newState = new MotionState();
newState.Position = position;
newState.Orientation = orientation;
return newState;
}
