protected override void OnAttach()
{
InternalRigidBody = new BulletSharp.RigidBody(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero)
{
UserObject = this
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = IsKinematic ? RigidBodyTypes.Kinematic : RigidBodyTypes.Dynamic;
GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(out transform);
SetWorldTransformCallback = transform => RigidBodySetWorldTransform(ref transform);
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (IsDefaultGroup)
{
Simulation.AddRigidBody(this, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
}
// Methods
public override void Load(Stream fileStream)
{
var reader = new BINAReader(fileStream);
Header = reader.ReadHeader();
IsBigEndian = reader.IsBigEndian;
System.Console.WriteLine(reader.BaseStream.Position);
RangeIn = reader.ReadSingle(); // Unused
RangeDistance = reader.ReadSingle(); // Unused
ModelName = reader.GetString();
reader.JumpAhead(12);
SkeletonName = reader.GetString();
reader.JumpAhead(12);
BoundingShape = (BoundingShapes)reader.ReadUInt32();
BoundingSize = reader.ReadVector3();
MeshName = reader.GetString();
reader.JumpAhead(20);
ShapeOffset = reader.ReadVector3();
reader.JumpAhead(4);
ShapeSizeOffset = reader.ReadSingle();
RigidBodyType = (RigidBodyTypes)reader.ReadByte();
RigidBodyMaterial = (RigidBodyMaterials)reader.ReadByte();
reader.JumpAhead(2);
_PhysicsParam = new PhysicsParam(reader);
ContactDamageType = (ContactDamageTypes)reader.ReadByte();
RideOnDamage = reader.ReadBoolean();
AerialBounce = reader.ReadBoolean();
reader.JumpAhead(9);
// ReactionData
for (uint i = 0; i < ReactionDataCount; i++)
{
_ReactionData[i] = new ReactionData(reader);
}
}
protected override void OnAttach()
{
if (NativeCollisionObject == null)
{
MotionState = new XenkoMotionState(this);
SetupBoneLink();
var rbci = new BulletSharp.RigidBodyConstructionInfo(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero);
InternalRigidBody = new BulletSharp.RigidBody(rbci)
{
UserObject = this,
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
}
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = type;
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
public static CollidableMobility ToBepuCollidableType(this RigidBodyTypes rigidBodyType)
{
switch (rigidBodyType)
{
case RigidBodyTypes.Static:
return(CollidableMobility.Static);
case RigidBodyTypes.Dynamic:
return(CollidableMobility.Dynamic);
case RigidBodyTypes.Kinematic:
return(CollidableMobility.Kinematic);
default:
Debug.Fail($"Unknown rigidBodyType: {rigidBodyType}");
return(CollidableMobility.Static);
}
}
public RigidBody(Shape shape, RigidBodyTypes bodyType, Material material, RigidBodyFlags flags = 0)
{
Debug.Assert(shape != null, "Shape can't be null.");
Debug.Assert(material != null, "Material can't be null.");
this.bodyType = bodyType;
this.material = material;
// Pseudo-static bodies, by design, are always manually controlled.
if (bodyType == RigidBodyTypes.PseudoStatic)
{
flags |= RigidBodyFlags.IsManuallyControlled;
}
// TODO: Should pseudo-static bodies have deactivation allowed?
// By default, all bodies start active (and with deactivation allowed).
this.flags = flags | RigidBodyFlags.IsActive | RigidBodyFlags.IsDeactivationAllowed;
readOnlyArbiters = new ReadOnlyHashset <Arbiter>(arbiters);
readOnlyConstraints = new ReadOnlyHashset <Constraint>(constraints);
instance = Interlocked.Increment(ref instanceCount);
hashCode = CalculateHash(instance);
Shape = shape;
Damping = DampingType.Angular | DampingType.Linear;
orientation = JMatrix.Identity;
if (!IsParticle)
{
updatedHandler = ShapeUpdated;
Shape.ShapeUpdated += updatedHandler;
SetMassProperties();
}
else
{
inertia = JMatrix.Zero;
invInertia = invInertiaWorld = JMatrix.Zero;
invOrientation = orientation = JMatrix.Identity;
inverseMass = 1.0f;
}
Update();
}
protected override void OnAttach()
{
MotionState = new XenkoMotionState(this);
SetupBoneLink();
GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(out transform);
SetWorldTransformCallback = transform => RigidBodySetWorldTransform(ref transform);
InternalRigidBody = new BulletSharp.RigidBody(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero)
{
UserObject = this
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = IsKinematic ? RigidBodyTypes.Kinematic : RigidBodyTypes.Dynamic;
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
public DummyCube(RigidBodyTypes bodyType, bool isAffectedByGravity, vec3 scale) : base(EntityGroups.Object)
{
this.bodyType = bodyType;
this.isAffectedByGravity = isAffectedByGravity;
this.scale = scale;
}
public DummyCapsule(RigidBodyTypes bodyType) : base(EntityGroups.Object)
{
this.bodyType = bodyType;
}
public RigidBody(Shape shape, RigidBodyTypes bodyType, RigidBodyFlags flags = 0) :
this(shape, bodyType, new Material(), flags)
{
}
