private void LinkCookieWithAllRopes()
{
SphereRigid cookie = StaticData.EngineManager.CookieRB;
List <SpringService> allRopes = StaticData.EngineManager.SpringsManagerEngine.ListOfServices;
for (int i = 0; i < allRopes.Count; i++)
{
if (!(allRopes[i] is CatchableRopeService))
{
allRopes[i].ApplyServiceOnRigid(cookie);
}
}
}
public Rod(Vector3 positionXNA, Vector3 gravityVector, int spacing,
int rigidHalfSize, float rodLinkHeight, float forgivingFactor)
{
SphereRigid rigidOne = DefaultAdder.GetDefaultSphere(positionXNA, Material.Steel,
rigidHalfSize, gravityVector, null,
null, 0, false);
SphereRigid rigidTwo = DefaultAdder.GetDefaultSphere(positionXNA + new Vector3(spacing, 0, 0),
Material.Steel,
rigidHalfSize, gravityVector, null,
null, 0, false);
MakeRod(rigidOne, rigidTwo, spacing, rodLinkHeight, forgivingFactor);
}
public SphereRigid AddSphereRigidToEngine()
{
SphereRigid SphereRigidCreated = DefaultAdder.GetDefaultSphere(
new Vector3(mouseState.X - 3, (mouseState.Y - 3), 0),
Material.Steel,
StaticData.CircleDefaultSize,
new Vector3(0, -9.8f, 0),
null,
null,
0,
false);
StaticData.EngineManager.RigidsManagerEngine.ListOfSphereRigids.Add(SphereRigidCreated);
return(SphereRigidCreated);
}
public static bool sphereAndHalfSpace(
SphereRigid sphere,
CollisionPlane plane,
ref CollisionData data
)
{
// Make sure we have contacts
if (data.contactsLeft <= 0)
{
return(false);
}
// Cache the sphere position
Vector3 position = sphere.PositionCenterEngine;
// Find the distance from the plane
float ballDistance =
Vector3.Dot(plane.Direction, position) -
sphere.Radius - plane.Offset;
if (ballDistance >= 0)
{
return(false);
}
Contact c = new Contact();
c.ContactNormal = plane.Direction;
c.Penetration = -ballDistance;
c.ContactPoint =
position - plane.Direction * (ballDistance + sphere.Radius);
c.SetBodyData(sphere, null,
data.friction, data.restitution);
c.ContactToWorld.M11 = plane.Direction.X;
c.ContactToWorld.M12 = -plane.Direction.Y;
c.ContactToWorld.M21 = plane.Direction.Y;
c.ContactToWorld.M22 = plane.Direction.X;
data.contacts.Add(c);
sphere.SetCanSleep(true);
data.addContacts(1);
return(true);
}
public static bool sphereAndSphere(
SphereRigid one,
SphereRigid two,
ref CollisionData data
)
{
// Cache the sphere positions
Vector3 positionOne = one.PositionCenterEngine;
Vector3 positionTwo = two.PositionCenterEngine;
// Find the vector between the objects
Vector3 midline = positionOne - positionTwo;
float size = midline.Length();
// See if it is large enough.
if (size <= 0.0f || size >= one.Radius + two.Radius)
{
return(false);
}
// We manually create the normal, because we have the
// size to hand.
Vector3 normal = midline * (((float)1.0) / size);
Contact c = new Contact();
c.ContactNormal = normal;
c.ContactPoint = positionTwo + midline * (float)0.5;
c.Penetration = (one.Radius + two.Radius - size);
c.SetBodyData(one, two,
data.friction, data.restitution);
c.ContactToWorld.M11 = normal.X;
c.ContactToWorld.M12 = -normal.Y;
c.ContactToWorld.M21 = normal.Y;
c.ContactToWorld.M22 = normal.X;
data.contacts.Add(c);
one.SetCanSleep(true);
two.SetCanSleep(true);
data.addContacts(1);
return(true);
}
private void ManipulateAddingSpheres()
{
if (mouseState.LeftButton == ButtonState.Pressed)
{
if (_sphereRigidAdded == null)
{
_sphereRigidAdded = AddSphereRigidToEngine();
}
}
else
{
if (_sphereRigidAdded != null && mouseState.LeftButton == ButtonState.Released)
{
_sphereRigidAdded = null;
}
}
}
public static SphereRigid GetDefaultSphere(
Vector3 positionXNA,
Material material,
float radius,
Vector3?acc,
Vector3?initialForce,
Vector3?initialTorque,
float orientationValue = 0,
bool obInertia = false)
{
SphereRigid rectToReturn = new SphereRigid(positionXNA,
material,
radius);
// Inertia
if (obInertia)
{
rectToReturn.SetObInertia();
// Awaking
rectToReturn.SetAwake(true);
return(rectToReturn);
}
// Acc
Vector3 accVector = acc ?? new Vector3(0, 0, 0);
rectToReturn.SetAcceleration(accVector);
// Forece
Vector3 forceIn = initialForce ?? new Vector3(0, 0, 0);
rectToReturn.AddForce(forceIn);
// Torque
Vector3 torqueIn = initialTorque ?? new Vector3(0, 0, 0);
rectToReturn.AddTorque(torqueIn, MathHelperModule.GetInverseYPosition(rectToReturn.PositionCenterEngine));
// Orientation
rectToReturn.SetOrientation(orientationValue);
// Awaking
rectToReturn.SetAwake(true);
return(rectToReturn);
}
public static bool boxAndSphere(
BoxRigid box,
SphereRigid sphere,
ref CollisionData data
)
{
// Transform the centre of the sphere into box coordinates
Vector3 centre = sphere.PositionCenterEngine;
Vector3 relCentre = centre - box.PositionCenterEngine; //box.transform.transformInverse(centre);
relCentre = Matrix2.M_V(relCentre, -box.GetOrientation());
// Early out check to see if we can exclude the contact
if (Math.Abs(relCentre.X) - sphere.Radius > box.HalfSize.X ||
Math.Abs(relCentre.Y) - sphere.Radius > box.HalfSize.Y
)
{
return(false);
}
Vector3 closestPt = new Vector3(0, 0, 0);
float dist;
// Clamp each coordinate to the box.
dist = relCentre.X;
if (dist > box.HalfSize.X)
{
dist = box.HalfSize.X;
}
if (dist < -box.HalfSize.X)
{
dist = -box.HalfSize.X;
}
closestPt.X = dist;
dist = relCentre.Y;
if (dist > box.HalfSize.Y)
{
dist = box.HalfSize.Y;
}
if (dist < -box.HalfSize.Y)
{
dist = -box.HalfSize.Y;
}
closestPt.Y = dist;
// Check we're in contact
Vector3 temp1 = closestPt - relCentre;
if (temp1 == Vector3.Zero)
{
return(true);
}
float temp2 = temp1.Length();
double temp3 = temp2;
dist = (float)Math.Pow(temp3, 2);
if (dist > sphere.Radius * sphere.Radius)
{
return(false);
}
// Compile the contact
Vector3 closestPtWorld = closestPt;//box.transform.transform(closestPt);
closestPtWorld = Matrix2.M_V(closestPtWorld, box.GetOrientation());
closestPtWorld += box.PositionCenterEngine;
//Contact* contact = data->contacts;
// Create the contact data
Vector3 temp = closestPtWorld - centre;
temp.Normalize();
Contact c = new Contact();
c.ContactNormal = temp;
c.Penetration = (float)(sphere.Radius - Math.Sqrt(dist));
c.ContactPoint = closestPtWorld;
c.SetBodyData(box, sphere,
data.friction, data.restitution);
c.Friction = StaticData.FrictionTable[(int)sphere.GetMaterial()][(int)box.GetMaterial()];
// between bump and cookie
c.Restitution = 1f; // StaticData.RestitutionTable[(int)sphere.GetMaterial()][(int)box.GetMaterial()];
c.ContactToWorld.M11 = c.ContactNormal.X;
c.ContactToWorld.M12 = -c.ContactNormal.Y;
c.ContactToWorld.M21 = c.ContactNormal.Y;
c.ContactToWorld.M22 = c.ContactNormal.X;
data.addContacts(1);
data.contacts.Add(c);
return(true);
}
private void SpheresCD()
{
List <BoxRigid> ListOfBoxRigids = StaticData.EngineManager.RigidsManagerEngine.ListOfBoxRigids;
List <SphereRigid> ListOfSphereRigids = StaticData.EngineManager.RigidsManagerEngine.ListOfSphereRigids;
List <CollisionPlane> ListOfPlanes = null;
if (RyseAgent.WithWalls)
{
ListOfPlanes = StaticData.EngineManager.PlanesManagerEngine.ListOfPlanes;
}
for (int i = 0; i < ListOfSphereRigids.Count; i++)
{
// Cash the sphere
SphereRigid sphere = ListOfSphereRigids[i];
// sphereAndHalfSpace
if (RyseAgent.WithWalls)
{
foreach (var plane in ListOfPlanes)
{
bool isCollide = CollisionDetector.sphereAndHalfSpace(sphere, plane, ref _data);
}
}
if (sphere.IsCollidable)
{
// sphereAndSphere
for (int j = 0; j < ListOfSphereRigids.Count; j++)
{
// Cash the sphere
SphereRigid sphere2 = ListOfSphereRigids[j];
if (sphere != sphere2)
{
if (sphere2.IsCollidable)
{
if (!IsPairOfNonCollidableRigids(sphere, sphere2))
{
CollisionDetector.sphereAndSphere(sphere,
sphere2, ref _data);
}
}
}
}
// boxAndSphere
for (int j = 0; j < ListOfBoxRigids.Count; j++)
{
// Cash the box
var box = ListOfBoxRigids[j];
if (box.IsCollidable)
{
if (!IsPairOfNonCollidableRigids(box, sphere))
{
bool collided = CollisionDetector.boxAndSphere(box, sphere, ref _data);
if (collided)
{
if (box is BumpRigid)
{
((BumpRigid)box).IsCollidedWithCookie = true;
if (StaticData.RyseComponentsUsageHelper != null)
{
if (!StaticData.RyseComponentsUsageHelper.CollidedBumps.Contains(box))
{
StaticData.RyseComponentsUsageHelper.CollidedBumps.Add(box as BumpRigid);
}
}
}
}
}
}
}
}
}
}
private void ReIntitializeTag4Circle(Vector3 positionCenter, float distanceX, SphereRigid circleIn)
{
(circleIn).ReInitializeData
(
MathHelperModule.GetPositionXNA(positionCenter, distanceX / 2, circleIn.Radius),
circleIn.GetMaterial(),
(distanceX / 2)
);
}
