public Vector3 GetVelocity(Vector3 position, CoordinateSpace positionSpace = CoordinateSpace.Global, CoordinateSpace velocitySpace = CoordinateSpace.Global)
{
Vector3 result = positionSpace == CoordinateSpace.Global
? _rigidBody.WrappedActor.GetPointVelocity(position.ToPhysX()).ToStandard()
: _rigidBody.WrappedActor.GetLocalPointVelocity(position.ToPhysX()).ToStandard();
return ToCorrectSpace(velocitySpace, result);
}
public void SetLinearVelocity(Vector3 velocity, CoordinateSpace velocitySpace = CoordinateSpace.Global)
{
if (velocitySpace == CoordinateSpace.Local)
{
velocity = _rigidBody.Pose.ToGlobalDirection(velocity);
}
_rigidBody.WrappedActor.LinearVelocity = velocity.ToPhysX();
}
public Vector3 GetVelocity(Vector3 position, CoordinateSpace positionSpace = CoordinateSpace.Global, CoordinateSpace velocitySpace = CoordinateSpace.Global)
{
Vector3 result = positionSpace == CoordinateSpace.Global
? _rigidBody.WrappedActor.GetPointVelocity(position.ToPhysX()).ToStandard()
: _rigidBody.WrappedActor.GetLocalPointVelocity(position.ToPhysX()).ToStandard();
return(ToCorrectSpace(velocitySpace, result));
}
public void ApplyLinearImpulse(Vector3 impulse, CoordinateSpace impulseSpace = CoordinateSpace.Global)
{
if (impulseSpace == CoordinateSpace.Local)
{
impulse = _rigidBody.Pose.ToGlobalDirection(impulse);
}
_rigidBody.WrappedActor.AddForce(impulse.ToPhysX(), ForceMode.Impulse);
}
public void AddTorque(Vector3 torque, CoordinateSpace torqueSpace = CoordinateSpace.Global)
{
if (torqueSpace == CoordinateSpace.Local)
{
torque = _rigidBody.Pose.ToGlobalDirection(torque);
}
_rigidBody.WrappedActor.AddTorque(torque.ToPhysX(), ForceMode.Force);
}
public void AddForce(Vector3 force, CoordinateSpace forceSpace = CoordinateSpace.Global)
{
if (forceSpace == CoordinateSpace.Local)
{
force = _rigidBody.Pose.ToGlobalDirection(force);
}
_rigidBody.WrappedActor.AddForce(force.ToPhysX(), ForceMode.Force);
}
public void ApplyImpulse(Vector3 impulse, Vector3 position, CoordinateSpace impulseSpace = CoordinateSpace.Global, CoordinateSpace positionSpace = CoordinateSpace.Global)
{
if (impulseSpace == CoordinateSpace.Local)
{
impulse = _rigidBody.Pose.ToGlobalDirection(impulse);
}
if (positionSpace == CoordinateSpace.Local)
{
position = _rigidBody.Pose.ToGlobalPosition(position);
}
_rigidBody.WrappedActor.AddForceAtPosition(impulse.ToPhysX(), position.ToPhysX(), ForceMode.Impulse);
}
public void AddForce(Vector3 force, Vector3 position, CoordinateSpace forceSpace = CoordinateSpace.Global, CoordinateSpace positionSpace = CoordinateSpace.Global)
{
if (forceSpace == CoordinateSpace.Local)
{
force = _rigidBody.Pose.ToGlobalDirection(force);
}
if (positionSpace == CoordinateSpace.Local)
{
position = _rigidBody.Pose.ToGlobalPosition(position);
}
_rigidBody.WrappedActor.AddForceAtPosition(force.ToPhysX(), position.ToPhysX(), ForceMode.Force);
}
private void UpdatePlane()
{
Vector3 p = DistanceFromOrigin * _normal;
Vector4 pWith1 = new Vector4(p.X, p.Y, p.Z, 1);
Vector4 pPrimeWiht1 = GMath.mul(pWith1, _pose);
Vector3 pPrime = new Vector3(pPrimeWiht1.X, pPrimeWiht1.Y, pPrimeWiht1.Z);
Vector4 nWith0 = new Vector4(_normal.X, _normal.Y, _normal.Z, 0);
Vector4 nPrimeWith0 = GMath.mul(nWith0, _pose.Transpose.Inverse);
Vector3 nPrime = new Vector3(nPrimeWith0.X, nPrimeWith0.Y, nPrimeWith0.Z);
float d = GMath.dot(pPrime, nPrime);
_wrappedPlaneShape.Normal = nPrime.ToPhysX();
_wrappedPlaneShape.Distance = d;
}
private void UpdatePlane()
{
Vector3 p = DistanceFromOrigin * _normal;
Vector4 pWith1 = new Vector4(p.X, p.Y, p.Z, 1);
Vector4 pPrimeWiht1 = GMath.mul(pWith1, _pose);
Vector3 pPrime = new Vector3(pPrimeWiht1.X, pPrimeWiht1.Y, pPrimeWiht1.Z);
Vector4 nWith0 = new Vector4(_normal.X, _normal.Y, _normal.Z, 0);
Vector4 nPrimeWith0 = GMath.mul(nWith0, _pose.Transpose.Inverse);
Vector3 nPrime = new Vector3(nPrimeWith0.X, nPrimeWith0.Y, nPrimeWith0.Z);
float d = GMath.dot(pPrime, nPrime);
_wrappedPlaneShape.Normal = nPrime.ToPhysX();
_wrappedPlaneShape.Distance = d;
}
public void SetLinearVelocity(Vector3 velocity, CoordinateSpace velocitySpace = CoordinateSpace.Global)
{
if (velocitySpace == CoordinateSpace.Local) velocity = _rigidBody.Pose.ToGlobalDirection(velocity);
_rigidBody.WrappedActor.LinearVelocity = velocity.ToPhysX();
}
