static BaseModel()
{
CollisionGroup.DefineCollisionRule(kinematicGroup, machineGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(kinematicGroup, tubeGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(machineGroup, tubeGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(kinematicGroup, kinematicGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(machineGroup, machineGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(tubeGroup, tubeGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(noSolverGroupL, noSolverGroupB, CollisionRule.NoSolver);
CollisionGroup.DefineCollisionRule(noSolverGroupL, tubeGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(noSolverGroupL, kinematicGroup, CollisionRule.NoBroadPhase);
CollisionGroup.DefineCollisionRule(noSolverGroupL, machineGroup, CollisionRule.NoBroadPhase);
MaterialManager.MaterialInteractions.Add(new MaterialPair { MaterialA = tubeMaterial, MaterialB = boxMaterial },
delegate(Material a, Material b, out InteractionProperties properties)
{
properties = new InteractionProperties
{
StaticFriction = 0.62f,
KineticFriction = 0.62f,
Bounciness = 0
};
});
MaterialManager.MaterialInteractions.Add(new MaterialPair { MaterialA = boxMaterial, MaterialB = machineMaterial },
delegate(Material a, Material b, out InteractionProperties properties)
{
properties = new InteractionProperties
{
StaticFriction = 0.001f,
KineticFriction = 0.001f,
Bounciness = 0
};
});
}
/// <summary>
/// Updates the material interaction properties of the pair handler's constraint.
/// </summary>
/// <param name="properties">Properties to use.</param>
public override void UpdateMaterialProperties(InteractionProperties properties)
{
foreach (var pairHandler in subPairs.Values)
{
pairHandler.UpdateMaterialProperties(properties);
}
}
/// <summary>
/// Blender used to combine materials into a pair's interaction properties.
/// </summary>
/// <param name="a">Material associated with the first object to blend.</param>
/// <param name="b">Material associated with the second object to blend.</param>
/// <param name="properties">Blended material values.</param>
public static void DefaultMaterialBlender(Material a, Material b, out InteractionProperties properties)
{
properties = new InteractionProperties
{
Bounciness = a.bounciness * b.bounciness,
KineticFriction = a.kineticFriction * b.kineticFriction,
StaticFriction = a.staticFriction * b.staticFriction
};
}
///<summary>
/// Computes the interaction properties between two materials.
///</summary>
///<param name="materialA">First material of the pair.</param>
///<param name="materialB">Second material of the pair.</param>
///<param name="properties">Interaction properties between two materials.</param>
public static void GetInteractionProperties(Material materialA, Material materialB, out InteractionProperties properties)
{
MaterialBlender specialBlender;
if (MaterialInteractions.TryGetValue(new MaterialPair(materialA, materialB), out specialBlender))
specialBlender(materialA, materialB, out properties);
else
MaterialBlender(materialA, materialB, out properties);
}
///<summary>
/// Computes the interaction properties between two materials.
///</summary>
///<param name="materialA">First material of the pair.</param>
///<param name="materialB">Second material of the pair.</param>
///<param name="properties">Interaction properties between two materials.</param>
public static void GetInteractionProperties(Material materialA, Material materialB, out InteractionProperties properties)
{
if (MaterialInteractions.TryGetValue(new MaterialPair(materialA, materialB), out properties))
{
return;
}
properties = new InteractionProperties();
properties.StaticFriction = FrictionBlender(materialA.staticFriction, materialB.staticFriction, null);
properties.KineticFriction = FrictionBlender(materialA.kineticFriction, materialB.kineticFriction, null);
properties.Bounciness = BouncinessBlender(materialA.bounciness, materialB.bounciness, null);
}
/// <summary>
/// Updates the material interaction properties of the pair handler's constraint.
/// </summary>
/// <param name="properties">Properties to use.</param>
public override void UpdateMaterialProperties(InteractionProperties properties)
{
ContactConstraint.MaterialInteraction = properties;
}
///<summary>
/// Forces an update of the pair's material properties.
///</summary>
/// <param name="properties">Properties to use in the collision.</param>
public abstract void UpdateMaterialProperties(InteractionProperties properties);
