public static Matrix3D EulerAngleToMatrix(Vector3D pEulersAngles)
{
NewtonMatrix aNewtonMatrix = new NewtonMatrix(Matrix3D.Identity);
Newton.NewtonSetEulerAngle(new NewtonVector3(pEulersAngles).NWVector3,
aNewtonMatrix.NWMatrix);
return aNewtonMatrix.ToDirectX();
}
public void CreateSphere(Vector3D pRadius, Matrix3D pOffsetMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateSphere(m_World.Handle, (float)pRadius.X, (float)pRadius.Y, (float)pRadius.Z, aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
public void CreateChamferCylinder(float pRadius, float pHeight, Matrix3D pOffsetMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateChamferCylinder(m_World.Handle,
pRadius, pHeight, aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
public void CreateBox(Vector3D pSize, Matrix3D pOffsetMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateBox(m_World.Handle,
(float)pSize.X, (float)pSize.Y, (float)pSize.Z, aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
public void CreateChamferCylinder(float pRadius, float pHeight, Matrix3D pOffsetMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateChamferCylinder(m_World.Handle,
pRadius, pHeight, aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
public void CreateBox(Vector3D pSize, Matrix3D pOffsetMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateBox(m_World.Handle,
(float)pSize.X, (float)pSize.Y, (float)pSize.Z, aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
public void CreateConvexHull(ICollection <Point3D> verticies, Matrix3D pOffsetMatrix)
{
float[,] aVertices = new float[verticies.Count, 3];
int i = 0;
foreach (Vector3D nextVertice in verticies)
{
aVertices[i, 0] = (float)nextVertice.X;
aVertices[i, 1] = (float)nextVertice.Y;
aVertices[i++, 2] = (float)nextVertice.Z;
}
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateConvexHull(m_World.Handle,
verticies.Count,
aVertices,
sizeof(float) * 3,
aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
public void CreateConvexHull(ICollection<Point3D> verticies, Matrix3D pOffsetMatrix)
{
float[,] aVertices = new float[verticies.Count, 3];
int i = 0;
foreach (Vector3D nextVertice in verticies)
{
aVertices[i, 0] = (float)nextVertice.X;
aVertices[i, 1] = (float)nextVertice.Y;
aVertices[i++, 2] = (float)nextVertice.Z;
}
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateConvexHull(m_World.Handle,
verticies.Count,
aVertices,
sizeof(float) * 3,
aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
private void InvokeSetTransform(IntPtr pNewtonBody, float[] pMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pMatrix);
OnSetTransform(new CSetTransformEventArgs(aMatrix.ToDirectX()));
}
private void InvokeSetTransform(IntPtr pNewtonBody, float[] pMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pMatrix);
OnSetTransform(new CSetTransformEventArgs(aMatrix.ToDirectX()));
}
