public void CalculateMassProperties()
{
CollisionSkin skin = new CollisionSkin();
#region Mass Variables
Vector3 centerOfMass;
float mass;
Matrix inertiaTensor;
Matrix inertiaTensorCoM;
#endregion
for (int i = 0; i < MaterialPrimitivePairs.Count; i++)
{
if (this.MaterialPrimitivePairs[i].MaterialID == (int)MaterialTable.MaterialID.UserDefined)
{
skin.AddPrimitive(this.MaterialPrimitivePairs[i].Primitive, this.MaterialPrimitivePairs[i].MaterialID);
}
else
{
skin.AddPrimitive(this.MaterialPrimitivePairs[i].Primitive, this.MaterialPrimitivePairs[i].MaterialProperties);
}
}
skin.GetMassProperties(PrimitiveProperties, out mass, out centerOfMass, out inertiaTensor, out inertiaTensorCoM);
skin.RemoveAllPrimitives();
_massProperties.Mass = mass;
_massProperties.CenterOfMass = centerOfMass;
_massProperties.InertiaTensor = inertiaTensor;
_massProperties.InertiaTensorCoM = inertiaTensorCoM;
}
private void Initialize(Primitive primitive, MaterialProperties materialProperties, PrimitiveProperties primitiveProperties, bool enableBody)
{
float mass;
Vector3 centerOfMass;
Matrix inertiaTensor;
Matrix inertiaTensorCoM;
// Set variables ...
_primitive = primitive;
_primitiveProperties = primitiveProperties;
_materialProperties = materialProperties;
// Create and link Body and CollisionSkin.
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
// Add primitive to CollisionSkin.
_skin.AddPrimitive(primitive, materialProperties);
// Set body properties.
_skin.GetMassProperties(primitiveProperties, out mass, out centerOfMass, out inertiaTensor, out inertiaTensorCoM);
_body.BodyInertia = inertiaTensorCoM;
_body.Mass = mass;
// Sync CollisionSkin and Body.
_body.MoveTo(Vector3.Zero, Matrix.Identity);
_skin.ApplyLocalTransform(new Transform(-centerOfMass, Matrix.Identity));
// Enable Body.
if (enableBody)
{
_body.EnableBody();
}
else
{
_body.DisableBody();
}
}
