/// <summary>
/// Creates a cylinder shape in the world
/// </summary>
/// <param name="cylinderDescription"></param>
/// <param name="colliderDescription"> </param>
/// <returns></returns>
public IWorldObject CreateWorldObject(CylinderDescription cylinderDescription, ColliderDescription colliderDescription)
{
lock (this)
{
var rigidBody = new RuneRigidbody(new RuneCapsuleShape(cylinderDescription.Radius, cylinderDescription.Length))
{
Pose = new Pose(cylinderDescription.Position.ToRuneVector(), cylinderDescription.Rotation.ToRuneQuaternion()),
Scale = cylinderDescription.Scale.ToRuneVector(),
};
UpdateRigidbodyCollisionSettings(rigidBody, ref colliderDescription);
this.simulation.RigidBodies.Add(rigidBody);
return(rigidBody);
}
}
/// <summary>
/// Creates a sphere shape in the world
/// </summary>
/// <param name="sphereDescription"></param>
/// <param name="colliderDescription"> </param>
/// <returns></returns>
public IWorldObject CreateWorldObject(SphereDescription sphereDescription, ColliderDescription colliderDescription)
{
lock (this)
{
var rigidBody = new RuneRigidbody(new RuneSphereShape(sphereDescription.Radius))
{
Pose = new Pose(sphereDescription.Position.ToRuneVector(), sphereDescription.Rotation.ToRuneQuaternion()),
Scale = sphereDescription.Scale.ToRuneVector(),
};
UpdateRigidbodyCollisionSettings(rigidBody, ref colliderDescription);
this.simulation.RigidBodies.Add(rigidBody);
return(rigidBody);
}
}
/// <summary>
/// Creates a box shape in the world
/// </summary>
/// <param name="boxDescription"></param>
/// <param name="colliderDescription"> </param>
/// <returns></returns>
public IWorldObject CreateWorldObject(BoxDescription boxDescription, ColliderDescription colliderDescription)
{
lock (this)
{
var size = boxDescription.Size;
var rigidBody = new RuneRigidbody(new RuneBoxShape(size.X, size.Y, size.Z))
{
Pose = new Pose(boxDescription.Position.ToRuneVector(), boxDescription.Rotation.ToRuneQuaternion()),
Scale = boxDescription.Scale.ToRuneVector(),
};
UpdateRigidbodyCollisionSettings(rigidBody, ref colliderDescription);
this.simulation.RigidBodies.Add(rigidBody);
return(rigidBody);
}
}
/// <summary>
/// Creates a height field object in the world
/// </summary>
/// <param name="heightFieldDescription"> </param>
/// <returns></returns>
public IWorldObject CreateHeightField(HeightFieldDescription heightFieldDescription)
{
lock (this)
{
var heightField = new RuneHeightField(heightFieldDescription.WidthX, heightFieldDescription.WidthZ, heightFieldDescription.Heights);
var rigidBody = new RuneRigidbody(heightField)
{
Pose = new Pose(heightFieldDescription.Position.ToRuneVector(), QuaternionF.Identity),
};
rigidBody.CollisionObject.CollisionGroup = CollisionGroupObject;
rigidBody.MotionType = MotionType.Static;
this.simulation.RigidBodies.Add(rigidBody);
return(rigidBody);
}
}
