public void OldUpdate()
{
float FrameDelta = Time.fixedDeltaTime; // todo put a variable in the physics world for this.
BulletSharp.Math.Matrix xform = m_collisionObject.WorldTransform;
BulletSharp.Math.Vector3 forwardDir = new BulletSharp.Math.Vector3(xform.M31, xform.M32, xform.M33);
BulletSharp.Math.Vector3 upDir = new BulletSharp.Math.Vector3(xform.M21, xform.M22, xform.M23);
forwardDir.Normalize();
upDir.Normalize();
BulletSharp.Math.Vector3 pos = xform.Origin;
BulletSharp.Math.Vector3 walkDirection = BulletSharp.Math.Vector3.Zero;
const float walkVelocity = 1.1f * 4.0f;
float walkSpeed = walkVelocity * FrameDelta * 10;// * 0.0001f;
float turnSpeed = FrameDelta * 3;
//TODO should not be grabbing input here, control should happen elsewhere
if (Input.GetKey(KeyCode.LeftArrow))
{
BulletSharp.Math.Matrix orn = xform;
orn.Row4 = new BulletSharp.Math.Vector4(0, 0, 0, 1);
orn *= BulletSharp.Math.Matrix.RotationAxis(upDir, -turnSpeed);
orn.Row4 = new BulletSharp.Math.Vector4(pos.X, pos.Y, pos.Z, 1);
m_collisionObject.WorldTransform = orn;
}
if (Input.GetKey(KeyCode.RightArrow))
{
BulletSharp.Math.Matrix orn = xform;
orn.Row4 = new BulletSharp.Math.Vector4(0, 0, 0, 1);
orn *= BulletSharp.Math.Matrix.RotationAxis(upDir, turnSpeed);
orn.Row4 = new BulletSharp.Math.Vector4(pos.X, pos.Y, pos.Z, 1);
m_collisionObject.WorldTransform = orn;
}
if (Input.GetKey(KeyCode.UpArrow))
{
walkDirection += forwardDir;
}
if (Input.GetKey(KeyCode.DownArrow))
{
walkDirection -= forwardDir;
}
m_characterController.SetWalkDirection(walkDirection * walkSpeed);
if (Input.GetKey(KeyCode.Space))
{
m_characterController.Jump();
return;
}
//TODO fixme
BulletSharp.Math.Matrix trans;
m_collisionObject.GetWorldTransform(out trans);
transform.position = trans.Origin.ToUnity();
}
CollisionShape _AddFlipperCylinders(FlipperBehavior flipper)
{
float r1 = flipper.data.BaseRadius;
float r2 = flipper.data.EndRadius;
float h = flipper.data.Height;
float l = flipper.data.FlipperRadius;
var hh = h * 0.5f; // half height
var cs = new BulletSharp.CompoundShape();
cs.AddChildShape(
Matrix.Translation(0, 0, hh),
new CylinderShapeZ(r1, r1, hh));
cs.AddChildShape(
Matrix.Translation(0, -l, hh),
new CylinderShapeZ(r2, r2, hh));
// we can't add Triangle Mesh Shape to Compound Shape. Add one or two boxes
float hbl = new Vector2(l, r1 - r2).magnitude * 0.5f;
Vector3 n = new Vector3(l, r1 - r2, 0); n.Normalize();
Vector3 beg = new Vector3(0, 0, hh) + n * (r1 - r2);
Vector3 beg2 = new Vector3(-beg.X, beg.Y, beg.Z);
Vector3 end = new Vector3(0, -l, hh);
float angle = math.atan2(n.Y, n.X);
bool onlyFront = true;
bool rev = (flipper.data.StartAngle < 0 | flipper.data.StartAngle > 180);
if (!onlyFront || rev)
{
cs.AddChildShape(
Matrix.RotationZ(-angle) *
Matrix.Translation((beg + end) * 0.5f),
new BoxShape(Mathf.Min(r1, r2), hbl, hh));
}
if (!onlyFront || !rev)
{
cs.AddChildShape(
Matrix.RotationZ(angle) *
Matrix.Translation((beg2 + end) * 0.5f),
new BoxShape(Mathf.Min(r1, r2), hbl, hh));
}
return(cs);
}
public void RenderSoftBody(SoftBody softBody)
{
Cull cullMode = device.GetRenderState <Cull>(RenderState.CullMode);
device.SetRenderState(RenderState.CullMode, Cull.None);
AlignedFaceArray faces = softBody.Faces;
int faceCount = faces.Count;
if (faceCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[faceCount * 3];
int v = 0;
for (int i = 0; i < faceCount; i++)
{
NodePtrArray nodes = faces[i].Nodes;
Node n0 = nodes[0];
Node n1 = nodes[1];
Node n2 = nodes[2];
vectors[v].Position = n0.Position;
vectors[v].Normal = n0.Normal;
vectors[v + 1].Position = n1.Position;
vectors[v + 1].Normal = n1.Normal;
vectors[v + 2].Position = n2.Position;
vectors[v + 2].Normal = n2.Normal;
v += 3;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, faces.Count, vectors);
}
else
{
AlignedTetraArray tetras = softBody.Tetras;
int tetraCount = tetras.Count;
if (tetraCount > 0)
{
PositionedNormal[] vectors = new PositionedNormal[tetraCount * 12];
int v = 0;
for (int i = 0; i < tetraCount; i++)
{
NodePtrArray nodes = tetras[i].Nodes;
BulletSharp.Math.Vector3 v0 = nodes[0].Position;
BulletSharp.Math.Vector3 v1 = nodes[1].Position;
BulletSharp.Math.Vector3 v2 = nodes[2].Position;
BulletSharp.Math.Vector3 v3 = nodes[3].Position;
BulletSharp.Math.Vector3 v10 = v1 - v0;
BulletSharp.Math.Vector3 v02 = v0 - v2;
BulletSharp.Math.Vector3 normal = BulletSharp.Math.Vector3.Cross(v10, v02);
normal.Normalize();
vectors[v].Position = v0;
vectors[v].Normal = normal;
vectors[v + 1].Position = v1;
vectors[v + 1].Normal = normal;
vectors[v + 2].Position = v2;
vectors[v + 2].Normal = normal;
normal = BulletSharp.Math.Vector3.Cross(v10, v3 - v0);
normal.Normalize();
vectors[v + 3].Position = v0;
vectors[v + 3].Normal = normal;
vectors[v + 4].Position = v1;
vectors[v + 4].Normal = normal;
vectors[v + 5].Position = v3;
vectors[v + 5].Normal = normal;
normal = BulletSharp.Math.Vector3.Cross(v2 - v1, v3 - v1);
normal.Normalize();
vectors[v + 6].Position = v1;
vectors[v + 6].Normal = normal;
vectors[v + 7].Position = v2;
vectors[v + 7].Normal = normal;
vectors[v + 8].Position = v3;
vectors[v + 8].Normal = normal;
normal = BulletSharp.Math.Vector3.Cross(v02, v3 - v2);
normal.Normalize();
vectors[v + 9].Position = v2;
vectors[v + 9].Normal = normal;
vectors[v + 10].Position = v0;
vectors[v + 10].Normal = normal;
vectors[v + 11].Position = v3;
vectors[v + 11].Normal = normal;
v += 12;
}
device.VertexFormat = VertexFormat.PositionNormal;
device.DrawUserPrimitives(PrimitiveType.TriangleList, tetraCount * 4, vectors);
}
else if (softBody.Links.Count > 0)
{
AlignedLinkArray links = softBody.Links;
int linkCount = links.Count;
int linkColor = System.Drawing.Color.Black.ToArgb();
device.VertexFormat = VertexFormat.Position | VertexFormat.Diffuse;
PositionColored[] linkArray = new PositionColored[linkCount * 2];
for (int i = 0; i < linkCount; i++)
{
Link link = links[i];
linkArray[i * 2].Position = link.Nodes[0].Position;
linkArray[i * 2].Color = linkColor;
linkArray[i * 2 + 1].Position = link.Nodes[1].Position;
linkArray[i * 2 + 1].Color = linkColor;
}
device.DrawUserPrimitives(PrimitiveType.LineList, links.Count, linkArray);
}
}
device.SetRenderState(RenderState.CullMode, cullMode);
}