protected override void LoadContent()
{
model = Game.Content.Load <Model>("roomModels/CornerRoom");
body = new Body();
skin = new CollisionSkin(body);
body.CollisionSkin = skin;
triangleMesh = new TriangleMesh();
List <Vector3> vertexList = new List <Vector3>();
List <TriangleVertexIndices> indexList = new List <TriangleVertexIndices>();
ExtractModelData(vertexList, indexList, model);
triangleMesh.CreateMesh(vertexList, indexList, 4, 1.0f);
skin.AddPrimitive(triangleMesh, new MaterialProperties(0.8f, 0.7f, 0.6f));
Vector3 com = setMass(10.0f);
body.MoveTo(position, Matrix.Identity);
skin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));
body.Immovable = true;
body.EnableBody();
}
public void setBody(Vector3 position)
{
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
_body.ExternalData = new BodyExternalData();
((BodyExternalData)_body.ExternalData).RenderableObject = this;
rotMatrix = Matrix.CreateRotationX(rotation.X) * Matrix.CreateRotationY(rotation.Y) * Matrix.CreateRotationZ(rotation.Z);
//Box box = new Box(position, rotMatrix, scale);
Box box = new Box(position, Matrix.Identity, scale); // rotation is relative to body
//collisionPrimitive = new Box(position, rotMatrix, scale);
//_skin.AddPrimit ive(collisionPrimitive, new MaterialProperties(0.8f, 0.8f, 0.7f)); // why 2 primitives?
_skin.AddPrimitive(box, (int)MaterialTable.MaterialID.NotBouncySmooth);
Vector3 com = SetMass(1.0f);
_body.MoveTo(position, rotMatrix);
_skin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));
_body.EnableBody();
}
public BowlingPin(Game game, Model model, Matrix orientation, Vector3 position)
: base(game, model)
{
body = new Body();
collision = new CollisionSkin(body);
// add a capsule for the main corpus
Primitive capsule = new Capsule(Vector3.Zero, Matrix.Identity, 0.1f, 1.3f);
// add a small box at the buttom
Primitive box = new Box(new Vector3(-0.1f, -0.1f, -0.1f), Matrix.Identity, Vector3.One * 0.2f);
// add a sphere in the middle
Primitive sphere = new Sphere(new Vector3(0.0f, 0.0f, 0.3f), 0.3f);
collision.AddPrimitive(capsule, new MaterialProperties(0.1f, 0.5f, 0.5f));
collision.AddPrimitive(box, new MaterialProperties(0.1f, 0.5f, 0.5f));
collision.AddPrimitive(sphere, new MaterialProperties(0.1f, 0.5f, 0.5f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(0.5f);
body.MoveTo(position, orientation);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.EnableBody();
this.scale = Vector3.One * 10.0f;
}
public BowlingPin(Game game, Model model, Matrix orientation, Vector3 position) : base(game, model)
{
Body = new Body();
Collision = new CollisionSkin(Body);
Primitive capsule = new Capsule(Vector3.Zero, Matrix.Identity, 0.1f, 1.3f);
Primitive box = new Box(new Vector3(-0.1f, -0.1f, -0.1f), Matrix.Identity, Vector3.One * 0.2f);
Primitive sphere = new Sphere(new Vector3(0.0f, 0.0f, 0.3f), 0.3f);
Collision.AddPrimitive(capsule, new MaterialProperties(0.1f, 0.5f, 0.5f));
Collision.AddPrimitive(box, new MaterialProperties(0.1f, 0.5f, 0.5f));
Collision.AddPrimitive(sphere, new MaterialProperties(0.1f, 0.5f, 0.5f));
Body.CollisionSkin = Collision;
var com = SetMass(0.5f);
Body.MoveTo(position, orientation);
Collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
Body.EnableBody();
Scale = Vector3.One * 10.0f;
}
public CylinderObject(Game game, float radius, float length, Vector3 position, Model model)
: base(game, model)
{
body = new Body();
collision = new CollisionSkin(body);
if (length - 2.0f * radius < 0.0f)
{
throw new ArgumentException("Radius must be at least half length");
}
Capsule middle = new Capsule(Vector3.Zero, Matrix.Identity, radius, length - 2.0f * radius);
float sideLength = 2.0f * radius / (float)Math.Sqrt(2.0d);
Vector3 sides = new Vector3(-0.5f * sideLength, -0.5f * sideLength, -radius);
Box supply0 = new Box(sides, Matrix.Identity,
new Vector3(sideLength, sideLength, length));
Box supply1 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ(MathHelper.PiOver4)),
Matrix.CreateRotationZ(MathHelper.PiOver4), new Vector3(sideLength, sideLength, length));
collision.AddPrimitive(middle, new MaterialProperties(0.8f, 0.8f, 0.7f));
collision.AddPrimitive(supply0, new MaterialProperties(0.8f, 0.8f, 0.7f));
collision.AddPrimitive(supply1, new MaterialProperties(0.8f, 0.8f, 0.7f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(1.0f);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
#region Manually set body inertia
float cylinderMass = body.Mass;
float comOffs = (length - 2.0f * radius) * 0.5f;;
float Ixx = 0.5f * cylinderMass * radius * radius + cylinderMass * comOffs * comOffs;
float Iyy = 0.25f * cylinderMass * radius * radius + (1.0f / 12.0f) * cylinderMass * length * length + cylinderMass * comOffs * comOffs;
float Izz = Iyy;
body.SetBodyInertia(Ixx, Iyy, Izz);
#endregion
body.MoveTo(position, Matrix.CreateRotationX(MathHelper.PiOver2));
body.EnableBody();
this.scale = new Vector3(radius, radius, length * 0.5f);
}
internal void FinalizeBody()
{
try
{
Vector3 com = SetMass(1.0f);
//body.MoveTo(Position, Orientation);
Skin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));
}
catch (Exception E)
{
System.Diagnostics.Debug.WriteLine(E.StackTrace);
}
}
public BoxObject(Game game, Model model, Vector3 sideLengths, Matrix orientation, Vector3 position) : base(game, model)
{
Body = new Body();
Collision = new CollisionSkin(Body);
Collision.AddPrimitive(new Box(-0.5f * sideLengths, orientation, sideLengths), new MaterialProperties(0.8f, 0.8f, 0.7f));
Body.CollisionSkin = Collision;
var com = SetMass(1.0f);
Body.MoveTo(position, Matrix.Identity);
Collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
Body.EnableBody();
Scale = sideLengths;
}
public BoxObject(Vector3 sideLengths, Matrix orientation, Vector3 position)
{
body = new Body();
collision = new CollisionSkin(body);
//Elasticity = e,StaticRoughness = sr,DynamicRoughness = dr;
collision.AddPrimitive(new Box(-0.5f * sideLengths, orientation, sideLengths), new MaterialProperties(0.8f, 0.8f, 0.7f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(1.0f);
body.MoveTo(position, Matrix.Identity);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.EnableBody();
this.scale = sideLengths;
}
public CapsuleObject(Game game, Model model, float radius, float length, Matrix orientation, Vector3 position) : base(game, model)
{
Body = new Body();
Collision = new CollisionSkin(Body);
Collision.AddPrimitive(new Capsule(Vector3.Transform(new Vector3(-0.5f, 0, 0), orientation), orientation, radius, length), (int)MaterialTable.MaterialID.BouncyNormal);
Body.CollisionSkin = Collision;
var com = SetMass(10.0f);
Body.MoveTo(position + com, Matrix.Identity);
Collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
Body.EnableBody();
Scale = new Vector3(radius, radius, length / 2);
}
public CapsuleObject(float radius, float length, Matrix orientation, Vector3 position)
{
body = new Body();
collision = new CollisionSkin(body);
collision.AddPrimitive(new Capsule(Vector3.Transform(new Vector3(-0.5f, 0, 0), orientation), orientation, radius, length), new MaterialProperties(0.8f, 0.7f, 0.6f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(10.0f);
body.MoveTo(position + com, Matrix.Identity);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.EnableBody();
this.scale = new Vector3(radius, radius, length / 2);
}
public virtual void Enable(bool bImmovable, float mass)
{
this.mass = mass;
//set whether the object can move
body.Immovable = bImmovable;
//calculate the centre of mass
Vector3 com = SetMass(mass);
//adjust skin so that it corresponds to the 3D mesh as drawn on screen
body.MoveTo(Transform3D.Translation, Matrix.Identity);
//set the centre of mass
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
//enable so that any applied forces (e.g. gravity) will affect the object
body.EnableBody();
}
static Body CreateCube(Vector3 pos, Vector3 size)
{
Body _body = new Body();
CollisionSkin _skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
Box box = new Box(pos, Matrix4.Identity, size);
_skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));
Vector3 com = SetMass(1.0f, _skin, _body);
_body.MoveTo(pos, Matrix4.Identity);
_skin.ApplyLocalTransform(new Transform(-com, Matrix4.Identity));
_body.EnableBody();
return(_body);
}
public CylinderObject(Game game, float radius, float length, Vector3 position, Model model) : base(game, model)
{
Body = new Body();
Collision = new CollisionSkin(Body);
if (length - 2.0f * radius < 0.0f)
{
throw new ArgumentException("Radius must be at least half length");
}
var middle = new Capsule(Vector3.Zero, Matrix.Identity, radius, length - 2.0f * radius);
var sideLength = 2.0f * radius / (float)Math.Sqrt(2.0d);
var sides = new Vector3(-0.5f * sideLength, -0.5f * sideLength, -radius);
var supply0 = new Box(sides, Matrix.Identity, new Vector3(sideLength, sideLength, length));
var supply1 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ(MathHelper.PiOver4)), Matrix.CreateRotationZ(MathHelper.PiOver4), new Vector3(sideLength, sideLength, length));
Collision.AddPrimitive(middle, new MaterialProperties(0.8f, 0.8f, 0.7f));
Collision.AddPrimitive(supply0, new MaterialProperties(0.8f, 0.8f, 0.7f));
Collision.AddPrimitive(supply1, new MaterialProperties(0.8f, 0.8f, 0.7f));
Body.CollisionSkin = Collision;
var com = SetMass(1.0f);
Collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
var cylinderMass = Body.Mass;
var comOffs = (length - 2.0f * radius) * 0.5f;
var ixx = 0.5f * cylinderMass * radius * radius + cylinderMass * comOffs * comOffs;
var iyy = 0.25f * cylinderMass * radius * radius + 1.0f / 12.0f * cylinderMass * length * length + cylinderMass * comOffs * comOffs;
var izz = iyy;
Body.SetBodyInertia(ixx, iyy, izz);
Body.MoveTo(position, Matrix.CreateRotationX(MathHelper.PiOver2));
Body.EnableBody();
Scale = new Vector3(radius, radius, length * 0.5f);
}
public PlayerPhysicsObject(Vector3 size, Matrix orientation, Vector3 pos)
{
body = new Body();
collision = new CollisionSkin(body);
collision.AddPrimitive(new Sphere(pos, size.Y), (int)MaterialTable.MaterialID.NotBouncyNormal);
body.CollisionSkin = this.collision;
Vector3 com = SetMass(1.0f);
body.MoveTo(pos, Matrix.Identity);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.EnableBody();
//body.SetBodyInvInertia(0.0f, 0.0f, 0.0f);
body.AllowFreezing = false;
}
public Cuboid(Vector dimension)
{
Dimension = dimension;
PhysicsBody = new Body();
collisionSkin = new CollisionSkin(PhysicsBody);
PhysicsBody.CollisionSkin = collisionSkin;
var box = new Box(Vector3.Zero, Microsoft.Xna.Framework.Matrix.Identity, Dimension.ToXna());
collisionSkin.AddPrimitive(box, new MaterialProperties(0.1f, 0.4f, 0.9f));
var com = ApplyMass(1.0f);
// PhysicsBody.MoveTo(Utils.VectorBalderToXna(this.Position), Microsoft.Xna.Framework.Matrix.Identity);
collisionSkin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Microsoft.Xna.Framework.Matrix.Identity));
PhysicsBody.EnableBody();
}
public TowerPhysicsObject(Vector3 size, Matrix orientation, Vector3 pos)
{
body = new Body();
collision = new CollisionSkin(body);
collision.AddPrimitive(new Box(Vector3.Zero, orientation, size * 2),
new MaterialProperties(e: 0.8f, sr: 0.8f, dr: 0.7f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(1.0f);
body.MoveTo(pos, Matrix.Identity);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.EnableBody();
body.Immovable = true;
}
public BoxActor(Game game, Vector3 position, Vector3 scale)
: base(game)
{
this.position = position;
this.scale = scale;
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
Box box = new Box(Vector3.Zero, Matrix.Identity, scale);
_skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));
Vector3 com = SetMass(1.0f);
_body.MoveTo(position, Matrix.Identity);
_skin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));
_body.EnableBody();
}
/// <summary>
/// Updates the center of mass and the mass properties of the collision skin.
/// </summary>
protected void UpdateMass()
{
//Sets the mass properties of the object and transforms the collision skin according
//to the returned center of mass.
Vector3 newCOM = SetMassProperties(mDensity);
//We only update the center of mass if it has changed.
if (!newCOM.Equals(mCenterOfMass))
{
mCenterOfMass = newCOM;
mCollisionSkin.ApplyLocalTransform(new Transform(-mCenterOfMass, Matrix.Identity));
//The center of mass changed so we trigger the CenterOfMassChanged event.
if (CenterOfMassChanged != null)
{
CenterOfMassChanged(this, new EventArgs());
}
}
}
public TriangleMeshObject(Game game, Model model, Matrix orientation, Vector3 position) : base(game, model)
{
Body = new Body();
Collision = new CollisionSkin(null);
triangleMesh = new TriangleMesh();
var vertexList = new List <Vector3>();
var indexList = new List <TriangleVertexIndices>();
ExtractData(vertexList, indexList, model);
triangleMesh.CreateMesh(vertexList, indexList, 4, 1.0f);
Collision.AddPrimitive(triangleMesh, new MaterialProperties(0.8f, 0.7f, 0.6f));
PhysicsSystem.CurrentPhysicsSystem.CollisionSystem.AddCollisionSkin(Collision);
Collision.ApplyLocalTransform(new JigLibX.Math.Transform(position, orientation));
Body.MoveTo(position, orientation);
}
public TriangleMeshObject(Game game, Model model, Matrix orientation, Vector3 position)
: base(game, model)
{
body = new Body();
collision = new CollisionSkin(null);
triangleMesh = new TriangleMesh();
List <Vector3> vertexList = new List <Vector3>();
List <TriangleVertexIndices> indexList = new List <TriangleVertexIndices>();
ExtractData(vertexList, indexList, model);
triangleMesh.CreateMesh(vertexList, indexList, 4, 1.0f);
collision.AddPrimitive(triangleMesh, new MaterialProperties(0.8f, 0.7f, 0.6f));
PhysicsSystem.CurrentPhysicsSystem.CollisionSystem.AddCollisionSkin(collision);
// Transform
collision.ApplyLocalTransform(new JigLibX.Math.Transform(position, orientation));
// we also need to move this dummy, so the object is *rendered* at the correct positiob
body.MoveTo(position, orientation);
}
void updatePosition()
{
_skin.ApplyLocalTransform(new JigLibX.Math.Transform(position, rotMatrix));
}
public XBoneMapObject(Vector3 position, ref XModel model)
{
//create a list to hold the collision primitives
List <Primitive> prims = new List <Primitive>();
//parse for collision bones
foreach (ModelBone bone in model.Model.Bones)
{
string[] keypairs = bone.Name.ToLower().Split('_');
//if checks for valid naming convention on collision bones
if ((keypairs.Length == 2) && ((keypairs[0] == "sphere") || (keypairs[0] == "box") || (keypairs[0] == "capsule")))
{
//determine object number
int objectnum;
if ((keypairs[1] != "") || (keypairs[1] != null))
{
objectnum = int.Parse(keypairs[1]);
}
else
{
objectnum = 0;
}
//decompose bone transforms to components
Vector3 pos;
Vector3 scale;
Quaternion qrot;
bone.Transform.Decompose(out scale, out qrot, out pos);
Matrix rot = Matrix.CreateFromQuaternion(qrot);
//create collision primitive objects and add to list
switch (keypairs[0])
{
case ("sphere"):
JigLibX.Geometry.Sphere sph = new JigLibX.Geometry.Sphere(pos, scale.X);
prims.Add(sph);
break;
case ("box"):
Box box = new Box(pos, rot, scale);
prims.Add(box);
break;
case ("capsule"):
break;
}
}
}
body = new Body();
collision = new CollisionSkin(body);
if (prims.Count > 0)
{
foreach (Primitive prim in prims)
{
//TODO: Add ability to specify physics material type in art editor somehow
collision.AddPrimitive(prim, (int)JigLibX.Collision.MaterialTable.MaterialID.NormalSmooth);
}
}
else
{//no collision prims detected from XSI so create a default one here using the mesh bounding spheres
foreach (ModelMesh mesh in model.Model.Meshes)
{
//collision.AddPrimitive(new JigLibX.Geometry.Sphere(mesh.BoundingSphere.Center, mesh.BoundingSphere.Radius), new MaterialProperties(0.8f, 0.8f, 0.7f));
collision.AddPrimitive(new JigLibX.Geometry.Box(position, Matrix.Identity, new Vector3(mesh.BoundingSphere.Radius / 2f)), (int)JigLibX.Collision.MaterialTable.MaterialID.NormalRough);
}
}
body.CollisionSkin = this.collision;
Vector3 com = SetMass(1.0f);
body.MoveTo(position, Matrix.Identity);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.EnableBody();
}
public Planet(Vector3 center, Vector3 radius, double maxDeviation, double radianMeshSize, int subdivides, GraphicsDevice g, Texture2D texture)
: base()
{
this.texture = texture;
Body = new Body();
Skin = new CollisionSkin(null);
for (double i = 0; i < MathHelper.TwoPi - JigLibX.Math.JiggleMath.Epsilon; i += radianMeshSize)
{
for (double j = 0; j < MathHelper.TwoPi - JigLibX.Math.JiggleMath.Epsilon; j += radianMeshSize)
{
//TriangleMesh tm = CreateSphericalMeshSegment(i, i + radianMeshSize, j, j + radianMeshSize, trianglesPerMesh, maxDeviation);
TriangleMesh tm = new TriangleMesh();
List <Vector3> vl = new List <Vector3>();
// Polar -> Cartesion in 3-Spcae
// X = R * Sin(Θ) * Cos(ϕ)
// Y = R * Sin(Θ) * Sin(ϕ)
// Z = R * Cos(Θ)
vl.Add(SphericalToCartesian(i, j, radius));
vl.Add(SphericalToCartesian(i + radianMeshSize, j, radius));
vl.Add(SphericalToCartesian(i + radianMeshSize, j + radianMeshSize, radius));
vl.Add(SphericalToCartesian(i, j + radianMeshSize, radius));
List <TriangleVertexIndices> tvi = new List <TriangleVertexIndices>();
tvi.Add(new TriangleVertexIndices(0, 1, 2));
tvi.Add(new TriangleVertexIndices(1, 3, 2));
VertexPositionNormalTexture[] v = new VertexPositionNormalTexture[4];
Vector3 tmp = SphericalToCartesian(i, j, Vector3.One);
v[0].Position = tmp * radius;
v[0].Normal = Vector3.Zero;
v[0].TextureCoordinate.X = tmp.X;
v[0].TextureCoordinate.Y = tmp.Y;
tmp = SphericalToCartesian(i + radianMeshSize, j, Vector3.One);
v[1].Position = tmp * radius;
v[1].Normal = Vector3.Zero;
v[1].TextureCoordinate.X = tmp.X;
v[1].TextureCoordinate.Y = tmp.Y;
tmp = SphericalToCartesian(i + radianMeshSize, j + radianMeshSize, Vector3.One);
v[2].Position = tmp * radius;
v[2].Normal = Vector3.Zero;
v[2].TextureCoordinate.X = tmp.X;
v[2].TextureCoordinate.Y = tmp.Y;
tmp = SphericalToCartesian(i, j + radianMeshSize, Vector3.One);
v[3].Position = tmp * radius;
v[3].Normal = Vector3.Zero;
v[3].TextureCoordinate.X = tmp.X;
v[3].TextureCoordinate.Y = tmp.Y;
verts.Add(v);
indices.Add(new int[] { 0, 1, 2, 1, 3, 2 });
SetNormalOfTriangleAtIndices(0, 1, 2, verts.Count - 1);
SetNormalOfTriangleAtIndices(1, 3, 2, verts.Count - 1);
tm.CreateMesh(vl, tvi, 1, 1f); // Last two parameters are listed as not used on the octree
triangleMeshes.Add(tm);
Skin.AddPrimitive(tm, (int)MaterialTable.MaterialID.NormalRough);
}
}
List <Vector3> vertexList = new List <Vector3>();
List <TriangleVertexIndices> indexList = new List <TriangleVertexIndices>();
Effect = new BasicEffect(g);
//ExtractData(vertexList, indexList, model);
//triangleMesh.CreateMesh(vertexList,indexList, 4, 1.0f);
//Skin.AddPrimitive(triangleMesh, new MaterialProperties(0.8f, 0.7f, 0.6f));
PhysicsSystem.CurrentPhysicsSystem.CollisionSystem.AddCollisionSkin(Skin);
// Transform
Skin.ApplyLocalTransform(new JigLibX.Math.Transform(center, Matrix.Identity));
// we also need to move this dummy, so the object is *rendered* at the correct positiob
Body.MoveTo(center, Matrix.Identity);
CommonInit(center, new Vector3(1, 1, 1), null, false, -1);
}