private void CreateCompoundBody()
{
List <CompoundShapeEntry> shapes = new List <CompoundShapeEntry>();
// Create parts of compound shape
Vector3 blockPos = new Vector3();
for (int z = 0; z < GAME_FIELD_SIZE; ++z)
{
for (int y = 0; y < GAME_FIELD_SIZE; ++y)
{
for (int x = 0; x < GAME_FIELD_SIZE; ++x)
{
blockPos.X = (x - GAME_FIELD_SIZE * 0.5f) * BLOCK_SIZE + BLOCK_SIZE * 0.5f;
blockPos.Y = (y - GAME_FIELD_SIZE * 0.5f) * BLOCK_SIZE + BLOCK_SIZE * 0.5f;
blockPos.Z = (z - GAME_FIELD_SIZE * 0.5f) * BLOCK_SIZE + BLOCK_SIZE * 0.5f;
BoxShape blockShape = new BoxShape(BLOCK_SIZE, BLOCK_SIZE, BLOCK_SIZE);
CompoundShapeEntry entry = new CompoundShapeEntry(blockShape, blockPos);
shapes.Add(entry);
}
}
}
// Create compound body
compoundBody = new CompoundBody(shapes, COMPOUND_BODY_MASS);
compoundBody.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
compoundBody.AngularDamping = COMPOUND_BODY_ANGULAR_DAMPING;
// Add constraint prevents compound body from moving
constraint = new MaximumLinearSpeedConstraint(compoundBody, 0.0f);
// Create collision group for removed blocks
removedBlocksGroup = new CollisionGroup();
// Mark all chapes in compound body to be removed for now
foreach (CompoundChild child in compoundBody.CollisionInformation.Children)
{
child.CollisionInformation.CollisionRules.Group = removedBlocksGroup;
}
// Add compound body and its constraints to physics space
space.Add(compoundBody);
space.Add(constraint);
//compoundBody.CollisionInformation.Events.ContactCreated += handleContactCreated;
}
protected override void OnEnabled()
{
if (!string.IsNullOrEmpty(JointTargetName))
{
Collider collider = _goqs.FindByName(JointTargetName)?.GetComponent <Collider>();
if (collider != null)
{
Entity entity = new Sphere(Transform.Position, 0.1f, float.MaxValue)
{
IsAffectedByGravity = false
};
MaximumLinearSpeedConstraint constraint = new MaximumLinearSpeedConstraint(entity, 0f);
_physics.AddObject(entity);
_physics.AddObject(constraint);
RevoluteAngularJoint joint = new RevoluteAngularJoint(entity, collider.Entity, Transform.Up);
_physics.AddObject(joint);
}
else
{
Console.WriteLine("Autojoint failed because no child Collider was found.");
}
}
}
public void LoadLevel(String fileName)
{
// Load level data
GameLevelContent levelData = Game.Content.Load <GameLevelContent>(fileName);
int blocksCount = levelData.BlocksCount();
// List of blocks chapes for compound body
List <CompoundShapeEntry> shapes = new List <CompoundShapeEntry>();
// Create block groups and block physics
foreach (BlockGroupData blockGroup in levelData.BlockGroups)
{
// Create block group
LoadBlockType(blockGroup.BlockTypeName, blocksCount);
// Create physical representation of blocks in this group
Vector3 scale;
Quaternion rotation;
Vector3 translation;
foreach (BlockData blockData in blockGroup.Blocks)
{
// Extract size, position and orientation values from block data transform
blockData.Transform.Decompose(out scale, out rotation, out translation);
blockData.Scale = scale;
// Create physical shape of the block to be part of compound body of blocks
BoxShape blockShape = new BoxShape(scale.X, scale.Y, scale.Z);
// Create compound shape entry for compund body of blocks
CompoundShapeEntry entry = new CompoundShapeEntry(blockShape, new RigidTransform(translation, rotation));
shapes.Add(entry);
}
}
// Create compound body
compoundBody = new CompoundBody(shapes, COMPOUND_BODY_MASS);
compoundBody.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
compoundBody.AngularDamping = COMPOUND_BODY_ANGULAR_DAMPING;
// Compound body has Position and LocalPosition (in Collision information)
// Position property is position of mass center in global space - it is calculated automatically.
// LocalPosition property is position of geometry of the body in its local space.
// So in order to create compound body which is rotated around desired position ((0,0,0) for now)
// We should switch Position and LocalPosition properties of our compound body.
compoundBody.CollisionInformation.LocalPosition = compoundBody.Position;
compoundBody.Position = Vector3.Zero;
// Add constraint prevents compound body from moving
constraint = new MaximumLinearSpeedConstraint(compoundBody, 0.0f);
// Create collision group for removed blocks
removedBlocksGroup = new CollisionGroup();
// Create blocks
int childCollidableIndex = 0;
foreach (BlockGroupData blockGroup in levelData.BlockGroups)
{
Matrix localPosTransform = Matrix.CreateTranslation(compoundBody.CollisionInformation.LocalPosition);
foreach (BlockData blockData in blockGroup.Blocks)
{
// Obtain block type and instanced mesh for the block
BlockType blockType = blockTypes[blockGroup.BlockTypeName];
InstancedMesh <VertexData> instancedMesh = blockInstancedMeshes[blockGroup.BlockTypeName];
// Obtain physics body (a part of compound body) for the block
CompoundChild child = compoundBody.CollisionInformation.Children[childCollidableIndex];
// Create instance of the block in instanced mesh
InstancedMesh <VertexData> .Instance instance = instancedMesh.AppendInstance(Matrix.CreateScale(blockData.Scale) * child.Entry.LocalTransform.Matrix * localPosTransform);
// Store new block instance to the list
Block block = new Block(blockType, instance, child);
blocks.Add(block);
block.Scale = blockData.Scale;
childCollidableIndex++;
}
}
// Add compound body and its constraints to physics space
space.Add(compoundBody);
space.Add(constraint);
}
