public static void DebugDrawAddForce(MyPhysicsBody physics, MyPhysicsForceType type, Vector3?force, Vector3D?position, Vector3?torque, bool persistent = false)
{
switch (type)
{
case MyPhysicsForceType.APPLY_WORLD_IMPULSE_AND_WORLD_ANGULAR_IMPULSE:
{
Vector3D pointFrom = position.Value + (physics.LinearVelocity * 0.01666667f);
if (force != null)
{
MyRenderProxy.DebugDrawArrow3D(pointFrom, pointFrom + (force.Value * 0.1f), Color.Blue, new Color?(Color.Red), false, 0.1, null, 0.5f, persistent);
}
if (torque == null)
{
break;
}
MyRenderProxy.DebugDrawArrow3D(pointFrom, pointFrom + (torque.Value * 0.1f), Color.Blue, new Color?(Color.Purple), false, 0.1, null, 0.5f, persistent);
return;
}
case MyPhysicsForceType.ADD_BODY_FORCE_AND_BODY_TORQUE:
if (physics.RigidBody != null)
{
Matrix rigidBodyMatrix = physics.RigidBody.GetRigidBodyMatrix();
Vector3D pointFrom = physics.CenterOfMassWorld + (physics.LinearVelocity * 0.01666667f);
if (force != null)
{
MyRenderProxy.DebugDrawArrow3D(pointFrom, pointFrom + (Vector3.TransformNormal(force.Value, rigidBodyMatrix) * 0.1f), Color.Blue, new Color?(Color.Red), false, 0.1, null, 0.5f, persistent);
}
if (torque != null)
{
MyRenderProxy.DebugDrawArrow3D(pointFrom, pointFrom + (Vector3.TransformNormal(torque.Value, rigidBodyMatrix) * 0.1f), Color.Blue, new Color?(Color.Purple), false, 0.1, null, 0.5f, persistent);
return;
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_FORCE:
if (position != null)
{
Vector3D pointFrom = position.Value + (physics.LinearVelocity * 0.01666667f);
if (force != null)
{
MyRenderProxy.DebugDrawArrow3D(pointFrom, pointFrom + ((force.Value * 0.01666667f) * 0.1f), Color.Blue, new Color?(Color.Red), false, 0.1, null, 0.5f, persistent);
}
}
break;
default:
return;
}
}
/// <summary>
/// Applies external force to the physics object.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="force">The force.</param>
/// <param name="position">The position.</param>
/// <param name="torque">The torque.</param>
public void AddForce(MyPhysicsForceType type, Vector3?force, Vector3?position, Vector3?torque)
{
MyUtils.AssertIsValid(force);
MyUtils.AssertIsValid(position);
MyUtils.AssertIsValid(torque);
switch (type)
{
case MyPhysicsForceType.ADD_BODY_FORCE_AND_BODY_TORQUE:
{
Matrix tempM = rigidBody.Matrix;
tempM.Translation = Vector3.Zero;
if (force != null && !MyMwcUtils.IsZero(force.Value))
{
Vector3 tmpForce = Vector3.Transform(force.Value, tempM);
this.rigidBody.ApplyForce(tmpForce);
}
if (torque != null && !MyMwcUtils.IsZero(torque.Value))
{
Vector3 tmpTorque = Vector3.Transform(torque.Value, tempM);
this.rigidBody.ApplyTorque(tmpTorque);
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_IMPULSE_AND_WORLD_ANGULAR_IMPULSE:
{
if (force.HasValue && position.HasValue)
{
this.rigidBody.ApplyImpulse(force.Value, position.Value);
}
if (torque.HasValue)
{
this.rigidBody.ApplyTorque(torque.Value);
}
}
break;
default:
{
Debug.Fail("Unhandled enum!");
}
break;
}
}
/// <summary>
/// Applies external force to the physics object.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="force">The force.</param>
/// <param name="position">The position.</param>
/// <param name="torque">The torque.</param>
public override void AddForce(MyPhysicsForceType type, Vector3? force, Vector3D? position, Vector3? torque)
{
force.AssertIsValid();
position.AssertIsValid();
torque.AssertIsValid();
System.Diagnostics.Debug.Assert(IsInWorld == true);
if (IsStatic)
return;
switch (type)
{
case MyPhysicsForceType.ADD_BODY_FORCE_AND_BODY_TORQUE:
{
if (RigidBody != null)
{
Matrix tempM = RigidBody.GetRigidBodyMatrix();
tempM.Translation = Vector3.Zero;
if (force != null && !MyUtils.IsZero(force.Value))
{
Vector3 tmpForce = Vector3.Transform(force.Value, tempM);
//RigidBody.Activate(true);
//RigidBody.ApplyForce(MyEngineConstants.PHYSICS_STEP_SIZE_IN_SECONDS, tmpForce * 0.0001f);
RigidBody.ApplyLinearImpulse(tmpForce * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
//RigidBody.ApplyCentralImpulse(tmpForce);
}
if (torque != null && !MyUtils.IsZero(torque.Value))
{
Vector3 tmpTorque = Vector3.Transform(torque.Value, tempM);
//SharpDX.Vector3 tmpTorque = SharpDXHelper.ToSharpDX(torque.Value);
// RigidBody.Activate(true);
//RigidBody.UpdateInertiaTensor();
//RigidBody.ApplyTorque(MyEngineConstants.PHYSICS_STEP_SIZE_IN_SECONDS, tmpTorque * 0.0001f);
RigidBody.ApplyAngularImpulse(tmpTorque * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
//RigidBody.ApplyTorqueImpulse(tmpTorque);
}
}
if (CharacterProxy != null)
{
Matrix tempM = Entity.WorldMatrix;
tempM.Translation = Vector3.Zero;
if (force != null && !MyUtils.IsZero(force.Value))
{
Vector3 tmpForce = Vector3.Transform(force.Value, tempM);
CharacterProxy.ApplyLinearImpulse(tmpForce * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
}
if (torque != null && !MyUtils.IsZero(torque.Value))
{
Vector3 tmpTorque = Vector3.Transform(torque.Value, tempM);
CharacterProxy.ApplyAngularImpulse(tmpTorque * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
}
}
if (Ragdoll != null && Ragdoll.IsAddedToWorld && !Ragdoll.IsKeyframed)
{
foreach (var rigidBody in Ragdoll.RigidBodies)
{
if (rigidBody != null)
{
Matrix tempM = rigidBody.GetRigidBodyMatrix();
tempM.Translation = Vector3.Zero;
if (force != null && !MyUtils.IsZero(force.Value))
{
Vector3 tmpForce = Vector3.Transform(force.Value, tempM) * rigidBody.Mass / Ragdoll.Mass;
//RigidBody.Activate(true);
//RigidBody.ApplyForce(MyEngineConstants.PHYSICS_STEP_SIZE_IN_SECONDS, tmpForce * 0.0001f);
rigidBody.ApplyLinearImpulse(tmpForce * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
//RigidBody.ApplyCentralImpulse(tmpForce);
}
if (torque != null && !MyUtils.IsZero(torque.Value))
{
Vector3 tmpTorque = Vector3.Transform(torque.Value, tempM) * rigidBody.Mass / Ragdoll.Mass;
//SharpDX.Vector3 tmpTorque = SharpDXHelper.ToSharpDX(torque.Value);
// RigidBody.Activate(true);
//RigidBody.UpdateInertiaTensor();
//RigidBody.ApplyTorque(MyEngineConstants.PHYSICS_STEP_SIZE_IN_SECONDS, tmpTorque * 0.0001f);
rigidBody.ApplyAngularImpulse(tmpTorque * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
//RigidBody.ApplyTorqueImpulse(tmpTorque);
}
}
}
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_IMPULSE_AND_WORLD_ANGULAR_IMPULSE:
{
if (RigidBody != null)
{
var offset = MyPhysics.Clusters.GetObjectOffset(ClusterObjectID);
if (force.HasValue && position.HasValue)
{
//this.RigidBody.ApplyImpulse(force.Value, position.Value);
//RigidBody.Activate(true);
RigidBody.ApplyPointImpulse(force.Value, (Vector3)(position.Value - offset));
}
if (torque.HasValue)
{
//RigidBody.Activate(true);
//RigidBody.ApplyTorque(MyEngineConstants.PHYSICS_STEP_SIZE_IN_SECONDS, torque.Value * 0.0001f);
RigidBody.ApplyAngularImpulse(torque.Value * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED);
}
}
if (CharacterProxy != null && force.HasValue && position.HasValue)
{
CharacterProxy.ApplyLinearImpulse(force.Value);
}
if (Ragdoll != null && Ragdoll.IsAddedToWorld && !Ragdoll.IsKeyframed)
{
foreach (var rigidBody in Ragdoll.RigidBodies)
{
if (rigidBody != null)
{
var offset = MyPhysics.Clusters.GetObjectOffset(ClusterObjectID);
if (force.HasValue && position.HasValue)
{
//this.RigidBody.ApplyImpulse(force.Value, position.Value);
//RigidBody.Activate(true);
rigidBody.ApplyPointImpulse(force.Value * rigidBody.Mass / Ragdoll.Mass, (Vector3)(position.Value - offset));
}
if (torque.HasValue)
{
//RigidBody.Activate(true);
//RigidBody.ApplyTorque(MyEngineConstants.PHYSICS_STEP_SIZE_IN_SECONDS, torque.Value * 0.0001f);
rigidBody.ApplyAngularImpulse(torque.Value * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * MyFakes.SIMULATION_SPEED * rigidBody.Mass / Ragdoll.Mass);
}
}
}
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_FORCE:
{
if (RigidBody != null)
{
var offset = MyPhysics.Clusters.GetObjectOffset(ClusterObjectID);
if (force != null && !MyUtils.IsZero(force.Value))
{
if (position.HasValue)
{
Vector3 point = position.Value - offset;
RigidBody.ApplyForce(MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS, force.Value, point);
}
else
RigidBody.ApplyForce(MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS, force.Value);
}
}
if (Ragdoll != null && Ragdoll.IsAddedToWorld && !Ragdoll.IsKeyframed)
{
foreach (var rigidBody in Ragdoll.RigidBodies)
{
if (rigidBody != null)
{
var offset = MyPhysics.Clusters.GetObjectOffset(ClusterObjectID);
if (force != null && !MyUtils.IsZero(force.Value))
{
if (position.HasValue)
{
Vector3 point = position.Value - offset;
rigidBody.ApplyForce(MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS, force.Value * rigidBody.Mass / Ragdoll.Mass, point);
}
else
rigidBody.ApplyForce(MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS, force.Value * rigidBody.Mass / Ragdoll.Mass);
}
}
}
}
}
break;
default:
{
Debug.Fail("Unhandled enum!");
}
break;
}
}
/// <summary>
/// Applies external force to the physics object.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="force">The force.</param>
/// <param name="position">The position.</param>
/// <param name="torque">The torque.</param>
public override void AddForce(MyPhysicsForceType type, Vector3? force, Vector3D? position, Vector3? torque)
{
force.AssertIsValid();
position.AssertIsValid();
torque.AssertIsValid();
System.Diagnostics.Debug.Assert(IsInWorld == true || IsWelded);
if (IsStatic)
return;
Matrix transform;
switch (type)
{
case MyPhysicsForceType.ADD_BODY_FORCE_AND_BODY_TORQUE:
{
if (RigidBody != null)
{
transform = RigidBody.GetRigidBodyMatrix();
AddForceTorqueBody(force, torque, RigidBody, ref transform);
}
if (CharacterProxy != null)
{
transform = Entity.WorldMatrix;
AddForceTorqueBody(force, torque, CharacterProxy.GetHitRigidBody(), ref transform);
}
if (Ragdoll != null && Ragdoll.IsAddedToWorld && !Ragdoll.IsKeyframed)
{
transform = Entity.WorldMatrix;
ApplyForceTorqueOnRagdoll(force, torque, Ragdoll, ref transform);
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_IMPULSE_AND_WORLD_ANGULAR_IMPULSE:
{
ApplyImplusesWorld(force, position, torque, RigidBody);
if (CharacterProxy != null && force.HasValue && position.HasValue)
{
CharacterProxy.ApplyLinearImpulse(force.Value);
}
if (Ragdoll != null && Ragdoll.IsAddedToWorld && !Ragdoll.IsKeyframed)
{
ApplyImpuseOnRagdoll(force, position, torque, Ragdoll);
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_FORCE:
{
ApplyForceWorld(force, position, RigidBody);
if (Ragdoll != null && Ragdoll.IsAddedToWorld && !Ragdoll.IsKeyframed)
{
ApplyForceOnRagdoll(force, position, Ragdoll);
}
}
break;
default:
{
Debug.Fail("Unhandled enum!");
}
break;
}
}
/// <summary> /// Applies external force to the physics object. /// </summary> /// <param name="type">The type.</param> /// <param name="force">The force.</param> /// <param name="position">The position.</param> /// <param name="torque">The torque.</param> public abstract void AddForce(MyPhysicsForceType type, Vector3? force, Vector3D? position, Vector3? torque);
/// <summary> /// Applies external force to the physics object. /// </summary> /// <param name="type">The type.</param> /// <param name="force">The force.</param> /// <param name="position">The position.</param> /// <param name="torque">The torque.</param> public abstract void AddForce(MyPhysicsForceType type, Vector3?force, Vector3D?position, Vector3?torque);
public static void DebugDrawAddForce(MyPhysicsBody physics, MyPhysicsForceType type, Vector3?force, Vector3D?position, Vector3?torque)
{
Matrix transform;
const float scale = 0.1f;
switch (type)
{
case MyPhysicsForceType.ADD_BODY_FORCE_AND_BODY_TORQUE:
{
if (physics.RigidBody != null)
{
transform = physics.RigidBody.GetRigidBodyMatrix();
Vector3D p = physics.CenterOfMassWorld + physics.LinearVelocity * VRage.Game.MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS; // ClusterToWorld(transform.Translation);//ClusterToWorld(transform.Translation);
if (force.HasValue)
{
Vector3 f = Vector3.TransformNormal(force.Value, transform) * scale;
MyRenderProxy.DebugDrawArrow3D(p, p + f, Color.Blue, Color.Red, false);
}
if (torque.HasValue)
{
Vector3 f = Vector3.TransformNormal(torque.Value, transform) * scale;
MyRenderProxy.DebugDrawArrow3D(p, p + f, Color.Blue, Color.Purple, false);
}
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_IMPULSE_AND_WORLD_ANGULAR_IMPULSE:
{
Vector3D p = position.Value + physics.LinearVelocity * VRage.Game.MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS;
if (force.HasValue)
{
MyRenderProxy.DebugDrawArrow3D(p, p + force.Value * scale, Color.Blue, Color.Red, false);
}
if (torque.HasValue)
{
MyRenderProxy.DebugDrawArrow3D(p, p + torque.Value * scale, Color.Blue, Color.Purple, false);
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_FORCE:
{
if (position.HasValue)
{
Vector3D p = position.Value + physics.LinearVelocity * VRage.Game.MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS;
if (force.HasValue)
{
MyRenderProxy.DebugDrawArrow3D(p, p + force.Value * VRage.Game.MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * scale, Color.Blue, Color.Red, false);
}
}
}
break;
default:
{
Debug.Fail("Unhandled enum!");
}
break;
}
}
private void DebugDrawAddForce(MyPhysicsForceType type, Vector3? force, Vector3D? position, Vector3? torque)
{
Matrix transform;
const float scale = 0.1f;
switch (type)
{
case MyPhysicsForceType.ADD_BODY_FORCE_AND_BODY_TORQUE:
{
if (RigidBody != null)
{
transform = RigidBody.GetRigidBodyMatrix();
Vector3D p = CenterOfMassWorld + LinearVelocity * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS;// ClusterToWorld(transform.Translation);//ClusterToWorld(transform.Translation);
if(force.HasValue)
{
Vector3 f = Vector3.TransformNormal(force.Value, transform) * scale;
MyRenderProxy.DebugDrawArrow3D(p, p + f, Color.Blue, Color.Red, false);
}
if (torque.HasValue)
{
Vector3 f = Vector3.TransformNormal(torque.Value, transform) * scale;
MyRenderProxy.DebugDrawArrow3D(p, p + f, Color.Blue, Color.Purple, false);
}
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_IMPULSE_AND_WORLD_ANGULAR_IMPULSE:
{
Vector3D p = position.Value + LinearVelocity * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS;
if (force.HasValue)
{
MyRenderProxy.DebugDrawArrow3D(p, p + force.Value * scale, Color.Blue, Color.Red, false);
}
if (torque.HasValue)
{
MyRenderProxy.DebugDrawArrow3D(p, p + torque.Value * scale, Color.Blue, Color.Purple, false);
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_FORCE:
{
if (position.HasValue)
{
Vector3D p = position.Value + LinearVelocity * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS;
if (force.HasValue)
{
MyRenderProxy.DebugDrawArrow3D(p, p + force.Value * MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS * scale, Color.Blue, Color.Red, false);
}
}
}
break;
default:
{
Debug.Fail("Unhandled enum!");
}
break;
}
}
/// <summary>
/// Applies external force to the physics object.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="force">The force.</param>
/// <param name="position">The position.</param>
/// <param name="torque">The torque.</param>
public void AddForce(MyPhysicsForceType type, Vector3? force, Vector3? position, Vector3? torque)
{
MyUtils.AssertIsValid(force);
MyUtils.AssertIsValid(position);
MyUtils.AssertIsValid(torque);
switch (type)
{
case MyPhysicsForceType.ADD_BODY_FORCE_AND_BODY_TORQUE:
{
Matrix tempM = rigidBody.Matrix;
tempM.Translation = Vector3.Zero;
if (force != null && !MyMwcUtils.IsZero(force.Value))
{
Vector3 tmpForce = Vector3.Transform(force.Value, tempM);
this.rigidBody.ApplyForce(tmpForce);
}
if (torque != null && !MyMwcUtils.IsZero(torque.Value))
{
Vector3 tmpTorque = Vector3.Transform(torque.Value, tempM);
this.rigidBody.ApplyTorque(tmpTorque);
}
}
break;
case MyPhysicsForceType.APPLY_WORLD_IMPULSE_AND_WORLD_ANGULAR_IMPULSE:
{
if (force.HasValue && position.HasValue)
{
this.rigidBody.ApplyImpulse(force.Value, position.Value);
}
if (torque.HasValue)
{
this.rigidBody.ApplyTorque(torque.Value);
}
}
break;
default:
{
Debug.Fail("Unhandled enum!");
}
break;
}
}
