/// <summary>
/// Initializes a new instance of the <see cref="Body"/> class on the
/// specified world.
/// </summary>
/// <param name="world">The world on which to place the body.</param>
public Body(World world)
{
handle = GCHandle.Alloc(this);
id = NativeMethods.dBodyCreate(world.Id);
NativeMethods.dBodySetData(id, GCHandle.ToIntPtr(handle));
id.Owner = world;
}
void PopFromWorld()
{
//destroy ODE joints
if (RelatedJoints != null)
{
for (int n = 0; n < RelatedJoints.Count; n++)
{
ODEPhysicsWorld.Instance.DestroyODEJoint(RelatedJoints[n]);
}
}
DestroyGeomDatas();
if (bodyID != IntPtr.Zero)
{
Ode.dBodyDestroy(bodyID);
bodyID = IntPtr.Zero;
}
if (bodyData != IntPtr.Zero)
{
Ode.DestroyBodyData(bodyData);
bodyData = IntPtr.Zero;
}
}
void nearCallback(IntPtr data, dGeomID o1, dGeomID o2)
{
dBodyID b1 = ode.dGeomGetBody(o1);
dBodyID b2 = ode.dGeomGetBody(o2);
const int MAX_CONTACTS = 5;
ode.dContact[] contact = new ode.dContact[MAX_CONTACTS];
for (int i = 0; i < MAX_CONTACTS; i++)
{
contact[i].surface.mode = (int)(ode.dContactType.Bounce | ode.dContactType.SoftCFM);
contact[i].surface.mu = Mathf.Infinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.01f;
contact[i].surface.bounce_vel = 0.1f;
contact[i].surface.soft_cfm = 0.01f;
}
int numc = ode.dCollide(o1, o2, MAX_CONTACTS, ref contact[0].geom, System.Runtime.InteropServices.Marshal.SizeOf(typeof(ode.dContact)));
if (numc > 0)
{
for (int i = 0; i < numc; i++)
{
dJointID c = ode.dJointCreateContact(world, contactgroup, ref contact[i]);
ode.dJointAttach(c, b1, b2);
}
}
}
public Body(World world)
{
this.world = world;
world.AddBody(this);
ptr = ode.dBodyCreate(world.ptr);
id = InstanceMap.Add(this);
ode.dBodySetData(ptr, (IntPtr)id);
}
void PushToWorld()
{
if (!Static)
{
bodyID = Ode.dBodyCreate(scene.worldID);
UpdateSleepiness();
Ode.dBodySetPosition(bodyID, Position.X, Position.Y, Position.Z);
Ode.dQuaternion odeQuat;
Convert.ToODE(Rotation, out odeQuat);
Ode.dBodySetQuaternion(bodyID, ref odeQuat);
Ode.dBodySetLinearVel(bodyID, LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
Ode.dBodySetAngularVel(bodyID, AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
if (Sleeping)
{
Ode.dBodyDisable(bodyID);
}
else
{
Ode.dBodyEnable(bodyID);
}
if (!EnableGravity)
{
Ode.dBodySetGravityMode(bodyID, 0);
}
}
bodyData = Ode.CreateBodyData(bodyID);
CreateGeomDatas();
//no shapes
if (geomDatas == null || geomDatas.Length == 0)
{
PopFromWorld();
return;
}
if (!Static)
{
CalculateBodyMass();
}
RecreateAttachedJoints();
}
public extern static int dConnectingJointList( dBodyID body1, dBodyID body2, out dJointID[] connectingJoints );
/// <summary>
/// Get the jointfeedback structure from the joint to get information about
/// the forces applied by each joint.
///
/// The feedback information structure is defined as follows (NOTE: C# version listed here):
/// public struct dJointFeedback {
/// public dVector3 f1; /* force that joint applies to body 1 */
/// public dVector3 t1; /* torque that joint applies to body 1 */
/// public dVector3 f2; /* force that joint applies to body 2 */
/// public dVector3 t2; /* torque that joint applies to body 2 */
/// };
///
/// The dJointGetFeedback() function returns the current feedback structure pointer,
/// or 0 if none is used (this is the default).
/// TODO: Will passing 0 work or does something special have to be done?
/// </summary>
/// <returns>A dJointFeedback</returns>
/// <param name="body">A dBodyID</param>
public static dJointFeedback dJointGetFeedback( dBodyID body )
{
unsafe
{
dJointFeedback* v = (dJointFeedback*)dJointGetFeedback_( body );
return *v;
}
}
public extern static void dBodySetAutoDisableDefaults( dBodyID body );
public extern static void dBodySetAutoDisableTime( dBodyID body, dReal time );
public extern static void dBodySetAutoDisableSteps( dBodyID body, int steps );
public extern static void dBodySetAutoDisableAngularThreshold( dBodyID body, dReal angular_threshold );
public extern static int dBodyGetFiniteRotationMode( dBodyID body );
public extern static void dBodySetFiniteRotationMode( dBodyID body, int mode );
public extern static IntPtr dBodyGetData( dBodyID body );
void OnNewContact(ref ode.dContact contact, dBodyID body1, dBodyID body2)
{
dJointID c = ode.dJointCreateContact(world.ptr, world.contactgroup, ref contact);
ode.dJointAttach(c, body1, body2);
}
public extern static int dAreConnectedExcluding( dBodyID body1, dBodyID body2, int joint_type );
public extern static bool DoCCDCast( dNeoAxisAdditionsID additions, dBodyID checkBodyID, int contactGroup, out float minDistance );
public extern static void dBodySetFiniteRotationAxis( dBodyID body, dReal x, dReal y, dReal z );
public extern static void dBodySetAutoDisableLinearThreshold( dBodyID body, dReal linear_threshold );
public extern static void dBodyGetFiniteRotationAxis( dBodyID body, ref dVector3 result );
public extern static dReal dBodyGetAutoDisableAngularThreshold( dBodyID body );
public extern static int dBodyGetNumJoints( dBodyID b );
public extern static int dBodyGetAutoDisableSteps( dBodyID body );
public extern static dJointID dBodyGetJoint( dBodyID body, int index );
public extern static dReal dBodyGetAutoDisableTime( dBodyID body );
public extern static void dBodySetGravityMode( dBodyID b, int mode );
public extern static void dJointAttach( dJointID joint, dBodyID body1, dBodyID body2 );
public extern static int dBodyGetGravityMode( dBodyID b );
public extern static dJointID dConnectingJoint( dBodyID body1, dBodyID body2 );
public extern static void dBodyDisable( dBodyID body );
public extern static int dAreConnected( dBodyID body1, dBodyID body2 );
public extern static int dBodyIsEnabled( dBodyID body );
public extern static void dGeomSetBody( dGeomID geom, dBodyID body );
public extern static void dBodySetAutoDisableFlag( dBodyID body, int do_auto_disable );
public extern static IntPtr CreateBodyData( dBodyID bodyID );
public extern static int dBodyGetAutoDisableFlag( dBodyID body );
