public unsafe static void ConvexSweepTest(this GhostObject obj, ConvexShape castShape, ref OpenTK.Matrix4 convexFromWorld, ref OpenTK.Matrix4 convexToWorld, ConvexResultCallback resultCallback, float allowedCcdPenetration)
{
fixed(OpenTK.Matrix4 *convexFromWorldPtr = &convexFromWorld)
{
fixed(OpenTK.Matrix4 *convexToWorldPtr = &convexToWorld)
{
obj.ConvexSweepTest(castShape, ref *(BulletSharp.Math.Matrix *)convexFromWorldPtr, ref *(BulletSharp.Math.Matrix *)convexToWorldPtr, resultCallback, allowedCcdPenetration);
}
}
}
public unsafe static void RayTest(this GhostObject obj, ref OpenTK.Vector3 rayFromWorld, ref OpenTK.Vector3 rayToWorld, RayResultCallback resultCallback)
{
fixed(OpenTK.Vector3 *rayFromWorldPtr = &rayFromWorld)
{
fixed(OpenTK.Vector3 *rayToWorldPtr = &rayToWorld)
{
obj.RayTest(ref *(BulletSharp.Math.Vector3 *)rayFromWorldPtr, ref *(BulletSharp.Math.Vector3 *)rayToWorldPtr, resultCallback);
}
}
}
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(m_collisionObject);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this collision shape is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new BulletSharp.GhostObject();
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
else
{
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionShape = cs;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return(true);
}
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(m_collisionObject);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
Debug.LogError("The local scale on this collision shape is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent<BCollisionShape>();
if (m_collisionShape == null)
{
Debug.LogError("There was no collision shape component attached to this BRigidBody. " + name);
return false;
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new BulletSharp.GhostObject();
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
else {
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = transform.rotation.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = transform.position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionShape = cs;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return true;
}
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get;
if (m_collisionObject != null)
{
if (isInWorld && world != null)
{
world.RemoveCollisionObject(this);
}
}
m_collisionShape = this.GetParent <Unit>().GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
Log.Warning("There was no collision shape component attached to this BRigidBody. ");
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
if (m_collisionObject == null)
{
m_collisionObject = new BulletSharp.GhostObject();
m_collisionObject.CollisionShape = cs;
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.UserObject = this;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
else
{
BulletSharp.Math.Matrix worldTrans;
BulletSharp.Math.Quaternion q = this.GetParent <Unit>().Quaternion.ToBullet();
BulletSharp.Math.Matrix.RotationQuaternion(ref q, out worldTrans);
worldTrans.Origin = this.GetParent <Unit>().Position.ToBullet();
m_collisionObject.WorldTransform = worldTrans;
m_collisionObject.CollisionShape = cs;
m_collisionObject.CollisionFlags = m_collisionObject.CollisionFlags | BulletSharp.CollisionFlags.NoContactResponse;
}
return(true);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
boxShape = new BoxShape(1);
body1 = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
body2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = Matrix.Translation(-1, 2, 0);
ghostObject.CollisionShape = boxShape;
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
}
/// <summary>
/// Creates a new trigger region. It automatically adds itself to the TriggerReporter's dictionary, so you don't have to do that.
/// </summary>
/// <param name="orientation">a degree vector</param>
public TriggerRegion(string name, Vector3 position, Quaternion orientation, CollisionShape shape)
{
Name = name;
CurrentlyCollidingWith = new HashSet<RigidBody>();
// mogre
var sceneMgr = LKernel.GetG<SceneManager>();
Node = sceneMgr.RootSceneNode.CreateChildSceneNode(name);
if (Settings.Default.EnableGlowyRegions) {
// make a mesh for the region depending on what its type is
switch (shape.ShapeType) {
case BroadphaseNativeType.BoxShape:
Entity = sceneMgr.CreateEntity(name, "primitives/box.mesh");
Node.SetScale((shape as BoxShape).HalfExtentsWithoutMargin * 2);
break;
case BroadphaseNativeType.CapsuleShape:
Entity = sceneMgr.CreateEntity(name, "primitives/cylinder.mesh");
Vector3 vec = new Vector3();
vec.y = (shape as CapsuleShape).HalfHeight * 2;
vec.x = vec.z = (shape as CapsuleShape).Radius * 2;
Node.SetScale(vec);
break;
case BroadphaseNativeType.CylinderShape:
Entity = sceneMgr.CreateEntity(name, "primitives/cylinder.mesh");
Vector3 vec2 = new Vector3();
vec2.y = (shape as CylinderShape).HalfExtentsWithoutMargin.y;
vec2.x = vec2.z = (shape as CylinderShape).Radius * 2;
Node.SetScale(vec2);
break;
case BroadphaseNativeType.SphereShape:
Entity = sceneMgr.CreateEntity(name, "primitives/sphere.mesh");
float dim = (shape as SphereShape).Radius * 2;
Node.SetScale(dim, dim, dim);
break;
default:
// for things like meshes, convex hulls, etc
Entity = sceneMgr.CreateEntity(name, "primitives/box.mesh");
break;
}
GlowColor = BalloonGlowColour.red;
Entity.CastShadows = false;
Node.AttachObject(Entity);
}
Node.Position = position;
Node.Orientation = orientation;
// physics
Matrix4 transform = new Matrix4();
transform.MakeTransform(position, Vector3.UNIT_SCALE, orientation);
var motionState = new DefaultMotionState();
motionState.WorldTransform = transform;
// thanks to kloplop321 in #ogre3d for his help with this
Ghost = new GhostObject();
Ghost.CollisionShape = shape;
Ghost.WorldTransform = transform;
Ghost.UserObject = new CollisionObjectDataHolder(Ghost, PonykartCollisionGroups.Triggers, name);
Ghost.CollisionFlags |= CollisionFlags.NoContactResponse | CollisionFlags.CustomMaterialCallback;
LKernel.GetG<PhysicsMain>().World.AddCollisionObject(Ghost, PonykartCollisionGroups.Triggers, PonykartCollidesWithGroups.Triggers);
// then add this to the trigger reporter
LKernel.GetG<TriggerReporter>().Regions.Add(name, this);
}
