public void Update()
{
var dr = physicsManager.Game.RenderSystem.RenderWorld.Debug;
//
// do animation stuff :
//
var animFrame = entity.AnimFrame;
if (animFrame > scene.LastFrame)
{
Log.Warning("Anim frame: {0} > {1}", animFrame, scene.LastFrame);
}
if (animFrame < scene.FirstFrame)
{
Log.Warning("Anim frame: {0} < {1}", animFrame, scene.FirstFrame);
}
animFrame = MathUtil.Clamp(animFrame, scene.FirstFrame, scene.LastFrame);
scene.GetAnimSnapshot(animFrame, scene.FirstFrame, scene.LastFrame, AnimationMode.Clamp, animSnapshot);
scene.ComputeAbsoluteTransforms(animSnapshot, animSnapshot);
var worldMatrix = entity.GetWorldMatrix(1);
for (int i = 0; i < nodeCount; i++)
{
if (convexHulls[i] != null)
{
var offset = Matrix.Translation(offsets[i]);
var transform = offset * animSnapshot[i] * preTransform * worldMatrix;
var p = transform.TranslationVector;
var q = Fusion.Core.Mathematics.Quaternion.RotationMatrix(transform);
movers[i].TargetPosition = MathConverter.Convert(p);
rotators[i].TargetOrientation = MathConverter.Convert(q);
}
}
}
/// <summary>
///
/// </summary>
/// <param name="modelManager"></param>
/// <param name="descriptor"></param>
/// <param name="scene"></param>
/// <param name="entity"></param>
public KinematicModel(PhysicsManager physicsManager, ModelDescriptor descriptor, Scene scene, Entity entity)
{
this.entity = entity;
this.physicsManager = physicsManager;
this.scene = scene;
this.preTransform = descriptor.ComputePreTransformMatrix();
this.nodeCount = scene.Nodes.Count;
convexHulls = new BepuEntity[nodeCount];
var transforms = new Matrix[nodeCount];
animSnapshot = new Matrix[nodeCount];
offsets = new Vector3[nodeCount];
movers = new EntityMover[nodeCount];
rotators = new EntityRotator[nodeCount];
scene.ComputeAbsoluteTransforms(transforms);
for (int i = 0; i < scene.Nodes.Count; i++)
{
var node = scene.Nodes[i];
if (node.MeshIndex < 0)
{
continue;
}
var mesh = scene.Meshes[node.MeshIndex];
var indices = mesh.GetIndices();
var vertices = mesh.Vertices
.Select(v2 => MathConverter.Convert(v2.Position))
.ToList();
var ms = new MotionState();
var transform = transforms[i] * preTransform *entity.GetWorldMatrix(1);
var p = transform.TranslationVector;
var q = Fusion.Core.Mathematics.Quaternion.RotationMatrix(transform);
ms.AngularVelocity = MathConverter.Convert(Vector3.Zero);
ms.LinearVelocity = MathConverter.Convert(Vector3.Zero);
ms.Orientation = MathConverter.Convert(q);
ms.Position = MathConverter.Convert(p);
// recenter shape :
// https://bepuphysics.codeplex.com/wikipage?title=Shape%20Recentering
var offset = BEPUVector3.Zero;
var convexShape = new ConvexHullShape(vertices, out offset);
var convexHull = new BepuEntity(convexShape, 0);
offsets[i] = MathConverter.Convert(offset);
convexHull.Tag = entity;
convexHulls[i] = convexHull;
movers[i] = new EntityMover(convexHull);
rotators[i] = new EntityRotator(convexHull);
physicsManager.PhysSpace.Add(convexHull);
physicsManager.PhysSpace.Add(movers[i]);
physicsManager.PhysSpace.Add(rotators[i]);
}
}
