protected virtual void Dispose(bool disposing)
{
if (disposing)
{
//BUG: this will dispose ALL world's bodies.
CJoint[] joints = new CJoint[CHashTables.Joint.Count];
CHashTables.Joint.Values.CopyTo(joints, 0);
foreach (CJoint joint in joints)
joint.Dispose();
CBody[] bodies = new CBody[CHashTables.Body.Count];
CHashTables.Body.Values.CopyTo(bodies, 0);
foreach (CBody body in bodies)
body.Dispose();
if (m_Handle != IntPtr.Zero)
{
Newton.NewtonDestroy(m_Handle);
m_Handle = IntPtr.Zero;
}
// Stuff was left behind, so I'm clearing everything (there's likely only one world anyway)
CHashTables.Clear();
}
}
public void CreateUpVector(Vector3D pPinDir, CBody pBody)
{
m_Handle = Newton.NewtonConstraintCreateUpVector(m_World.Handle,
new NewtonVector3(pPinDir).NWVector3,
pBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public void CreateVehicle(Vector3D pUpDir, CBody pNewtonBody)
{
m_Handle = Newton.NewtonConstraintCreateVehicle(m_World.Handle,
new NewtonVector3(pUpDir).NWVector3,
pNewtonBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public CWorldRayPreFilterEventArgs(CBody pBody,
object pUserData,
CCollision pCollision)
{
m_Body = pBody;
m_UserData = pUserData;
m_Collision = pCollision;
}
public CWorldRayFilterEventArgs(CBody pBody,
Vector3D pHitNormal,
object pUserData,
float pIntersetParam)
{
m_Body = pBody;
m_HitNormal = pHitNormal;
m_UserData = pUserData;
m_IntersetParam = pIntersetParam;
}
public void NewtonConstraintCreateBall(Vector3D pPivotPoint,
CBody pChildBody,
CBody pParentBody)
{
m_Handle = Newton.NewtonConstraintCreateBall(m_World.Handle,
new NewtonVector3(pPivotPoint).NWVector3,
pChildBody.Handle,
pParentBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public void NewtonConstraintCreateBall(Vector3D pPivotPoint,
CBody pChildBody,
CBody pParentBody)
{
m_Handle = Newton.NewtonConstraintCreateBall(m_World.Handle,
new NewtonVector3(pPivotPoint).NWVector3,
pChildBody.Handle,
pParentBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public CTreeCollisionEventArgs(CBody pBody,
Vector3D pVertex,
int pVertexstrideInBytes,
int pIndexCount,
int[] pIndexArray)
{
m_Body = pBody;
m_Vertex = pVertex;
m_VertexstrideInBytes = pVertexstrideInBytes;
m_IndexCount = pIndexCount;
m_IndexArray = pIndexArray;
}
public static Body GetBodyFromUserData(CBody body)
{
if (body.UserData is Body)
{
return (Body)body.UserData;
}
else if (body.UserData is IMapObject)
{
return (Body)((IMapObject)body.UserData).PhysicsBody;
}
return null;
}
public static ConvexBody3D GetConvexBodyFromUserData(CBody body)
{
if (body.UserData is ConvexBody3D)
{
return (ConvexBody3D)body.UserData;
}
else if (body.UserData is IMapObject)
{
return (ConvexBody3D)((IMapObject)body.UserData).PhysicsBody;
}
return null;
}
public CBody m_PolySoupBody; // pointer to the rigid body owner of this collision tree
internal UserMeshCollisionCollideDesc(Newton.NewtonUserMeshCollisionCollideDesc pDesc)
{
m_BoxP0 = new NewtonVector4(pDesc.m_BoxP0).ToDirectX();
m_BoxP1 = new NewtonVector4(pDesc.m_BoxP1).ToDirectX();
m_UserData = pDesc.m_UserData;
m_FaceCount = pDesc.m_FaceCount;
m_Vertex = pDesc.m_Vertex;
m_VertexStrideInBytes = pDesc.m_VertexStrideInBytes;
m_UserAttribute = pDesc.m_UserAttribute;
m_FaceIndexCount = pDesc.m_FaceIndexCount;
m_FaceVertexIndex = pDesc.m_FaceVertexIndex;
m_ObjBody = (CBody)CHashTables.Body[pDesc.m_ObjBody];
m_PolySoupBody = (CBody)CHashTables.Body[pDesc.m_PolySoupBody];
}
public CBody m_PolySoupBody; // pointer to the rigid body owner of this collision tree
internal UserMeshCollisionCollideDesc(Newton.NewtonUserMeshCollisionCollideDesc pDesc)
{
m_BoxP0 = new NewtonVector4(pDesc.m_BoxP0).ToDirectX();
m_BoxP1 = new NewtonVector4(pDesc.m_BoxP1).ToDirectX();
m_UserData = pDesc.m_UserData;
m_FaceCount = pDesc.m_FaceCount;
m_Vertex = pDesc.m_Vertex;
m_VertexStrideInBytes = pDesc.m_VertexStrideInBytes;
m_UserAttribute = pDesc.m_UserAttribute;
m_FaceIndexCount = pDesc.m_FaceIndexCount;
m_FaceVertexIndex = pDesc.m_FaceVertexIndex;
m_ObjBody = (CBody)CHashTables.Body[pDesc.m_ObjBody];
m_PolySoupBody = (CBody)CHashTables.Body[pDesc.m_PolySoupBody];
}
public void CreateUserBilateral(int pMaxDOF,
EventHandler<CUserBilateralEventArgs> pCallback,
CBody pChildBody,
CBody pParentBody)
{
m_UserBilateral = pCallback;
m_NewtonUserBilateral = new Newton.NewtonUserBilateral(InvokeUserBilateral);
m_Handle = Newton.NewtonConstraintCreateUserJoint(m_World.Handle,
pMaxDOF,
m_NewtonUserBilateral,
pChildBody.Handle,
pParentBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public CContactBeginEventArgs(IntPtr pMaterial, CBody pBody0, CBody pBody1)
{
m_Material = pMaterial;
m_Body0 = pBody0;
m_Body1 = pBody1;
}
public CBodyIteratorEventArgs(CBody pBody)
{
m_Body = pBody;
}
public CWorldRayFilterEventArgs(CBody pBody,
Vector3D pHitNormal,
object pUserData,
float pIntersetParam)
{
m_Body = pBody;
m_HitNormal = pHitNormal;
m_UserData = pUserData;
m_IntersetParam = pIntersetParam;
}
public CBodyLeaveWorldEventArgs(CBody pBody)
{
m_Body = pBody;
}
public CContactBeginEventArgs(IntPtr pMaterial, CBody pBody0, CBody pBody1)
{
m_Material = pMaterial;
m_Body0 = pBody0;
m_Body1 = pBody1;
}
public CBodyLeaveWorldEventArgs(CBody pBody)
{
m_Body = pBody;
}
public uint GetBodyCollisionID(CBody pNewtonBody)
{
return(Newton.NewtonMaterialGetBodyCollisionID(m_Handle, pNewtonBody.Handle));
}
public CWorldRayPreFilterEventArgs(CBody pBody,
object pUserData,
CCollision pCollision)
{
m_Body = pBody;
m_UserData = pUserData;
m_Collision = pCollision;
}
public void UnfreezeBody(CBody pBody)
{
Newton.NewtonWorldUnfreezeBody(m_Handle, pBody.Handle);
}
public CBodyIteratorEventArgs(CBody pBody)
{
m_Body = pBody;
}
public uint GetBodyCollisionID(CBody pNewtonBody)
{
return Newton.NewtonMaterialGetBodyCollisionID(m_Handle, pNewtonBody.Handle);
}
protected virtual void Dispose(bool disposing)
{
if (disposing)
{
if (_body != null)
{
_body.Destructor -= _body_Destructor;
if (_isInitialised)
{
_body.Dispose();
_isInitialised = false;
}
_body = null;
}
}
}
public RayCastResult CastRay(Point3D position, Vector3D direction, double rayLength, BodyFilterType filterType, params Body[] bodies)
{
//TODO: If the ray starts outside the boundries, then this method will fail. Fix that here, so the user doesn't
// have to worry about it. Also, if the ray length would cause an endpoint outside the bounds
//
// Also, if I fixed the start distance, then I need to add that back into the result, so it's transparent to the caller
CBody[] bodyHandles = null;
if (bodies.Length > 0)
{
// make a list of newton handles
bodyHandles = new CBody[bodies.Length];
for (int i = 0; i < bodies.Length; i++)
{
bodyHandles[i] = bodies[i].NewtonBody;
}
}
//TODO: Always skip the boundry terrains
EventHandler<CWorldRayPreFilterEventArgs> preFilterHandler = null;
if (bodyHandles != null)
{
// This artificial method gets called from within NewtonWorld.WorldRayCast
preFilterHandler = delegate(object sender, CWorldRayPreFilterEventArgs preFilterArgs)
{
switch (filterType)
{
case BodyFilterType.ExcludeBodies:
preFilterArgs.Skip = (Array.IndexOf(bodyHandles, preFilterArgs.Body)) >= 0;
break;
case BodyFilterType.IncludeBodies:
preFilterArgs.Skip = (Array.IndexOf(bodyHandles, preFilterArgs.Body)) < 0;
break;
}
};
}
List<CWorldRayFilterEventArgs> hitTestResults = new List<CWorldRayFilterEventArgs>();
Vector3D posAsVector = position.ToVector(); // newt wants a vector instead of a point3d
// Ask newton to do the hit test (it will invoke the filter delegate, whose implementation is above)
this.NewtonWorld.WorldRayCast(posAsVector, posAsVector + (direction * rayLength),
delegate(object sender, CWorldRayFilterEventArgs filterArgs)
{
hitTestResults.Add(filterArgs);
},
null, preFilterHandler);
if (hitTestResults.Count > 0)
{
// Find the closest one
CWorldRayFilterEventArgs hitTestResult = null;
double distance = double.MaxValue;
for (int i = 0; i < hitTestResults.Count; i++)
{
double d = (hitTestResults[i].IntersetParam * rayLength);
if (d < distance)
{
distance = d;
hitTestResult = hitTestResults[i];
}
}
Body resultBody = UtilityNewt.GetBodyFromUserData(hitTestResult.Body);
if (resultBody == null)
{
throw new ApplicationException("Couldn't get the Body from the CBody.UserData");
}
// Exit Function
return new RayCastResult(resultBody, distance, hitTestResult.HitNormal, hitTestResult.IntersetParam);
}
else
{
// Nothing found
return null;
}
}
public void UnfreezeBody(CBody pBody)
{
Newton.NewtonWorldUnfreezeBody(m_Handle, pBody.Handle);
}
private void _body_Destructor(object sender, CBodyDestructorEventArgs e)
{
_body.Destructor -= _body_Destructor;
_body = null;
}
public void Initialise(World world)
{
if (_isInitialised)
return;
if (world == null) throw new ArgumentNullException("world");
_world = world;
_collision = OnInitialise(world);
if (_collision == null)
{
_collision = new NullCollision(_world);
}
_body = new CBody(_collision.NewtonCollision);
_body.Destructor += _body_Destructor;
_body.AutoFreeze = this.AutoPause;
_body.UserData = this;
_body.Matrix = _visualMatrix.Matrix;
OnInitialiseEnd(); // this might adjust the _body.Matrix property
// not initialised yet, nothing should be called on property changed event
this.Transform = new MatrixTransform3D(_body.Matrix);
_body.SetTransform += body_setTransform;
_body.ApplyForceAndTorque += body_ApplyForceAndTorque;
CalculateMass(this.Mass);
world.AddBody(this);
_isInitialised = true;
}
public CTreeCollisionEventArgs(CBody pBody,
Vector3D pVertex,
int pVertexstrideInBytes,
int pIndexCount,
int[] pIndexArray)
{
m_Body = pBody;
m_Vertex = pVertex;
m_VertexstrideInBytes = pVertexstrideInBytes;
m_IndexCount = pIndexCount;
m_IndexArray = pIndexArray;
}
