protected override void CreatePhysicsBody()
{
PhysicsObject po = physicsObject;
po.SetCreateProperty(1.0f, po.Elasticity, po.StaticRoughness, po.DynamicRoughness);
int splitNum = 10;
Box[] boxes = new Box[splitNum];
// 頂点の大きさがゼロにならないよう
// 頂点少し下を基準にする
float height = size.Y - 1;
float splitHeight = height / splitNum;
float positionY = splitHeight / 2;
for (int i = 0; i < boxes.Length; i++)
{
// 底辺:高さ = 頂点からの高さ:length という式を
// 解いてXとZの長さを算出する
float topDownward = size.Y - (splitHeight * (i + 1));
float lengthX = (topDownward * size.X) / size.Y;
float lengthZ = (topDownward * size.Z) / size.Y;
Vector3 position = new Vector3(-lengthX / 2, positionY, -lengthZ / 2);
Vector3 length = new Vector3(lengthX, splitHeight, lengthZ);
boxes[i] = new Box(position, Matrix.Identity, length);
positionY += splitHeight;
}
po.CreateBoxes(Vector3.Zero, Matrix.Identity, boxes);
}
public override void Initialise()
{
base.Initialise();
// Create new bodey and collision skin
m_Body = new Body();
m_Skin = new CollisionSkin(m_Body);
if (m_Body != null)
{
// Set skin to the body
m_Body.CollisionSkin = m_Skin;
// Check the skin was successfully created and add this
// custom dice as a primitive to the collision skin
if (m_Skin != null)
{
Box box = new Box(Vector3.Zero, Matrix.Identity, transform.Scale);
m_Skin.AddPrimitive(box, (int)MaterialTable.MaterialID.BouncyNormal);
// Set mass
m_Mass = SetMass(1.0f);
// Move the body to correct position initially
m_Body.MoveTo(transform.Position, Matrix.Identity);
// Apply transform to skin
m_Skin.ApplyLocalTransform(new JigLibX.Math.Transform(-m_Mass, Matrix.Identity));
// Enable body
EnableBody();
}
}
}
public BowlingPin(Game game, Model model, Matrix orientation, Vector3 position)
: base(game, model)
{
body = new Body();
collision = new CollisionSkin(body);
// add a capsule for the main corpus
Primitive capsule = new Capsule(Vector3.Zero, Matrix.Identity, 0.1f, 1.3f);
// add a small box at the buttom
Primitive box = new Box(new Vector3(-0.1f,-0.1f,-0.1f), Matrix.Identity, Vector3.One * 0.2f);
// add a sphere in the middle
Primitive sphere = new Sphere(new Vector3(0.0f, 0.0f, 0.3f), 0.3f);
collision.AddPrimitive(capsule, new MaterialProperties(0.1f, 0.5f, 0.5f));
collision.AddPrimitive(box, new MaterialProperties(0.1f, 0.5f, 0.5f));
collision.AddPrimitive(sphere, new MaterialProperties(0.1f, 0.5f, 0.5f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(0.5f);
body.MoveTo(position, orientation);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.EnableBody();
this.scale = Vector3.One * 10.0f;
}
public BoxActor(Game game, Vector3 position, Vector3 scale)
: base(game)
{
this.position = position;
this.scale = scale;
this.Body = new Body();
this.Skin = new CollisionSkin(this.Body);
this.Body.CollisionSkin = this.Skin;
Box box = new Box(Vector3.Zero, Matrix.Identity, scale);
this.Skin.AddPrimitive(box, new MaterialProperties(
0.8f, // elasticity
0.8f, // static roughness
0.7f // dynamic roughness
));
Vector3 com = SetMass(1.0f);
this.Body.MoveTo(this.position, Matrix.Identity);
this.Skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
this.Body.EnableBody();
}
public Missile(ParentGame game, Model modelObj, Texture2D[] modelTextures, DrawingClass drawClass, GameplayScreen Screen)
: base(game, modelObj, modelTextures)
{
this.drawClass = drawClass;
this.Screen = Screen;
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(1f,1f,4f));
_skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));
Vector3 com = SetMass(2.0f);
_body.MoveTo(position, Matrix.Identity);
_skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
_body.EnableBody();
Body.ExternalData = this;
Vector3 pos = position;
Vector3 forwardVec = Body.Orientation.Forward;
forwardVec.Normalize();
pos -= forwardVec * 10;
// Use the particle emitter helper to output our trail particles.
trailEmitter = new ParticleEmitter(drawClass.projectileTrailParticles,
trailParticlesPerSecond, position);
rgob = new RagdollObject(parentGame, null, null, null, RagdollObject.RagdollType.Simple, 1.0f, 3);
rgob.Position = position;
//rgob.PutToSleep();
//rgob.limbs[0].PhysicsBody.AngularVelocity = (new Vector3(1, 1, 0) * 2000);
RagdollTransforms = new List<Matrix>();
RagdollTransforms = rgob.GetWorldMatrix();
foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
DisableCollisions(lim.PhysicsBody, Body);
foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
foreach (BuildingPiece pic in Screen.PieceList)
DisableCollisions(lim.PhysicsBody, pic.Body);
foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
foreach (Building bld in Screen.Buildings)
DisableCollisions(lim.PhysicsBody, bld.Body);
foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
DisableCollisions(lim.PhysicsBody, Screen.terrainActor.Body);
foreach (JigLibX.Objects.PhysicObject limb0 in rgob.limbs)
foreach (Missile mis in Screen.BulletList)
foreach (JigLibX.Objects.PhysicObject limb1 in mis.rgob.limbs)
DisableCollisions(limb1.PhysicsBody, limb0.PhysicsBody);
}
public override void SetDims(Vector3 min, Vector3 max)
{
dimsMin = min;
dimsMax = max;
Vector3 sides = max - min;
Box box1 = new Box(min, Matrix.Identity, sides);
collisionSkin.RemoveAllPrimitives();
collisionSkin.AddPrimitive(box1, new MaterialProperties(0.3f, 0.5f, 0.3f));
body.Vehicle.SetupDefaultWheels();
}
public CylinderObject(Game game, float radius, float length, Vector3 position, Model model)
: base(game, model)
{
body = new Body();
collision = new CollisionSkin(body);
if (length - 2.0f * radius < 0.0f)
throw new ArgumentException("Radius must be at least half length");
Capsule middle = new Capsule(Vector3.Zero, Matrix.Identity, radius, length - 2.0f * radius);
float sideLength = 2.0f * radius / (float) Math.Sqrt(2.0d);
Vector3 sides = new Vector3(-0.5f * sideLength, -0.5f * sideLength, -radius);
Box supply0 = new Box(sides, Matrix.Identity,
new Vector3(sideLength, sideLength, length));
Box supply1 = new Box(Vector3.Transform(sides,Matrix.CreateRotationZ(MathHelper.PiOver4)),
Matrix.CreateRotationZ(MathHelper.PiOver4), new Vector3(sideLength, sideLength, length));
collision.AddPrimitive(middle, new MaterialProperties(0.8f, 0.8f, 0.7f));
collision.AddPrimitive(supply0, new MaterialProperties(0.8f, 0.8f, 0.7f));
collision.AddPrimitive(supply1, new MaterialProperties(0.8f, 0.8f, 0.7f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(1.0f);
collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
#region Manually set body inertia
float cylinderMass = body.Mass;
float comOffs = (length - 2.0f * radius) * 0.5f; ;
float Ixx = 0.5f * cylinderMass * radius * radius + cylinderMass * comOffs * comOffs;
float Iyy = 0.25f * cylinderMass * radius * radius + (1.0f / 12.0f) * cylinderMass * length * length + cylinderMass * comOffs * comOffs;
float Izz = Iyy;
body.SetBodyInertia(Ixx, Iyy, Izz);
#endregion
body.MoveTo(position, Matrix.CreateRotationX(MathHelper.PiOver2));
body.EnableBody();
this.scale = new Vector3(radius, radius, length * 0.5f);
}
public Cuboid(Vector dimension)
{
Dimension = dimension;
PhysicsBody = new Body();
collisionSkin = new CollisionSkin(PhysicsBody);
PhysicsBody.CollisionSkin = collisionSkin;
var box = new Box(Vector3.Zero, Microsoft.Xna.Framework.Matrix.Identity, Dimension.ToXna());
collisionSkin.AddPrimitive(box, new MaterialProperties(0.1f, 0.4f, 0.9f));
var com = ApplyMass(1.0f);
// PhysicsBody.MoveTo(Utils.VectorBalderToXna(this.Position), Microsoft.Xna.Framework.Matrix.Identity);
collisionSkin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Microsoft.Xna.Framework.Matrix.Identity));
PhysicsBody.EnableBody();
}
public BuildingPiece(ParentGame game, Model modelObj, Texture2D[] modelTextures,
DrawingClass drawClass, GameplayScreen Screen, float Length, float Width, float Height)
: base(game, modelObj, modelTextures)
{
// Use the particle emitter helper to output our trail particles.
trailEmitter = new ParticleEmitter(drawClass.smokePlumeParticles,
3, position);
fireEmitter = new ParticleEmitter(drawClass.fireParticles,
30, position);
this.Screen = Screen;
this.drawClass = drawClass;
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
//Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(10f, 7f, 7f));
Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(Length, Width, Height));
if (Length > Width && Length > Height)
boundSphere.Radius = Length;
else if (Width > Length && Width > Height)
boundSphere.Radius = Width;
else
boundSphere.Radius = Height;
_skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));
Vector3 com = SetMass(3.0f);
_body.MoveTo(position, Matrix.Identity);
_skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
_body.EnableBody();
Body.ExternalData = this;
SetBody(rotation);
Body.AllowFreezing = true;
Body.SetDeactivationTime(1);
foreach (BuildingPiece pic in Screen.PieceList)
DisableCollisions(this.Body, pic.Body);
foreach (Building bld in Screen.Buildings)
DisableCollisions(this.Body, bld.Body);
}
static Body CreateCube(Vector3 pos, Vector3 size)
{
Body _body = new Body();
CollisionSkin _skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
Box box = new Box(pos, Matrix4.Identity, size);
_skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));
Vector3 com = SetMass(1.0f, _skin, _body);
_body.MoveTo(pos, Matrix4.Identity);
_skin.ApplyLocalTransform(new Transform(-com, Matrix4.Identity));
_body.EnableBody();
return(_body);
}
public BoxActor(Game game, Vector3 position, Vector3 scale)
: base(game)
{
this.position = position;
this.scale = scale;
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
Box box = new Box(Vector3.Zero, Matrix.Identity, scale);
_skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));
Vector3 com = SetMass(1.0f);
_body.MoveTo(position, Matrix.Identity);
_skin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));
_body.EnableBody();
}
protected override void LoadSpecific()
{
base.LoadSpecific();
// Create new bodey and collision skin
m_Body = new Body();
m_Skin = new CollisionSkin(m_Body);
if (m_Body != null)
{
// Set skin to the body
m_Body.CollisionSkin = m_Skin;
// Check the skin was successfully created and add this
// custom dice as a primitive to the collision skin
if (m_Skin != null)
{
Vector3 sideLengths = (m_BoundingBox.Max - m_BoundingBox.Min);
if (sideLengths.Y <= 0)
sideLengths.Y = 0.1f;
Matrix rotMat = Matrix.CreateFromQuaternion(transform.Rotation);
Box box = new Box(Vector3.Zero, Matrix.Identity, sideLengths);
m_Skin.AddPrimitive(box, (int)MaterialTable.MaterialID.BouncyNormal);
// Set mass
m_Mass = SetMass(1.0f);
// Move the body to correct position initially
m_Body.MoveTo(transform.Position, Matrix.Identity);
// Apply transform to skin
m_Skin.ApplyLocalTransform(new JigLibX.Math.Transform(-m_Mass, Matrix.Identity));
// Enable it
Enable();
// Set to immovable
m_Body.Immovable = true;
}
}
}
public Block(BlockSimulatorGame game, Vector3 position, Vector3 scale, string modelDir)
: base(game, position, scale, modelDir)
{
Box box = new Box(Position, Matrix.Identity, Scale);
Skin.AddPrimitive(box, new MaterialProperties(
0.8f, // elasticity
0.8f, // static roughness
0.7f // dynamic roughness
));
Vector3 com = SetMass(1.0f);
Body.MoveTo(Position, Matrix.Identity);
Skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
Body.EnableBody();
PhysicsSystem.CurrentPhysicsSystem.AddBody(Body);
LoadContent(game, modelDir);
}
// Sets up the collision skin
void SetupSkin(float length, float radius)
{
if (length - 2.0f * radius < 0.0f) throw new ArgumentException("Radius must be at least half length");
this.length = length;
this.radius = radius;
Capsule middle = new Capsule(Vector3.Zero, Matrix.Identity, radius, length - 2.0f * radius);
float sideLength = 2.0f * radius / (float)Math.Sqrt(2.0d);
Vector3 sides = new Vector3(-0.5f * sideLength, -0.5f * sideLength, -radius);
Box supply0 = new Box(sides, Matrix.Identity, new Vector3(sideLength, sideLength, length));
Box supply1 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ(MathHelper.PiOver4)),
Matrix.CreateRotationZ(MathHelper.PiOver4), new Vector3(sideLength, sideLength, length));
CollisionSkin.AddPrimitive(middle, new MaterialProperties(0.8f, 0.8f, 0.7f));
CollisionSkin.AddPrimitive(supply0, new MaterialProperties(0.8f, 0.8f, 0.7f));
CollisionSkin.AddPrimitive(supply1, new MaterialProperties(0.8f, 0.8f, 0.7f));
}
protected override void CreatePhysicsBody()
{
PhysicsObject po = physicsObject;
po.SetCreateProperty(1.0f, po.Elasticity, po.StaticRoughness, po.DynamicRoughness);
float chipSize = size.X / 5;
Vector3 pillarLength = new Vector3(chipSize, size.Y, size.Z);
Vector3 leftPosition = new Vector3(0, 0, 0);
Vector3 rightPosition = new Vector3(chipSize * 4, 0, 0);
Vector3 topBarLength = new Vector3(chipSize * 3, chipSize, size.Z);
Vector3 topPosition = new Vector3(chipSize, size.Y - chipSize, 0);
Box leftPillar = new Box(leftPosition, Matrix.Identity, pillarLength);
Box rightPillar = new Box(rightPosition, Matrix.Identity, pillarLength);
Box TopBar = new Box(topPosition, Matrix.Identity, topBarLength);
Box[] boxes = { leftPillar, rightPillar, TopBar };
po.CreateBoxes(Vector3.Zero, Matrix.Identity, boxes);
}
public TestObject(Game game,Model model)
: base(game,model)
{
body = new Body();
collision = new CollisionSkin(body);
Box boxMiddle = new Box(new Vector3(-3, 0 ,-0.5f), Matrix.Identity, new Vector3(6,1,1));
Box boxLeft = new Box(new Vector3(-3, -3f, -0.5f), Matrix.Identity, new Vector3(1, 4, 1));
Box boxRight = new Box(new Vector3(2, -3f, -0.5f), Matrix.Identity, new Vector3(1, 4, 1));
collision.AddPrimitive(boxMiddle, new MaterialProperties(0.2f, 0.7f, 0.6f));
collision.AddPrimitive(boxLeft, new MaterialProperties(0.2f, 0.7f, 0.6f));
collision.AddPrimitive(boxRight, new MaterialProperties(0.2f, 0.7f, 0.6f));
body.CollisionSkin = this.collision;
Vector3 com = SetMass(1.0f);
// collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
body.MoveTo(Vector3.Up * 10, Matrix.Identity);
//body.Immovable = true;
body.EnableBody();
}
public virtual void Initialize()
{
_body = new Body();
_skin = new CollisionSkin(_body);
_body.CollisionSkin = _skin;
// l w h
//Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(9f, 9f, 39f));
//if (Type == "DEPOT")
// box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(20, 15, 11f));
Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(9f, 39f, 9f));
boundSphere.Radius = 39;
if (Type == "DEPOT")
{
box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(20, 11, 15f));
boundSphere.Radius = 20;
}
_skin.AddPrimitive(box, new MaterialProperties(1, 1, 1));
Vector3 com = SetMass(1);
//_body.MoveTo(position, Matrix.Identity);
_skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
_body.EnableBody();
Body.ExternalData = this;
SetBody(rotation);
DisableCollisions(Screen.terrainActor.Body, Body);
}
/// <summary>
/// CollDetectBoxStaticMeshOverlap
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
private static bool CollDetectBoxStaticMeshOverlap(Box oldBox,
Box newBox,
TriangleMesh mesh,
ref CollDetectInfo info,
float collTolerance,
CollisionFunctor collisionFunctor)
{
float boxRadius = newBox.GetBoundingRadiusAroundCentre();
#region REFERENCE: Vector3 boxCentre = newBox.GetCentre();
Vector3 boxCentre;
newBox.GetCentre(out boxCentre);
// Deano need to trasnform the box center into mesh space
Matrix4 invTransformMatrix = mesh.InverseTransformMatrix;
Vector3.Transform(ref boxCentre, ref invTransformMatrix, out boxCentre);
#endregion
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(newBox, ref bb);
unsafe
{
bool collision = false;
#if USE_STACKALLOC
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
#else
int[] potTriArray = IntStackAlloc();
fixed( int* potentialTriangles = potTriArray)
{
#endif
// aabox is done in mesh space and handles the mesh transform correctly
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
for (int iTriangle = 0; iTriangle < numTriangles; ++iTriangle)
{
IndexedTriangle meshTriangle = mesh.GetTriangle(potentialTriangles[iTriangle]);
// quick early test is done in mesh space
float dist = meshTriangle.Plane.DotCoordinate(boxCentre);
// BEN-BUG-FIX: Fixed by chaning 0.0F to -boxRadius.
if (dist > boxRadius || dist < -boxRadius)
continue;
if (DoOverlapBoxTriangleTest(
oldBox, newBox,
ref meshTriangle,
mesh,
ref info,
collTolerance,
collisionFunctor))
{
collision = true;
}
}
#if USE_STACKALLOC
}
#else
}
FreeStackAlloc(potTriArray);
#endif
return collision;
}
}
/// <summary>
/// CollDetectSweep
/// </summary>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
private void CollDetectSweep(ref CollDetectInfo info, float collTolerance, CollisionFunctor collisionFunctor)
{
// todo - proper swept test
// note - mesh is static and its triangles are in world space
TriangleMesh mesh = info.Skin1.GetPrimitiveNewWorld(info.IndexPrim1) as TriangleMesh;
Box oldBox = info.Skin0.GetPrimitiveOldWorld(info.IndexPrim0) as Box;
Box newBox = info.Skin0.GetPrimitiveNewWorld(info.IndexPrim0) as Box;
Vector3 oldCentre;
oldBox.GetCentre(out oldCentre);
Vector3 newCentre;
newBox.GetCentre(out newCentre);
Vector3 delta;
Vector3.Subtract(ref newCentre, ref oldCentre, out delta);
float boxMinLen = 0.5f * System.Math.Min(newBox.SideLengths.X, System.Math.Min(newBox.SideLengths.Y, newBox.SideLengths.Z));
int nPositions = 1 + (int)(delta.Length / boxMinLen);
// limit the max positions...
if (nPositions > 50)
{
System.Diagnostics.Debug.WriteLine("Warning - clamping max positions in swept box test");
nPositions = 50;
}
if (nPositions == 1)
{
CollDetectBoxStaticMeshOverlap(oldBox, newBox, mesh,ref info, collTolerance, collisionFunctor);
}
else
{
BoundingBox bb = BoundingBoxHelper.InitialBox;
BoundingBoxHelper.AddBox(oldBox, ref bb);
BoundingBoxHelper.AddBox(newBox, ref bb);
unsafe
{
#if USE_STACKALLOC
int* potentialTriangles = stackalloc int[MaxLocalStackTris];
{
#else
int[] potTriArray = IntStackAlloc();
fixed( int* potentialTriangles = potTriArray)
{
#endif
int numTriangles = mesh.GetTrianglesIntersectingtAABox(potentialTriangles, MaxLocalStackTris, ref bb);
if (numTriangles > 0)
{
for (int i = 0; i <= nPositions; ++i)
{
float frac = ((float)i) / nPositions;
Vector3 centre;
Vector3.Multiply(ref delta, frac, out centre);
Vector3.Add(ref centre, ref oldCentre, out centre);
Matrix4 orient = Matrix4Extensions.Add(Matrix4Extensions.Multiply(oldBox.Orientation, 1.0f - frac), Matrix4Extensions.Multiply(newBox.Orientation, frac));
Box box = new Box(centre - 0.5f * Vector3Extensions.TransformNormal(newBox.SideLengths, orient), orient, newBox.SideLengths);
// ideally we'd break if we get one collision... but that stops us getting multiple collisions
// when we enter a corner (two walls meeting) - can let us pass through
CollDetectBoxStaticMeshOverlap(oldBox, box, mesh, ref info, collTolerance, collisionFunctor);
}
}
#if USE_STACKALLOC
}
#else
}
FreeStackAlloc(potTriArray);
#endif
}
}
}
/// <summary>
/// GetBoxTriangleIntersectionPoints
/// Pushes intersection points onto the back of pts. Returns the
/// number of points found.
/// Points that are close together (compared to
/// combinationDistance) get combined
/// </summary>
/// <param name="pts"></param>
/// <param name="box"></param>
/// <param name="triangle"></param>
/// <param name="combinationDistance"></param>
/// <returns>int</returns>
private static int GetBoxTriangleIntersectionPoints(List<Vector3> pts, Box box, Triangle triangle, float combinationDistance)
{
// first intersect each edge of the box with the triangle
Box.Edge[] edges;
box.GetEdges(out edges);
Vector3[] boxPts;
box.GetCornerPoints(out boxPts);
float tS;
float tv1, tv2;
// BEN-OPTIMISATION: Allocating just one Vector3 to be reused.
Vector3 point = new Vector3();
int iEdge;
for (iEdge = 0; iEdge < 12; ++iEdge)
{
Box.Edge edge = edges[iEdge];
Segment seg = new Segment(boxPts[(int)edge.Ind0], boxPts[(int)edge.Ind1] - boxPts[(int)edge.Ind0]);
if (Intersection.SegmentTriangleIntersection(out tS, out tv1, out tv2, seg, triangle))
{
// BEN-OPTIMISATION: Reusing the existing point variable instead allocating new ones.
// This also allows point to be based by reference.
seg.GetPoint(ref point, tS);
AddPoint(pts, ref point, combinationDistance * combinationDistance);
}
}
Vector3 pos, n;
// now each edge of the triangle with the box
for (iEdge = 0; iEdge < 3; ++iEdge)
{
#region "BEN-OPTIMISATION: Remove excess allocations and pass variables by reference."
// ORIGINAL CODE:
/*Vector3 pt0 = triangle.GetPoint(iEdge);
Vector3 pt1 = triangle.GetPoint((iEdge + 1) % 3);
Segment s1 = new Segment(pt0, pt1 - pt0);
Segment s2 = new Segment(pt1, pt0 - pt1);*/
// OPTIMISED CODE:
Vector3 pt0 = triangle.GetPoint(iEdge);
Vector3 pt1 = triangle.GetPoint((iEdge + 1) % 3);
Vector3 difference1;
Vector3 difference2;
Vector3.Subtract(ref pt1, ref pt0, out difference1);
Vector3.Subtract(ref pt0, ref pt1, out difference2);
Segment s1 = new Segment(ref pt0, ref difference1);
Segment s2 = new Segment(ref pt1, ref difference2);
#endregion
if (box.SegmentIntersect(out tS, out pos, out n, s1))
AddPoint(pts, ref pos, combinationDistance * combinationDistance);
if (box.SegmentIntersect(out tS, out pos, out n, s2))
AddPoint(pts, ref pos, combinationDistance * combinationDistance);
}
return pts.Count;
}
/// <summary>
/// DoOverlapBoxTriangleTest
/// </summary>
/// <param name="oldBox"></param>
/// <param name="newBox"></param>
/// <param name="triangle"></param>
/// <param name="mesh"></param>
/// <param name="info"></param>
/// <param name="collTolerance"></param>
/// <param name="collisionFunctor"></param>
/// <returns>bool</returns>
private static bool DoOverlapBoxTriangleTest(Box oldBox, Box newBox,
ref IndexedTriangle triangle, TriangleMesh mesh,
ref CollDetectInfo info, float collTolerance,
CollisionFunctor collisionFunctor)
{
Matrix4 dirs0 = newBox.Orientation;
#region REFERENCE: Triangle tri = new Triangle(mesh.GetVertex(triangle.GetVertexIndex(0)),mesh.GetVertex(triangle.GetVertexIndex(1)),mesh.GetVertex(triangle.GetVertexIndex(2)));
Vector3 triVec0;
Vector3 triVec1;
Vector3 triVec2;
mesh.GetVertex(triangle.GetVertexIndex(0), out triVec0);
mesh.GetVertex(triangle.GetVertexIndex(1), out triVec1);
mesh.GetVertex(triangle.GetVertexIndex(2), out triVec2);
// Deano move tri into world space
Matrix4 transformMatrix = mesh.TransformMatrix;
Vector3.Transform(ref triVec0, ref transformMatrix, out triVec0);
Vector3.Transform(ref triVec1, ref transformMatrix, out triVec1);
Vector3.Transform(ref triVec2, ref transformMatrix, out triVec2);
Triangle tri = new Triangle(ref triVec0,ref triVec1,ref triVec2);
#endregion
#region REFERENCE Vector3 triEdge0 = (tri.GetPoint(1) - tri.GetPoint(0));
Vector3 pt0;
Vector3 pt1;
tri.GetPoint(0, out pt0);
tri.GetPoint(1, out pt1);
Vector3 triEdge0;
Vector3.Subtract(ref pt1, ref pt0, out triEdge0);
#endregion
#region REFERENCE Vector3 triEdge1 = (tri.GetPoint(2) - tri.GetPoint(1));
Vector3 pt2;
tri.GetPoint(2, out pt2);
Vector3 triEdge1;
Vector3.Subtract(ref pt2, ref pt1, out triEdge1);
#endregion
#region REFERENCE Vector3 triEdge2 = (tri.GetPoint(0) - tri.GetPoint(2));
Vector3 triEdge2;
Vector3.Subtract(ref pt0, ref pt2, out triEdge2);
#endregion
triEdge0.Normalize();
triEdge1.Normalize();
triEdge2.Normalize();
// BEN-OPTIMISATION: Replaced loops with code that requires no looping.
// The new code is faster, has less allocations and math especially
// since the method returns as soon as it finds a non-overlapping axis,
// i.e. Before irreleveat allocations occur.
#region "Old (less efficient) code"
/*Vector3 triNormal = triangle.Plane.Normal;
// the 15 potential separating axes
const int numAxes = 13;
Vector3[] axes = new Vector3[numAxes];
axes[0] = triNormal;
axes[1] = dirs0.Right;
axes[2] = dirs0.Up;
axes[3] = dirs0.Backward;
Vector3.Cross(ref axes[1], ref triEdge0, out axes[4]);
Vector3.Cross(ref axes[1], ref triEdge1, out axes[5]);
Vector3.Cross(ref axes[1], ref triEdge2, out axes[6]);
Vector3.Cross(ref axes[2], ref triEdge0, out axes[7]);
Vector3.Cross(ref axes[2], ref triEdge1, out axes[8]);
Vector3.Cross(ref axes[2], ref triEdge2, out axes[9]);
Vector3.Cross(ref axes[3], ref triEdge0, out axes[10]);
Vector3.Cross(ref axes[3], ref triEdge1, out axes[11]);
Vector3.Cross(ref axes[3], ref triEdge2, out axes[12]);
// the overlap depths along each axis
float[] overlapDepths = new float[numAxes];
// see if the boxes are separate along any axis, and if not keep a
// record of the depths along each axis
int i;
for (i = 0; i < numAxes; ++i)
{
overlapDepths[i] = 1.0f;
if (Disjoint(out overlapDepths[i], axes[i], newBox, tri, collTolerance))
return false;
}
// The box overlap, find the separation depth closest to 0.
float minDepth = float.MaxValue;
int minAxis = -1;
for (i = 0; i < numAxes; ++i)
{
// If we can't normalise the axis, skip it
float l2 = axes[i].LengthSquared;
if (l2 < JiggleMath.Epsilon)
continue;
// Normalise the separation axis and the depth
float invl = 1.0f / (float)System.Math.Sqrt(l2);
axes[i] *= invl;
overlapDepths[i] *= invl;
// If this axis is the minimum, select it
if (overlapDepths[i] < minDepth)
{
minDepth = overlapDepths[i];
minAxis = i;
}
}
if (minAxis == -1)
return false;
// Make sure the axis is facing towards the 0th box.
// if not, invert it
Vector3 D = newBox.GetCentre() - tri.Centre;
Vector3 N = axes[minAxis];
float depth = overlapDepths[minAxis];*/
#endregion
#region "Optimised code"
Vector3 triNormal = triangle.Plane.Normal;
Vector3 right = dirs0.Right();
Vector3 up = dirs0.Up();
Vector3 backward = dirs0.Backward();
float testDepth;
if (Disjoint(out testDepth, ref triNormal, newBox, ref tri, collTolerance))
return (false);
float depth = testDepth;
Vector3 N = triNormal;
if (Disjoint(out testDepth, ref right, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = right;
}
if (Disjoint(out testDepth, ref up, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = up;
}
if (Disjoint(out testDepth, ref backward, newBox, ref tri, collTolerance))
return (false);
if (testDepth < depth)
{
depth = testDepth;
N = backward;
}
Vector3 axis;
Vector3.Cross(ref right, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref right, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref up, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge0, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge1, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
Vector3.Cross(ref backward, ref triEdge2, out axis);
if (Disjoint(out testDepth, ref axis, newBox, ref tri, collTolerance))
return (false);
testDepth *= 1.0f / (float)System.Math.Sqrt(axis.X * axis.X + axis.Y * axis.Y + axis.Z * axis.Z);
if (testDepth < depth)
{
depth = testDepth;
N = axis;
}
/*if (N == Vector3.Zero)
return (false);*/
Vector3 D = newBox.GetCentre() - tri.Centre;
N.Normalize();
int i;
#endregion
if (Vector3.Dot(D, N) < 0.0f)
N *= -1;
Vector3 boxOldPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.OldPosition : Vector3.Zero;
Vector3 boxNewPos = (info.Skin0.Owner != null) ? info.Skin0.Owner.Position : Vector3.Zero;
Vector3 meshPos = (info.Skin1.Owner != null) ? info.Skin1.Owner.OldPosition : Vector3.Zero;
List<Vector3> pts = new List<Vector3>();
//pts.Clear();
const float combinationDist = 0.05f;
GetBoxTriangleIntersectionPoints(pts, newBox, tri, depth + combinationDist);
// adjust the depth
#region REFERENCE: Vector3 delta = boxNewPos - boxOldPos;
Vector3 delta;
Vector3.Subtract(ref boxNewPos, ref boxOldPos, out delta);
#endregion
#region REFERENCE: float oldDepth = depth + Vector3.Dot(delta, N);
float oldDepth;
Vector3.Dot(ref delta, ref N, out oldDepth);
oldDepth += depth;
#endregion
unsafe
{
// report collisions
int numPts = pts.Count;
#if USE_STACKALLOC
SmallCollPointInfo* collPts = stackalloc SmallCollPointInfo[MaxLocalStackSCPI];
#else
SmallCollPointInfo[] collPtArray = SCPIStackAlloc();
fixed (SmallCollPointInfo* collPts = collPtArray)
#endif
{
if (numPts > 0)
{
if (numPts >= MaxLocalStackSCPI)
{
numPts = MaxLocalStackSCPI - 1;
}
// adjust positions
for (i = 0; i < numPts; ++i)
{
// BEN-OPTIMISATION: Reused existing SmallCollPointInfo and inlined vector substraction.
collPts[i].R0.X = pts[i].X - boxNewPos.X;
collPts[i].R0.Y = pts[i].Y - boxNewPos.Y;
collPts[i].R0.Z = pts[i].Z - boxNewPos.Z;
collPts[i].R1.X = pts[i].X - meshPos.X;
collPts[i].R1.Y = pts[i].Y - meshPos.Y;
collPts[i].R1.Z = pts[i].Z - meshPos.Z;
collPts[i].InitialPenetration = oldDepth;
}
collisionFunctor.CollisionNotify(ref info, ref N, collPts, numPts);
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
return true;
}
else
{
#if !USE_STACKALLOC
FreeStackAlloc(collPtArray);
#endif
return false;
}
}
}
}
// BEN-OPTIMISATION: ref axis and ref triangle, BEN-CLEANUP: Renamed min and max variables.
/// <summary>
/// Disjoint Returns true if disjoint. Returns false if intersecting,
/// and sets the overlap depth, d scaled by the axis length
/// </summary>
/// <param name="d"></param>
/// <param name="axis"></param>
/// <param name="box"></param>
/// <param name="triangle"></param>
/// <param name="collTolerance"></param>
/// <returns>bool</returns>
private static bool Disjoint(out float d, ref Vector3 axis, Box box, ref Triangle triangle, float collTolerance)
{
float minBox, maxBox, minTri, maxTri;
// BEN-OPTIMISATION: ref axis
box.GetSpan(out minBox, out maxBox, ref axis);
triangle.GetSpan(out minTri, out maxTri, ref axis);
if (minBox > (maxTri + collTolerance + JiggleMath.Epsilon) || minTri > (maxBox + collTolerance + JiggleMath.Epsilon))
{
d = 0.0f;
return (true);
}
if ((maxBox > maxTri) && (minTri > minBox))
{
// triangle is inside - choose the min dist to move it out
d = System.Math.Min(maxBox - minTri, maxTri - minBox);
}
else if ((maxTri > maxBox) && (minBox > minTri))
{
// box is inside - choose the min dist to move it out
d = System.Math.Min(maxTri - minBox, maxBox - minTri);
}
else
{
// objects overlap
d = (maxBox < maxTri) ? maxBox : maxTri;
d -= (minBox > minTri) ? minBox : minTri;
}
return (false);
}
public Aircraft GetAircraft(Vector3 pos, Model model, Vector3 size, Matrix orient)
{
Box boxPrimitive = new Box(-.5f * size, orient, size); // relative to the body, the position is the top left-ish corner instead of the center, so subtract from the center, half of all sides to get that point.
Box leftWing = new Box(new Vector3(-6, -.6f, -2.30f), orient, new Vector3(5, .1f, 1.2f));
Box rightWing = new Box(new Vector3(.7f, -.6f, -2.30f), orient, new Vector3(5, .1f, 1.2f));
Box fuse = new Box(new Vector3(-.9f, -.7f, -2.30f), orient, new Vector3(1.9f, 1f, 6f));
//leftWing.Position
List<MaterialProperties> props = new List<MaterialProperties>();
props.Add(new MaterialProperties(.3f,.3f,.3f));
props.Add(new MaterialProperties(.3f, .3f, .3f));
props.Add(new MaterialProperties(.3f, .3f, .3f));
List<Primitive> prims = new List<Primitive>();
prims.Add(leftWing);
prims.Add(rightWing);
prims.Add(fuse);
Aircraft a = new Aircraft(new Vector3(0, -14, 0), new Vector3(1, 1, 1), prims, props, model, 0);
return a;
}
public Gobject GetBox(Vector3 pos, Vector3 size, Matrix orient, Model model, bool moveable)
{
// position of box was upper leftmost corner
// body has world position
// skin is relative to the body
Box boxPrimitive = new Box(-.5f * size, orient, size); // relative to the body, the position is the top left-ish corner instead of the center, so subtract from the center, half of all sides to get that point.
Gobject box = new Gobject(
pos,
size / 2,
boxPrimitive,
model,
moveable,
0
);
return box;
}
/// <summary>
/// SegmentBoxDistanceSq
/// </summary>
/// <param name="pfLParam"></param>
/// <param name="pfBParam0"></param>
/// <param name="pfBParam1"></param>
/// <param name="pfBParam2"></param>
/// <param name="rkSeg"></param>
/// <param name="rkBox"></param>
/// <returns>float</returns>
public static float SegmentBoxDistanceSq(out float pfLParam,
out float pfBParam0, out float pfBParam1, out float pfBParam2,
Segment rkSeg, Box rkBox)
{
pfLParam = pfBParam0 = pfBParam1 = pfBParam2 = 0.0f;
Line line = new Line(rkSeg.Origin, rkSeg.Delta);
float fLP, fBP0, fBP1, fBP2;
float fSqrDistance = SqrDistance(line, rkBox, out fLP, out fBP0, out fBP1, out fBP2);
if (fLP >= 0.0f)
{
if (fLP <= 1.0f)
{
pfLParam = fLP;
pfBParam0 = fBP0;// + 0.5f;
pfBParam1 = fBP1;// + 0.5f;
pfBParam2 = fBP2;// + 0.5f;
return MathHelper.Max(fSqrDistance, 0.0f);
}
else
{
fSqrDistance = SqrDistance(rkSeg.Origin + rkSeg.Delta,
rkBox, out pfBParam0, out pfBParam1, out pfBParam2);
pfLParam = 1.0f;
return MathHelper.Max(fSqrDistance, 0.0f);
}
}
else
{
fSqrDistance = SqrDistance(rkSeg.Origin, rkBox, out pfBParam0, out pfBParam1, out pfBParam2);
pfLParam = 0.0f;
return MathHelper.Max(fSqrDistance, 0.0f);
}
}
/// <summary>
/// FaceC
/// </summary>
/// <param name="kPnt"></param>
/// <param name="kDir"></param>
/// <param name="rkBox"></param>
/// <param name="kPmE"></param>
/// <param name="pfLParam"></param>
/// <param name="sqrDistance"></param>
private static void FaceC(ref Vector3 kPnt,
Vector3 kDir, Box rkBox,
Vector3 kPmE,out float pfLParam, ref float sqrDistance)
{
// 1,2,0
Vector3 kPpE;
float fLSqr, fInv, fTmp, fParam, fT, fDelta;
kPpE.Z = kPnt.Z + rkBox.GetHalfSideLengths().Z;
kPpE.X = kPnt.X + rkBox.GetHalfSideLengths().X;
if (kDir.Y * kPpE.Z >= kDir.Z * kPmE.Y)
{
if (kDir.Y * kPpE.X >= kDir.X * kPmE.Y)
{
// v.Z >= -e.Z, v.X >= -e.X (distance = 0)
kPnt.Y = rkBox.GetHalfSideLengths().Y;
fInv = 1.0f / kDir.Y;
kPnt.Z -= kDir.Z * kPmE.Y * fInv;
kPnt.X -= kDir.X * kPmE.Y * fInv;
pfLParam = -kPmE.Y * fInv;
}
else
{
// v.Z >= -e.Z, v.X < -e.X
fLSqr = kDir.Y * kDir.Y + kDir.X * kDir.X;
fTmp = fLSqr * kPpE.Z - kDir.Z * (kDir.Y * kPmE.Y +
kDir.X * kPpE.X);
if (fTmp <= 2.0f * fLSqr * rkBox.GetHalfSideLengths().Z)
{
fT = fTmp / fLSqr;
fLSqr += kDir.Z * kDir.Z;
fTmp = kPpE.Z - fT;
fDelta = kDir.Y * kPmE.Y + kDir.Z * fTmp +
kDir.X * kPpE.X;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + fTmp * fTmp +
kPpE.X * kPpE.X + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = fT - rkBox.GetHalfSideLengths().Z;
kPnt.X = -rkBox.GetHalfSideLengths().X;
}
else
{
fLSqr += kDir.Z * kDir.Z;
fDelta = kDir.Y * kPmE.Y + kDir.Z * kPmE.Z +
kDir.X * kPpE.X;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + kPmE.Z * kPmE.Z +
kPpE.X * kPpE.X + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = rkBox.GetHalfSideLengths().Z;
kPnt.X = -rkBox.GetHalfSideLengths().X;
}
}
}
else
{
if (kDir.Y * kPpE.X >= kDir.X * kPmE.Y)
{
// v.Z < -e.Z, v.X >= -e.X
fLSqr = kDir.Y * kDir.Y + kDir.Z * kDir.Z;
fTmp = fLSqr * kPpE.X - kDir.X * (kDir.Y * kPmE.Y +
kDir.Z * kPpE.Z);
if (fTmp <= 2.0f * fLSqr * rkBox.GetHalfSideLengths().X)
{
fT = fTmp / fLSqr;
fLSqr += kDir.X * kDir.X;
fTmp = kPpE.X - fT;
fDelta = kDir.Y * kPmE.Y + kDir.Z * kPpE.Z +
kDir.X * fTmp;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + kPpE.Z * kPpE.Z +
fTmp * fTmp + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = -rkBox.GetHalfSideLengths().Z;
kPnt.X = fT - rkBox.GetHalfSideLengths().X;
}
else
{
fLSqr += kDir.X * kDir.X;
fDelta = kDir.Y * kPmE.Y + kDir.Z * kPpE.Z +
kDir.X * kPmE.X;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + kPpE.Z * kPpE.Z +
kPmE.X * kPmE.X + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = -rkBox.GetHalfSideLengths().Z;
kPnt.X = rkBox.GetHalfSideLengths().X;
}
}
else
{
// v.Z < -e.Z, v.X < -e.X
fLSqr = kDir.Y * kDir.Y + kDir.X * kDir.X;
fTmp = fLSqr * kPpE.Z - kDir.Z * (kDir.Y * kPmE.Y +
kDir.X * kPpE.X);
if (fTmp >= 0.0f)
{
// v.Z-edge is closest
if (fTmp <= 2.0f * fLSqr * rkBox.GetHalfSideLengths().Z)
{
fT = fTmp / fLSqr;
fLSqr += kDir.Z * kDir.Z;
fTmp = kPpE.Z - fT;
fDelta = kDir.Y * kPmE.Y + kDir.Z * fTmp +
kDir.X * kPpE.X;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + fTmp * fTmp +
kPpE.X * kPpE.X + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = fT - rkBox.GetHalfSideLengths().Z;
kPnt.X = -rkBox.GetHalfSideLengths().X;
}
else
{
fLSqr += kDir.Z * kDir.Z;
fDelta = kDir.Y * kPmE.Y + kDir.Z * kPmE.Z +
kDir.X * kPpE.X;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + kPmE.Z * kPmE.Z
+ kPpE.X * kPpE.X + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = rkBox.GetHalfSideLengths().Z;
kPnt.X = -rkBox.GetHalfSideLengths().X;
}
return;
}
fLSqr = kDir.Y * kDir.Y + kDir.Z * kDir.Z;
fTmp = fLSqr * kPpE.X - kDir.X * (kDir.Y * kPmE.Y +
kDir.Z * kPpE.Z);
if (fTmp >= 0.0f)
{
// v.X-edge is closest
if (fTmp <= (2.0f * fLSqr * rkBox.GetHalfSideLengths().X))
{
fT = fTmp / fLSqr;
fLSqr += kDir.X * kDir.X;
fTmp = kPpE.X - fT;
fDelta = kDir.Y * kPmE.Y + kDir.Z * kPpE.Z +
kDir.X * fTmp;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + kPpE.Z * kPpE.Z +
fTmp * fTmp + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = -rkBox.GetHalfSideLengths().Z;
kPnt.X = fT - rkBox.GetHalfSideLengths().X;
}
else
{
fLSqr += kDir.X * kDir.X;
fDelta = kDir.Y * kPmE.Y + kDir.Z * kPpE.Z +
kDir.X * kPmE.X;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + kPpE.Z * kPpE.Z +
kPmE.X * kPmE.X + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = -rkBox.GetHalfSideLengths().Z;
kPnt.X = rkBox.GetHalfSideLengths().X;
}
return;
}
// (v.Z,v.X)-corner is closest
fLSqr += kDir.X * kDir.X;
fDelta = kDir.Y * kPmE.Y + kDir.Z * kPpE.Z +
kDir.X * kPpE.X;
fParam = -fDelta / fLSqr;
sqrDistance += kPmE.Y * kPmE.Y + kPpE.Z * kPpE.Z +
kPpE.X * kPpE.X + fDelta * fParam;
pfLParam = fParam;
kPnt.Y = rkBox.GetHalfSideLengths().Y;
kPnt.Z = -rkBox.GetHalfSideLengths().Z;
kPnt.X = -rkBox.GetHalfSideLengths().X;
}
}
}
/// <summary>
/// SqrDistance
/// </summary>
/// <param name="line"></param>
/// <param name="box"></param>
/// <param name="pfLParam"></param>
/// <param name="pfBParam0"></param>
/// <param name="pfBParam1"></param>
/// <param name="pfBParam2"></param>
/// <returns>float</returns>
public static float SqrDistance(Line line, Box box, out float pfLParam,
out float pfBParam0, out float pfBParam1, out float pfBParam2)
{
// compute coordinates of line in box coordinate system
Vector3 diff = line.Origin - box.GetCentre();
Vector3 pnt = new Vector3(Vector3.Dot(diff, box.Orientation.Right),
Vector3.Dot(diff, box.Orientation.Up),
Vector3.Dot(diff, box.Orientation.Backward));
Vector3 kDir = new Vector3(Vector3.Dot(line.Dir, box.Orientation.Right),
Vector3.Dot(line.Dir, box.Orientation.Up),
Vector3.Dot(line.Dir, box.Orientation.Backward));
// Apply reflections so that direction vector has nonnegative components.
bool reflect0 = false;
bool reflect1 = false;
bool reflect2 = false;
pfLParam = 0;
if (kDir.X < 0.0f)
{
pnt.X = -pnt.X;
kDir.X = -kDir.X;
reflect0 = true;
}
if (kDir.Y < 0.0f)
{
pnt.Y = -pnt.Y;
kDir.Y = -kDir.Y;
reflect1 = true;
}
if (kDir.Z < 0.0f)
{
pnt.Z = -pnt.Z;
kDir.Z = -kDir.Z;
reflect2 = true;
}
float sqrDistance = 0.0f;
if (kDir.X > 0.0f)
{
if (kDir.Y > 0.0f)
{
if (kDir.Z > 0.0f)
{
// (+,+,+)
Vector3 kPmE = pnt - box.GetHalfSideLengths();
float prodDxPy = kDir.X * kPmE.Y;
float prodDyPx = kDir.Y * kPmE.X;
float prodDzPx, prodDxPz, prodDzPy, prodDyPz;
if (prodDyPx >= prodDxPy)
{
prodDzPx = kDir.Z * kPmE.X;
prodDxPz = kDir.X * kPmE.Z;
if (prodDzPx >= prodDxPz)
{
//Face(0,1,2)
FaceA(ref pnt, kDir, box, kPmE, out pfLParam, ref sqrDistance);
}
else
{
//Face(2,0,1)
FaceB(ref pnt, kDir, box, kPmE, out pfLParam, ref sqrDistance);
}
}
else
{
prodDzPy = kDir.Z * kPmE.Y;
prodDyPz = kDir.Y * kPmE.Z;
if (prodDzPy >= prodDyPz)
{
//Face(1,2,0)
FaceC(ref pnt, kDir, box, kPmE, out pfLParam, ref sqrDistance);
}
else
{
//Face(2,0,1)
FaceB(ref pnt, kDir, box, kPmE, out pfLParam, ref sqrDistance);
}
}
}
else
{
// (+,+,0)
float pmE0 = pnt.X - box.GetHalfSideLengths().X;
float pmE1 = pnt.Y - box.GetHalfSideLengths().Y;
float prod0 = kDir.Y * pmE0;
float prod1 = kDir.X * pmE1;
float delta, invLSqur, inv;
if (prod0 >= prod1)
{
// line intersects P[i0] = e[i0]
pnt.X = box.GetHalfSideLengths().X;
float ppE1 = pnt.Y + box.GetHalfSideLengths().Y;
delta = prod0 - kDir.X * ppE1;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.X * kDir.X + kDir.Y * kDir.Y);
sqrDistance += delta * delta * invLSqur;
pnt.Y = -box.GetHalfSideLengths().Y;
pfLParam = -(kDir.X * pmE0 + kDir.Y * ppE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.X;
pnt.Y -= prod0 * inv;
pfLParam = -pmE0 * inv;
}
}
else
{
// line intersects P[i1] = e[i1]
pnt.Y = box.GetHalfSideLengths().Y;
float ppE0 = pnt.X + box.GetHalfSideLengths().X;
delta = prod1 - kDir.Y * ppE0;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.X * kDir.X + kDir.Y * kDir.Y);
sqrDistance += delta * delta * invLSqur;
pnt.X = -box.GetHalfSideLengths().X;
pfLParam = -(kDir.X * ppE0 + kDir.Y * pmE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.Y;
pnt.X -= prod1 * inv;
pfLParam = -pmE1 * inv;
}
}
if (pnt.Z < -box.GetHalfSideLengths().Z)
{
delta = pnt.Z + box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = -box.GetHalfSideLengths().Z;
}
else if (pnt.Z > box.GetHalfSideLengths().Z)
{
delta = pnt.Z - box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = box.GetHalfSideLengths().Z;
}
}
}
else
{
if (kDir.Z > 0.0f)
{
// (+,0,+)
float pmE0 = pnt.X - box.GetHalfSideLengths().X;
float pmE1 = pnt.Z - box.GetHalfSideLengths().Z;
float prod0 = kDir.Z * pmE0;
float prod1 = kDir.X * pmE1;
float delta, invLSqur, inv;
if (prod0 >= prod1)
{
// line intersects P[i0] = e[i0]
pnt.X = box.GetHalfSideLengths().X;
float ppE1 = pnt.Z + box.GetHalfSideLengths().Z;
delta = prod0 - kDir.X * ppE1;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.X * kDir.X + kDir.Z * kDir.Z);
sqrDistance += delta * delta * invLSqur;
pnt.Z = -box.GetHalfSideLengths().Z;
pfLParam = -(kDir.X * pmE0 + kDir.Z * ppE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.X;
pnt.Z -= prod0 * inv;
pfLParam = -pmE0 * inv;
}
}
else
{
// line intersects P[i1] = e[i1]
pnt.Z = box.GetHalfSideLengths().Z;
float ppE0 = pnt.X + box.GetHalfSideLengths().X;
delta = prod1 - kDir.Z * ppE0;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.X * kDir.X + kDir.Z * kDir.Z);
sqrDistance += delta * delta * invLSqur;
pnt.X = -box.GetHalfSideLengths().X;
pfLParam = -(kDir.X * ppE0 + kDir.Z * pmE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.Z;
pnt.X -= prod1 * inv;
pfLParam = -pmE1 * inv;
}
}
if (pnt.Y < -box.GetHalfSideLengths().Y)
{
delta = pnt.Y + box.GetHalfSideLengths().Y;
sqrDistance += delta * delta;
pnt.Y = -box.GetHalfSideLengths().Y;
}
else if (pnt.Y > box.GetHalfSideLengths().Y)
{
delta = pnt.Y - box.GetHalfSideLengths().Y;
sqrDistance += delta * delta;
pnt.Y = box.GetHalfSideLengths().Y;
}
}
else
{
// (+,0,0)
float pmE0 = pnt.X - box.GetHalfSideLengths().X;
float pmE1 = pnt.Y - box.GetHalfSideLengths().Y;
float prod0 = kDir.Y * pmE0;
float prod1 = kDir.X * pmE1;
float delta, invLSqur, inv;
if (prod0 >= prod1)
{
// line intersects P[i0] = e[i0]
pnt.X = box.GetHalfSideLengths().X;
float ppE1 = pnt.Y + box.GetHalfSideLengths().Y;
delta = prod0 - kDir.X * ppE1;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.X * kDir.X + kDir.Y * kDir.Y);
sqrDistance += delta * delta * invLSqur;
pnt.Y = -box.GetHalfSideLengths().Y;
pfLParam = -(kDir.X * pmE0 + kDir.Y * ppE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.X;
pnt.Y -= prod0 * inv;
pfLParam = -pmE0 * inv;
}
}
else
{
// line intersects P[i1] = e[i1]
pnt.Y = box.GetHalfSideLengths().Y;
float ppE0 = pnt.X + box.GetHalfSideLengths().X;
delta = prod1 - kDir.Y * ppE0;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.X * kDir.X + kDir.Y * kDir.Y);
sqrDistance += delta * delta * invLSqur;
pnt.X = -box.GetHalfSideLengths().X;
pfLParam = -(kDir.X * ppE0 + kDir.Y * pmE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.Y;
pnt.X -= prod1 * inv;
pfLParam = -pmE1 * inv;
}
}
if (pnt.Z < -box.GetHalfSideLengths().Z)
{
delta = pnt.Z + box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = -box.GetHalfSideLengths().Z;
}
else if (pnt.Z > box.GetHalfSideLengths().Z)
{
delta = pnt.Z - box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = box.GetHalfSideLengths().Z;
}
}
}
}
else
{
if (kDir.Y > 0.0f)
{
if (kDir.Z > 0.0f)
{
float pmE0 = pnt.Y - box.GetHalfSideLengths().Y;
float pmE1 = pnt.Z - box.GetHalfSideLengths().Z;
float prod0 = kDir.Z * pmE0;
float prod1 = kDir.Y * pmE1;
float delta, invLSqur, inv;
if (prod0 >= prod1)
{
// line intersects P[i0] = e[i0]
pnt.Y = box.GetHalfSideLengths().Y;
float ppE1 = pnt.Z + box.GetHalfSideLengths().Z;
delta = prod0 - kDir.Y * ppE1;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.Y * kDir.Y + kDir.Z * kDir.Z);
sqrDistance += delta * delta * invLSqur;
pnt.Z = -box.GetHalfSideLengths().Z;
pfLParam = -(kDir.Y * pmE0 + kDir.Z * ppE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.Y;
pnt.Z -= prod0 * inv;
pfLParam = -pmE0 * inv;
}
}
else
{
// line intersects P[i1] = e[i1]
pnt.Z = box.GetHalfSideLengths().Z;
float ppE0 = pnt.Y + box.GetHalfSideLengths().Y;
delta = prod1 - kDir.Z * ppE0;
if (delta >= 0.0f)
{
invLSqur = 1.0f / (kDir.Y * kDir.Y + kDir.Z * kDir.Z);
sqrDistance += delta * delta * invLSqur;
pnt.Y = -box.GetHalfSideLengths().Y;
pfLParam = -(kDir.Y * ppE0 + kDir.Z * pmE1) * invLSqur;
}
else
{
inv = 1.0f / kDir.Z;
pnt.Y -= prod1 * inv;
pfLParam = -pmE1 * inv;
}
}
if (pnt.X < -box.GetHalfSideLengths().X)
{
delta = pnt.X + box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = -box.GetHalfSideLengths().X;
}
else if (pnt.X > box.GetHalfSideLengths().X)
{
delta = pnt.X - box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = box.GetHalfSideLengths().X;
}
}
else
{
// (0,+,0)
float delta;
pfLParam = (box.GetHalfSideLengths().Y - pnt.Y) / kDir.Y;
pnt.Y = box.GetHalfSideLengths().Y;
if (pnt.X < -box.GetHalfSideLengths().X)
{
delta = pnt.X + box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = -box.GetHalfSideLengths().X;
}
else if (pnt.X > box.GetHalfSideLengths().X)
{
delta = pnt.X - box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = box.GetHalfSideLengths().X;
}
if (pnt.Z < -box.GetHalfSideLengths().Z)
{
delta = pnt.Z + box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = -box.GetHalfSideLengths().Z;
}
else if (pnt.Z > box.GetHalfSideLengths().Z)
{
delta = pnt.Z - box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = box.GetHalfSideLengths().Z;
}
}
}
else
{
if (kDir.Z > 0.0f)
{
float delta;
pfLParam = (box.GetHalfSideLengths().Z - pnt.Z) / kDir.Z;
pnt.Z = box.GetHalfSideLengths().Z;
if (pnt.X < -box.GetHalfSideLengths().X)
{
delta = pnt.X + box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = -box.GetHalfSideLengths().X;
}
else if (pnt.X > box.GetHalfSideLengths().X)
{
delta = pnt.X - box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = box.GetHalfSideLengths().X;
}
if (pnt.Y < -box.GetHalfSideLengths().Y)
{
delta = pnt.Y + box.GetHalfSideLengths().Y;
sqrDistance += delta * delta;
pnt.Y = -box.GetHalfSideLengths().Y;
}
else if (pnt.Y > box.GetHalfSideLengths().Y)
{
delta = pnt.Y - box.GetHalfSideLengths().Y;
sqrDistance += delta * delta;
pnt.Y = box.GetHalfSideLengths().Y;
}
}
else
{
// (0,0,0)
float delta;
if (pnt.X < -box.GetHalfSideLengths().X)
{
delta = pnt.X + box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = -box.GetHalfSideLengths().X;
}
else if (pnt.X > box.GetHalfSideLengths().X)
{
delta = pnt.X - box.GetHalfSideLengths().X;
sqrDistance += delta * delta;
pnt.X = box.GetHalfSideLengths().X;
}
if (pnt.Y < -box.GetHalfSideLengths().Y)
{
delta = pnt.Y + box.GetHalfSideLengths().Y;
sqrDistance += delta * delta;
pnt.Y = -box.GetHalfSideLengths().Y;
}
else if (pnt.Y > box.GetHalfSideLengths().Y)
{
delta = pnt.Y - box.GetHalfSideLengths().Y;
sqrDistance += delta * delta;
pnt.Y = box.GetHalfSideLengths().Y;
}
if (pnt.Z < -box.GetHalfSideLengths().Z)
{
delta = pnt.Z + box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = -box.GetHalfSideLengths().Z;
}
else if (pnt.Z > box.GetHalfSideLengths().Z)
{
delta = pnt.Z - box.GetHalfSideLengths().Z;
sqrDistance += delta * delta;
pnt.Z = box.GetHalfSideLengths().Z;
}
}
}
}
// undo reflections
if (reflect0) pnt.X = -pnt.X;
if (reflect1) pnt.Y = -pnt.Y;
if (reflect2) pnt.Z = -pnt.Z;
pfBParam0 = pnt.X;
pfBParam1 = pnt.Y;
pfBParam2 = pnt.Z;
return MathHelper.Max(sqrDistance, 0.0f);
}
/// <summary>
/// SqrDistance
/// </summary>
/// <param name="point"></param>
/// <param name="box"></param>
/// <param name="pfBParam0"></param>
/// <param name="pfBParam1"></param>
/// <param name="pfBParam2"></param>
/// <returns>float</returns>
public static float SqrDistance(Vector3 point, Box box,
out float pfBParam0, out float pfBParam1, out float pfBParam2)
{
// compute coordinates of point in box coordinate system
Vector3 kDiff = point - box.GetCentre();
Vector3 kClosest = new Vector3(Vector3.Dot(kDiff, box.Orientation.Right),
Vector3.Dot(kDiff, box.Orientation.Up),
Vector3.Dot(kDiff, box.Orientation.Backward));
// project test point onto box
float fSqrDistance = 0.0f;
float fDelta;
if (kClosest.X < -box.GetHalfSideLengths().X)
{
fDelta = kClosest.X + box.GetHalfSideLengths().X;
fSqrDistance += fDelta * fDelta;
kClosest.X = -box.GetHalfSideLengths().X;
}
else if (kClosest.X > box.GetHalfSideLengths().X)
{
fDelta = kClosest.X - box.GetHalfSideLengths().X;
fSqrDistance += fDelta * fDelta;
kClosest.X = box.GetHalfSideLengths().X;
}
if (kClosest.Y < -box.GetHalfSideLengths().Y)
{
fDelta = kClosest.Y + box.GetHalfSideLengths().Y;
fSqrDistance += fDelta * fDelta;
kClosest.Y = -box.GetHalfSideLengths().Y;
}
else if (kClosest.Y > box.GetHalfSideLengths().Y)
{
fDelta = kClosest.Y - box.GetHalfSideLengths().Y;
fSqrDistance += fDelta * fDelta;
kClosest.Y = box.GetHalfSideLengths().Y;
}
if (kClosest.Z < -box.GetHalfSideLengths().Z)
{
fDelta = kClosest.Z + box.GetHalfSideLengths().Z;
fSqrDistance += fDelta * fDelta;
kClosest.Z = -box.GetHalfSideLengths().Z;
}
else if (kClosest.Z > box.GetHalfSideLengths().Z)
{
fDelta = kClosest.Z - box.GetHalfSideLengths().Z;
fSqrDistance += fDelta * fDelta;
kClosest.Z = box.GetHalfSideLengths().Z;
}
pfBParam0 = kClosest.X;
pfBParam1 = kClosest.Y;
pfBParam2 = kClosest.Z;
return MathHelper.Max(fSqrDistance, 0.0f);
}
public override void Initialize()
{
Body = new Body();
Skin = new CollisionSkin(Body);
Body.CollisionSkin = Skin;
radius = 12;
float length = 3;
//Capsule middle = new Capsule(Vector3.Zero, Matrix.Identity, radius, length - 2.0f * radius);
float sideLength = 2.0f * radius / (float)Math.Sqrt(2.0d);
Vector3 sides = new Vector3(-0.5f * sideLength, -0.5f * sideLength, -radius);
Box supply0 = new Box(sides, Matrix.Identity,
new Vector3(sideLength, sideLength, length));
Box supply1 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ(MathHelper.PiOver4)),
Matrix.CreateRotationZ(MathHelper.PiOver4), new Vector3(sideLength, sideLength, length));
Box supply2 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ( (MathHelper.PiOver4 * 0.5f) )),
Matrix.CreateRotationZ( (MathHelper.PiOver4 * 0.5f) ), new Vector3(sideLength, sideLength, length));
Box supply3 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ((MathHelper.PiOver4 * 1.5f))),
Matrix.CreateRotationZ((MathHelper.PiOver4 * 1.5f)), new Vector3(sideLength, sideLength, length));
//Skin.AddPrimitive(middle, new MaterialProperties(0.8f, 0.8f, 0.7f));
Skin.AddPrimitive(supply0, new MaterialProperties(0.8f, 0.8f, 0.7f));
Skin.AddPrimitive(supply1, new MaterialProperties(0.8f, 0.8f, 0.7f));
Skin.AddPrimitive(supply2, new MaterialProperties(0.8f, 0.8f, 0.7f));
Skin.AddPrimitive(supply3, new MaterialProperties(0.8f, 0.8f, 0.7f));
Vector3 com = SetMass(1.0f);
Body.MoveTo(position, Matrix.Identity);
Skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
#region Manually set body inertia
float cylinderMass = Body.Mass;
float comOffs = (length - 2.0f * radius) * 0.5f; ;
float Ixx = 0.5f * cylinderMass * radius * radius + cylinderMass * comOffs * comOffs;
float Iyy = 0.25f * cylinderMass * radius * radius + (1.0f / 12.0f) * cylinderMass * length * length + cylinderMass * comOffs * comOffs;
float Izz = Iyy;
Body.SetBodyInertia(Ixx, Iyy, Izz);
#endregion
Body.EnableBody();
Body.ExternalData = this;
SetBody(rotation);
}
private Gobject CreateHighFrictionCube()
{
Vector3 size = new Vector3(1, 1, 1);
// position of box was upper leftmost corner
// body has world position
// skin is relative to the body
Box boxPrimitive = new Box(-.5f * size, Matrix.Identity, size); // relative to the body, the position is the top left-ish corner instead of the center, so subtract from the center, half of all sides to get that point.
Gobject box = new Gobject(
Vector3.Zero, // position can be setup just following call to assetManager.GetNewInstance
size / 2,
boxPrimitive,
MaterialTable.MaterialID.NotBouncyRough,
cubeModel,
0 // asset name is set automatically by asset manager when requested
);
return box;
}
protected override void LoadSpecific()
{
base.LoadSpecific();
if (m_Body != null)
{
// Set skin to the body
m_Body.CollisionSkin = m_Skin;
// Check the skin was successfully created and add this
// custom dice as a primitive to the collision skin
if (m_Skin != null)
{
Vector3 sideLengths = (m_BoundingBox.Max - m_BoundingBox.Min);
if (sideLengths.Y <= 0)
sideLengths.Y = 0.1f;
Box box = new Box(Vector3.Zero, Matrix.Identity, sideLengths);
m_Skin.AddPrimitive(box, (int)MaterialTable.MaterialID.BouncyRough);
// Set mass
m_Mass = SetMass(7.0f);
// Move the body to correct position initially
m_Body.MoveTo(transform.Position, Matrix.Identity);
// Apply transform to skin
m_Skin.ApplyLocalTransform(new JigLibX.Math.Transform(-m_Mass, Matrix.Identity));
// make sure it isn't in the scene and is disabled
Disable();
}
}
}