protected override void OnAttach()
{
InternalRigidBody = new BulletSharp.RigidBody(0.0f, MotionState, ColliderShape.InternalShape, Vector3.Zero)
{
UserObject = this
};
NativeCollisionObject = InternalRigidBody;
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
if (ColliderShape.Is2D) //set different defaults for 2D shapes
{
InternalRigidBody.LinearFactor = new Vector3(1.0f, 1.0f, 0.0f);
InternalRigidBody.AngularFactor = new Vector3(0.0f, 0.0f, 1.0f);
}
var inertia = ColliderShape.InternalShape.CalculateLocalInertia(mass);
InternalRigidBody.SetMassProps(mass, inertia);
InternalRigidBody.UpdateInertiaTensor(); //this was the major headache when I had to debug Slider and Hinge constraint
base.OnAttach();
Mass = mass;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
OverrideGravity = overrideGravity;
Gravity = gravity;
RigidBodyType = IsKinematic ? RigidBodyTypes.Kinematic : RigidBodyTypes.Dynamic;
GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(out transform);
SetWorldTransformCallback = transform => RigidBodySetWorldTransform(ref transform);
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (IsDefaultGroup)
{
Simulation.AddRigidBody(this, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
Simulation.AddRigidBody(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
}
private void NewElement(PhysicsElementBase element, AssociatedData data, Entity entity)
{
element.Data = data;
if (element.ColliderShapes.Count == 0)
{
return; //no shape no purpose
}
if (element.ColliderShape == null)
{
element.ComposeShape();
}
var shape = element.ColliderShape;
if (shape == null)
{
return; //no shape no purpose
}
element.BoneIndex = -1;
var skinnedElement = element as PhysicsSkinnedElementBase;
if (skinnedElement != null && !skinnedElement.NodeName.IsNullOrEmpty() && data.ModelComponent?.Skeleton != null)
{
if (!data.BoneMatricesUpdated)
{
Vector3 position, scaling;
Quaternion rotation;
entity.Transform.WorldMatrix.Decompose(out scaling, out rotation, out position);
var isScalingNegative = scaling.X * scaling.Y * scaling.Z < 0.0f;
data.ModelComponent.Skeleton.NodeTransformations[0].LocalMatrix = entity.Transform.WorldMatrix;
data.ModelComponent.Skeleton.NodeTransformations[0].IsScalingNegative = isScalingNegative;
data.ModelComponent.Skeleton.UpdateMatrices();
data.BoneMatricesUpdated = true;
}
skinnedElement.BoneIndex = data.ModelComponent.Skeleton.Nodes.IndexOf(x => x.Name == skinnedElement.NodeName);
if (element.BoneIndex == -1)
{
throw new Exception("The specified NodeName doesn't exist in the model hierarchy.");
}
element.BoneWorldMatrixOut = element.BoneWorldMatrix = data.ModelComponent.Skeleton.NodeTransformations[element.BoneIndex].WorldMatrix;
}
var defaultGroups = element.CanCollideWith == 0 || element.CollisionGroup == 0;
switch (element.Type)
{
case PhysicsElementBase.Types.PhantomCollider:
{
var c = simulation.CreateCollider(shape);
element.Collider = c; //required by the next call
element.Collider.Entity = entity; //required by the next call
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
c.IsTrigger = true;
if (defaultGroups)
{
simulation.AddCollider(c, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddCollider(c, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.StaticCollider:
{
var c = simulation.CreateCollider(shape);
element.Collider = c; //required by the next call
element.Collider.Entity = entity; //required by the next call
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (defaultGroups)
{
simulation.AddCollider(c, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddCollider(c, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.StaticRigidBody:
{
var rb = simulation.CreateRigidBody(shape);
rb.Entity = entity;
rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform);
rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform);
element.Collider = rb;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
rb.Type = RigidBodyTypes.Static;
rb.Mass = 0.0f;
if (defaultGroups)
{
simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.DynamicRigidBody:
{
var rb = simulation.CreateRigidBody(shape);
rb.Entity = entity;
rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform);
rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform);
element.Collider = rb;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
rb.Type = RigidBodyTypes.Dynamic;
if (rb.Mass == 0.0f)
{
rb.Mass = 1.0f;
}
if (defaultGroups)
{
simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.KinematicRigidBody:
{
var rb = simulation.CreateRigidBody(shape);
rb.Entity = entity;
rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform);
rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform);
element.Collider = rb;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
rb.Type = RigidBodyTypes.Kinematic;
if (rb.Mass == 0.0f)
{
rb.Mass = 1.0f;
}
if (defaultGroups)
{
simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.CharacterController:
{
var charElem = (CharacterElement)element;
var ch = simulation.CreateCharacter(shape, charElem.StepHeight);
element.Collider = ch;
element.Collider.Entity = entity;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (defaultGroups)
{
simulation.AddCharacter(ch, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddCharacter(ch, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
characters.Add(element);
}
break;
}
if (colliderShapesRendering)
{
element.AddDebugEntity(sceneSystem.SceneInstance.Scene);
}
elements.Add(element);
if (element.BoneIndex != -1)
{
boneElements.Add(skinnedElement);
}
}