void createVehicle(Vector3 position)
{
float width = 15;
float height = 2;
float length = 5;
float wheelWidth = 1;
float wheelRadius = 2;
BepuEntity chassis = createBox(position, width, height, length);
chassis.LoadContent();
chassis.body.Mass = 100;
BepuEntity wheel;
RevoluteJoint joint;
wheel = createWheel(new Vector3(position.X - (width / 2) + wheelRadius, position.Y, position.Z - (length / 2) - wheelWidth), wheelWidth, wheelRadius);
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
wheel = createWheel(new Vector3(position.X + (width / 2) - wheelRadius, position.Y, position.Z - (length / 2) - wheelWidth), wheelWidth, wheelRadius);
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
wheel = createWheel(new Vector3(position.X - (width / 2) + wheelRadius, position.Y, position.Z + (length / 2) + wheelWidth), wheelWidth, wheelRadius);
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
wheel = createWheel(new Vector3(position.X + (width / 2) - wheelRadius, position.Y, position.Z + (length / 2) + wheelWidth), wheelWidth, wheelRadius);
joint = new RevoluteJoint(chassis.body, wheel.body, wheel.body.Position, new Vector3(0, 0, -1));
space.Add(joint);
}
BepuEntity createBox(Vector3 position, float width, float height, float length)
{
BepuEntity theBox = new BepuEntity();
theBox.modelName = "cube";
theBox.LoadContent();
theBox.localTransform = Matrix.CreateScale(new Vector3(width, height, length));
theBox.body = new Box(position, width, height, length, 1);
theBox.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
theBox.configureEvents();
space.Add(theBox.body);
children.Add(theBox);
return(theBox);
}
BepuEntity createWheel(Vector3 position, float wheelWidth, float wheelRadius)
{
BepuEntity wheelEntity = new BepuEntity();
wheelEntity.modelName = "cyl";
wheelEntity.LoadContent();
wheelEntity.body = new Cylinder(position, wheelWidth, wheelRadius, wheelRadius);
wheelEntity.localTransform = Matrix.CreateScale(wheelRadius, wheelWidth, wheelRadius);
wheelEntity.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2);
wheelEntity.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(wheelEntity.body);
children.Add(wheelEntity);
return(wheelEntity);
}
BepuEntity fireBall()
{
BepuEntity ball = new BepuEntity();
ball.modelName = "sphere";
float size = 1;
ball.localTransform = Matrix.CreateScale(new Vector3(size, size, size));
ball.body = new Sphere(Camera.Position + (Camera.Look * 8), size, size * 10);
ball.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(ball.body);
ball.LoadContent();
ball.configureEvents();
ball.body.ApplyImpulse(Camera.Position, Camera.Look * 500);
children.Add(ball);
return(ball);
}
BepuEntity createFromMesh(Vector3 position, string mesh, float scale)
{
BepuEntity entity = new BepuEntity();
entity.modelName = mesh;
entity.LoadContent();
Vector3[] vertices;
int[] indices;
TriangleMesh.GetVerticesAndIndicesFromModel(entity.model, out vertices, out indices);
AffineTransform localTransform = new AffineTransform(new Vector3(scale, scale, scale), Quaternion.Identity, new Vector3(0, 0, 0));
MobileMesh mobileMesh = new MobileMesh(vertices, indices, localTransform, BEPUphysics.CollisionShapes.MobileMeshSolidity.Counterclockwise, 1);
entity.localTransform = Matrix.CreateScale(scale, scale, scale);
entity.body = mobileMesh;
entity.HasColor = true;
entity.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
entity.body.Position = position;
space.Add(entity.body);
children.Add(entity);
return(entity);
}
BepuEntity createCog(Vector3 position, float radius, int gears)
{
BepuEntity wheel = createWheel(position, 1, radius);
float angleDelta = (MathHelper.Pi * 2.0f) / (float)gears;
float cogHeight = radius * 0.2f;
for (int i = 0; i < gears; i++)
{
float angle = ((float)i) * angleDelta;
float x = (radius + (cogHeight / 2.0f)) * (float)Math.Sin(angle);
float y = (radius + (cogHeight / 2.0f)) * (float)Math.Cos(angle);
Vector3 cogPos = new Vector3(x, y, 0) + position;
BepuEntity cog = createBox(cogPos, cogHeight, cogHeight, 1);
cog.LoadContent();
cog.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, -1), angle);
WeldJoint weld = new WeldJoint(wheel.body, cog.body);
space.Add(weld);
}
return(wheel);
}
BepuEntity fireBall()
{
BepuEntity ball = new BepuEntity();
ball.modelName = "sphere";
float size = 1;
ball.localTransform = Matrix.CreateScale(new Vector3(size, size, size));
ball.body = new Sphere(Camera.Position + (Camera.Look * 8), size, size * 100);
ball.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(ball.body);
ball.LoadContent();
ball.configureEvents();
ball.body.ApplyImpulse(Vector3.Zero, Camera.Look * 500);
children.Add(ball);
return ball;
}
BepuEntity createWheel(Vector3 position, float wheelWidth, float wheelRadius)
{
BepuEntity wheelEntity = new BepuEntity();
wheelEntity.modelName = "cyl";
wheelEntity.LoadContent();
wheelEntity.body = new Cylinder(position, wheelWidth, wheelRadius, wheelRadius);
wheelEntity.localTransform = Matrix.CreateScale(wheelRadius, wheelWidth, wheelRadius);
wheelEntity.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2);
wheelEntity.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(wheelEntity.body);
children.Add(wheelEntity);
return wheelEntity;
}
BepuEntity createFromMesh(Vector3 position, string mesh, float scale)
{
BepuEntity entity = new BepuEntity();
entity.modelName = mesh;
entity.LoadContent();
Vector3[] vertices;
int[] indices;
TriangleMesh.GetVerticesAndIndicesFromModel(entity.model, out vertices, out indices);
AffineTransform localTransform = new AffineTransform(new Vector3(scale, scale, scale), Quaternion.Identity, new Vector3(0, 0, 0));
MobileMesh mobileMesh = new MobileMesh(vertices, indices, localTransform, BEPUphysics.CollisionShapes.MobileMeshSolidity.Counterclockwise, 1);
entity.localTransform = Matrix.CreateScale(scale, scale, scale);
entity.body = mobileMesh;
entity.HasColor = true;
entity.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
entity.body.Position = position;
space.Add(entity.body);
children.Add(entity);
return entity;
}
BepuEntity createBox(Vector3 position, float width, float height, float length)
{
BepuEntity theBox = new BepuEntity();
theBox.modelName = "cube";
theBox.LoadContent();
theBox.localTransform = Matrix.CreateScale(new Vector3(width, height, length));
theBox.body = new Box(position, width, height, length, 1);
theBox.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
theBox.configureEvents();
space.Add(theBox.body);
children.Add(theBox);
return theBox;
}
void fireBall()
{
BepuEntity ball = new BepuEntity();
ball.modelName = "sphere";
float size = 2;
ball.localTransform = Matrix.CreateScale(new Vector3(size, size, size));
ball.body = new Sphere(Camera.pos + (Camera.look * 5), size, size);
ball.diffuse = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
space.Add(ball.body);
ball.LoadContent();
ball.body.ApplyImpulse(Vector3.Zero, Camera.look * 50);
children.Add(ball);
}
