/// <summary>
/// Creates a sphere body.
/// </summary>
/// <param name="simulation">The simulation to use.</param>
/// <param name="position">The position of the body.</param>
/// <param name="radius">The radius of the sphere.</param>
/// <returns>The sphere body that was created.</returns>
public static SphereBody Create(PhysicsSimulation simulation, Vector3 position, float radius)
{
var obj = new SphereBody(simulation);
obj.Position = position;
obj.Radius = radius;
simulation.Register(obj);
return(obj);
}
/// <summary>
/// Creates a box body.
/// </summary>
/// <param name="simulation">The simulation to use.</param>
/// <param name="position">The position of the body.</param>
/// <param name="rotation">The rotation of the body.</param>
/// <param name="size">The size of the body (length in x, y and z direction).</param>
/// <returns>The box body that was created.</returns>
public static BoxBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector3 size)
{
var obj = new BoxBody(simulation);
obj.Size = size;
obj.Position = position;
obj.Rotation = rotation;
obj.Vertices = FindVertices(obj);
simulation.Register(obj);
return(obj);
}
/// <summary>
/// Creates a capsule body.
/// </summary>
/// <param name="simulation">The simulation to use.</param>
/// <param name="position">The position of the body.</param>
/// <param name="rotation">The rotation of the body.</param>
/// <param name="radius">The radius of the capsule.</param>
/// <param name="height">The height of the cylinder part of the capsule.</param>
/// <returns>The capsule body that was created.</returns>
public static CapsuleBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation,
float radius, float height)
{
var obj = new CapsuleBody(simulation);
obj.Position = position;
obj.Rotation = rotation;
obj.Radius = radius;
obj.Height = height;
simulation.Register(obj);
return(obj);
}
public static TriggerBox Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector3 size)
{
var shape = new Box(size.X, size.Y, size.Z);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.01f);
var descriptor = new StaticDescription(position, rotation, collidable);
var handle = simulation.Simulation.Statics.Add(descriptor);
var obj = new TriggerBox(simulation, handle);
simulation.Register(obj);
return(obj);
}
public static CylinderBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector2 size)
{
var shape = new Cylinder(size.X, size.Y);
shape.ComputeInertia(1, out var inertia);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.1f);
var activity = new BodyActivityDescription(0);
var pose = new RigidPose(position, rotation);
var descriptor = BodyDescription.CreateDynamic(pose, inertia, collidable, activity);
var handle = simulation.Simulation.Bodies.Add(descriptor);
var obj = new CylinderBody(simulation, handle);
simulation.Register(obj);
return(obj);
}
