/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="halfExtents">The half extents.</param>
/// <param name="upAxis">Up axis.</param>
public CylinderColliderShape(Vector3 halfExtents, Vector3 upAxis)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Matrix rotation;
Vector3 scaling;
if (upAxis == Vector3.UnitX)
{
InternalShape = new BulletSharp.CylinderShapeX(halfExtents);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
scaling = new Vector3(halfExtents.Y * 2.0f, halfExtents.X * 2.0f, halfExtents.Z * 2.0f);
}
else if (upAxis == Vector3.UnitZ)
{
InternalShape = new BulletSharp.CylinderShapeZ(halfExtents);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
scaling = new Vector3(halfExtents.X * 2.0f, halfExtents.Z * 2.0f, halfExtents.Y * 2.0f);
}
else //default to Y
{
InternalShape = new BulletSharp.CylinderShape(halfExtents);
rotation = Matrix.Identity;
scaling = halfExtents * 2.0f;
}
DebugPrimitiveMatrix = Matrix.Scaling(scaling * 1.01f) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="orientation">Up axis.</param>
/// <param name="radius">The radius of the cylinder</param>
/// <param name="height">The height of the cylinder</param>
public CylinderColliderShape(float height, float radius, ShapeOrientation orientation)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Matrix rotation;
switch (orientation)
{
case ShapeOrientation.UpX:
InternalShape = new BulletSharp.CylinderShapeX(new Vector3(height / 2, radius, 0));
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
break;
case ShapeOrientation.UpY:
InternalShape = new BulletSharp.CylinderShape(new Vector3(radius, height / 2, 0));
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
InternalShape = new BulletSharp.CylinderShapeZ(new Vector3(radius, 0, height / 2));
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException("orientation");
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(2 * radius, height, 2 * radius) * 1.01f) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="orientation">Up axis.</param>
/// <param name="radius">The radius of the cylinder</param>
/// <param name="height">The height of the cylinder</param>
public CylinderColliderShape(float height, float radius, ShapeOrientation orientation)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Matrix rotation;
switch (orientation)
{
case ShapeOrientation.UpX:
InternalShape = new BulletSharp.CylinderShapeX(new Vector3(height/2, radius, 0));
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
break;
case ShapeOrientation.UpY:
InternalShape = new BulletSharp.CylinderShape(new Vector3(radius, height/2, 0));
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
InternalShape = new BulletSharp.CylinderShapeZ(new Vector3(radius, 0, height/2));
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException("orientation");
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(2*radius, height, 2*radius) * 1.01f) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="halfExtents">The half extents.</param>
/// <param name="upAxis">Up axis.</param>
public CylinderColliderShape(Vector3 halfExtents, Vector3 upAxis)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Matrix rotation;
Vector3 scaling;
if (upAxis == Vector3.UnitX)
{
InternalShape = new BulletSharp.CylinderShapeX(halfExtents);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
scaling = new Vector3(halfExtents.Y * 2.0f, halfExtents.X * 2.0f, halfExtents.Z * 2.0f);
}
else if (upAxis == Vector3.UnitZ)
{
InternalShape = new BulletSharp.CylinderShapeZ(halfExtents);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
scaling = new Vector3(halfExtents.X * 2.0f, halfExtents.Z * 2.0f, halfExtents.Y * 2.0f);
}
else //default to Y
{
InternalShape = new BulletSharp.CylinderShape(halfExtents);
rotation = Matrix.Identity;
scaling = halfExtents * 2.0f;
}
DebugPrimitiveMatrix = Matrix.Scaling(scaling * 1.01f) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="orientation">Up axis.</param>
/// <param name="radius">The radius of the cylinder</param>
/// <param name="height">The height of the cylinder</param>
public CylinderColliderShape(float heightParam, float radiusParam, ShapeOrientation orientationParam, Vector3?offset = null, Quaternion?localrot = null)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Height = heightParam;
Radius = radiusParam;
Matrix rotation;
cachedScaling = Vector3.One;
Orientation = orientationParam;
switch (Orientation)
{
case ShapeOrientation.UpX:
InternalShape = new BulletSharp.CylinderShapeX(new Vector3(Height / 2, Radius, Radius))
{
LocalScaling = cachedScaling,
};
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
break;
case ShapeOrientation.UpY:
InternalShape = new BulletSharp.CylinderShape(new Vector3(Radius, Height / 2, Radius))
{
LocalScaling = cachedScaling,
};
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
InternalShape = new BulletSharp.CylinderShapeZ(new Vector3(Radius, Radius, Height / 2))
{
LocalScaling = cachedScaling,
};
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException(nameof(Orientation));
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(Radius * 2, Height, Radius * 2) * DebugScaling) * rotation;
if (offset.HasValue || localrot.HasValue)
{
LocalOffset = offset ?? Vector3.Zero;
LocalRotation = localrot ?? Quaternion.Identity;
UpdateLocalTransformations();
}
}
/// <summary>
/// Create the collision cylinder.
/// </summary>
/// <param name="halfExtent">Half extent on X, Y and Z of the cylinder.</param>
/// <param name="axis">Cylinder axis direction.</param>
public CollisionCylinder(Vector3 halfExtent, CylinderDirectionAxis axis = CylinderDirectionAxis.Y)
{
_axisType = axis;
switch (_axisType)
{
case CylinderDirectionAxis.X:
_shape = new BulletSharp.CylinderShapeX(halfExtent.X, halfExtent.Y, halfExtent.Z);
break;
case CylinderDirectionAxis.Y:
_shape = new BulletSharp.CylinderShape(halfExtent.X, halfExtent.Y, halfExtent.Z);
break;
case CylinderDirectionAxis.Z:
_shape = new BulletSharp.CylinderShapeZ(halfExtent.X, halfExtent.Y, halfExtent.Z);
break;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="orientation">Up axis.</param>
/// <param name="radius">The radius of the cylinder</param>
/// <param name="height">The height of the cylinder</param>
public CylinderColliderShape(float heightParam, float radiusParam, ShapeOrientation orientationParam)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Height = heightParam;
Radius = radiusParam;
Matrix rotation;
cachedScaling = Vector3.One;
Orientation = orientationParam;
switch (Orientation)
{
case ShapeOrientation.UpX:
InternalShape = new BulletSharp.CylinderShapeX(new Vector3(Height / 2, Radius, Radius))
{
LocalScaling = cachedScaling,
};
rotation = Matrix.RotationZ(MathF.PI / 2.0f);
break;
case ShapeOrientation.UpY:
InternalShape = new BulletSharp.CylinderShape(new Vector3(Radius, Height / 2, Radius))
{
LocalScaling = cachedScaling,
};
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
InternalShape = new BulletSharp.CylinderShapeZ(new Vector3(Radius, Radius, Height / 2))
{
LocalScaling = cachedScaling,
};
rotation = Matrix.RotationX(MathF.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException(nameof(Orientation));
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(Radius * 2, Height, Radius * 2) * DebugScaling) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="orientation">Up axis.</param>
/// <param name="radius">The radius of the cylinder</param>
/// <param name="height">The height of the cylinder</param>
public CylinderColliderShape(float height, float radius, ShapeOrientation orientation)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Matrix rotation;
CachedScaling = Vector3.One;
shapeOrientation = orientation;
switch (orientation)
{
case ShapeOrientation.UpX:
InternalShape = new BulletSharp.CylinderShapeX(new Vector3(height / 2, radius, radius))
{
LocalScaling = CachedScaling
};
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
break;
case ShapeOrientation.UpY:
InternalShape = new BulletSharp.CylinderShape(new Vector3(radius, height / 2, radius))
{
LocalScaling = CachedScaling
};
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
InternalShape = new BulletSharp.CylinderShapeZ(new Vector3(radius, radius, height / 2))
{
LocalScaling = CachedScaling
};
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException(nameof(orientation));
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(radius * 2, height, radius * 2) * DebugScaling) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="halfExtents">The half extents.</param>
/// <param name="upAxis">Up axis.</param>
public CylinderColliderShape(Vector3 halfExtents, Vector3 upAxis)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
HalfExtents = halfExtents;
UpAxis = upAxis;
Matrix rotation;
Vector3 scaling;
if (upAxis == Vector3.UnitX)
{
InternalShape = new BulletSharp.CylinderShapeX(halfExtents);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
scaling = new Vector3(halfExtents.Y * 2.0f, halfExtents.X * 2.0f, halfExtents.Z * 2.0f);
}
else if (upAxis == Vector3.UnitZ)
{
InternalShape = new BulletSharp.CylinderShapeZ(halfExtents);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
scaling = new Vector3(halfExtents.X * 2.0f, halfExtents.Z * 2.0f, halfExtents.Y * 2.0f);
}
else //default to Y
{
UpAxis = Vector3.UnitY;
InternalShape = new BulletSharp.CylinderShape(halfExtents);
rotation = Matrix.Identity;
scaling = halfExtents * 2.0f;
}
if (!PhysicsEngine.Singleton.CreateDebugPrimitives)
{
return;
}
DebugPrimitive = GeometricPrimitive.Cylinder.New(PhysicsEngine.Singleton.DebugGraphicsDevice);
DebugPrimitiveScaling = Matrix.Scaling(scaling * 1.01f) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CylinderColliderShape"/> class.
/// </summary>
/// <param name="orientation">Up axis.</param>
/// <param name="radius">The radius of the cylinder</param>
/// <param name="height">The height of the cylinder</param>
public CylinderColliderShape(float height, float radius, ShapeOrientation orientation)
{
Type = ColliderShapeTypes.Cylinder;
Is2D = false; //always false for cylinders
Matrix rotation;
CachedScaling = Vector3.One;
shapeOrientation = orientation;
switch (orientation)
{
case ShapeOrientation.UpX:
InternalShape = new BulletSharp.CylinderShapeX(new Vector3(height/2, radius, radius))
{
LocalScaling = CachedScaling
};
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
break;
case ShapeOrientation.UpY:
InternalShape = new BulletSharp.CylinderShape(new Vector3(radius, height/2, radius))
{
LocalScaling = CachedScaling
};
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
InternalShape = new BulletSharp.CylinderShapeZ(new Vector3(radius, radius, height/2))
{
LocalScaling = CachedScaling
};
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException(nameof(orientation));
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(radius * 2, height, radius * 2) * DebugScaling) * rotation;
}
