public void Start()
{
RigidBodyWorld = new RigidBodyWorld();
Physics.Physics.SetContext(RigidBodyWorld.GetWorld());
for (int i = 0; i < _entities.Count; i++)
{
_entities[i].Activate();
}
Running = true;
}
public void End()
{
Running = false;
for (int i = 0; i < _entities.Count; i++)
{
_entities[i].Deactivate();
}
Physics.Physics.SetContext(null);
RigidBodyWorld.Cleanup();
RigidBodyWorld = null;
}
public override int AddContact(ref CollisionData collisionData, RigidBodyWorld world, int limit)
{
int constacts = 0;
for (int i = 0; i < world.pcontacts.Count; i++)
{
CollisionPrimitive cp = world.pcontacts[i].Bodies[0].CollisionPrimative;
CollisionPrimitive cp2 = world.pcontacts[i].Bodies[1].CollisionPrimative;
cp.CalculateInternals();
cp2.CalculateInternals();
if (cp is CollisionSphere && cp2 is CollisionSphere)
constacts += CollisionDetector.SphereAndSphere((CollisionSphere)cp, (CollisionSphere)cp2, ref collisionData);
else if (cp is CollisionSphere && cp2 is CollisionBox)
constacts += CollisionDetector.BoxAndSphere((CollisionBox)cp2, (CollisionSphere)cp, ref collisionData);
else if (cp2 is CollisionSphere && cp is CollisionBox)
constacts += CollisionDetector.BoxAndSphere((CollisionBox)cp, (CollisionSphere)cp2, ref collisionData);
}
return constacts;
}
public override int AddContact(ref CollisionData collisionData, RigidBodyWorld world, int limits)
{
Vector3 a_pos_world = Bodies[0].GetPointInWorldSpace(Position[0]);
Vector3 b_pos_world = Bodies[1].GetPointInWorldSpace(Position[1]);
Vector3 a_to_b = b_pos_world - a_pos_world;
Vector3 normal = a_to_b;
normal.Normalize();
float length = a_to_b.Magnitude;
if (MathHelper.Abs(length) > Error)
{
Contact contact = new Contact();
contact.Bodies[0] = Bodies[0];
contact.Bodies[1] = Bodies[1];
contact.ContactNormal = normal;
contact.ContactPoint = (a_pos_world + b_pos_world) * 0.5f;
contact.Penetration = length - Error;
contact.Friction = 1.0f;
contact.Restitution = 0;
collisionData.Contacts.Add(contact);
return 1;
}
return 0;
}
public virtual int AddContact(ref CollisionData collisionData, RigidBodyWorld world, int limit)
{
return 0;
}
