/// <summary>
/// Constructs a new static physics actor.
/// </summary>
/// <param name="desc">Descriptor for the actor.</param>
public TerrainBEPUActor(ActorDesc desc) : base(desc)
{
if (desc.Shapes.Count != 1)
{
throw new Exception("Terrain actors can only consist of one shape");
}
ShapeDesc shapeDesc = desc.Shapes[0];
if (shapeDesc is HeightFieldShapeDesc)
{
// For height fields, we need to copy the data into an Array2D.
var heightFieldDesc = shapeDesc as HeightFieldShapeDesc;
float spacing = heightFieldDesc.SizeX / heightFieldDesc.HeightField.GetLength(0);
this.collidable = new Terrain(heightFieldDesc.HeightField, new AffineTransform(
new Vector3(spacing, 1, spacing),
Quaternion.Identity,
Vector3.Zero));
}
else
{
throw new Exception("Shape description for a Terrain actor must be HeightFieldShapeDesc.");
}
// Tag the physics with data needed by the engine
var tag = new EntityTag(this.ownerEntityID);
this.collidable.Tag = tag;
this.spaceObject = this.collidable;
}
/// <summary>
/// Creates an actor using shape info and information from the parent BaseEntity.
/// </summary>
/// <param name="PhysicsScene">Reference to the physics scene</param>
protected override void CreateActor(IPhysicsScene PhysicsScene)
{
ShapeDesc newShape = CreateShapeFromType(shapeType);
// Phantoms cannot currently have dynamic physics
this.isDynamic = false;
var desc = new ActorDesc();
desc.Orientation = this.parentEntity.Rotation;
desc.Mass = this.mass;
desc.Dynamic = this.isDynamic;
desc.AffectedByGravity = this.affectedByGravity;
desc.Position = this.parentEntity.Position;
desc.Shapes.Add(newShape);
desc.EntityID = this.parentEntity.UniqueID;
desc.Game = this.parentEntity.Game;
desc.Type = ActorType.Static;
this.actor = PhysicsScene.CreateActor(desc);
if (this.actor != null)
{
this.actor.EnableCollisionListening();
}
}
public QuadTree(ShapeDesc shapedesc, int quadLevel)
{
this.sampleSize = Game.sampleSize;
// terrain/water
if (shapedesc.name.ToLower(CultureInfo.InvariantCulture).Contains("land") || !shapedesc.textures[0].Contains("default.dds"))
{
isLand = true;
}
else
{
this.sampleSize = 1;
this.isLand = false;
}
this.vertices = shapedesc.geometry.GetVertices();
this.boundingBox = new BBox();
this.boundingBox.Set(float.MaxValue, float.MinValue, float.MaxValue, float.MinValue, float.MaxValue, float.MinValue);
this.segments = new QuadTreeLeaf[(int)(this.sampleSize * quadLevel * this.sampleSize * quadLevel)];
for (int index = 0; index < (this.sampleSize * quadLevel) * (this.sampleSize * quadLevel); index++)
{
this.segments[index] = this.CreateSegment(index, quadLevel, shapedesc.geometry.GetTriangles(), shapedesc.geometry.GetVertices());
boundingBox.GrowByBox(this.segments[index].boundingBox);
}
QuadTreeLeaf quadTreeLeaf = new QuadTreeLeaf();
List <Triangle> triangles = shapedesc.geometry.GetTriangles();
quadTreeLeaf.boundingBox.GrowByBox(boundingBox);
quadTreeLeaf.triangles = triangles;
this.entirequad = quadTreeLeaf;
}
/// <summary>
/// Creates an actor using shape info and information from the parent BaseEntity.
/// </summary>
/// <param name="PhysicsScene">Reference to the physics scene</param>
protected virtual void CreateActor(IPhysicsScene PhysicsScene)
{
ShapeDesc newShape = CreateShapeFromType(shapeType);
if (newShape == null)
{
throw new Exception("Shape did not load properly");
}
ActorDesc desc = new ActorDesc();
desc.Orientation = this.parentEntity.Rotation;
desc.Mass = this.mass;
desc.Dynamic = this.isDynamic;
desc.AffectedByGravity = this.affectedByGravity;
desc.Position = this.parentEntity.Position;
desc.Shapes.Add(newShape);
desc.EntityID = this.parentEntity.UniqueID;
desc.Game = this.parentEntity.Game;
desc.Type = ActorType.Basic;
if (newShape is TriangleMeshShapeDesc)
{
var triDesc = newShape as TriangleMeshShapeDesc;
if (triDesc.Vertices.Count > 100)
{
desc.Type = ActorType.Static;
}
}
this.actor = PhysicsScene.CreateActor(desc);
}
//--------------------------------------------------------------------------------------------------
void InvalidateShape(ref ShapeDesc desc)
{
desc.Shape.Invalidate();
desc.OcShape = desc.Shape.GetBRep();
desc.Vertices = desc.OcShape.Vertices();
desc.Edges = desc.OcShape.Edges();
desc.Faces = desc.OcShape.Faces();
}
/// <summary>
/// Constructs a new static physics actor.
/// </summary>
/// <param name="desc">Descriptor for the actor.</param>
public WaterVolumeBEPUActor(ActorDesc desc) : base(desc)
{
if (desc.Shapes.Count != 1)
{
throw new Exception("Water volume actors can only consist of one shape");
}
ShapeDesc shapeDesc = desc.Shapes[0];
if (shapeDesc is BoxShapeDesc)
{
var boxDesc = shapeDesc as BoxShapeDesc;
this.volumeExtents = boxDesc.Extents;
var tris = new List <Vector3[]>();
float basinWidth = boxDesc.Extents.X;
float basinLength = boxDesc.Extents.Z;
float waterHeight = desc.Position.Y;
this.position = desc.Position;
//Remember, the triangles composing the surface need to be coplanar with the surface. In this case, this means they have the same height.
tris.Add(new[]
{
desc.Position, new Vector3(basinWidth, 0, 0) + desc.Position,
new Vector3(0, 0, basinLength) + desc.Position
});
tris.Add(new[]
{
new Vector3(0, 0, basinLength) + desc.Position, new Vector3(basinWidth, 0, 0) + desc.Position,
new Vector3(basinWidth, 0, basinLength) + desc.Position
});
var msgGetScene = ObjectPool.Aquire <MsgGetPhysicsScene>();
this.game.SendInterfaceMessage(msgGetScene, Interfaces.InterfaceType.Physics);
this.fluidVolume = new FluidVolume(Vector3.Up, msgGetScene.PhysicsScene.Gravity.Y, tris, waterHeight, 1.0f, 0.8f, 0.7f, msgGetScene.PhysicsScene.PhysicsSpace.BroadPhase.QueryAccelerator, msgGetScene.PhysicsScene.PhysicsSpace.ThreadManager);
}
else
{
throw new Exception("Shape description for a Terrain actor must be HeightFieldShapeDesc.");
}
// Tag the physics with data needed by the engine
var tag = new EntityTag(this.ownerEntityID);
this.fluidVolume.Tag = tag;
this.spaceObject = this.fluidVolume;
}
private void setupPhysics()
{
//if (mControlled)
//{
// SimpleShape shape = new SimpleShape(new Mogre.Vector3(50, CHAR_HEIGHT, 0));
// CharacterControllerDescription description = new CharacterControllerDescription();
// physicsController = new CharacterController();
// physicsController.createCharacterController(mBodyNode.Position, shape, description, mPhysicsScene);
//}
//else
//{
rigidBody = new RigidBody();
RigidBodyDescription description = new RigidBodyDescription();
description.Density = 4;
description.LinearVelocity = new Mogre.Vector3(0, 2, 5);
ShapeDesc shape = mPhysics.CreateConvexHull(new
StaticMeshData(mBodyEnt.GetMesh()));
rigidBody.CreateDynamic(
mBodyNode.Position,
mBodyNode.Orientation.ToRotationMatrix(),
description,
mPhysicsScene,
shape);
//BodyDesc bodyDesc = new BodyDesc();
//bodyDesc.LinearVelocity = new Mogre.Vector3(0, 2, 5);
//
//// the actor properties control the mass, position and orientation
//// if you leave the body set to null it will become a static actor and wont move
//ActorDesc actorDesc = new ActorDesc();
//actorDesc.Density = 4;
//actorDesc.Body = bodyDesc;
//actorDesc.GlobalPosition = mBodyNode.Position;
//actorDesc.GlobalOrientation = mBodyNode.Orientation.ToRotationMatrix();
// a quick trick the get the size of the physics shape right is to use the bounding box of the entity
//actorDesc.Shapes.Add(
// mPhysics.CreateConvexHull(new
// StaticMeshData(mBodyEnt.GetMesh())));
//
//// finally, create the actor in the physics scene
//mActor = mPhysicsScene.CreateActor(actorDesc);
if (!mControlled)
{
((SinbadState)mWorld).AddActorNode(new ActorNode(mBodyNode, rigidBody.Actor));
}
//}
}
//--------------------------------------------------------------------------------------------------
ShapeDesc MakeBooleanCut(ShapeDesc op1, ShapeDesc op2)
{
var desc = new ShapeDesc
{
Shape = BooleanCut.Create(op1.Body, new BodyShapeOperand(op2.Body))
};
desc.OcShape = desc.Shape.GetBRep();
desc.Vertices = desc.OcShape.Vertices();
Assert.AreEqual(10, desc.Vertices.Count);
desc.Edges = desc.OcShape.Edges();
Assert.AreEqual(15, desc.Edges.Count);
desc.Faces = desc.OcShape.Faces();
Assert.AreEqual(7, desc.Faces.Count);
return(desc);
}
public void CreateDynamic(
Vector3 pose,
Matrix3 oritentaion,
RigidBodyDescription description,
Scene scene,
ShapeDesc shape)
{
BodyDesc bodyDesc = new BodyDesc();
ActorDesc actorDesc = new ActorDesc();
description.ToNxActor(ref actorDesc, ref bodyDesc);
actorDesc.Body = bodyDesc;
actorDesc.GlobalPosition = pose;
actorDesc.GlobalOrientation = oritentaion;
actorDesc.Shapes.Add(shape);
Actor = scene.CreateActor(actorDesc);
}
//--------------------------------------------------------------------------------------------------
ShapeDesc MakeCylinder()
{
var desc = new ShapeDesc
{
Shape = new Cylinder()
{
Height = 10,
Radius = 2,
}
};
desc.Body = TestGeomGenerator.CreateBody(desc.Shape, new Pnt(5, 5, 0));
desc.OcShape = desc.Shape.GetBRep();
desc.Vertices = desc.OcShape.Vertices();
Assert.AreEqual(2, desc.Vertices.Count);
desc.Edges = desc.OcShape.Edges();
Assert.AreEqual(3, desc.Edges.Count);
desc.Faces = desc.OcShape.Faces();
Assert.AreEqual(3, desc.Faces.Count);
return(desc);
}
//--------------------------------------------------------------------------------------------------
ShapeDesc MakeBox()
{
var desc = new ShapeDesc
{
Shape = new Box()
{
DimensionX = 10,
DimensionY = 10,
DimensionZ = 10,
}
};
desc.Body = TestGeomGenerator.CreateBody(desc.Shape);
desc.OcShape = desc.Shape.GetBRep();
desc.Vertices = desc.OcShape.Vertices();
Assert.AreEqual(8, desc.Vertices.Count);
desc.Edges = desc.OcShape.Edges();
Assert.AreEqual(12, desc.Edges.Count);
desc.Faces = desc.OcShape.Faces();
Assert.AreEqual(6, desc.Faces.Count);
return(desc);
}
/// <summary>
/// Creates an actor using shape info and information from the parent BaseEntity.
/// </summary>
/// <param name="PhysicsScene">Reference to the physics scene</param>
protected override void CreateActor(IPhysicsScene PhysicsScene)
{
ShapeDesc newShape = CreateShapeFromType(shapeType);
if (newShape == null)
{
throw new Exception("Shape did not load properly");
}
ActorDesc desc = new ActorDesc();
desc.Orientation = this.parentEntity.Rotation;
desc.Mass = this.mass;
desc.Dynamic = false;
desc.AffectedByGravity = false;
desc.Position = this.parentEntity.Position;
desc.Shapes.Add(newShape);
desc.EntityID = this.parentEntity.UniqueID;
desc.Game = this.parentEntity.Game;
desc.Type = ActorType.Water;
this.actor = PhysicsScene.CreateActor(desc);
}
/// <summary>
/// Constructs a new physics actor.
/// </summary>
/// <param name="desc">Descriptor for the actor.</param>
public StaticBEPUActor(ActorDesc desc) : base(desc)
{
// Build all shapes that make up the actor.
for (int i = 0; i < desc.Shapes.Count; ++i)
{
ShapeDesc shapeDesc = desc.Shapes[i];
var tag = new EntityTag(this.ownerEntityID);
if (shapeDesc is BoxShapeDesc)
{
var boxDesc = shapeDesc as BoxShapeDesc;
this.body.PhysicsEntity = new Box(desc.Position, boxDesc.Extents.X, boxDesc.Extents.Y, boxDesc.Extents.Z);
}
else if (shapeDesc is SphereShapeDesc)
{
var sphereDesc = shapeDesc as SphereShapeDesc;
this.body.PhysicsEntity = new Sphere(desc.Position, sphereDesc.Radius);
}
else if (shapeDesc is CapsuleShapeDesc)
{
var capDesc = shapeDesc as CapsuleShapeDesc;
this.body.PhysicsEntity = new Capsule(desc.Position, capDesc.Length, capDesc.Radius);
}
else if (shapeDesc is CylinderShapeDesc)
{
var cylDesc = shapeDesc as CylinderShapeDesc;
this.body.PhysicsEntity = new Cylinder(desc.Position, cylDesc.Height, cylDesc.Radius);
}
else if (shapeDesc is TriangleMeshShapeDesc)
{
var triDesc = shapeDesc as TriangleMeshShapeDesc;
this.collidable = new StaticMesh(triDesc.Vertices.ToArray(),
triDesc.Indices.ToArray(),
new AffineTransform(Quaternion.CreateFromRotationMatrix(desc.Orientation), desc.Position));
this.collidable.Tag = tag;
this.spaceObject = this.collidable;
}
else if (shapeDesc is HeightFieldShapeDesc)
{
throw new Exception("To load terrain physics you must use a TerrainBEPUActor.");
}
else
{
throw new Exception("Bad shape.");
}
if (null != this.body.PhysicsEntity)
{
SetMovable(false);
this.body.PhysicsEntity.Tag = tag;
this.body.PhysicsEntity.CollisionInformation.Tag = tag;
this.spaceObject = this.body.PhysicsEntity;
}
}
if (this.body.PhysicsEntity != null)
{
this.spaceObject = this.body.PhysicsEntity;
this.body.PhysicsEntity.BecomeKinematic();
this.body.PhysicsEntity.IsAffectedByGravity = desc.Dynamic;
}
Debug.Assert(this.spaceObject != null, "A physics entity was not properly created.");
}
public void CreateStatic(Vector3 pose, RigidBodyDescription description, Scene scene, ShapeDesc shape)
{
ActorDesc actorDesc = new ActorDesc();
actorDesc.GlobalPosition = pose;
actorDesc.Body = null;
description.ToNxActor(ref actorDesc);
actorDesc.Shapes.Add(shape);
Actor = scene.CreateActor(actorDesc);
}