/// <summary>
/// 剛体を生成する
/// </summary>
/// <param name="rigidBodyData_s">剛体データ</param>
private void CreateRigid(List <RigidBodyData> rigidBodyData_s)
{
foreach (var r in rigidBodyData_s)
{
var tempRigidBodyData = new TempRigidBodyData(r);
var init_matrix = tempRigidBodyData.init_matrix;
tempRigidBodyData_s.Add(tempRigidBodyData);
BulletSharp.RigidBody rigidBody = null;
CollisionShape collisionShape;
switch (r.Shape)
{
case RigidBodyShape.Sphere: // 球体
collisionShape = new SphereShape(r.Size.X);
break;
case RigidBodyShape.Box: // ボックス
collisionShape = new BoxShape(r.Size.X, r.Size.Y, r.Size.Z);
break;
case RigidBodyShape.Capsule: // カプセル
collisionShape = new CapsuleShape(r.Size.X, r.Size.Y);
break;
default: // 例外処理
throw new System.Exception("Invalid rigid body data");
}
var rigidProperty = new RigidProperty(r.Mass, r.Repulsion, r.Friction, r.MoveAttenuation, r.RotationAttenuation);
var superProperty = new SuperProperty(r.PhysicsCalcType == PhysicsCalcType.Static, (CollisionFilterGroups)(1 << r.RigidBodyGroup), (CollisionFilterGroups)r.UnCollisionGroupFlag);
rigidBody = bulletManager.CreateRigidBody(collisionShape, init_matrix, rigidProperty, superProperty);
rigidBodies.Add(rigidBody);
}
}
/// <summary>
/// To create a rigid
/// </summary>
/// <param name="rigidBodyData">Rigid data</param>
private void CreateRigid(List <RigidBodyData> rigidBodyData)
{
foreach (var r in rigidBodyData)
{
var tempRigidBodyData = new TempRigidBodyData(r);
//Debug.WriteLine("名字: {0}, 质量: {1}， 排斥力: {2}， 摩擦: {3}， 移动衰减: {4}， 旋转衰减: {5}",
// r.RigidBodyName, r.Mass, r.Repulsion, r.Friction, r.MoveAttenuation, r.Rotation);
var init_matrix = tempRigidBodyData.init_matrix;
this.tempRigidBodyData.Add(tempRigidBodyData);
RigidBody rigidBody = null;
CollisionShape collisionShape;
switch (r.Shape)
{
case RigidBodyShape.Sphere: // 球体
collisionShape = new SphereShape(r.Size.X);
break;
case RigidBodyShape.Box: // box
collisionShape = new BoxShape(r.Size.X, r.Size.Y, r.Size.Z);
break;
case RigidBodyShape.Capsule: // capsule
collisionShape = new CapsuleShape(r.Size.X, r.Size.Y);
break;
default: // Exception handling
throw new System.Exception("Invalid rigid body data");
}
//质量， 排斥力， 摩擦， 移动衰减， 旋转衰减
var rigidProperty = new RigidProperty(r.Mass, r.Repulsion, r.Friction, r.MoveAttenuation, r.RotationAttenuation);
var superProperty = new SuperProperty(r.PhysicsCalcType == PhysicsCalcType.Static, (CollisionFilterGroups)(1 << r.RigidBodyGroup), (CollisionFilterGroups)r.UnCollisionGroupFlag);
rigidBody = this.bulletManager.CreateRigidBody(collisionShape, init_matrix, rigidProperty, superProperty);
this.rigidBodies.Add(rigidBody);
}
}
/// <summary>
/// 剛体を作る
/// </summary>
/// <param name="collisionShape">剛体の形</param>
/// <param name="world">剛体のワールド変換行列</param>
/// <param name="rigidProperty">剛体の物性</param>
/// <param name="superProperty">物理演算を超越した特性</param>
/// <returns></returns>
public RigidBody CreateRigidBody(CollisionShape collisionShape, Matrix world, RigidProperty rigidProperty, SuperProperty superProperty)
{
var mass = superProperty.kinematic ? 0 : rigidProperty.mass;
collisionShapes.Add(collisionShape);
Vector3 localInertia = new Vector3(0, 0, 0);
if (mass != 0)
{
collisionShape.CalculateLocalInertia(mass, out localInertia);
}
DefaultMotionState motionState = new DefaultMotionState(world);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
body.Restitution = rigidProperty.restitution;
body.Friction = rigidProperty.friction;
body.SetDamping(rigidProperty.linear_damp, rigidProperty.angular_damp);
float linearDamp = body.LinearDamping;
float angularDamp = body.AngularDamping;
if (superProperty.kinematic)
{
body.CollisionFlags = body.CollisionFlags | CollisionFlags.KinematicObject;
}
body.ActivationState = ActivationState.DisableDeactivation;
dynamicsWorld.AddRigidBody(body, superProperty.group, superProperty.mask);
return(body);
}
/// <summary>
/// 剛体を作る
/// </summary>
/// <param name="collisionShape">剛体の形</param>
/// <param name="world">剛体のワールド変換行列</param>
/// <param name="rigidProperty">剛体の物性</param>
/// <param name="superProperty">物理演算を超越した特性</param>
/// <returns>剛体</returns>
public RigidBody CreateRigidBody(CollisionShape collisionShape, Matrix world, RigidProperty rigidProperty, SuperProperty superProperty)
{
return(rigidBodyFactory.CreateRigidBody(collisionShape, world, rigidProperty, superProperty));
}