public static void SetBox(Vector3 p, Vector3 n) {
if (box == null) {
box = new BEPUphysics.Entities.Prefabs.Box(BEPUutilities.Vector3.Zero, 1, 1, 1, 50);
box.BecomeDynamic(50);
World.Add(box);
}
box.Position = new BEPUutilities.Vector3(p.X, p.Y, p.Z);
box.Orientation = BEPUutilities.Quaternion.Identity;
box.LinearVelocity = new BEPUutilities.Vector3(n.X, n.Y, n.Z);
}
public static void SetBox(Vector3 p, Vector3 n)
{
if (box == null)
{
box = new BEPUphysics.Entities.Prefabs.Box(BEPUutilities.Vector3.Zero, 1, 1, 1, 50);
box.BecomeDynamic(50);
World.Add(box);
}
box.Position = new BEPUutilities.Vector3(p.X, p.Y, p.Z);
box.Orientation = BEPUutilities.Quaternion.Identity;
box.LinearVelocity = new BEPUutilities.Vector3(n.X, n.Y, n.Z);
}
public RigidBody(Shape shape)
{
entity = new BEPUphysics.Entities.Entity(shape.shape);
this.shape = shape;
UpdateMassProperties(shape.Mass);
//Helper.Check(shape.massDistribution);
entity.BecomeDynamic(Mass, shape.massDistribution);
//Check();
material = new Material(entity.Material);
}
private void UpdateMassProperties(float mass)
{
//Check();
this.mass = mass;
if (mass == 0.0f)
{
mass = 1.0f;
}
if (mass <= 0 || float.IsNaN(mass) || float.IsInfinity(mass))
{
entity.BecomeKinematic();
}
else
{
Matrix3X3 inertiaTensor;
Matrix3X3.Multiply(
ref shape.massDistribution,
mass * BEPUphysics.CollisionShapes.ConvexShapes.InertiaHelper.InertiaTensorScale,
out inertiaTensor
);
entity.BecomeDynamic(mass, inertiaTensor);
}
//Check();
}