public override void Start()
{
this.controllingPlayer = ((CharacterInformationComponent)Parent.GetComponent("CharacterInformationComponent")).PlayerIndex;
this.movementComponent = (MoveComponent)Parent.GetComponent("MoveComponent");
this.bepuPhysicsComponent = (BepuPhysicsComponent)Parent.GetComponent("BepuPhysicsComponent");
this.health = (VitalityComponent)Parent.GetComponent("VitalityComponent");
}
public void RecordContact <TManifold>(BepuPhysicsComponent A, BepuPhysicsComponent B, ref TManifold manifold) where TManifold : struct, IContactManifold <TManifold>
{
// sanity checking
if (A == null || B == null || manifold.Count == 0)
{
return;
}
BepuRigidbodyComponent ar = (A as BepuRigidbodyComponent);
BepuRigidbodyComponent br = (B as BepuRigidbodyComponent);
// do we want to store this collision?
if ((ar?.CollectCollisions ?? false))
{
int index = Interlocked.Increment(ref ar.processingPhysicalContactCount) - 1;
if (index < ar.CurrentPhysicalContacts.Length)
{
ar.CurrentPhysicalContacts[index].A = A;
ar.CurrentPhysicalContacts[index].B = B;
ar.CurrentPhysicalContacts[index].Normal = BepuHelpers.ToXenko(manifold.SimpleGetNormal());
ar.CurrentPhysicalContacts[index].Offset = BepuHelpers.ToXenko(manifold.SimpleGetOffset());
}
}
if ((br?.CollectCollisions ?? false))
{
int index = Interlocked.Increment(ref br.processingPhysicalContactCount) - 1;
if (index < br.CurrentPhysicalContacts.Length)
{
br.CurrentPhysicalContacts[index].A = B;
br.CurrentPhysicalContacts[index].B = A;
br.CurrentPhysicalContacts[index].Normal = -BepuHelpers.ToXenko(manifold.SimpleGetNormal());
br.CurrentPhysicalContacts[index].Offset = B.Position - (A.Position + BepuHelpers.ToXenko(manifold.SimpleGetOffset()));
}
}
}
public override void Start()
{
base.Start();
// Get a reference to the transform component
this.physicsComponent = (BepuPhysicsComponent)Parent.GetComponent("BepuPhysicsComponent");
}
public bool LoopBody(CollidableReference reference)
{
BepuPhysicsComponent bpc = BepuSimulation.getFromReference(reference);
if (((uint)bpc.CollisionGroup & lookingFor) != 0)
{
components.Add(bpc);
}
return(true);
}
public void Swap()
{
Normal.X = -Normal.X;
Normal.Y = -Normal.Y;
Normal.Z = -Normal.Z;
Offset = B.Position - (A.Position + Offset);
var C = A;
A = B;
B = C;
}
public bool ConfigureContactManifold(int workerIndex, CollidablePair pair, int childIndexA, int childIndexB, ref ConvexContactManifold manifold)
{
BepuPhysicsComponent A = getFromReference(pair.A);
BepuPhysicsComponent B = getFromReference(pair.B);
if (((uint)A.CanCollideWith & (uint)B.CollisionGroup) != 0)
{
RecordContact(A, B, ref manifold);
return(!A.GhostBody && !B.GhostBody);
}
return(false);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
BepuPhysicsComponent a = getFromReference(pair.A);
BepuPhysicsComponent b = getFromReference(pair.B);
pairMaterial.FrictionCoefficient = a.FrictionCoefficient * b.FrictionCoefficient;
pairMaterial.MaximumRecoveryVelocity = (a.MaximumRecoveryVelocity + b.MaximumRecoveryVelocity) * 0.5f;
pairMaterial.SpringSettings.AngularFrequency = (a.SpringSettings.AngularFrequency + b.SpringSettings.AngularFrequency) * 0.5f;
pairMaterial.SpringSettings.TwiceDampingRatio = (a.SpringSettings.TwiceDampingRatio + b.SpringSettings.TwiceDampingRatio) * 0.5f;
if (((uint)a.CanCollideWith & (uint)b.CollisionGroup) != 0)
{
RecordContact(a, b, ref manifold);
return(!a.GhostBody && !b.GhostBody);
}
return(false);
}
public PhysicsElementInfo(BepuPhysicsComponent component, SkeletonUpdater skeleton)
{
shape = component.ColliderShape;
var rigidbodyComponent = component as BepuRigidbodyComponent;
isKinematic = rigidbodyComponent != null && rigidbodyComponent.IsKinematic;
colliderShapes = component.ColliderShapes != null?CloneDescs(component.ColliderShapes) : null;
var componentBase = component as BepuPhysicsSkinnedComponentBase;
boneName = componentBase?.NodeName;
this.skeleton = skeleton;
boneIndex = componentBase?.BoneIndex ?? -1;
var triggerBase = component as BepuPhysicsTriggerComponentBase;
isTrigger = triggerBase != null && triggerBase.IsTrigger;
}
public Entity CreateDebugEntity(BepuPhysicsComponent component, RenderGroup renderGroup, bool alwaysAddOffset = false)
{
if (component?.ColliderShape == null)
{
return(null);
}
if (component.DebugEntity != null)
{
return(null);
}
var debugEntity = new Entity();
var skinnedElement = component as BepuPhysicsSkinnedComponentBase;
if (skinnedElement != null && skinnedElement.BoneIndex != -1)
{
Vector3 scale, pos;
Quaternion rot;
skinnedElement.BoneWorldMatrixOut.Decompose(out scale, out rot, out pos);
debugEntity.Transform.Position = pos;
debugEntity.Transform.Rotation = rot;
}
else
{
Vector3 scale, pos;
Quaternion rot;
component.Entity.Transform.WorldMatrix.Decompose(out scale, out rot, out pos);
debugEntity.Transform.Position = pos;
debugEntity.Transform.Rotation = rot;
}
var shouldNotAddOffset = component is BepuRigidbodyComponent;//|| component is BepuCharacterComponent;
//don't add offset for non bone dynamic and kinematic as it is added already in the updates
var colliderEntity = CreateChildEntity(component, component.ColliderShape, renderGroup, alwaysAddOffset || !shouldNotAddOffset);
if (colliderEntity != null)
{
debugEntity.AddChild(colliderEntity);
}
return(debugEntity);
}
public bool HasChanged(BepuPhysicsComponent component, SkeletonUpdater skeletonUpdater)
{
var componentBase = component as BepuPhysicsSkinnedComponentBase;
var triggerBase = component as BepuPhysicsTriggerComponentBase;
var newBoneName = componentBase?.NodeName;
var newIndex = componentBase?.BoneIndex ?? -1;
var rb = component as BepuRigidbodyComponent;
return(shape != component.ColliderShape ||
(colliderShapes == null && component.ColliderShapes != null) ||
(colliderShapes != null && component.ColliderShapes == null) ||
DescsAreDifferent(colliderShapes, component.ColliderShapes) ||
component.ColliderShapeChanged ||
(rb != null && isKinematic != rb.IsKinematic) ||
skeleton != skeletonUpdater ||
boneIndex != newIndex ||
boneIndex == -1 && skeletonUpdater != null && !string.IsNullOrEmpty(boneName) || //force recreation if we have a skeleton?.. wrong name tho is also possible...
triggerBase != null && triggerBase.IsTrigger != isTrigger ||
shape != null && component.DebugEntity == null || //force recreation in this case as well
boneName != newBoneName);
}
public override void Start()
{
controllingPlayer = ((CharacterInformationComponent) Parent.GetComponent("CharacterInformationComponent")).PlayerIndex;
bepuPhysicsComponent = ((BepuPhysicsComponent) Parent.GetComponent("BepuPhysicsComponent"));
}
private Entity CreateChildEntity(BepuPhysicsComponent component, BepuColliderShape shape, RenderGroup renderGroup, bool addOffset)
{
if (shape == null)
{
return(null);
}
switch (shape.Type)
{
case ColliderShapeTypes.Compound:
{
var entity = new Entity();
//We got to recurse
var compound = (BepuCompoundColliderShape)shape;
for (int i = 0; i < compound.Count; i++)
{
var subShape = compound[i];
var subEntity = CreateChildEntity(component, subShape, renderGroup, true); //always add offsets to compounds
if (subEntity != null)
{
entity.AddChild(subEntity);
}
}
entity.Transform.LocalMatrix = Matrix.Identity;
entity.Transform.UseTRS = false;
compound.DebugEntity = entity;
return(entity);
}
case ColliderShapeTypes.Box:
case ColliderShapeTypes.Capsule:
case ColliderShapeTypes.ConvexHull:
case ColliderShapeTypes.Cylinder:
case ColliderShapeTypes.Sphere:
case ColliderShapeTypes.Cone:
case ColliderShapeTypes.StaticPlane:
case ColliderShapeTypes.StaticMesh:
case ColliderShapeTypes.Heightfield:
{
IDebugPrimitive debugPrimitive;
var type = shape.GetType();
//if (type == typeof(BepuHeightfieldColliderShape))
//{
// if (!updatableDebugMeshCache.TryGetValue(shape, out debugPrimitive))
// {
// debugPrimitive = shape.CreateUpdatableDebugPrimitive(graphicsDevice);
// updatableDebugMeshCache[shape] = debugPrimitive;
// }
// if (!updatableDebugMeshes.ContainsKey(shape))
// {
// updatableDebugMeshes.Add(shape, debugPrimitive);
// }
//}
//else
if (type == typeof(BepuCapsuleColliderShape) ||
type == typeof(BepuConvexHullColliderShape)
//|| type == typeof(BepuStaticMeshColliderShape)
)
{
if (!debugMeshCache2.TryGetValue(shape, out debugPrimitive))
{
debugPrimitive = new DebugPrimitive {
shape.CreateDebugPrimitive(graphicsDevice)
};
debugMeshCache2[shape] = debugPrimitive;
}
}
else
{
if (!debugMeshCache.TryGetValue(shape.GetType(), out debugPrimitive))
{
debugPrimitive = new DebugPrimitive {
shape.CreateDebugPrimitive(graphicsDevice)
};
debugMeshCache[shape.GetType()] = debugPrimitive;
}
}
var model = new Model
{
GetMaterial(component, shape),
};
foreach (var meshDraw in debugPrimitive.GetMeshDraws())
{
model.Add(new Mesh {
Draw = meshDraw
});
}
var entity = new Entity
{
new ModelComponent
{
Model = model,
RenderGroup = renderGroup,
},
};
var offset = addOffset ? Matrix.RotationQuaternion(shape.LocalRotation) * Matrix.Translation(shape.LocalOffset) : Matrix.Identity;
entity.Transform.LocalMatrix = shape.DebugPrimitiveMatrix * offset * Matrix.Scaling(shape.Scaling);
entity.Transform.UseTRS = false;
shape.DebugEntity = entity;
return(entity);
}
default:
return(null);
}
}
public override void Start()
{
this.bepuPhysicsComponent = (BepuPhysicsComponent)Parent.GetComponent("BepuPhysicsComponent");
}
public override void Start()
{
vitalityComponent = (VitalityComponent)Parent.GetComponent("VitalityComponent");
bepuPhysicsComponent = (BepuPhysicsComponent)Parent.GetComponent("BepuPhysicsComponent");
cubeRenderComponent = (BasicModelComponent)Parent.GetComponent("BasicModelComponent");
}
