/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="is2D">If this cube is a 2D quad</param>
/// <param name="size">The size of the cube</param>
public BoxColliderShape(bool is2D, Vector3 size)
{
Type = ColliderShapeTypes.Box;
Is2D = is2D;
BoxSize = size;
//Box is not working properly when in a convex2dshape, Z cannot be 0
cachedScaling = Is2D ? new Vector3(1, 1, 0.001f) : Vector3.One;
if (is2D)
{
size.Z = 0.001f;
}
var shape = new BulletSharp.BoxShape(size / 2)
{
LocalScaling = cachedScaling,
};
if (Is2D)
{
InternalShape = new BulletSharp.Convex2DShape(shape)
{
LocalScaling = cachedScaling
};
}
else
{
InternalShape = shape;
}
DebugPrimitiveMatrix = Matrix.Scaling(size * DebugScaling);
}
/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="size">The size of the cube</param>
public BoxColliderShape(Vector3 size)
{
Type = ColliderShapeTypes.Box;
Is2D = false;
InternalShape = new BulletSharp.BoxShape(size / 2);
DebugPrimitiveMatrix = Matrix.Scaling(size * 1.01f);
}
/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="halfExtents">The half extents.</param>
public BoxColliderShape(Vector3 halfExtents)
{
Type = ColliderShapeTypes.Box;
Is2D = false;
InternalShape = new BulletSharp.BoxShape(halfExtents);
DebugPrimitiveMatrix = Matrix.Scaling((halfExtents * 2.0f) * 1.01f);
}
/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="halfExtents">The half extents.</param>
public BoxColliderShape(Vector3 halfExtents)
{
Type = ColliderShapeTypes.Box;
Is2D = false;
InternalShape = new BulletSharp.BoxShape(halfExtents);
DebugPrimitiveMatrix = Matrix.Scaling((halfExtents * 2.0f) * 1.01f);
}
/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="size">The size of the cube</param>
public BoxColliderShape(Vector3 size)
{
Type = ColliderShapeTypes.Box;
Is2D = false;
InternalShape = new BulletSharp.BoxShape(size/2)
{
LocalScaling = Vector3.One
};
DebugPrimitiveMatrix = Matrix.Scaling(size * 1.01f);
}
/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="size">The size of the cube</param>
public BoxColliderShape(Vector3 size)
{
Type = ColliderShapeTypes.Box;
Is2D = false;
CachedScaling = Vector3.One;
InternalShape = new BulletSharp.BoxShape(size / 2)
{
LocalScaling = CachedScaling
};
DebugPrimitiveMatrix = Matrix.Scaling(size * DebugScaling);
}
/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="halfExtents">The half extents.</param>
public BoxColliderShape(Vector3 halfExtents)
{
Type = ColliderShapeTypes.Box;
Is2D = false;
HalfExtents = halfExtents;
InternalShape = new BulletSharp.BoxShape(halfExtents);
if (!PhysicsEngine.Singleton.CreateDebugPrimitives)
{
return;
}
DebugPrimitive = GeometricPrimitive.Cube.New(PhysicsEngine.Singleton.DebugGraphicsDevice);
DebugPrimitiveScaling = Matrix.Scaling((halfExtents * 2.0f) * 1.01f);
}
public void InitializeWorld()
{
mGameObjects = new List <NetGameObject>();
//mWorldMap = new WorldMap();
#if _USE_BEPU_PHYSICS
space = new BEPUphysics.Space();
space.ForceUpdater.Gravity = new BEPUutilities.Vector3(0, -9.81f, 0);
#elif _USE_BULLET_SHARP
Broadphase = new BulletSharp.AxisSweep3(new BulletSharp.Math.Vector3(-1000, -1000, -1000), new BulletSharp.Math.Vector3(1000, 1000, 1000));
var conf = new BulletSharp.DefaultCollisionConfiguration();
var dispatcher = new BulletSharp.CollisionDispatcher(conf);
world = new BulletSharp.MultiBodyDynamicsWorld(dispatcher, Broadphase, new BulletSharp.MultiBodyConstraintSolver(), conf);
world.Gravity = new BulletSharp.Math.Vector3(0, -9.81f, 0);
var box = new BulletSharp.BoxShape(50f, 1f, 50f);
//box.Margin = 0f;
floor = new BulletSharp.RigidBody(new BulletSharp.RigidBodyConstructionInfo(0f, new BulletSharp.DefaultMotionState(), box, new BulletSharp.Math.Vector3(0, -2f, 0)));
floor.CollisionFlags = BulletSharp.CollisionFlags.KinematicObject;
BulletSharp.Math.Matrix worldTrans = new BulletSharp.Math.Matrix();
worldTrans.M41 = 0f;
worldTrans.M42 = -2f;
worldTrans.M43 = 0;
floor.WorldTransform = worldTrans;
//floor.Friction = 0.5f;
world.AddRigidBody(floor, BulletSharp.CollisionFilterGroups.DefaultFilter, //BulletSharp.CollisionFilterGroups.Everything);
(BulletSharp.CollisionFilterGroups.DefaultFilter
| BulletSharp.CollisionFilterGroups.StaticFilter
| BulletSharp.CollisionFilterGroups.KinematicFilter
| BulletSharp.CollisionFilterGroups.DebrisFilter
| BulletSharp.CollisionFilterGroups.SensorTrigger
| BulletSharp.CollisionFilterGroups.CharacterFilter
)
);
#elif _USE_BEPU_PHYSICS_V2
characters = new BepuPhysics.CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new BepuPhysics.CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new System.Numerics.Vector3(0, -10, 0)));
Simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(0, 0, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(50, 1, 50)), 0.1f)));
#endif
}
/// <summary>
/// Initializes a new instance of the <see cref="BoxColliderShape"/> class.
/// </summary>
/// <param name="is2D">If this cube is a 2D quad</param>
/// <param name="size">The size of the cube</param>
public BoxColliderShape(bool is2D, Vector3 size, Vector3?offset = null, Quaternion?localrot = null)
{
Type = ColliderShapeTypes.Box;
Is2D = is2D;
BoxSize = size;
//Box is not working properly when in a convex2dshape, Z cannot be 0
cachedScaling = Is2D ? new Vector3(1, 1, 0.001f) : Vector3.One;
if (is2D)
{
size.Z = 0.001f;
}
var shape = new BulletSharp.BoxShape(size / 2)
{
LocalScaling = cachedScaling,
};
if (Is2D)
{
InternalShape = new BulletSharp.Convex2DShape(shape)
{
LocalScaling = cachedScaling
};
}
else
{
InternalShape = shape;
}
DebugPrimitiveMatrix = Matrix.Scaling(size * DebugScaling);
if (offset.HasValue || localrot.HasValue)
{
LocalOffset = offset ?? Vector3.Zero;
LocalRotation = localrot ?? Quaternion.Identity;
UpdateLocalTransformations();
}
}
public BoxShape(OpenTK.Vector3 halfExtents)
{
HalfExtent = halfExtents;
BulletShape = new BulletSharp.BoxShape(halfExtents);
BulletShape.UserObject = this;
}
/// <summary>
/// Create the collision box.
/// </summary>
/// <param name="width">Box base width (X axis).</param>
/// <param name="height">Box base height (Y axis).</param>
/// <param name="depth">Bow base depth (Z axis).</param>
public CollisionBox(float width = 1f, float height = 1f, float depth = 1f)
{
_shape = new BulletSharp.BoxShape(width / 2f, height / 2f, depth / 2f);
}
