private void AddBody <T>() where T : unmanaged, IConvexShape
{
T withType = (T)colliderShape;
colliderShape.ComputeInertia(mass, out BodyInertia inertia);
if (isStatic)
{
staticHandle = PhysicsHandler.Simulation.Statics.Add(
new StaticDescription(
parent.Movement.Position,
new CollidableDescription(
PhysicsHandler.Simulation.Shapes.Add(withType),
0.1f
)
)
);
}
else
{
bodyHandle = PhysicsHandler.Simulation.Bodies.Add(
BodyDescription.CreateDynamic(
parent.Movement.Position,
inertia,
new CollidableDescription(
PhysicsHandler.Simulation.Shapes.Add(withType),
0.1f
),
new BodyActivityDescription(0.01f)
)
);
}
}
protected virtual BodyInertia GetBodyInertia(IConvexShape shape, float mass)
{
shape.ComputeInertia(mass, out var bodyInertia);
// this locks rotation along the X and Z axes, aiding 2d physics
bodyInertia.InverseInertiaTensor.XX = 0;
bodyInertia.InverseInertiaTensor.ZZ = 0;
return(bodyInertia);
}
public void SetCollider(PhysicsType type)
{
if (PhysicsBodyInitialized)
{
RemoveCollider();
if (type == PhysicsType.None)
{
PhysicsType = type;
if (Physics.PhysicsObjects.Contains(this))
{
Physics.PhysicsObjects.Remove(this);
}
return;
}
}
if (type == PhysicsType.Cube)
{
Box shape = new Box(2.0f, 2.0f, 2.0f);
ShapeIndex = Physics.simulator.Shapes.Add(shape);
Shape = shape;
}
else if (type == PhysicsType.Sphere)
{
Sphere shape = new Sphere(2.0f);
ShapeIndex = Physics.simulator.Shapes.Add(shape);
Shape = shape;
}
Shape.ComputeInertia(Mass, out BodyInertia inertia);
PhysicsDescription = BodyDescription.CreateDynamic(transform.Position, inertia, new CollidableDescription(ShapeIndex, 0.1f), new BodyActivityDescription(0.01f));
BodyHandle = Physics.simulator.Bodies.Add(PhysicsDescription);
BodyReference = Physics.simulator.Bodies.GetBodyReference(BodyHandle);
if (!Physics.PhysicsObjects.Contains(this))
{
Physics.PhysicsObjects.Add(this);
}
PhysicsType = type;
PhysicsBodyInitialized = true;
physicsEnabled = true;
}
