/// <summary>
/// OnCollision is called once per frame for every rigidbody.
/// Send from here Massage to the Rigidbody.OnCollision(RigidBodyImp other) by an Events
/// </summary>
/// <param name="other">The other rigidbody that is collided.</param>
public virtual void OnCollision(IRigidBodyImp other)
{
//Debug.WriteLine("RigidBodyImp.OnCollision");
//TODO: Event to the RigidBody.cs class
//var otherRb = (RigidBodyImp)other;
//otherRb.ApplyTorqueImpulse = new float3(10,10,10);
}
//Point2point
public IPoint2PointConstraintImp AddPoint2PointConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btP2PConstraint = new Point2PointConstraint(btRigidBodyA, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z));
BtWorld.AddConstraint(btP2PConstraint);
var retval = new Point2PointConstraintImp();
retval._p2pci = btP2PConstraint;
btP2PConstraint.UserObject = retval;
return(retval);
}
//GenericoDofConstraint
public IGeneric6DofConstraintImp AddGeneric6DofConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFframeInA = Translater.Float4X4ToBtMatrix(frameInA);
var btGeneric6DofConstraint = new Generic6DofConstraint(btRigidBodyA, btFframeInA, useReferenceFrameA);
BtWorld.AddConstraint(btGeneric6DofConstraint);
var retval = new Generic6DofConstraintImp();
retval._g6dofci = btGeneric6DofConstraint;
btGeneric6DofConstraint.UserObject = retval;
return(retval);
}
public ISliderConstraintImp AddSliderConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useLinearReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFrameInA = Translater.Float4X4ToBtMatrix(frameInA);
var btSliderConstraint = new SliderConstraint(btRigidBodyA, btFrameInA, useLinearReferenceFrameA);
BtWorld.AddConstraint(btSliderConstraint);
var retval = new SliderConstraintImp();
retval._sci = btSliderConstraint;
btSliderConstraint.UserObject = retval;
return(retval);
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA, float3 axisInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btHingeConstraint = new HingeConstraint(btRigidBodyA, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(axisInA.x, axisInA.y, axisInA.z), useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
//ConeTwistConstraint
public IConeTwistConstraintImp AddConeTwistConstraint(IRigidBodyImp rigidBodyA, float4x4 rbAFrame)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(rbAFrame);
var btCTConstraint = new ConeTwistConstraint(btRigidBodyA, btRbAFrame);
BtWorld.AddConstraint(btCTConstraint);
var retval = new ConeTwistConstraintImp();
retval._cti = btCTConstraint;
btCTConstraint.UserObject = retval;
return(retval);
}
//GearConstraint
public IGearConstraintImp AddGearConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 axisInA, float3 axisInB, float ratio)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btAxisInA = Translater.Float3ToBtVector3(axisInA);
var btAxisInB = Translater.Float3ToBtVector3(axisInB);
var btGearConstraint = new GearConstraint(btRigidBodyA, btRigidBodyB, btAxisInA, btAxisInB, ratio);
BtWorld.AddConstraint(btGearConstraint);
var retval = new GearConstraintImp();
retval._gci = btGearConstraint;
btGearConstraint.UserObject = retval;
return(retval);
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 brAFrame, float4x4 brBFrame, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(brAFrame);
var btRbBFrame = Translater.Float4X4ToBtMatrix(brBFrame);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB, btRbAFrame, btRbBFrame, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
public ISliderConstraintImp AddSliderConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useLinearReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFrameInA = Translater.Float4X4ToBtMatrix(frameInA);
var btSliderConstraint = new SliderConstraint(btRigidBodyA, btFrameInA, useLinearReferenceFrameA);
BtWorld.AddConstraint(btSliderConstraint);
var retval = new SliderConstraintImp();
retval._sci = btSliderConstraint;
btSliderConstraint.UserObject = retval;
return retval;
}
public IPoint2PointConstraintImp AddPoint2PointConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 pivotInA,float3 pivotInB)
{
var rigidBodyAImp = (RigidBodyImp) rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp) rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btP2PConstraint = new Point2PointConstraint(btRigidBodyA, btRigidBodyB,
new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(pivotInB.x, pivotInB.y, pivotInB.z));
BtWorld.AddConstraint(btP2PConstraint);
var retval = new Point2PointConstraintImp();
retval._p2pci = btP2PConstraint;
btP2PConstraint.UserObject = retval;
return retval;
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 brAFrame, float4x4 brBFrame, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(brAFrame);
var btRbBFrame = Translater.Float4X4ToBtMatrix(brBFrame);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB,btRbAFrame, btRbBFrame, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 pivotInA, float3 pivotInB, float3 axisInA, float3 AxisInB, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(pivotInB.x, pivotInB.y, pivotInB.z), new Vector3(axisInA.x, axisInA.y, axisInA.z), new Vector3(AxisInB.x, AxisInB.y, AxisInB.z), useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}
public IGeneric6DofConstraintImp AddGeneric6DofConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 frameInA, float4x4 frameInB, bool useReferenceFrameA = false)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyAImp._rbi;
Matrix matrixA = Translater.Float4X4ToBtMatrix(frameInA);
Matrix matrixB = Translater.Float4X4ToBtMatrix(frameInB);
var btGeneric6DofConstraint = new Generic6DofConstraint(btRigidBodyA, btRigidBodyB, matrixA, matrixB, useReferenceFrameA);
BtWorld.AddConstraint(btGeneric6DofConstraint);
var retval = new Generic6DofConstraintImp();
retval._g6dofci = btGeneric6DofConstraint;
btGeneric6DofConstraint.UserObject = retval;
return retval;
}
//GearConstraint
public IGearConstraintImp AddGearConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 axisInA, float3 axisInB, float ratio)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btAxisInA = Translater.Float3ToBtVector3(axisInA);
var btAxisInB = Translater.Float3ToBtVector3(axisInB);
var btGearConstraint = new GearConstraint(btRigidBodyA, btRigidBodyB, btAxisInA, btAxisInB, ratio);
BtWorld.AddConstraint(btGearConstraint);
var retval = new GearConstraintImp();
retval._gci = btGearConstraint;
btGearConstraint.UserObject = retval;
return retval;
}
public void RemoveRigidBody(IRigidBodyImp iRigidBodyImp)
{
var rigidBodyImp = (RigidBodyImp)iRigidBodyImp;
var btRigidBody = rigidBodyImp._rbi;
CollisionObject obj = (CollisionObject)btRigidBody;
RigidBody body = btRigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
BtWorld.RemoveCollisionObject(obj);
obj.Dispose();
}
public IConeTwistConstraintImp AddConeTwistConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 rbAFrame,float4x4 rbBFrame)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(rbAFrame);
var btRbBFrame = Translater.Float4X4ToBtMatrix(rbBFrame);
var btCTConstraint = new ConeTwistConstraint(btRigidBodyA, btRigidBodyB, btRbAFrame, btRbBFrame);
BtWorld.AddConstraint(btCTConstraint);
var retval = new ConeTwistConstraintImp();
retval._cti = btCTConstraint;
btCTConstraint.UserObject = retval;
return retval;
}
/// <summary>
/// OnCollision is called once per frame for every rigidbody theis rigidbody is colliding.
/// Send ffrom here Massage to the Rigidbody.OnCollision(RigidBodyImp other) by an Events
/// </summary>
/// <param name="other">the other Rigidbody that is collided </param>
public virtual void OnCollision(IRigidBodyImp other)
{
//Debug.WriteLine("RigidBodyImp.OnCollision");
//TODO: Event to the RigidBody.cs class
//var otherRb = (RigidBodyImp)other;
//otherRb.ApplyTorqueImpulse = new float3(10,10,10);
}
