/// <summary>
/// Initialize physical-engine related stuff and set callbacks to respond to contact start / ended / processed events.
/// </summary>
public static void Initialize()
{
// set collision start callback
BulletSharp.ManifoldPoint.ContactAdded += (
BulletSharp.ManifoldPoint cp,
BulletSharp.CollisionObjectWrapper obj0,
int partId0,
int index0,
BulletSharp.CollisionObjectWrapper obj1,
int partId1,
int index1) =>
{
// get physical bodies
BasicPhysicalBody body0 = obj0.CollisionObject.UserObject as BasicPhysicalBody;
BasicPhysicalBody body1 = obj1.CollisionObject.UserObject as BasicPhysicalBody;
// if one of the bodies don't support collision skip
if (body0 == null || body1 == null)
{
return;
}
// store both bodies for the collision end event
cp.UserPersistentData = new CollisionPersistData(body0, body1);
// send collision events
CollisionData data = new CollisionData(ToMonoGame.Vector(cp.PositionWorldOnA));
body0.CallCollisionStart(body1, ref data);
body1.CallCollisionStart(body0, ref data);
};
// set while-collising callback
BulletSharp.PersistentManifold.ContactProcessed += (
BulletSharp.ManifoldPoint cp,
BulletSharp.CollisionObject body0,
BulletSharp.CollisionObject body1) =>
{
if (cp.UserPersistentData == null)
{
return;
}
CollisionPersistData data = (CollisionPersistData)cp.UserPersistentData;
data.Body0.CallCollisionProcess(data.Body1);
data.Body1.CallCollisionProcess(data.Body0);
};
// set collising-ended callback
BulletSharp.PersistentManifold.ContactDestroyed += (object userPersistantData) =>
{
if (userPersistantData == null)
{
return;
}
CollisionPersistData data = (CollisionPersistData)userPersistantData;
data.Body0.CallCollisionEnd(data.Body1);
data.Body1.CallCollisionEnd(data.Body0);
};
}
/// <summary>
/// Convert an array of vectors from Bullet3d to MonoGame.
/// </summary>
/// <param name="bvecs">Bullet3d vectors array to convert.</param>
/// <returns>Array of MonoGame vectors.</returns>
public static Vector3[] Vectors(BulletSharp.Math.Vector3[] bvecs)
{
Vector3[] vectors = new Vector3[bvecs.Length];
int i = 0;
foreach (var bvector in bvecs)
{
vectors[i++] = ToMonoGame.Vector(bvector);
}
return(vectors);
}
/// <summary>
/// Draw a line with a single color.
/// </summary>
/// <param name="from">Starting pos.</param>
/// <param name="to">Ending pos.</param>
/// <param name="color">Color.</param>
public override void DrawLine(ref BulletSharp.Math.Vector3 from, ref BulletSharp.Math.Vector3 to, ref BulletSharp.Math.Vector3 color)
{
Color col = new Color(color.X, color.Y, color.Z);
var vertices = new[]
{
new VertexPositionColor(ToMonoGame.Vector(from), col),
new VertexPositionColor(ToMonoGame.Vector(to), col)
};
_device.DrawUserPrimitives(PrimitiveType.LineList, vertices, 0, 1);
}
/// <summary>
/// Perform a raycast test and return colliding results, using native bullet objects.
/// </summary>
/// <param name="bStart">Start ray vector (bullet vector).</param>
/// <param name="bEnd">End ray vector (bullet vector).</param>
/// <param name="resultsCallback">BulletSharp results callback.</param>
internal RaycastResults Raycast(BulletSharp.Math.Vector3 bStart, BulletSharp.Math.Vector3 bEnd, BulletSharp.RayResultCallback resultsCallback)
{
// perform the ray test
_world.RayTestRef(ref bStart, ref bEnd, resultsCallback);
// create results object to return
RaycastResults results = new RaycastResults();
// parse data based on type
// closest result / closest but not me types:
if (resultsCallback is BulletSharp.ClosestRayResultCallback)
{
// convert to closest results type
BulletSharp.ClosestRayResultCallback closestReults = resultsCallback as BulletSharp.ClosestRayResultCallback;
// set results data
results.HasHit = closestReults.HasHit;
if (results.HasHit)
{
results.Collisions = new RaycastResults.SingleResult[1];
results.Collisions[0].HitFraction = closestReults.ClosestHitFraction;
results.Collisions[0].CollisionNormal = ToMonoGame.Vector(closestReults.HitNormalWorld);
results.Collisions[0].CollisionPoint = ToMonoGame.Vector(closestReults.HitPointWorld);
results.Collisions[0].CollisionBody = (closestReults.CollisionObject.UserObject as BasicPhysicalBody).EcsComponent;
}
}
// all results type
else if (resultsCallback is BulletSharp.AllHitsRayResultCallback)
{
// convert to all results type
BulletSharp.AllHitsRayResultCallback allResults = resultsCallback as BulletSharp.AllHitsRayResultCallback;
// set results data
results.HasHit = allResults.HasHit;
if (results.HasHit)
{
results.Collisions = new RaycastResults.SingleResult[allResults.CollisionObjects.Count];
for (int i = 0; i < allResults.CollisionObjects.Count; ++i)
{
results.Collisions[i].HitFraction = allResults.HitFractions[i];
results.Collisions[i].CollisionNormal = ToMonoGame.Vector(allResults.HitNormalWorld[i]);
results.Collisions[i].CollisionPoint = ToMonoGame.Vector(allResults.HitPointWorld[i]);
results.Collisions[i].CollisionBody = (allResults.CollisionObjects[i].UserObject as BasicPhysicalBody).EcsComponent;
}
}
}
// finally, return parsed results
return(results);
}
