internal RigidBody(GodotRigidBody rigidbody, Spatial sceneRoot)
{
_sceneRoot = sceneRoot;
_rigidbody = rigidbody;
// Read initial values
Update(rigidbody);
}
public static MRERigidBodyConstraints GetMRERigidBodyConstraints(this Godot.RigidBody rigidBody)
{
MRERigidBodyConstraints constraints = 0;
if (rigidBody.AxisLockLinearX)
{
constraints |= MRERigidBodyConstraints.FreezePositionX;
}
if (rigidBody.AxisLockLinearY)
{
constraints |= MRERigidBodyConstraints.FreezePositionY;
}
if (rigidBody.AxisLockLinearZ)
{
constraints |= MRERigidBodyConstraints.FreezePositionZ;
}
if (rigidBody.AxisLockAngularX)
{
constraints |= MRERigidBodyConstraints.FreezeRotationX;
}
if (rigidBody.AxisLockAngularY)
{
constraints |= MRERigidBodyConstraints.FreezeRotationY;
}
if (rigidBody.AxisLockAngularZ)
{
constraints |= MRERigidBodyConstraints.FreezeRotationZ;
}
return(constraints);
}
public void addRigidBody(Guid id, Godot.RigidBody rigidbody, Guid source, bool isKinematic)
{
Debug.Assert(!_rigidBodies.ContainsKey(id), "PhysicsBridge already has an entry for rigid body with specified ID.");
bool isLocalSumulationAuthoritative = LocalUserId == source;
var rb = new RigidBodyPhysicsBridgeInfo(id, rigidbody, isLocalSumulationAuthoritative);
_rigidBodies.Add(id, rb);
if (isLocalSumulationAuthoritative)
{
rb.IsKeyframed = isKinematic;
if (isKinematic)
{
rigidbody.Mode = Godot.RigidBody.ModeEnum.Kinematic;
}
}
else
{
rigidbody.Mode = Godot.RigidBody.ModeEnum.Kinematic;
_snapshotManager.RegisterOrUpateRigidBody(id, source);
}
}
} // end of PredictAllRemoteBodiesWithOwnedBodies
private Vector3 ClosestPointOnBounds(Godot.RigidBody from, Godot.RigidBody to)
{
var toCollisionShape = to.GetChild <CollisionShape>(1);
var aabb = toCollisionShape.Shape.GetDebugMesh().GetAabb();
var aabbPosition = aabb.Position;
var aabbEnd = aabb.End;
Vector3[] collisionPoint = new Vector3[8];
collisionPoint[0] = aabbPosition;
collisionPoint[1] = new Vector3(aabbPosition.x, aabbPosition.y, aabbEnd.z);
collisionPoint[2] = new Vector3(aabbEnd.x, aabbPosition.y, aabbEnd.z);
collisionPoint[3] = new Vector3(aabbEnd.x, aabbPosition.y, aabbPosition.z);
collisionPoint[4] = new Vector3(aabbPosition.x, aabbEnd.y, aabbPosition.z);
collisionPoint[5] = new Vector3(aabbPosition.x, aabbEnd.y, aabbEnd.z);
collisionPoint[6] = new Vector3(aabbEnd.x, aabbEnd.y, aabbPosition.z);
collisionPoint[7] = aabbEnd;
var shortest = to.GlobalTransform.origin.DistanceSquaredTo(from.GlobalTransform.origin);
Vector3 ret = Vector3.Zero;
foreach (var point in collisionPoint.Select(x => x + to.GlobalTransform.origin))
{
var distance = point.DistanceSquaredTo(from.GlobalTransform.origin);
if (shortest > distance)
{
shortest = distance;
ret = point;
}
}
return(ret);
}
public RigidBodyPhysicsBridgeInfo(Guid id, Godot.RigidBody rb, bool ownership)
{
Id = id;
RigidBody = rb;
Ownership = ownership;
lastTimeKeyFramedUpdate = 0.0f;
lastValidLinerVelocityOrPos = new Vector3(0.0f, 0.0f, 0.0f);
lastValidAngularVelocityorAng = new Vector3(0.0f, 0.0f, 0.0f);
numOfConsequentSleepingFrames = 0;
IsKeyframed = false;
}
internal void Update(GodotRigidBody rigidbody)
{
Velocity.FromGodotVector3(_sceneRoot.ToLocal(rigidbody.LinearVelocity));
AngularVelocity.FromGodotVector3(_sceneRoot.ToLocal(rigidbody.AngularVelocity));
// No need to read Position or Rotation. They're write-only from the patch to the component.
Mass = rigidbody.Mass;
DetectCollisions = !rigidbody.GetChild <CollisionShape>()?.Disabled ?? false;
CollisionDetectionMode = rigidbody.ContinuousCd switch
{
true => MRECollisionDetectionMode.Continuous,
false => MRECollisionDetectionMode.Discrete
};
UseGravity = !Mathf.IsZeroApprox(rigidbody.GravityScale);
ConstraintFlags = rigidbody.GetMRERigidBodyConstraints();
}
public static RigidBodyPatch GeneratePatch(MixedRealityExtension.Core.RigidBody _old, Godot.RigidBody _new,
Spatial sceneRoot, bool addVelocities)
{
if (_old == null && _new != null)
{
return(new RigidBodyPatch(_new, sceneRoot));
}
else if (_new == null)
{
return(null);
}
var patch = new RigidBodyPatch()
{
// Do not include Position or Rotation in the patch.
// we add velocities only if there is an explicit subscription for it, since it might cause significant bandwidth
Velocity = ((addVelocities) ?
GeneratePatch(_old.Velocity, sceneRoot.ToLocal(_new.LinearVelocity)) : null),
AngularVelocity = ((addVelocities) ?
GeneratePatch(_old.AngularVelocity, sceneRoot.ToLocal(_new.AngularVelocity)) : null),
CollisionDetectionMode = GeneratePatch(
_old.CollisionDetectionMode,
_new.ContinuousCd switch
{
true => MRECollisionDetectionMode.Continuous,
false => MRECollisionDetectionMode.Discrete
}),