public Cable(Collidable one, Collidable two, float max, float restitution)
{
body[0] = one;
body[1] = two;
maxLength = max;
this.restitution = restitution;
}
public BVHNode(BVHNode Parent, Collidable Body)
{
Children[0] = null;
Children[1] = null;
this.Body = Body;
this.Volume = Body.GetBoundingSphere();
this.Parent = Parent;
}
public Contact(Collidable firstBody, Collidable secondBody)
{
this.body[0] = firstBody;
this.body[1] = secondBody;
ContactToWorld = new Matrix3();
restitution = ContactGenerator.restitution;
friction = ContactGenerator.friction;
}
public Contact(Collidable firstBody, Plane plane)
{
this.body[0] = firstBody;
this.body[1] = null;
this.WithPlane = true;
this.plane = new HalfSpace(plane);
ContactToWorld = new Matrix3();
restitution = 0.7f;
friction = 0.3f; // TODO add a dynamic mechanism
}
public override bool generateContacts(Collidable other, Contact contact)
{
if (other as Box != null)
{
return contact.BoxAndBox();
}
else if (other as Sphere != null)
{
return contact.SphereAndBox();
}
return false;
}
//,float limit)
//float limit;
public Joint(Collidable one, Collidable two, Vector3 pos1, Vector3 pos2, float constant)
{
body[0] = one;
body[1] = two;
position[0] = pos1;
position[1] = pos2;
this.constant = constant;
//this.limit = limit;
}
public override Boolean CollidesWith(Collidable other)
{
if (other as Sphere != null)
{
return true;
}
else if (other as Box != null)
{
return true;
}
return false;
}
public override ContactData generateContacts(Collidable other)
{
Contact contact = new Contact(this, other);
if (other as Sphere != null)
{
contact.SphereAndSphere();
}
else if (other as Box != null)
{
contact.SphereAndBox();
}
return contact.GetContactData();
}
public ContactData generateContacts(Collidable other)
{
Contact contact = new Contact(other, this.plane);
if (other as Sphere != null)
{
contact.SphereAndPlane();
}
if (other as Box != null)
{
contact.BoxAndHalfSpace();
}
return contact.GetContactData();
}
/*
protected override void updateBounding()
{
//TODO add update logic
}
public override Contact generateContacts(Collidable other)
{
Contact contactData = null;
return contactData;
}
*/
public bool generateContacts(Collidable other, Contact contact)
{
//TODO FixME
return false;
if (other as Sphere != null)
{
contact.SphereAndPlane();
}
if (other as Box != null)
{
contact.BoxAndHalfSpace();
}
}
public override Boolean CollidesWith(Collidable other)
{
//TOOD add CollidesWith() code here
if (other as Box != null)
{
//box.Intersects(((Sphere)other).GetBoundingSphere);
return true;
}
else if (other as Sphere != null)
{
return true;
}
return false;
}
/// <summary>
/// Adds a body to the collison List to check for it
/// </summary>
/// <param name="body"></param>
public void AddBody(Collidable body)
{
this.bodies.AddLast(body);
}
public void AddUpperBody(Collidable body)
{
cg.AddConductor(new Rod(body, Balls[0], 0.5f));//,0.6f));
}
/// <summary>
/// Removes a body from collison List
/// warning : this method is expensive O(n) , try to not use this in update
/// </summary>
/// <param name="body"></param>
public void RemoveBody(Collidable body)
{
this.bodies.Remove(body);
}
/// <summary>
/// constractor of Rope with upper body upper and bottom body bottom
/// </summary>
/// <param name="length"></param>
/// <param name="cg"></param>
/// <param name="upper"></param>
/// <param name="bottom"></param>
public Rope(float length, ContactGenerator cg, Game game, Gravity gravity, Collidable upper, Collidable bottom)
: this(length, cg,game,gravity)
{
AddUpperBody(upper);
AddBottomBody(bottom);
}
public void AddBottomBody(Collidable body)
{
cg.AddConductor(new Rod(Balls[Balls.Count - 1], body, 0.5f));//,0.6f));
}
/// <summary> /// Checks whether the body collides with another collidable or not /// </summary> /// <param name="other">the other collidable body to collides with </param> /// <returns></returns> public abstract Boolean CollidesWith(Collidable other);
/// <summary> /// generates contact information for this collidable body with another one /// </summary> /// <param name="other"></param> /// <returns></returns> public abstract ContactData generateContacts(Collidable other);
/// <summary> /// generates contact information for this collidable body with another one /// and fill this info into an existing contact /// </summary> /// <param name="other"></param> /// <param name="contact">a contact to fill</param> /// <returns></returns> public abstract bool generateContacts(Collidable other,Contact contact);
public void Insert(Collidable Body)
{
if (this.isLeaf())
{
Children[0] = new BVHNode(this, this.Body);
Children[1] = new BVHNode(this, Body);
this.Body = null;
RecalculateBoundingVolume();
}
else
{
BoundingSphere Temp = Body.GetBoundingSphere();
if (BoundingSphere.CreateMerged(Children[0].Volume, Temp).Radius
< BoundingSphere.CreateMerged(Children[1].Volume, Temp).Radius)
Children[0].Insert(Body);
else
Children[1].Insert(Body);
}
}
public Rod(Collidable one, Collidable two, float len)
{
body[0] = one;
body[1] = two;
length = len;
}
