private void SetCollisionObjectInfo(CollisionObject collisionObject, TreeNode objectsNode)
{
string objectName = collisionObject.GetType().Name;
CollisionShape shape = collisionObject.CollisionShape;
string shapeName = shape.GetType().Name;
string text = $"{objectName} ({shapeName})";
GetOrCreateChildNode(collisionObject, text, objectsNode);
}
public XmlNode WriteShape(CollisionShape shape, XmlDocument document)
{
XmlNode node = document.CreateElement("shape");
if (shape is CollisionAABB)
{
CollisionAABB aabbShape = shape as CollisionAABB;
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
Vector3 halfExtent = (aabbShape.max - aabbShape.center) / unitConversion;
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode boxNode = WriteBox(halfExtent, document);
node.AppendChild(boxNode);
}
else if (shape is CollisionOBB)
{
CollisionOBB obbShape = shape as CollisionOBB;
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
Vector3 halfExtent = obbShape.extents / unitConversion;
Quaternion rot = Quaternion.Identity;
rot.FromAxes(obbShape.axes[0], obbShape.axes[1], obbShape.axes[2]);
XmlNode rotate = WriteRotate(rot, document);
node.AppendChild(rotate);
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode boxNode = WriteBox(halfExtent, document);
node.AppendChild(boxNode);
}
else if (shape is CollisionCapsule)
{
CollisionCapsule capsuleShape = shape as CollisionCapsule;
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
float height = capsuleShape.height / unitConversion;
float radius = capsuleShape.capRadius / unitConversion;
Vector3 halfExtent = capsuleShape.topcenter - capsuleShape.center;
Quaternion rot = Vector3.UnitY.GetRotationTo(halfExtent);
XmlNode rotate = WriteRotate(rot, document);
node.AppendChild(rotate);
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode capsuleNode = WriteCapsule(height, radius, document);
node.AppendChild(capsuleNode);
}
else if (shape is CollisionSphere)
{
// convert to meters (or other scaled unit) before writing out
Vector3 center = shape.center / unitConversion;
float radius = shape.radius / unitConversion;
XmlNode translate = WriteTranslate(center, document);
node.AppendChild(translate);
XmlNode sphereNode = WriteSphere(radius, document);
node.AppendChild(sphereNode);
}
else
{
log.ErrorFormat("Unsupported collision shape: {0}", shape.GetType());
}
return(node);
}