public void Evaluate(int SpreadMax)
{
IRigidBulletWorld inputWorld = this.worldInput[0];
SpreadMax = 1;
if (inputWorld != null)
{
this.persistedList.UpdateWorld(inputWorld);
if (this.chassisShape.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.doCreate[i])
{
RigidBodyPose initialPose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase chassisShapeDefinition = this.chassisShape[i];
CollisionShape chassisShape = chassisShapeDefinition.GetShape(shapeData);
shapeData.ShapeDef = chassisShapeDefinition;
RaycastVehicle vehicle;
CompoundShape compoundShape = new CompoundShape();
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compoundShape.AddChildShape(localTrans, chassisShape);
//Build mass for dynamic object
Vector3 localInertia = Vector3.Zero;
if (chassisShapeDefinition.Mass > 0.0f)
{
compoundShape.CalculateLocalInertia(chassisShapeDefinition.Mass, out localInertia);
}
Tuple <RigidBody, int> createBodyResult = inputWorld.CreateRigidBody(chassisShape, ref initialPose, ref properties, ref localInertia, chassisShapeDefinition.Mass, this.customString[i]);
RigidBody carChassis = createBodyResult.Item1;
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
DefaultVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(inputWorld.World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
carChassis.ActivationState = ActivationState.DisableDeactivation;
inputWorld.World.AddAction(vehicle);
int wheelCount = this.wheelConstruction.SliceCount;
//Add wheels
for (int j = 0; j < this.wheelConstruction[i].SliceCount; j++)
{
WheelConstructionProperties wcs = this.wheelConstruction[i][j];
Vector3 connectionPointCS0 = wcs.localPosition.ToBulletVector();
WheelInfo wheel = vehicle.AddWheel(connectionPointCS0, wcs.wheelDirection.ToBulletVector(), wcs.wheelAxis.ToBulletVector(), wcs.SuspensionRestLength, wcs.WheelRadius, tuning, wcs.isFrontWheel);
}
//Set Wheel Properties
WheelProperties wis = this.wheelInfoSettings[i] != null ? this.wheelInfoSettings[i] : new WheelProperties();
for (int j = 0; j < vehicle.NumWheels; j++)
{
WheelInfo wheel = vehicle.GetWheelInfo(j);
wheel.SuspensionStiffness = wis.SuspensionStiffness;
wheel.WheelsDampingRelaxation = wis.WheelsDampingRelaxation;
wheel.WheelsDampingCompression = wis.WheelsDampingCompression;
wheel.FrictionSlip = wis.FrictionSlip;
wheel.RollInfluence = wis.RollInfluence;
}
BodyCustomData bd = (BodyCustomData)carChassis.UserObject;
bd.Vehicle = vehicle;
this.persistedList.Append(createBodyResult.Item1, createBodyResult.Item2);
}
}
List <RigidBody> bodies = this.persistedList.Bodies;
this.vehicleOutput.SliceCount = bodies.Count;
this.chassisOutput.SliceCount = bodies.Count;
for (int i = 0; i < bodies.Count; i++)
{
BodyCustomData bd = (BodyCustomData)bodies[i].UserObject;
this.vehicleOutput[i] = bd.Vehicle;
this.chassisOutput[i] = bodies[i];
}
}
}
else
{
this.vehicleOutput.SliceCount = 0;
this.chassisOutput.SliceCount = 0;
}
}
public void Evaluate(int SpreadMax)
{
this.frameBodyOutput.Clear();
this.frameIdOutput.Clear();
if (SpreadMax == 0)
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
return;
}
IRigidBodyContainer world = this.worldInput[0];
if (world != null && this.shapesInput.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (doCreate[i])
{
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
RigidBodyMotionProperties motionProperties = this.initialMotionProperties.IsConnected ? this.initialMotionProperties[i] : new RigidBodyMotionProperties();
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase shape = this.shapesInput[i];
shapeData.ShapeDef = shape;
CollisionShape collisionShape = shapeData.ShapeDef.GetShape(shapeData);
//Build mass for dynamic object
Vector3 localinertia = Vector3.Zero;
if (shape.Mass > 0.0f)
{
collisionShape.CalculateLocalInertia(shape.Mass, out localinertia);
}
Tuple <RigidBody, int> createBodyResult = world.CreateRigidBody(collisionShape, ref pose, ref properties, ref localinertia, shape.Mass);
createBodyResult.Item1.ApplyMotionProperties(ref motionProperties);
this.frameBodyOutput.Add(createBodyResult.Item1);
this.frameIdOutput.Add(createBodyResult.Item2);
}
}
this.bodiesOutput.SliceCount = this.frameBodyOutput.Count;
this.idOutput.SliceCount = this.frameIdOutput.Count;
for (int i = 0; i < frameBodyOutput.Count; i++)
{
this.bodiesOutput[i] = frameBodyOutput[i];
this.idOutput[i] = frameIdOutput[i];
}
}
else
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
}
}
public void Evaluate(int SpreadMax)
{
this.frameBodyOutput.Clear();
IRigidBodyContainer inputWorld = this.worldInput[0];
if (inputWorld != null)
{
this.persistedList.UpdateWorld(inputWorld);
if (this.shapesInput.IsConnected)
{
for (int i = 0; i < SpreadMax; i++)
{
if (doCreate[i])
{
RigidBodyPose pose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
RigidBodyProperties properties = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;
RigidBodyMotionProperties motionProperties = this.initialMotionProperties.IsConnected ? this.initialMotionProperties[i] : new RigidBodyMotionProperties();
ShapeCustomData shapeData = new ShapeCustomData();
DynamicShapeDefinitionBase shape = this.shapesInput[i];
shapeData.ShapeDef = shape;
CollisionShape collisionShape = shapeData.ShapeDef.GetShape(shapeData);
//Build mass for dynamic object
Vector3 localinertia = Vector3.Zero;
if (shape.Mass > 0.0f)
{
collisionShape.CalculateLocalInertia(shape.Mass, out localinertia);
}
Tuple <RigidBody, int> createBodyResult = inputWorld.CreateRigidBody(collisionShape, ref pose, ref properties, ref localinertia, shape.Mass);
createBodyResult.Item1.CollisionFlags |= CollisionFlags.KinematicObject;
createBodyResult.Item1.ApplyMotionProperties(ref motionProperties);
this.persistedList.Append(createBodyResult.Item1, createBodyResult.Item2);
frameBodyOutput.Add(createBodyResult.Item1);
}
}
}
this.bodiesOutput.SliceCount = this.persistedList.Bodies.Count;
this.idOutput.SliceCount = this.persistedList.Ids.Count;
List <RigidBody> bodies = this.persistedList.Bodies;
List <int> ids = this.persistedList.Ids;
for (int i = 0; i < bodies.Count; i++)
{
this.bodiesOutput[i] = bodies[i];
this.idOutput[i] = ids[i];
}
this.createdBodiesOutput.SliceCount = this.frameBodyOutput.Count;
for (int i = 0; i < frameBodyOutput.Count; i++)
{
this.createdBodiesOutput[i] = frameBodyOutput[i];
}
}
else
{
this.bodiesOutput.SliceCount = 0;
this.idOutput.SliceCount = 0;
this.createdBodiesOutput.SliceCount = 0;
}
}
