コード例 #1
0
        static int AddStaticBody(Simulation simulation, System.Numerics.Vector3 position, BepuUtilities.Quaternion rotation, object shapeType)
        {
            switch (shapeType)
            {
            case IBoxDetection boxDetection:
                IBoxDetection box      = shapeType as IBoxDetection;
                var           boxShape = new Box(box.GetSize().x, box.GetSize().y, box.GetSize().z);
                return(simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(position.X, position.Y, position.Z),
                                                                    new BepuUtilities.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W),
                                                                    new CollidableDescription(simulation.Shapes.Add(boxShape), 0.01f))));

            case ISphereDetection sphereDetection:
                ISphereDetection sphere = shapeType as ISphereDetection;
                var sphereShape         = new Sphere(sphere.GetRadius());
                return(simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(position.X, position.Y, position.Z),
                                                                    new BepuUtilities.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W),
                                                                    new CollidableDescription(simulation.Shapes.Add(sphereShape), 0.01f))));

            case ICapsuleDetection capsuleDetection:
                ICapsuleDetection capsule = shapeType as ICapsuleDetection;
                var capsuleShape          = new Capsule(capsule.GetRadius(), capsule.GetHeight());
                return(simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(position.X, position.Y, position.Z),
                                                                    new BepuUtilities.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W),
                                                                    new CollidableDescription(simulation.Shapes.Add(capsuleShape), 0.01f))));

            default:
                throw new System.ArgumentException(message: CouldNotInitializeMessage, nameof(shapeType));
            }
        }
コード例 #2
0
        static int AddDynamicBody(Simulation simulation, System.Numerics.Vector3 position, BepuUtilities.Quaternion rotation, object shapeType, float mass)
        {
            switch (shapeType)
            {
            case IBoxDetection boxDetection:
                IBoxDetection box      = shapeType as IBoxDetection;
                var           boxShape = new Box(box.GetSize().x, box.GetSize().y, box.GetSize().z);
                boxShape.ComputeInertia(mass, out var boxInertia);
                var boxIndex  = simulation.Shapes.Add(boxShape);
                var boxPose   = new RigidPose(position, rotation);
                var boxHandle = simulation.Bodies.Add(BodyDescription.CreateDynamic(boxPose,
                                                                                    boxInertia,
                                                                                    new CollidableDescription(boxIndex, 0.01f),
                                                                                    new BodyActivityDescription(0.01f)));
                return(boxHandle);

            case ISphereDetection sphereDetection:
                ISphereDetection sphere = shapeType as ISphereDetection;
                var sphereShape         = new Sphere(sphere.GetRadius());
                sphereShape.ComputeInertia(mass, out var sphereInertia);
                var sphereIndex  = simulation.Shapes.Add(sphereShape);
                var spherePose   = new RigidPose(position, rotation);
                var sphereHandle = simulation.Bodies.Add(BodyDescription.CreateDynamic(spherePose,
                                                                                       sphereInertia,
                                                                                       new CollidableDescription(sphereIndex, 0.01f),
                                                                                       new BodyActivityDescription(0.01f)));
                return(sphereHandle);

            case ICapsuleDetection capsuleDetection:
                ICapsuleDetection capsule = shapeType as ICapsuleDetection;
                var capsuleShape          = new Capsule(capsule.GetRadius(), capsule.GetHeight());
                capsuleShape.ComputeInertia(mass, out var capsuleInertia);
                var capsuleIndex  = simulation.Shapes.Add(capsuleShape);
                var capsulePose   = new RigidPose(position, rotation);
                var capsuleHandle = simulation.Bodies.Add(BodyDescription.CreateDynamic(capsulePose,
                                                                                        capsuleInertia,
                                                                                        new CollidableDescription(capsuleIndex, 0.01f),
                                                                                        new BodyActivityDescription(0.01f)));
                return(capsuleHandle);

            default:
                throw new ArgumentException(message: CouldNotInitializeMessage, nameof(shapeType));
            }
        }