/// <summary>
/// Constructs a quaternion from a rotation matrix.
/// </summary>
/// <param name="r">Rotation matrix to create the quaternion from.</param>
/// <param name="q">Quaternion based on the rotation matrix.</param>
public static void CreateFromRotationMatrix(ref Matrix r, out Quaternion q)
{
Matrix3x3 downsizedMatrix;
Matrix3x3.CreateFromMatrix(ref r, out downsizedMatrix);
CreateFromRotationMatrix(ref downsizedMatrix, out q);
}
protected override void OnCollisionObjectScaleChanged()
{
for (int i = 0; i < Entity.CollisionInformation.Shape.Shapes.Count; i++)
{
CompoundShapeEntry childShape = Entity.CollisionInformation.Shape.Shapes[i];
if (childShape.Shape is TransformableShape)
{
((TransformableShape)childShape.Shape).Transform = Matrix3x3.CreateFromMatrix(Matrix.CreateScale(CollisionObjectScale) * CollisionObjectWorldTransform);
}
}
}
protected override void OnCollisionObjectScaleChanged()
{
Entity.CollisionInformation.Shape.Transform = Matrix3x3.CreateFromMatrix(Matrix.CreateScale(CollisionObjectScale) * CollisionObjectWorldTransform);
}
/// <summary>
/// Creates a new instance
/// </summary>
/// <param name="collisionObject">The ParentObject this instance will be associated with</param>
/// <param name="model">The Model used to compute the ConvexHull shape used for collision & physics</param>
/// <remarks>If a previously created instance uses the same Model as the one provided here, it will reuse the computed ConvexHull instance to save CPU</remarks>
public ConvexHullCollisionMove(ICollisionObject collisionObject, Model model) : base(collisionObject)
{
ModelReferencesToDelete.Clear();
foreach (var modelConvexHull in ModelConvexHulls)
{
if (!modelConvexHull.Key.IsAlive)
{
ModelReferencesToDelete.Add(modelConvexHull.Key);
}
else if (modelConvexHull.Key.Target == model)
{
ConvexHull convexHull = modelConvexHull.Value;
TransformableShape shape = new TransformableShape(convexHull.CollisionInformation.Shape, Matrix3x3.CreateFromMatrix(ParentObject.World));
SpaceObject = new Entity <ConvexCollidable <TransformableShape> >(
new ConvexCollidable <TransformableShape>(shape),
ParentObject.Mass,
convexHull.LocalInertiaTensor,
convexHull.Volume);
Entity.Position = ParentObject.World.Translation;
}
}
foreach (var modelReference in ModelReferencesToDelete)
{
ModelConvexHulls.Remove(modelReference);
}
if (SpaceObject == null)
{
Vector3[] vertices;
int[] indices;
TriangleMesh.GetVerticesAndIndicesFromModel(model, out vertices, out indices);
var modelReference = new WeakReference(model);
var convexHull = new ConvexHull(vertices, ParentObject.Mass);
ModelConvexHulls.Add(modelReference, convexHull);
TransformableShape shape = new TransformableShape(convexHull.CollisionInformation.Shape, Matrix3x3.CreateFromMatrix(ParentObject.World));
SpaceObject = new Entity <ConvexCollidable <TransformableShape> >(
new ConvexCollidable <TransformableShape>(shape),
ParentObject.Mass,
convexHull.LocalInertiaTensor,
convexHull.Volume);
Entity.Position = ParentObject.World.Translation;
}
ParentObject.World.GetScaleComponent(out CollisionObjectScale);
}
