public PhysicsObject AddDynamicObject(float mass, Matrix4x4 transform, Collider col, Vector3?inertia = null)
{
if (mass < float.Epsilon)
{
throw new Exception("Mass must be non-zero");
}
BM.Vector3 localInertia;
if (inertia != null)
{
localInertia = inertia.Value.Cast();
}
else
{
col.BtShape.CalculateLocalInertia(mass, out localInertia);
}
using (var rbInfo = new RigidBodyConstructionInfo(mass,
new DefaultMotionState(transform.Cast()),
col.BtShape, localInertia))
{
var body = new RigidBody(rbInfo);
body.SetDamping(0, 0);
body.Restitution = 1f;
var phys = new PhysicsObject(body, col)
{
Static = false
};
phys.UpdateProperties();
body.UserObject = phys;
btWorld.AddRigidBody(body);
objects.Add(phys);
dynamicObjects.Add(phys);
return(phys);
}
}
public IEnumerable <BoundingBox> GetBoxes(Matrix4x4 transform)
{
foreach (var shape in btCompound.ChildList)
{
BM.Vector3 min, max;
shape.ChildShape.GetAabb(shape.Transform * transform.Cast(), out min, out max);
yield return(new BoundingBox(min.Cast(), max.Cast()));
}
}
public override void Render(Mesh mesh, Camera camera, Matrix4x4[] matrices)
{
Bind();
VertexArray.Bind();
PositionBuffer.Bind();
PositionBuffer.SetData(mesh.Attributes["POSITION"].BufferData);
NormalBuffer.Bind();
NormalBuffer.SetData(mesh.Attributes["NORMAL"].BufferData);
ColorBuffer.Bind();
ColorBuffer.SetData(mesh.Attributes["COLOR_0"].BufferData);
MatrixBuffer.Bind();
MatrixBuffer.SetData(matrices);
Vector3 lightInvDir = new Vector3(0.5f, 2, 2);
// Compute the MVP matrix from the light's point of view
Matrix4x4 depthProjectionMatrix = Matrix4x4.CreateOrthographicOffCenter(-10, 10, -10, 10, -10, 20);
Matrix4x4 depthViewMatrix = Matrix4x4.CreateLookAt(lightInvDir, new Vector3(0, 0, 0), Vector3.UnitY);
Matrix4x4 depthModelMatrix = Matrix4x4.Identity;;
Matrix4x4 depthMVP = depthProjectionMatrix * depthViewMatrix * depthModelMatrix;
var projectionCast = camera.GetComponent <CameraComponent>().Projection().Cast();
var projectionViewLocation = GL.GetUniformLocation(ProgramId, "uViewProjection");
GL.ProgramUniformMatrix4(ProgramId, projectionViewLocation, false, ref projectionCast);
var depthProjectionCast = depthMVP.Cast();
var depthProjectionViewLocation = GL.GetUniformLocation(ProgramId, "uDepthMVP");
GL.ProgramUniformMatrix4(ProgramId, depthProjectionViewLocation, false, ref depthProjectionCast);
Matrix4x4 biasMatrix = new Matrix4x4(
0.5f, 0.0f, 0.0f, 0.0f,
0.0f, 0.5f, 0.0f, 0.0f,
0.0f, 0.0f, 0.5f, 0.0f,
0.5f, 0.5f, 0.5f, 1.0f
);
Matrix4x4 depthBiasMVP = biasMatrix * depthMVP;
var depthBiasCast = depthBiasMVP.Cast();
var depthBiasLocation = GL.GetUniformLocation(ProgramId, "uDepthBias");
GL.ProgramUniformMatrix4(ProgramId, depthBiasLocation, false, ref depthBiasCast);
var colorLocation = GL.GetUniformLocation(ProgramId, "uColor");
var colorCast = Color.CastRendering();
GL.ProgramUniform3(ProgramId, colorLocation, ref colorCast);
GL.DrawElementsInstancedBaseInstance(PrimitiveType.Triangles, mesh.Attributes["INDEX"].BufferData.Length / 2, DrawElementsType.UnsignedShort, mesh.Attributes["INDEX"].BufferData, matrices.Length, 0);
}
public PhysicsObject AddStaticObject(Matrix4x4 transform, Collider col)
{
using (var rbInfo = new RigidBodyConstructionInfo(0,
new DefaultMotionState(transform.Cast()),
col.BtShape, BM.Vector3.Zero)) {
var body = new RigidBody(rbInfo);
body.Restitution = 1;
var phys = new PhysicsObject(body, col)
{
Static = true
};
phys.UpdateProperties();
body.UserObject = phys;
btWorld.AddRigidBody(body);
objects.Add(phys);
return(phys);
}
}
public void UpdatePart(object tag, Matrix4x4 localTransform)
{
var tr = localTransform.Cast();
foreach (var part in children)
{
if (part.Tag == tag)
{
if (part.CurrentTransform == localTransform)
{
return;
}
part.CurrentTransform = localTransform;
for (int i = part.Index; i < (part.Index + part.Count); i++)
{
btCompound.UpdateChildTransform(i, tr, false);
}
break;
}
}
}
public void AddPart(uint meshId, Matrix4x4 localTransform, object tag, int suridx = 0)
{
var sur = surs[suridx];
if (!sur.HasShape(meshId))
{
return;
}
var hulls = sur.GetShape(meshId);
var pt = new CollisionPart()
{
Tag = tag, Index = currentIndex, Count = hulls.Length
};
var tr = localTransform.Cast();
foreach (var h in hulls)
{
btCompound.AddChildShape(tr, h);
}
currentIndex += hulls.Length;
children.Add(pt);
}
public void SetTransform(Matrix4x4 transform)
{
Transform = transform;
RigidBody.WorldTransform = transform.Cast();
Position = Vector3.Transform(Vector3.Zero, Transform);
}
