/// <summary>
/// Initializes a new instance of the <see cref="CapsuleColliderShape"/> class.
/// </summary>
/// <param name="is2D">if set to <c>true</c> [is2 d].</param>
/// <param name="radius">The radius.</param>
/// <param name="length">The length of the capsule.</param>
/// <param name="orientation">Up axis.</param>
public CapsuleColliderShape(bool is2D, float radius, float length, ShapeOrientation orientation)
{
Type = ColliderShapeTypes.Capsule;
Is2D = is2D;
capsuleLength = length;
capsuleRadius = radius;
Matrix rotation;
CapsuleShape shape;
switch (orientation)
{
case ShapeOrientation.UpX:
shape = new CapsuleShapeZ(radius, length);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
break;
case ShapeOrientation.UpY:
shape = new CapsuleShape(radius, length);
rotation = Matrix.Identity;
break;
case ShapeOrientation.UpZ:
shape = new CapsuleShapeX(radius, length);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
break;
default:
throw new ArgumentOutOfRangeException("orientation");
}
InternalShape = Is2D ? (CollisionShape)new Convex2DShape(shape) { LocalScaling = new Vector3(1, 1, 0) }: shape;
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(1.01f)) * rotation;
}
void Init_CapsuleCollision()
{
float s = 4;
float h = 6;
int r = 20;
Matrix startTransform = Matrix.Translation(0, h - 2, 0);
CollisionShape capsuleShape = new CapsuleShapeX(1, 5);
capsuleShape.Margin = 0.5f;
//capsuleShape.LocalScaling = new Vector3(5, 1, 1);
//RigidBody body = LocalCreateRigidBody(20, startTransform, capsuleShape);
RigidBody body = LocalCreateRigidBody(0, startTransform, capsuleShape);
body.Friction = 0.8f;
const int fixeds = 0; //4+8;
SoftBody psb = SoftBodyHelpers.CreatePatch(softBodyWorldInfo, new Vector3(-s, h, -s),
new Vector3(+s, h, -s),
new Vector3(-s, h, +s),
new Vector3(+s, h, +s), r, r, fixeds, true);
SoftWorld.AddSoftBody(psb);
psb.TotalMass = 0.1f;
psb.Cfg.PIterations = 10;
psb.Cfg.CIterations = 10;
psb.Cfg.DIterations = 10;
//psb.Cfg.VIterations = 10;
//psb.AppendAnchor(0, body);
//psb.AppendAnchor(r-1, body);
//cutting = true;
CullingEnabled = false;
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null) {
CapsuleShape cs = null;
if (upAxis == CapsuleAxis.x)
{
cs = new CapsuleShapeX(radius, height);
} else if (upAxis == CapsuleAxis.y)
{
cs = new CapsuleShape(radius, height);
} else if (upAxis == CapsuleAxis.z)
{
cs = new CapsuleShapeZ(radius, height);
} else
{
Debug.LogError("invalid axis value");
}
cs.LocalScaling = m_localScaling.ToBullet();
collisionShapePtr = cs;
}
return collisionShapePtr;
}
public CollisionShape CreateCapsuleShapeX(float radius, float height)
{
CapsuleShapeX shape = new CapsuleShapeX(radius, height);
_allocatedCollisionShapes.Add(shape);
return shape;
}
