//This is called by the physics engine to update the transformation of Dynamic rigidbodies.
private static void RigidBodySetWorldTransform(PhysicsElementBase element, ref Matrix physicsTransform)
{
element.Data.PhysicsComponent.Simulation.SimulationProfiler.Mark();
element.Data.PhysicsComponent.Simulation.UpdatedRigidbodies++;
if (element.BoneIndex == -1)
{
element.UpdateTransformationComponent(ref physicsTransform);
}
else
{
element.UpdateBoneTransformation(ref physicsTransform);
}
if (element.DebugEntity == null)
{
return;
}
Vector3 scale, pos;
Quaternion rot;
physicsTransform.Decompose(out scale, out rot, out pos);
element.DebugEntity.Transform.Position = pos;
element.DebugEntity.Transform.Rotation = rot;
}
public Entity CreateDebugEntity(PhysicsElementBase physicsElement)
{
if (physicsElement?.ColliderShape == null)
{
return(null);
}
if (physicsElement.DebugEntity != null)
{
return(null);
}
var debugEntity = new Entity();
var colliderEntity = CreateChildEntity(physicsElement.ColliderShape, physicsElement.Type, true);
if (colliderEntity == null)
{
return(null);
}
debugEntity.AddChild(colliderEntity);
if (physicsElement.CanScaleShape)
{
debugEntity.Transform.Scale = physicsElement.ColliderShape.Scaling;
}
var skinnedElement = physicsElement as PhysicsSkinnedElementBase;
if (skinnedElement != null && skinnedElement.BoneIndex != -1)
{
Vector3 scale, pos;
Quaternion rot;
skinnedElement.BoneWorldMatrixOut.Decompose(out scale, out rot, out pos);
debugEntity.Transform.Position = pos;
debugEntity.Transform.Rotation = rot;
}
else
{
Vector3 scale, pos;
Quaternion rot;
physicsElement.Data.TransformComponent.WorldMatrix.Decompose(out scale, out rot, out pos);
debugEntity.Transform.Position = pos;
debugEntity.Transform.Rotation = rot;
}
return(debugEntity);
}
public Entity CreateDebugEntity(PhysicsElementBase physicsElement)
{
if (physicsElement?.ColliderShape == null) return null;
if (physicsElement.DebugEntity != null) return null;
var debugEntity = new Entity();
var colliderEntity = CreateChildEntity(physicsElement.ColliderShape, physicsElement.Type, true);
if (colliderEntity == null) return null;
debugEntity.AddChild(colliderEntity);
if (physicsElement.CanScaleShape)
{
debugEntity.Transform.Scale = physicsElement.ColliderShape.Scaling;
}
var skinnedElement = physicsElement as PhysicsSkinnedElementBase;
if (skinnedElement != null && skinnedElement.BoneIndex != -1)
{
Vector3 scale, pos;
Quaternion rot;
skinnedElement.BoneWorldMatrixOut.Decompose(out scale, out rot, out pos);
debugEntity.Transform.Position = pos;
debugEntity.Transform.Rotation = rot;
}
else
{
Vector3 scale, pos;
Quaternion rot;
physicsElement.Data.TransformComponent.WorldMatrix.Decompose(out scale, out rot, out pos);
debugEntity.Transform.Position = pos;
debugEntity.Transform.Rotation = rot;
}
return debugEntity;
}
private void DeleteElement(PhysicsElementBase element)
{
element.Data = null;
//might be possible that this element was not valid during creation so it would be already null
if (element.InternalCollider == null)
{
return;
}
var toDispose = new List <IDisposable>();
elements.Remove(element);
if (element.BoneIndex != -1)
{
boneElements.Remove((PhysicsSkinnedElementBase)element);
}
switch (element.Type)
{
case PhysicsElementBase.Types.PhantomCollider:
case PhysicsElementBase.Types.StaticCollider:
{
simulation.RemoveCollider(element.Collider);
}
break;
case PhysicsElementBase.Types.StaticRigidBody:
case PhysicsElementBase.Types.DynamicRigidBody:
case PhysicsElementBase.Types.KinematicRigidBody:
{
var rb = (RigidBody)element.Collider;
var constraints = rb.LinkedConstraints.ToArray();
foreach (var c in constraints)
{
simulation.RemoveConstraint(c);
toDispose.Add(c);
}
simulation.RemoveRigidBody(rb);
}
break;
case PhysicsElementBase.Types.CharacterController:
{
characters.Remove(element);
simulation.RemoveCharacter((Character)element.Collider);
}
break;
}
toDispose.Add(element.Collider);
if (element.ColliderShape != null && !element.ColliderShape.IsPartOfAsset)
{
toDispose.Add(element.ColliderShape);
}
element.Collider = null;
//dispose in another thread for better performance
//if (!now)
//{
// TaskList.Dispatch(toDispose, 4, 128, (i, disposable) => disposable.Dispose());
//}
//else
{
foreach (var d in toDispose)
{
d.Dispose();
}
}
}
private void NewElement(PhysicsElementBase element, AssociatedData data, Entity entity)
{
element.Data = data;
if (element.ColliderShapes.Count == 0)
{
return; //no shape no purpose
}
if (element.ColliderShape == null)
{
element.ComposeShape();
}
var shape = element.ColliderShape;
if (shape == null)
{
return; //no shape no purpose
}
element.BoneIndex = -1;
var skinnedElement = element as PhysicsSkinnedElementBase;
if (skinnedElement != null && !skinnedElement.NodeName.IsNullOrEmpty() && data.ModelComponent?.Skeleton != null)
{
if (!data.BoneMatricesUpdated)
{
Vector3 position, scaling;
Quaternion rotation;
entity.Transform.WorldMatrix.Decompose(out scaling, out rotation, out position);
var isScalingNegative = scaling.X * scaling.Y * scaling.Z < 0.0f;
data.ModelComponent.Skeleton.NodeTransformations[0].LocalMatrix = entity.Transform.WorldMatrix;
data.ModelComponent.Skeleton.NodeTransformations[0].IsScalingNegative = isScalingNegative;
data.ModelComponent.Skeleton.UpdateMatrices();
data.BoneMatricesUpdated = true;
}
skinnedElement.BoneIndex = data.ModelComponent.Skeleton.Nodes.IndexOf(x => x.Name == skinnedElement.NodeName);
if (element.BoneIndex == -1)
{
throw new Exception("The specified NodeName doesn't exist in the model hierarchy.");
}
element.BoneWorldMatrixOut = element.BoneWorldMatrix = data.ModelComponent.Skeleton.NodeTransformations[element.BoneIndex].WorldMatrix;
}
var defaultGroups = element.CanCollideWith == 0 || element.CollisionGroup == 0;
switch (element.Type)
{
case PhysicsElementBase.Types.PhantomCollider:
{
var c = simulation.CreateCollider(shape);
element.Collider = c; //required by the next call
element.Collider.Entity = entity; //required by the next call
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
c.IsTrigger = true;
if (defaultGroups)
{
simulation.AddCollider(c, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddCollider(c, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.StaticCollider:
{
var c = simulation.CreateCollider(shape);
element.Collider = c; //required by the next call
element.Collider.Entity = entity; //required by the next call
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (defaultGroups)
{
simulation.AddCollider(c, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddCollider(c, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.StaticRigidBody:
{
var rb = simulation.CreateRigidBody(shape);
rb.Entity = entity;
rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform);
rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform);
element.Collider = rb;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
rb.Type = RigidBodyTypes.Static;
rb.Mass = 0.0f;
if (defaultGroups)
{
simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.DynamicRigidBody:
{
var rb = simulation.CreateRigidBody(shape);
rb.Entity = entity;
rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform);
rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform);
element.Collider = rb;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
rb.Type = RigidBodyTypes.Dynamic;
if (rb.Mass == 0.0f)
{
rb.Mass = 1.0f;
}
if (defaultGroups)
{
simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.KinematicRigidBody:
{
var rb = simulation.CreateRigidBody(shape);
rb.Entity = entity;
rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform);
rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform);
element.Collider = rb;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
rb.Type = RigidBodyTypes.Kinematic;
if (rb.Mass == 0.0f)
{
rb.Mass = 1.0f;
}
if (defaultGroups)
{
simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
}
break;
case PhysicsElementBase.Types.CharacterController:
{
var charElem = (CharacterElement)element;
var ch = simulation.CreateCharacter(shape, charElem.StepHeight);
element.Collider = ch;
element.Collider.Entity = entity;
element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider
if (defaultGroups)
{
simulation.AddCharacter(ch, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter);
}
else
{
simulation.AddCharacter(ch, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith);
}
characters.Add(element);
}
break;
}
if (colliderShapesRendering)
{
element.AddDebugEntity(sceneSystem.SceneInstance.Scene);
}
elements.Add(element);
if (element.BoneIndex != -1)
{
boneElements.Add(skinnedElement);
}
}
private Entity CreateChildEntity(ColliderShape shape, PhysicsElementBase.Types type, bool addOffset = false)
{
if (shape == null)
return null;
switch (shape.Type)
{
case ColliderShapeTypes.StaticPlane:
{
//Hmm TODO maybe can draw an infinite plane??
return null;
}
case ColliderShapeTypes.Compound:
{
var entity = new Entity();
//We got to recurse
var compound = (CompoundColliderShape)shape;
for (var i = 0; i < compound.Count; i++)
{
var subShape = compound[i];
var subEntity = CreateChildEntity(subShape, type, true);
subEntity.Transform.UseTRS = false;
entity.AddChild(subEntity);
}
entity.Transform.LocalMatrix = Matrix.Identity;
entity.Transform.UseTRS = false;
return entity;
}
default:
{
Material mat;
switch (type)
{
case PhysicsElementBase.Types.PhantomCollider:
mat = triggerMaterial;
break;
case PhysicsElementBase.Types.StaticCollider:
case PhysicsElementBase.Types.StaticRigidBody:
mat = staticMaterial;
break;
case PhysicsElementBase.Types.DynamicRigidBody:
mat = dynamicMaterial;
break;
case PhysicsElementBase.Types.KinematicRigidBody:
mat = kinematicMaterial;
break;
case PhysicsElementBase.Types.CharacterController:
mat = characterMaterial;
break;
default:
throw new ArgumentOutOfRangeException("type", type, null);
}
var entity = new Entity
{
new ModelComponent
{
Model = new Model
{
mat,
new Mesh
{
Draw = shape.CreateDebugPrimitive(graphicsDevice)
}
}
}
};
var offset = addOffset ? Matrix.RotationQuaternion(shape.LocalRotation)*Matrix.Translation(shape.LocalOffset) : Matrix.Identity;
if (shape.Type == ColliderShapeTypes.ConvexHull)
{
var hullDesc = (ConvexHullColliderShape)shape;
entity.Transform.LocalMatrix = shape.DebugPrimitiveMatrix * Matrix.Scaling(hullDesc.Scaling) * offset;
}
else
{
entity.Transform.LocalMatrix = shape.DebugPrimitiveMatrix * offset;
}
entity.Transform.UseTRS = false;
return entity;
}
}
}
