public void SetRigidBodyTransform(Matrix m)
{
if (CharacterRigidBody != null)
{
CharacterRigidBody.SetRigidBodyTransform(m);
}
}
public void SetHardSupportDistance(float distance)
{
if (CharacterRigidBody != null)
{
CharacterRigidBody.SetHardSupportDistance(distance);
}
}
public HkCharacterStateType GetState()
{
if (m_isDynamic)
{
// TODO: It would be much safer to test convex cast in gravity direction and consider character on ground when ground distance is small (e.g. under 0.1m)
var state = CharacterRigidBody.GetState();
if (state != HkCharacterStateType.HK_CHARACTER_ON_GROUND)
{
m_airFrameCounter++;
}
if (state == HkCharacterStateType.HK_CHARACTER_ON_GROUND)
{
m_airFrameCounter = 0;
}
if (state == HkCharacterStateType.HK_CHARACTER_IN_AIR && m_airFrameCounter < 8)
{
state = HkCharacterStateType.HK_CHARACTER_ON_GROUND;
}
return(state);
}
else
{
return(CharacterProxy.GetState());
}
}
//
// Summary:
// Applies angular impulse to rigid body.
public void ApplyAngularImpulse(Vector3 impulse)
{
if (CharacterRigidBody != null)
{
CharacterRigidBody.ApplyAngularImpulse(impulse);
}
}
public void EnableLadderState(bool enable, float maxCharacterSpeed, float maxAcceleration)
{
if (CharacterRigidBody != null)
{
CharacterRigidBody.EnableLadderState(enable, maxCharacterSpeed, maxAcceleration);
}
}
public Matrix GetRigidBodyTransform()
{
if (CharacterRigidBody != null)
{
return(CharacterRigidBody.GetRigidBodyTransform());
}
return(Matrix.Identity);
}
public HkRigidBody GetHitRigidBody()
{
if (CharacterRigidBody != null)
{
return(CharacterRigidBody.GetHitRigidBody());
}
return(null);
}
public void UpdateSupport(float stepSizeInSeconds)
{
if (CharacterRigidBody != null)
{
CharacterRigidBody.UpdateSupport(stepSizeInSeconds);
Supported = CharacterRigidBody.Supported;
SupportNormal = CharacterRigidBody.SupportNormal;
GroundVelocity = CharacterRigidBody.GroundVelocity;
}
}
public void SetState(HkCharacterStateType state)
{
if (m_isDynamic)
{
CharacterRigidBody.SetState(state);
}
else
{
CharacterProxy.SetState(state);
}
}
public void EnableFlyingState(bool enable, float maxCharacterSpeed, float maxFlyingSpeed, float maxAcceleration)
{
if (m_flyingStateEnabled != enable)
{
if (CharacterRigidBody != null)
{
CharacterRigidBody.EnableFlyingState(enable, maxCharacterSpeed, maxFlyingSpeed, maxAcceleration);
}
// To allow astronaut fly freely in deep space (otherwise he stops in up direction)
StepSimulation(VRage.Game.MyEngineConstants.UPDATE_STEP_SIZE_IN_SECONDS);
m_flyingStateEnabled = enable;
}
}
public void SetShapeForCrouch(HkWorld world, bool enable)
{
if (CharacterRigidBody != null && world != null)
{
world.Lock();
if (enable)
{
CharacterRigidBody.SetShapeForCrouch();
}
else
{
CharacterRigidBody.SetDefaultShape();
}
if (m_physicsBody.IsInWorld)
{
world.ReintegrateCharacter(CharacterRigidBody);
}
world.Unlock();
}
}
public void StepSimulation(float stepSizeInSeconds)
{
if (CharacterProxy != null)
{
CharacterProxy.PosX = m_posX;
CharacterProxy.PosY = m_posY;
CharacterProxy.Jump = m_jump; m_jump = false;
CharacterProxy.Gravity = m_gravity;
CharacterProxy.StepSimulation(stepSizeInSeconds);
}
if (CharacterRigidBody != null)
{
CharacterRigidBody.PosX = m_posX;
CharacterRigidBody.PosY = m_posY;
CharacterRigidBody.Jump = m_jump; m_jump = false;
CharacterRigidBody.Gravity = m_gravity;
CharacterRigidBody.Speed = Speed;
CharacterRigidBody.StepSimulation(stepSizeInSeconds);
CharacterRigidBody.Elevate = Elevate;
Supported = CharacterRigidBody.Supported;
GroundVelocity = CharacterRigidBody.GroundVelocity;
}
}
public void StepSimulation(float stepSizeInSeconds)
{
if (CharacterProxy != null)
{
CharacterProxy.PosX = m_posX;
CharacterProxy.PosY = m_posY;
CharacterProxy.Jump = m_jump; m_jump = false;
CharacterProxy.Gravity = m_gravity;
CharacterProxy.StepSimulation(stepSizeInSeconds);
}
if (CharacterRigidBody != null)
{
CharacterRigidBody.PosX = m_posX;
CharacterRigidBody.PosY = m_posY;
CharacterRigidBody.Jump = m_jump; m_jump = false;
CharacterRigidBody.Gravity = m_gravity;
CharacterRigidBody.Speed = Speed;
CharacterRigidBody.StepSimulation(stepSizeInSeconds);
CharacterRigidBody.Elevate = Elevate;
Supported = CharacterRigidBody.Supported;
SupportNormal = CharacterRigidBody.SupportNormal;
GroundVelocity = CharacterRigidBody.GroundVelocity;
if (false)
{
// Coordinate system
Matrix worldMatrix = GetPhysicsBody().GetWorldMatrix();
Vector3 Side = CharacterRigidBody.Up.Cross(CharacterRigidBody.Forward);
//MyPhysicsDebugDraw.DebugDrawCoordinateSystem(worldMatrix.Translation, CharacterRigidBody.Forward, Side, CharacterRigidBody.Up);
//BoundingBoxD
//MyPhysicsDebugDraw.DebugDrawAabb(worldMatrix.Translation,Color.LightBlue);
//Velocity and Acceleration
MyPhysicsDebugDraw.DebugDrawVector3(worldMatrix.Translation, CharacterRigidBody.LinearVelocity, Color.Red, 1.0f);
//MyPhysicsDebugDraw.DebugDrawVector3(worldMatrix.Translation, CharacterRigidBody.LinearAcceleration, Color.Blue, 1.0f);
// Gravity
MyPhysicsDebugDraw.DebugDrawVector3(worldMatrix.Translation, CharacterRigidBody.Gravity, Color.Yellow, 0.1f);
// Controller Up
//MyPhysicsDebugDraw.DebugDrawVector3(worldMatrix.Translation, CharacterRigidBody.GetControllerUp(), Color.Pink, 1.0f);
MyPhysicsDebugDraw.DebugDrawVector3(worldMatrix.Translation, CharacterRigidBody.Up, Color.Pink, 1.0f);
Vector3 TestUp = Vector3.Up;
MyPhysicsDebugDraw.DebugDrawVector3(worldMatrix.Translation, TestUp, Color.Green, 1.0f);
/*
* // Capsule Shape draw
* float radius = 0.4f;
* Vector3 vertexA = Vector3.Zero;
* Vector3 vertexB = Vector3.Zero;
* CharacterRigidBody.GetPxCapsuleShapeDrawData(ref radius,ref vertexA,ref vertexB);
* if ((vertexA != vertexB) && (radius > 0.0f))
* {
* HkShape capsuleShape = new HkCapsuleShape(vertexA, vertexB, radius); // only for debug display
*
* int index = 0;
* const float alpha = 0.3f;
* MyPhysicsDebugDraw.DrawCollisionShape(capsuleShape, worldMatrix, alpha, ref index);
* }
*/
}
}
}
