protected override void LoadPhysicsInstance()
{
_shape = new MogreNewt.CollisionPrimitives.Box(PhysicsEngine.World, new Mogre.Vector3(_size.x, _size.y, _size.z), 0);
if (_rigidBody != null)
{
_rigidBody.AttachNode(null);
_rigidBody.Dispose();
}
_rigidBody = new Body(PhysicsEngine.World, _shape);
_rigidBody.SetPositionOrientation(new Mogre.Vector3(position.x + (size.x / 2), position.y + (size.y / 2), position.z + (size.z / 2)), _sceneNode.Orientation);
_rigidBody.AttachNode(_sceneNode);
if (!_anchored)
{
Mogre.Vector3 intertia;
Mogre.Vector3 offset;
_shape.CalculateInertialMatrix(out intertia, out offset);
float mass = _size.x * _size.y * _size.z;
_rigidBody.SetMassMatrix(mass, intertia);
}
_rigidBody.IsFreezed = anchored;
//_rigidBody.IsGravityEnabled = true;
_rigidBody.ForceCallback += _rigidBody_ForceCallback;
}
Body MakeSimpleBox(Vector3 size, Vector3 pos, Quaternion orient)
{
// base mass on the size of the object.
float mass = size.x * size.y * size.z * 100.0f;
// calculate the inertia based on box formula and mass
Vector3 inertia = MogreNewt.MomentOfInertia.CalcBoxSolid(mass, size);
Entity box1;
SceneNode box1node;
box1 = mSceneMgr.CreateEntity("Entity" + (mEntityCount++), "box.mesh");
box1node = mSceneMgr.RootSceneNode.CreateChildSceneNode();
box1node.AttachObject(box1);
box1node.SetScale(size);
box1.NormaliseNormals = true;
MogreNewt.Collision col = new MogreNewt.CollisionPrimitives.Box(mWorld, size);
MogreNewt.Body bod = new MogreNewt.Body(mWorld, col);
col.Dispose();
bod.AttachToNode(box1node);
bod.SetMassMatrix(mass, inertia);
bod.IsGravityEnabled = true;
box1.SetMaterialName("Simple/BumpyMetal");
bod.SetPositionOrientation(pos, orient);
return(bod);
}
public void AddBoxPart(Vector3 offset, Quaternion _orientation, Vector3 size)
{
ConvexCollision collision = new MogreNewt.CollisionPrimitives.Box(
Engine.Singleton.NewtonWorld,
size,
_orientation,
offset,
Engine.Singleton.GetUniqueBodyId());
CompoundParts.Add(collision);
}
public void AddBoxPart(Vector3 offset, Quaternion _orientation, Vector3 size)
{
ConvexCollision collision = new MogreNewt.CollisionPrimitives.Box(
Engine.Singleton.NewtonWorld,
size,
_orientation,
offset,
Engine.Singleton.GetUniqueBodyId());
CompoundParts.Add(collision);
}
public Missile(World _w, int _id, Vector3 _position, Quaternion _orientation, Ship _target)
{
id = _id;
target = _target;
MogreNewt.CollisionPrimitives.Box bodyBox =
new MogreNewt.CollisionPrimitives.Box(_w, new Vector3(1.0f, 1.0f, 1.0f));
body = new Body(_w, bodyBox);
float mass;
Vector3 inertia;
body.getMassMatrix(out mass, out inertia);
body.setMassMatrix(1.0f, new Vector3(1.0f, 1.0f, 1.0f));
body.setPositionOrientation(_position, _orientation);
body.IsGravityEnabled = false;
body.ForceCallback += new ForceCallbackHandler(ForceTorqueCallback);
body.setAutoFreeze(0);
body.setLinearDamping(0.0f);
body.setAngularDamping(new Vector3(0.0f));
}
public Missile(World _w, int _id, Vector3 _position, Quaternion _orientation, Ship _target)
{
id = _id;
target = _target;
MogreNewt.CollisionPrimitives.Box bodyBox =
new MogreNewt.CollisionPrimitives.Box(_w, new Vector3(1.0f, 1.0f, 1.0f));
body = new Body(_w, bodyBox);
float mass;
Vector3 inertia;
body.getMassMatrix(out mass, out inertia);
body.setMassMatrix(1.0f, new Vector3(1.0f, 1.0f, 1.0f));
body.setPositionOrientation(_position, _orientation);
body.IsGravityEnabled = false;
body.ForceCallback += new ForceCallbackHandler(ForceTorqueCallback);
body.setAutoFreeze(0);
body.setLinearDamping(0.0f);
body.setAngularDamping(new Vector3(0.0f));
}
Body MakeSimpleBox(Vector3 size, Vector3 pos, Quaternion orient)
{
// base mass on the size of the object.
float mass = size.x * size.y * size.z * 2.5f;
// calculate the inertia based on box formula and mass
Vector3 inertia;
Vector3 offset;
Entity box1;
SceneNode box1node;
box1 = sceneMgr.CreateEntity("Entity" + (mEntityCount++), "box.mesh");
box1node = sceneMgr.RootSceneNode.CreateChildSceneNode();
box1node.AttachObject(box1);
box1node.SetScale(size);
box1.NormaliseNormals = true;
MogreNewt.ConvexCollision col = new MogreNewt.CollisionPrimitives.Box(m_World, size);
col.CalculateInertialMatrix(out inertia, out offset);
inertia = inertia * mass;
MogreNewt.Body bod = new MogreNewt.Body(m_World, col);
col.Dispose();
bod.AttachNode(box1node);
bod.SetMassMatrix(mass, inertia);
bod.IsGravityEnabled = true;
box1.SetMaterialName("Examples/10PointBlock");
bod.SetPositionOrientation(pos, orient);
return(bod);
}
public void SetPhysics(Mogre.Entity entity, Mogre.SceneNode node, float mass)
{
MogreNewt.ConvexCollision collision = new MogreNewt.CollisionPrimitives.Box(
Core.Singleton.NewtonWorld,
Core.Singleton.PhysicsManager.getCollisionBoxSize(entity, node),
// Core.Singleton.PhysicsManager.getCollisionCylinderRadius(entity, node),
// Core.Singleton.PhysicsManager.getCollisionCylinderHeight(entity, node),
// new Mogre.Quaternion(new Mogre.Radian(1.57f), new Mogre.Vector3(0f, 0f, 1f)),
Core.Singleton.GetUniqueBodyId()
);
Mogre.Vector3 inertia, offset;
collision.CalculateInertialMatrix(out inertia, out offset);
inertia *= mass;
m_Body = new MogreNewt.Body(Core.Singleton.NewtonWorld, collision, true);
m_Body.AttachNode(node);
m_Body.SetMassMatrix(mass, inertia);
m_Body.SetPositionOrientation( node.Position + new Vector3(0,1,0) , node.Orientation);
m_Body.MaterialGroupID = Core.Singleton.PhysicsManager.getMaterialID("Ground");
}
