/// <summary>
/// These can be specified in several different ways:
///
///1) actorDesc.density == 0, bodyDesc.mass > 0, bodyDesc.massSpaceInertia.magnitude() > 0
///
///Here the mass properties are specified explicitly, there is nothing to compute.
///
///2) actorDesc.density > 0, actorDesc.shapes.size() > 0, bodyDesc.mass == 0, bodyDesc.massSpaceInertia.magnitude() == 0
///
///Here a density and the shapes are given. From this both the mass and the inertia tensor is computed.
///
///3) actorDesc.density == 0, actorDesc.shapes.size() > 0, bodyDesc.mass > 0, bodyDesc.massSpaceInertia.magnitude() == 0
///
///Here a mass and shapes are given. From this the inertia tensor is computed.
///
///Other combinations of settings are illegal.
/// </summary>
/// <param name="node"></param>
/// <param name="dynamic"></param>
/// <param name="shapeBuilder"></param>
/// <param name="density"></param>
/// <param name="mass"></param>
/// <returns></returns>
public Actor CreateActor(Physic physic, bool dynamic, Func <Frame, ActorShapeDesc> shapeBuilder, float density = 0, float mass = 0)
{
if (physic != null)
{
throw new NullReferenceException("Physics");
}
ActorDesc actorDesc = _CreateActorDescription(dynamic, density, mass);
if (shapeBuilder != null)
{
foreach (var child in EnumerateNodesPosOrden())
{
var shapeDesc = shapeBuilder(child);
if (shapeDesc != null)
{
actorDesc.Shapes.Add(shapeDesc);
}
}
}
var actor = physic.CreateActor(actorDesc);
this.BindTo(actor);
return(actor);
}
public Actor CreateActor(Physic physic, bool dynamic, ActorShapeDesc[] shapes, float density = 0, float mass = 0)
{
if (physic != null)
{
throw new ArgumentNullException("physic");
}
ActorDesc actorDesc = _CreateActorDescription(dynamic, density, mass);
foreach (var item in shapes)
{
actorDesc.Shapes.Add(item);
}
var actor = physic.CreateActor(actorDesc);
this.BindTo(actor);
return(actor);
}
public Actor CreateActor(Physic physic, bool dynamic, float density = 0, float mass = 0)
{
if (physic == null)
{
throw new ArgumentNullException("physic");
}
ActorDesc actorDesc = _CreateActorDescription(dynamic, density, mass);
if (_nodeObject is IFrameMesh || _nodes.Count == 1)
{
ActorShapeDesc shapeDesc = _CreateShapeDescriptor(Matrix.Identity);
if (shapeDesc is WheelShapeDesc)
{
//Matrix pose = Matrix.Identity;
//pose.set_Rows(3, shapeDesc.LocalPose.get_Rows(3));
//shapeDesc.LocalPose = pose;
//pose.set_Rows(3, actorDesc.GlobalPose.get_Rows(3));
//actorDesc.GlobalPose = pose;
actorDesc.GlobalPose = Matrix.RotationZ(-Numerics.PIover2) * actorDesc.GlobalPose;
}
if (shapeDesc != null)
{
if (density == 0 && dynamic)
{
shapeDesc.Mass = 1.0f;
}
actorDesc.Shapes.Add(shapeDesc);
}
}
else
{
foreach (var child in _nodes)
{
ActorShapeDesc shapeDesc = child._CreateShapeDescriptor(child.LocalPose);
if (shapeDesc != null)
{
if (shapeDesc is WheelShapeDesc)
{
//Matrix pose = Matrix.Identity;
//pose.set_Rows(3, shapeDesc.LocalPose.get_Rows(3));
//shapeDesc.LocalPose = pose;
shapeDesc.LocalPose = Matrix.RotationZ(-Numerics.PIover2) * shapeDesc.LocalPose;
}
if (density == 0 && dynamic)
{
var match = Regex.Match(child._tag, @"__m(?<X>\d+)((\.|_)(?<Y>\d+))?__");
if (match.Success)
{
shapeDesc.Mass = float.Parse(match.Groups["X"].Value + "." + match.Groups["Y"].Value);
}
}
actorDesc.Shapes.Add(shapeDesc);
}
}
}
if (actorDesc.Shapes.Count == 0)
{
throw new InvalidOperationException("There are any shape present and it is not allowed create a empty actor");
}
var actor = physic.CreateActor(actorDesc);
this.BindTo(actor);
return(actor);
}
