public BepuEntity createChassis(Vector3 position, float width, float height, float length)
{
BepuEntity theChasis = new BepuEntity();
theChasis.modelName = "chassis7";
theChasis.LoadContent();
theChasis.localTransform = Matrix.CreateScale(new Vector3(width, height, length));
theChasis.body = new Box(position, 20, 15, 60, 1);
theChasis.configureEvents();
XNAGame.Instance().space.Add(theChasis.body);
XNAGame.Instance().children.Add(theChasis);
return theChasis;
}
public BepuEntity createWheel(Vector3 position, string mesh, float scale)
{
BepuEntity entity = new BepuEntity();
entity.modelName = "Wheels7";
entity.LoadContent();
Vector3[] vertices;
int[] indices;
TriangleMesh.GetVerticesAndIndicesFromModel(entity.model, out vertices, out indices);
AffineTransform localTransform = new AffineTransform(new Vector3(scale, scale, scale), Quaternion.Identity, new Vector3(0, 0, 0));
MobileMesh mobileMesh = new MobileMesh(vertices, indices, localTransform, BEPUphysics.CollisionShapes.MobileMeshSolidity.Counterclockwise, 1);
//Correct Scale for 'Wheels6:'
// entity.localTransform = Matrix.CreateScale(4.5f, 4.5f, 4.5f);
entity.localTransform = Matrix.CreateScale(2.75f, 2.75f, 2.75f);
entity.body = mobileMesh;
entity.HasColor = true;
entity.body.Position = position;
XNAGame.Instance().space.Add(entity.body);
XNAGame.Instance().children.Add(entity);
//modelDrawer.Add(entity.body);
return entity;
}
public BepuEntity createCylinder(Vector3 position, string mesh, float scale)
{
BepuEntity entity = new BepuEntity();
entity.modelName = "SlaveCylinder";
entity.LoadContent();
entity.Mass = 0;
Vector3[] vertices;
int[] indices;
TriangleMesh.GetVerticesAndIndicesFromModel(entity.model, out vertices, out indices);
AffineTransform localTransform = new AffineTransform(new Vector3(.4f, .4f, .4f), Quaternion.Identity, new Vector3(0, 0, 0));
MobileMesh mobileMesh = new MobileMesh(vertices, indices, localTransform, BEPUphysics.CollisionShapes.MobileMeshSolidity.Counterclockwise, 1);
entity.localTransform = Matrix.CreateScale(1f, 1f,1f);
entity.body = mobileMesh;
entity.HasColor = true;
entity.body.Position = position;
entity.body.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2);
XNAGame.Instance().space.Add(entity.body);
XNAGame.Instance().children.Add(entity);
// modelDrawer.Add(entity.body);
return entity;
}
