/// <summary>
/// Called when [contact added].
/// </summary>
/// <param name="cp">The cp.</param>
/// <param name="colObj0Wrap">The col obj0 wrap.</param>
/// <param name="partId0">The part id0.</param>
/// <param name="index0">The index0.</param>
/// <param name="colObj1Wrap">The col obj1 wrap.</param>
/// <param name="partId1">The part id1.</param>
/// <param name="index1">The index1.</param>
private void OnContactAdded(ManifoldPoint cp, CollisionObjectWrapper colObj0Wrap, int partId0, int index0,
CollisionObjectWrapper colObj1Wrap, int partId1, int index1)
{
//Debug.WriteLine("OnContactAdded");
int numManifolds = BtWorld.Dispatcher.NumManifolds;
for (int i = 0; i < numManifolds; i++)
{
PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i);
int numContacts = contactManifold.NumContacts;
if (numContacts > 0)
{
cp.UserPersistentData = 1;
CollisionObject obA = (CollisionObject)contactManifold.Body0;
CollisionObject obB = (CollisionObject)contactManifold.Body1;
RigidBody btRigidBodyA = (RigidBody)obA;
RigidBody btRigidBodyB = (RigidBody)obB;
RigidBodyImp rigidBodyA = new RigidBodyImp();
RigidBodyImp rigidBodyB = new RigidBodyImp();
rigidBodyA._rbi = btRigidBodyA;
rigidBodyB._rbi = btRigidBodyB;
rigidBodyA.OnCollision(rigidBodyB);
}
}
}
/*private void MyTickCallBack(ManifoldPoint cp, CollisionObjectWrapper colobj0wrap, int partid0, int index0, CollisionObjectWrapper colobj1wrap, int partid1, int index1)
* {
* Debug.WriteLine("MyTickCallBack");
* int numManifolds = BtWorld.Dispatcher.NumManifolds;
* RigidBodyImp myRb;
* //Debug.WriteLine("numManifolds: " + numManifolds);
* for (int i = 0; i < numManifolds; i++)
* {
* PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i);
* int numContacts = contactManifold.NumContacts;
* if (numContacts > 0)
* {
* CollisionObject obA = (CollisionObject) contactManifold.Body0;
* CollisionObject obB = (CollisionObject) contactManifold.Body1;
*
* // Debug.WriteLine(numContacts);
* var pnA = obA.UserObject;
*
* for (int j = 0; j < numContacts; j++)
* {
* ManifoldPoint pt = contactManifold.GetContactPoint(j);
*
* }
* }
* }
* }*/
/// <summary>
/// Adds the rigid body.
/// </summary>
/// <param name="mass">The mass.</param>
/// <param name="worldTransform">The world transform.</param>
/// <param name="orientation">The orientation.</param>
/// <param name="colShape">The col shape.</param>
/// <returns></returns>
public IRigidBodyImp AddRigidBody(float mass, float3 worldTransform, float3 orientation, ICollisionShapeImp colShape /*, float3 intertia*/)
{
// Use bullet to do what needs to be done:
var btMatrix = Matrix.RotationX(orientation.x)
* Matrix.RotationY(orientation.y)
* Matrix.RotationZ(orientation.z)
* Matrix.Translation(worldTransform.x, worldTransform.y, worldTransform.z);
var btMotionState = new DefaultMotionState(btMatrix);
var shapeType = colShape.GetType().ToString();
CollisionShape btColShape;
// var isStatic = false;
switch (shapeType)
{
//Primitives
case "Fusee.Engine.BoxShapeImp":
var box = (BoxShapeImp)colShape;
var btBoxHalfExtents = Translator.Float3ToBtVector3(box.HalfExtents);
btColShape = new BoxShape(btBoxHalfExtents);
break;
case "Fusee.Engine.CapsuleShapeImp":
var capsule = (CapsuleShapeImp)colShape;
btColShape = new CapsuleShape(capsule.Radius, capsule.HalfHeight);
break;
case "Fusee.Engine.ConeShapeImp":
var cone = (ConeShapeImp)colShape;
btColShape = new ConeShape(cone.Radius, cone.Height);
break;
case "Fusee.Engine.CylinderShapeImp":
var cylinider = (CylinderShapeImp)colShape;
var btCylinderHalfExtents = Translator.Float3ToBtVector3(cylinider.HalfExtents);
btColShape = new CylinderShape(btCylinderHalfExtents);
break;
case "Fusee.Engine.MultiSphereShapeImp":
var multiSphere = (MultiSphereShapeImp)colShape;
var btPositions = new Vector3[multiSphere.SphereCount];
var btRadi = new float[multiSphere.SphereCount];
for (int i = 0; i < multiSphere.SphereCount; i++)
{
var pos = Translator.Float3ToBtVector3(multiSphere.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = multiSphere.GetSphereRadius(i);
}
btColShape = new MultiSphereShape(btPositions, btRadi);
break;
case "Fusee.Engine.SphereShapeImp":
var sphere = (SphereShapeImp)colShape;
var btRadius = sphere.Radius;
btColShape = new SphereShape(btRadius);
break;
//Misc
case "Fusee.Engine.CompoundShapeImp":
var compShape = (CompoundShapeImp)colShape;
btColShape = new CompoundShape(true);
btColShape = compShape.BtCompoundShape;
break;
case "Fusee.Engine.EmptyShapeImp":
btColShape = new EmptyShape();
break;
//Meshes
case "Fusee.Engine.ConvexHullShapeImp":
var convHull = (ConvexHullShapeImp)colShape;
var btPoints = new Vector3[convHull.GetNumPoints()];
for (int i = 0; i < convHull.GetNumPoints(); i++)
{
var point = convHull.GetScaledPoint(i);
btPoints[i] = Translator.Float3ToBtVector3(point);
}
btColShape = new ConvexHullShape(btPoints);
//btColShape.LocalScaling = new Vector3(3,3,3);
break;
case "Fusee.Engine.StaticPlaneShapeImp":
var staticPlane = (StaticPlaneShapeImp)colShape;
Debug.WriteLine("staticplane: " + staticPlane.Margin);
var btNormal = Translator.Float3ToBtVector3(staticPlane.PlaneNormal);
btColShape = new StaticPlaneShape(btNormal, staticPlane.PlaneConstant);
// isStatic = true;
//btColShape.Margin = 0.04f;
//Debug.WriteLine("btColshape" + btColShape.Margin);
break;
case "Fusee.Engine.GImpactMeshShapeImp":
var gImpMesh = (GImpactMeshShapeImp)colShape;
gImpMesh.BtGImpactMeshShape.UpdateBound();
var btGimp = new GImpactMeshShape(gImpMesh.BtGImpactMeshShape.MeshInterface);
btGimp.UpdateBound();
btColShape = btGimp;
break;
//Default
default:
Debug.WriteLine("defaultImp");
btColShape = new EmptyShape();
break;
}
var btLocalInertia = btColShape.CalculateLocalInertia(mass);
// btLocalInertia *= (10.0f*10);
RigidBodyConstructionInfo btRbcInfo = new RigidBodyConstructionInfo(mass, btMotionState, btColShape,
btLocalInertia);
var btRigidBody = new RigidBody(btRbcInfo);
btRigidBody.Restitution = 0.2f;
btRigidBody.Friction = 0.2f;
btRigidBody.CollisionFlags = CollisionFlags.CustomMaterialCallback;
BtWorld.AddRigidBody(btRigidBody);
btRbcInfo.Dispose();
var retval = new RigidBodyImp();
retval._rbi = btRigidBody;
btRigidBody.UserObject = retval;
return(retval);
}
