/// <summary>
/// Applies the impulse.
/// </summary>
/// <param name="impulse">The impulse.</param>
/// <param name="relPos">The relative position.</param>
public void ApplyImpulse(float3 impulse, float3 relPos)
{
var o = (RigidBodyImp)_rbi.UserObject;
// impulse *= 10;
o._rbi.ApplyImpulse(Translator.Float3ToBtVector3(impulse) * 10, Translator.Float3ToBtVector3(relPos));
}
/// <summary>
/// Applies the torque impulse.
/// </summary>
/// <param name="torqueImpulse">The torque impulse.</param>
public void ApplyTorqueImpulse(float3 torqueImpulse)
{
var o = (RigidBodyImp)_rbi.UserObject;
o._rbi.ApplyTorqueImpulse(Translator.Float3ToBtVector3(torqueImpulse));
// _torqueImpulse = value*10;
}
/// <summary>
/// Calculates the principal axis transform.
/// </summary>
/// <param name="masses">The masses.</param>
/// <param name="principal">The principal.</param>
/// <param name="inertia">The inertia.</param>
public void CalculatePrincipalAxisTransform(float[] masses, float4x4 principal, float3 inertia)
{
var btPrincipal = Translator.Float4X4ToBtMatrix(principal);
var btInertia = Translator.Float3ToBtVector3(inertia);
BtCompoundShape.CalculatePrincipalAxisTransform(masses, ref btPrincipal, out btInertia);
}
/// <summary>
/// Adds the child shape.
/// </summary>
/// <param name="localTransform">The local transform.</param>
/// <param name="shape">The shape.</param>
public void AddChildShape(float4x4 localTransform, ICylinderShapeImp shape)
{
var btHalfExtents = Translator.Float3ToBtVector3(shape.HalfExtents);
var btChildShape = new CylinderShape(btHalfExtents);
var btLocalTransform = Translator.Float4X4ToBtMatrix(localTransform);
BtCompoundShape.AddChildShape(btLocalTransform, btChildShape);
}
/// <summary>
/// Adds a child shape.
/// </summary>
/// <param name="localTransform">The local transform.</param>
/// <param name="shape">The shape.</param>
public void AddChildShape(float4x4 localTransform, IBoxShapeImp shape)
{
Debug.WriteLine("AddBox");
var btHalfExtents = Translator.Float3ToBtVector3(shape.HalfExtents);
var btChildShape = new BoxShape(btHalfExtents);
var btLocalTransform = Translator.Float4X4ToBtMatrix(localTransform);
BtCompoundShape.AddChildShape(btLocalTransform, btChildShape);
}
/// <summary>
/// Adds the cylinder shape.
/// </summary>
/// <param name="halfExtents">The half extents.</param>
/// <returns></returns>
public ICylinderShapeImp AddCylinderShape(float3 halfExtents)
{
var btCylinderShape = new CylinderShape(Translator.Float3ToBtVector3(halfExtents));
BtCollisionShapes.Add(btCylinderShape);
var retval = new CylinderShapeImp();
retval.BtCylinderShape = btCylinderShape;
btCylinderShape.UserObject = retval;
return(retval);
}
/// <summary>
/// Adds the box shape.
/// </summary>
/// <param name="boxHalfExtents">The box half extents.</param>
/// <returns></returns>
public IBoxShapeImp AddBoxShape(float3 boxHalfExtents)
{
var btBoxShape = new BoxShape(Translator.Float3ToBtVector3(boxHalfExtents));
BtCollisionShapes.Add(btBoxShape);
var retval = new BoxShapeImp();
retval.BtBoxShape = btBoxShape;
btBoxShape.UserObject = retval;
return(retval);
}
/// <summary>
/// Adds the static plane shape.
/// </summary>
/// <param name="planeNormal">The plane normal.</param>
/// <param name="planeConstant">The plane constant.</param>
/// <returns></returns>
public IStaticPlaneShapeImp AddStaticPlaneShape(float3 planeNormal, float planeConstant)
{
var btPlaneNormal = Translator.Float3ToBtVector3(planeNormal);
var btStaticPlaneShape = new StaticPlaneShape(btPlaneNormal, planeConstant);
btStaticPlaneShape.Margin = 0.04f;
BtCollisionShapes.Add(btStaticPlaneShape);
Debug.WriteLine("btStaticPlaneShape.Margin" + btStaticPlaneShape.Margin);
var retval = new StaticPlaneShapeImp();
retval.BtStaticPlaneShape = btStaticPlaneShape;
btStaticPlaneShape.UserObject = retval;
return(retval);
}
/// <summary>
/// Adds the child shape.
/// </summary>
/// <param name="localTransform">The local transform.</param>
/// <param name="shape">The shape.</param>
public void AddChildShape(float4x4 localTransform, IMultiSphereShapeImp shape)
{
var btPositions = new Vector3[shape.SphereCount];
var btRadi = new float[shape.SphereCount];
for (int i = 0; i < shape.SphereCount; i++)
{
var pos = Translator.Float3ToBtVector3(shape.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = shape.GetSphereRadius(i);
}
var btChildShape = new MultiSphereShape(btPositions, btRadi);
var btLocalTransform = Translator.Float4X4ToBtMatrix(localTransform);
BtCompoundShape.AddChildShape(btLocalTransform, btChildShape);
}
//GearConstraint
/// <summary>
/// Adds the gear constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="rigidBodyB">The rigid body b.</param>
/// <param name="axisInA">The axis in a.</param>
/// <param name="axisInB">The axis in b.</param>
/// <param name="ratio">The ratio.</param>
/// <returns></returns>
public IGearConstraintImp AddGearConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 axisInA, float3 axisInB, float ratio)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btAxisInA = Translator.Float3ToBtVector3(axisInA);
var btAxisInB = Translator.Float3ToBtVector3(axisInB);
var btGearConstraint = new GearConstraint(btRigidBodyA, btRigidBodyB, btAxisInA, btAxisInB, ratio);
BtWorld.AddConstraint(btGearConstraint);
var retval = new GearConstraintImp();
retval._gci = btGearConstraint;
btGearConstraint.UserObject = retval;
return(retval);
}
/// <summary>
/// Adds the convex hull shape.
/// </summary>
/// <param name="points">The points.</param>
/// <param name="optimized">if set to <c>true</c> [optimized].</param>
/// <returns></returns>
public IConvexHullShapeImp AddConvexHullShape(float3[] points, bool optimized)
{
var btPoints = new Vector3[points.Count()];
for (int i = 0; i < btPoints.Count(); i++)
{
var point = Translator.Float3ToBtVector3(points[i]);
btPoints[i] = point;
}
var btConvexHullShape = new ConvexHullShape(btPoints);
//btConvexHullShape.LocalScaling = new Vector3(3, 3, 3);
if (optimized == true)
{
var btShapeHull = new ShapeHull(btConvexHullShape);
var margin = btConvexHullShape.Margin;
btShapeHull.BuildHull(margin);
ConvexHullShape simplifiedConvexShape = new ConvexHullShape(btShapeHull.Vertices);
BtCollisionShapes.Add(simplifiedConvexShape);
var retval = new ConvexHullShapeImp();
retval.BtConvexHullShape = simplifiedConvexShape;
simplifiedConvexShape.UserObject = retval;
return(retval);
}
else
{
BtCollisionShapes.Add(btConvexHullShape);
var retval = new ConvexHullShapeImp();
retval.BtConvexHullShape = btConvexHullShape;
btConvexHullShape.UserObject = retval;
return(retval);
}
}
/// <summary>
/// Applies the torque.
/// </summary>
/// <param name="torque">The torque.</param>
public void ApplyTorque(float3 torque)
{
var o = (RigidBodyImp)_rbi.UserObject;
o._rbi.ApplyTorque(Translator.Float3ToBtVector3(torque));
}
/// <summary>
/// Applies the force.
/// </summary>
/// <param name="force">The force.</param>
/// <param name="relPos">The relative position.</param>
public void ApplyForce(float3 force, float3 relPos)
{
var o = (RigidBodyImp)_rbi.UserObject;
o._rbi.ApplyForce(Translator.Float3ToBtVector3(force), Translator.Float3ToBtVector3(relPos));
}
/// <summary>
/// Sets the axis.
/// </summary>
/// <param name="axis1">The axis1.</param>
/// <param name="axis2">The axis2.</param>
public void SetAxis(float3 axis1, float3 axis2)
{
_g6dofci.SetAxis(Translator.Float3ToBtVector3(axis1), Translator.Float3ToBtVector3(axis2));
}
/// <summary>
/// Adds the point.
/// </summary>
/// <param name="point">The point.</param>
public void AddPoint(float3 point)
{
var btPoint = Translator.Float3ToBtVector3(point);
BtConvexHullShape.AddPoint(btPoint, true);
}
/*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);
}
/// <summary>
/// Applies the central impulse.
/// </summary>
/// <param name="centralImpulse">The central impulse.</param>
public void ApplyCentralImpulse(float3 centralImpulse)
{
var o = (RigidBodyImp)_rbi.UserObject;
o._rbi.ApplyCentralImpulse(Translator.Float3ToBtVector3(centralImpulse));
}
/// <summary>
/// Sets the axis.
/// </summary>
/// <param name="axisInA">The axis in a.</param>
public void SetAxis(float3 axisInA)
{
var o = (HingeConstraintImp)_hci.UserObject;
_hci.SetAxis(Translator.Float3ToBtVector3(axisInA));
}
