/// <summary>
/// Create the physical entity.
/// </summary>
/// <param name="shape">Collision shape that define this body.</param>
/// <param name="mass">Body mass (in kg), or 0 for static.</param>
/// <param name="inertia">Body inertia, or 0 for static.</param>
/// <param name="transformations">Starting transformations.</param>
public RigidBody(CollisionShapes.ICollisionShape shape, float mass = 10f, float inertia = 1f, Matrix?transformations = null)
{
// store collision shape
_shape = shape;
// set default transformations
transformations = transformations ?? Matrix.Identity;
// create starting state
_state = new DefaultMotionState(ToBullet.Matrix((Matrix)(transformations)));
// create the rigid body construction info
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(
mass,
_state,
shape.BulletCollisionShape,
shape.BulletCollisionShape.CalculateLocalInertia(mass) * inertia);
// create the rigid body itself and attach self to UserObject
BulletRigidBody = new BulletSharp.RigidBody(info);
BulletRigidBody.UserObject = this;
// set default group and mask
CollisionGroup = CollisionGroups.DynamicObjects;
CollisionMask = CollisionMasks.Targets;
// set some defaults
InvokeCollisionEvents = true;
IsEthereal = false;
}
/// <summary>
/// Perform a raycast test and return colliding results.
/// </summary>
/// <param name="start">Start ray vector.</param>
/// <param name="end">End ray vector.</param>
/// <param name="resultsCallback">BulletSharp results callback.</param>
internal RaycastResults Raycast(Vector3 start, Vector3 end, BulletSharp.RayResultCallback resultsCallback)
{
// convert start and end vectors to bullet vectors
BulletSharp.Math.Vector3 bStart = ToBullet.Vector(start);
BulletSharp.Math.Vector3 bEnd = ToBullet.Vector(end);
// perform the ray test
return(Raycast(bStart, bEnd, resultsCallback));
}
/// <summary>
/// Convert an array of vectors from MonoGame to Bullet3d.
/// </summary>
/// <param name="vecs">Vectors array to convert.</param>
/// <returns>Array of Bullet vectors.</returns>
public static BulletSharp.Math.Vector3[] Vectors(Vector3[] vecs)
{
BulletSharp.Math.Vector3[] bvectors = new BulletSharp.Math.Vector3[vecs.Length];
int i = 0;
foreach (var vector in vecs)
{
bvectors[i++] = ToBullet.Vector(vector);
}
return(bvectors);
}
/// <summary>
/// Apply torque force on the body.
/// </summary>
/// <param name="torque">Torque force to apply.</param>
/// <param name="asImpulse">If true, will apply torque as an impulse.</param>
public void ApplyTorque(Vector3 torque, bool asImpulse = false)
{
if (asImpulse)
{
BulletRigidBody.ApplyTorqueImpulse(ToBullet.Vector(torque));
}
else
{
BulletRigidBody.ApplyTorque(ToBullet.Vector(torque));
}
BulletRigidBody.Activate();
}
/// <summary>
/// Perform a raycast test and return colliding results, while ignoring 'self' object.
/// </summary>
/// <param name="start">Start ray vector.</param>
/// <param name="end">End ray vector.</param>
/// <param name="self">Physical body to ignore.</param>
public RaycastResults Raycast(Vector3 start, Vector3 end, ECS.Components.Physics.BasePhysicsComponent self)
{
// convert start and end vectors to bullet vectors
BulletSharp.Math.Vector3 bStart = ToBullet.Vector(start);
BulletSharp.Math.Vector3 bEnd = ToBullet.Vector(end);
// create class to hold results
BulletSharp.RayResultCallback resultsCallback =
new BulletSharp.KinematicClosestNotMeRayResultCallback(self._PhysicalBody._BulletEntity);
// perform ray cast
return(Raycast(bStart, bEnd, resultsCallback));
}
/// <summary>
/// Perform a raycast test and return colliding results.
/// </summary>
/// <param name="start">Start ray vector.</param>
/// <param name="end">End ray vector.</param>
/// <param name="returnNearest">If true, will only return the nearest object collided.</param>
public RaycastResults Raycast(Vector3 start, Vector3 end, bool returnNearest = true)
{
// convert start and end vectors to bullet vectors
BulletSharp.Math.Vector3 bStart = ToBullet.Vector(start);
BulletSharp.Math.Vector3 bEnd = ToBullet.Vector(end);
// create class to hold results
BulletSharp.RayResultCallback resultsCallback = returnNearest ?
new BulletSharp.ClosestRayResultCallback(ref bStart, ref bEnd) as BulletSharp.RayResultCallback :
new BulletSharp.AllHitsRayResultCallback(bStart, bEnd);
// perform ray cast
return(Raycast(bStart, bEnd, resultsCallback));
}
/// <summary>
/// Create the static collision object from shape.
/// </summary>
/// <param name="shape">Collision shape that define this body.</param>
/// <param name="transformations">Starting transformations.</param>
public KinematicBody(CollisionShapes.ICollisionShape shape, Matrix?transformations = null)
{
// create the collision object
_shape = shape;
BulletCollisionObject = new CollisionObject();
BulletCollisionObject.CollisionShape = shape.BulletCollisionShape;
// turn off simulation
base.EnableSimulation = false;
// set default group and mask
CollisionGroup = CollisionGroups.DynamicObjects;
CollisionMask = CollisionMasks.Targets;
// if provided, set transformations
if (transformations != null)
{
BulletCollisionObject.WorldTransform = ToBullet.Matrix(transformations.Value);
}
}
/// <summary>
/// Set gravity vector.
/// </summary>
/// <param name="gravity"></param>
public void SetGravity(Vector3 gravity)
{
_gravity = ToBullet.Vector(gravity);
_world.SetGravity(ref _gravity);
}
/// <summary>
/// Apply impulse on the body, from its center.
/// </summary>
/// <param name="impulse">Impulse to apply.</param>
public void ApplyImpulse(Vector3 impulse)
{
BulletRigidBody.ApplyCentralImpulse(ToBullet.Vector(impulse));
BulletRigidBody.Activate();
}
/// <summary>
/// Apply force on the body, from a given position.
/// </summary>
/// <param name="force">Force to apply.</param>
/// <param name="from">Force source position.</param>
public void ApplyForce(Vector3 force, Vector3 from)
{
BulletRigidBody.ApplyForce(ToBullet.Vector(force), ToBullet.Vector(from));
BulletRigidBody.Activate();
}
/// <summary>
/// Apply force on the body, from its center.
/// </summary>
/// <param name="force">Force to apply.</param>
public void ApplyForce(Vector3 force)
{
BulletRigidBody.ApplyCentralForce(ToBullet.Vector(force));
BulletRigidBody.Activate();
}
/// <summary>
/// Apply impulse on the body, from a given position.
/// </summary>
/// <param name="impulse">Impulse to apply.</param>
/// <param name="from">Impulse source position.</param>
public void ApplyImpulse(Vector3 impulse, Vector3 from)
{
BulletRigidBody.ApplyImpulse(ToBullet.Vector(impulse), ToBullet.Vector(from));
BulletRigidBody.Activate();
}
