public void Render(Transform tx, bool awake, Render render)
{
Transform world = Transform.Mul(tx, local);
Vec3[] vertices = new Vec3[8] {
new Vec3(-e.x, -e.y, -e.z),
new Vec3(-e.x, -e.y, e.z),
new Vec3(-e.x, e.y, -e.z),
new Vec3(-e.x, e.y, e.z),
new Vec3(e.x, -e.y, -e.z),
new Vec3(e.x, -e.y, e.z),
new Vec3(e.x, e.y, -e.z),
new Vec3(e.x, e.y, e.z)
};
for (int i = 0; i < 36; i += 3)
{
Vec3 a = Transform.Mul(world, vertices[kBoxIndices[i]]);
Vec3 b = Transform.Mul(world, vertices[kBoxIndices[i + 1]]);
Vec3 c = Transform.Mul(world, vertices[kBoxIndices[i + 2]]);
Vec3 n = Vec3.Normalize(Vec3.Cross(b - a, c - a));
//render->SetPenColor( 0.2f, 0.4f, 0.7f, 0.5f );
//render->SetPenPosition( a.x, a.y, a.z );
//render->Line( b.x, b.y, b.z );
//render->Line( c.x, c.y, c.z );
//render->Line( a.x, a.y, a.z );
render.SetTriNormal(n.x, n.y, n.z);
render.Triangle(a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z);
}
}
// http://box2d.org/2014/02/computing-a-basis/
public static void ComputeBasis(Vec3 a, ref Vec3 b, ref Vec3 c)
{
// Suppose vector a has all equal components and is a unit vector: a = (s, s, s)
// Then 3*s*s = 1, s = sqrt(1/3) = 0.57735027. This means that at least one component of a
// unit vector must be greater or equal to 0.57735027. Can use SIMD select operation.
if (Math.Abs(a.x) >= (0.57735027))
{
b.Set(a.y, -a.x, 0);
}
else
{
b.Set(0, a.z, -a.y);
}
b = Vec3.Normalize(b);
c = Vec3.Cross(a, b);
}
public Body(BodyDef def, Scene scene)
{
LinearVelocity = def.linearVelocity;
AngularVelocity = def.angularVelocity;
Vec3.Identity(ref Force);
Vec3.Identity(ref Torque);
Q.Set(Vec3.Normalize(def.axis), def.angle);
Tx.rotation = Q.ToMat3();
Tx.position = def.position;
SleepTime = 0;
GravityScale = def.gravityScale;
Layers = def.layers;
UserData = def.userData;
Scene = scene;
Flags = 0;
LinearDamping = def.linearDamping;
AngularDamping = def.angularDamping;
if (def.bodyType == eDynamicBody)
{
Flags |= eDynamic;
}
else
{
if (def.bodyType == eStaticBody)
{
Flags |= eStatic;
Vec3.Identity(ref LinearVelocity);
Vec3.Identity(ref AngularVelocity);
Vec3.Identity(ref Force);
Vec3.Identity(ref Torque);
}
else if (def.bodyType == eKinematicBody)
{
Flags |= eKinematic;
}
}
if (def.allowSleep)
{
Flags |= eAllowSleep;
}
if (def.awake)
{
Flags |= eAwake;
}
if (def.active)
{
Flags |= eActive;
}
if (def.lockAxisX)
{
Flags |= eLockAxisX;
}
if (def.lockAxisY)
{
Flags |= eLockAxisY;
}
if (def.lockAxisZ)
{
Flags |= eLockAxisZ;
}
Boxes = new List <Box>();
ContactList = new List <ContactEdge>();
}
public void Set(Vec3 n, Vec3 p)
{
normal = Vec3.Normalize(n);
distance = Vec3.Dot(normal, p);
}
public void Set(Vec3 a, Vec3 b, Vec3 c)
{
normal = Vec3.Normalize(Vec3.Cross(b - a, c - a));
distance = Vec3.Dot(normal, a);
}