public void setPosition(SLAct act, float x, float y, float z)
{
lock (this.scene)
{
act.setPosition(x, y, z);
}
}
public void movePosition(SLAct act, float x, float y, float z)
{
lock (this.scene)
{
act.move(x, y, z);
}
}
/// <summary>
/// カプセルを作成してワールドに追加する
/// </summary>
/// <param name="pos"></param>
/// <param name="height"></param>
/// <param name="radius"></param>
/// <param name="density"></param>
/// <returns></returns>
public SLAct addCapsule(float x, float y, float z, float height, float radius, float density, bool fix)
{
SLAct act = SLAct.createCapsule(x, y, z, height, radius, density, fix);
addRigidBody(act);
return(act);
}
public SLAct addSphere(float x, float y, float z, float radius, float density, bool fix)
{
SLAct act = SLAct.createSphere(x, y, z, radius, density, fix);
addRigidBody(act);
return(act);
}
public static SLAct createBox(float x, float y, float z, float density, bool fix)
{
Vector3 pos = new Vector3(x, y, z);
ActorDescription actorDesc = new ActorDescription();
BodyDescription bodyDesc = new BodyDescription();
actorDesc.SetToDefault();
bodyDesc.SetToDefault();
BoxShapeDescription capsuleDesc = new BoxShapeDescription()
{
LocalPose = Matrix.Translation(new Vector3(0, 0, 0)),
//Name = mName
// LocalRotation = Matrix.CreateRotationZ(45)
};
actorDesc.Shapes.Add(capsuleDesc);
if (density > 0)
{
actorDesc.BodyDescription = bodyDesc;
actorDesc.Density = density;
}
actorDesc.GlobalPose = Matrix.Translation(pos);
SLAct act = new SLAct(actorDesc);
act.no_gravity = fix;
return(act);
}
public SLJoint addJoint(
SLAct actorA, SLAct actorB, float anchor_x, float anchor_y, float anchor_z, float axis_x, float axis_y, float axis_z)
{
SLJoint joint = new SLJoint(actorA, actorA, anchor_x, anchor_y, anchor_z, axis_x, axis_y, axis_z);
setJoint(joint);
return(joint);
}
public void addRigidBody(SLAct act)
{
lock (this.scene)
{
Actor actor;
if (act.mass > 0)
{
act.actorDesc.Density = 0;
act.actorDesc.BodyDescription.Mass = act.mass;
}
else
{
act.actorDesc.Density = 0;
act.actorDesc.BodyDescription.Mass = 0.001f;
}
#if false
act.actorDesc.BodyDescription.LinearDamping = act.m_damping;
act.actorDesc.BodyDescription.AngularDamping = act.m_damping;
act.actorDesc.BodyDescription.MassSpaceInertia = act.m_inertia;
#endif
actor = scene.CreateActor(act.actorDesc);
//actor.MassSpaceInertiaTensor =
if (act.no_gravity)
{
// 重力を無効にする場合
actor.RaiseBodyFlag(BodyFlag.DisableGravity);
// 回転を無効にする場合
actor.RaiseBodyFlag(BodyFlag.FrozenRotation);
// 移動を無効にする場合
actor.RaiseBodyFlag(BodyFlag.FrozenPosition);
}
if (act.kinematic_mode)
{
// 重力を無効にする場合
actor.RaiseBodyFlag(BodyFlag.DisableGravity);
// 回転を無効にする場合
actor.RaiseBodyFlag(BodyFlag.FrozenRotation);
// 移動を無効にする場合
actor.RaiseBodyFlag(BodyFlag.FrozenPosition);
actor.RaiseBodyFlag(BodyFlag.Kinematic);
}
act.setActor(actor);
act_list.Add(act);
}
}
/// <summary>
/// 物理シミュレーションを更新する
/// </summary>
public int stepSimulation(float TotalSeconds)
{
lock (this.scene)
{
// モデルの動きを物理に反映する
for (int i = 0; i < act_list.Count; i++)
{
SLAct act = act_list[i];
act.updateToPhisics(TotalSeconds);
}
// Update Physics
this.scene.Simulate(TotalSeconds);
//_scene.Simulate( 1.0f / 60.0f );
this.scene.FlushStream();
this.scene.FetchResults(SimulationStatus.RigidBodyFinished, true);
// 物理結果をモデルに反映する
for (int i = 0; i < act_list.Count; i++)
{
SLAct act = act_list[i];
act.updateToModel(TotalSeconds);
}
#if false
int i = 0;
foreach (Actor actor in this.scene.Actors)
{
// 各アクターの位置・回転情報
Matrix m = actor.GlobalPose;
// これで位置がとれるので、ここからMotionStateを呼び出せばいい
Vector3 v = GetPosition(m);
//Console.WriteLine("pos " + i + ":" + v.X + "," + v.Y + "," + v.Z);
i++;
}
#endif
}
return(0);
}
public SLJoint(
SLAct actorA, SLAct actorB, float anchor_x, float anchor_y, float anchor_z, float axis_x, float axis_y, float axis_z)
{
Vector3 anchor = new Vector3(anchor_x, anchor_y, anchor_z);
Vector3 axis = new Vector3(axis_x, axis_y, axis_z);
act_anc = anchor;
d6JointDesc = new StillDesign.PhysX.D6JointDescription();
d6JointDesc.SetToDefault();
d6JointDesc.Actor1 = actorA != null ? actorA.actor : null;
d6JointDesc.Actor2 = actorB != null ? actorB.actor : null;
d6JointDesc.DriveLinearVelocity = new Vector3(0, 0, 0);
// グローバル座標でのアンカーの場所
d6JointDesc.SetGlobalAnchor(anchor);
// グローバル座標での回転軸
d6JointDesc.SetGlobalAxis(axis);
// 回転方向の制約
d6JointDesc.TwistMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.Swing1Motion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.Swing2Motion = StillDesign.PhysX.D6JointMotion.Locked;
// 移動方向の制約
d6JointDesc.XMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.YMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.ZMotion = StillDesign.PhysX.D6JointMotion.Locked;
d6JointDesc.ProjectionMode = StillDesign.PhysX.JointProjectionMode.None;
act1 = actorA;
act2 = actorB;
}
public CapsuleShape(float width, float height, float x, float y, float z)
{
act = SLAct.createCapsule(x, y, z, height, width, 10, false);
}
public CapsuleShape(float width, float height)
{
act = SLAct.createCapsule(0, 0, 0, height, width, 10, false);
Margin = width;
}
public BoxShape(btVector3 vector)
{
act = SLAct.createBox(vector.X, vector.Y, vector.Z, 10, false);
Margin = vector.X;
}
public SphereShape(float width, float x, float y, float z)
{
act = SLAct.createSphere(x, y, z, width, 10, false);
}
public SphereShape(float width)
{
act = SLAct.createSphere(0, 0, 0, width, 10, false);
Margin = width;
}
