protected void Add(PhyBody phyBody, Matrix m)
{
_AddPhyBody(phyBody);
AddBulletPhysicsTransform(phyBody);
m = m * Matrix.Translation(-phyBody.offset);
phyBody.SetWorldTransform(m);
if (phyBody.Constraint != null)
{
World.AddConstraint(phyBody.Constraint);
}
}
CollisionShape _AddFlipperCylinders(FlipperBehavior flipper)
{
float r1 = flipper.data.BaseRadius;
float r2 = flipper.data.EndRadius;
float h = flipper.data.Height;
float l = flipper.data.FlipperRadius;
var hh = h * 0.5f; // half height
var cs = new BulletSharp.CompoundShape();
cs.AddChildShape(
Matrix.Translation(0, 0, hh),
new CylinderShapeZ(r1, r1, hh));
cs.AddChildShape(
Matrix.Translation(0, -l, hh),
new CylinderShapeZ(r2, r2, hh));
// we can't add Triangle Mesh Shape to Compound Shape. Add one or two boxes
float hbl = new Vector2(l, r1 - r2).magnitude * 0.5f;
Vector3 n = new Vector3(l, r1 - r2, 0); n.Normalize();
Vector3 beg = new Vector3(0, 0, hh) + n * (r1 - r2);
Vector3 beg2 = new Vector3(-beg.X, beg.Y, beg.Z);
Vector3 end = new Vector3(0, -l, hh);
float angle = math.atan2(n.Y, n.X);
bool onlyFront = true;
bool rev = (flipper.data.StartAngle < 0 | flipper.data.StartAngle > 180);
if (!onlyFront || rev)
{
cs.AddChildShape(
Matrix.RotationZ(-angle) *
Matrix.Translation((beg + end) * 0.5f),
new BoxShape(Mathf.Min(r1, r2), hbl, hh));
}
if (!onlyFront || !rev)
{
cs.AddChildShape(
Matrix.RotationZ(angle) *
Matrix.Translation((beg2 + end) * 0.5f),
new BoxShape(Mathf.Min(r1, r2), hbl, hh));
}
return(cs);
}
