/// <summary>
/// only used for the model
/// </summary>
/// <returns></returns>
public Matrix GetWorldMatrix()
{
Matrix m = Matrix.Identity;
//if(fParentPart!=null)
//m = fParentPart.GetWorldMatrix();
/*
* //ORIGINAL
* if(Skin.NumPrimitives==0)
* return m * Matrix.CreateScale(Scale) * body.Orientation * Matrix.CreateTranslation(body.Position);
* else
* return m * Matrix.CreateScale(Scale) * Skin.GetPrimitiveLocal(0).Transform.Orientation * body.Orientation * Matrix.CreateTranslation(body.Position) * Matrix.CreateTranslation(RelativeOrigin);
*/
if (Skin.NumPrimitives == 0)
{
return(m * Matrix.CreateScale(Scale) * body.Orientation * Matrix.CreateTranslation(body.Position));
}
else
{
return(m * Matrix.CreateScale(Scale) * Skin.GetPrimitiveLocal(0).Transform.Orientation *body.Orientation *Matrix.CreateTranslation(body.Position));
}
/*
* no good
* if (Skin.NumPrimitives == 0)
* return m * body.Orientation * Matrix.CreateTranslation(body.Position);
* else
* return m * Skin.GetPrimitiveLocal(0).Transform.Orientation * body.Orientation * Matrix.CreateTranslation(body.Position) * Matrix.CreateTranslation(RelativeOrigin);
*/
}
//we will only add this method in a class that sub-classes CollidableObject e.g. PickupCollidableObject or PlayerCollidableObject
//private bool CollisionSkin_callbackFn(CollisionSkin skin0, CollisionSkin skin1)
//{
// return true;
//}
public override Matrix GetWorldMatrix()
{
return(Matrix.CreateScale(Transform3D.Scale) *
collision.GetPrimitiveLocal(0).Transform.Orientation *
body.Orientation *
Transform3D.Orientation *
Matrix.CreateTranslation(body.Position));
}
private Matrix GetWorldMatrix()
{
return
(Matrix.CreateScale(scale) *
_skin.GetPrimitiveLocal(0).Transform.Orientation *
_body.Orientation *
Matrix.CreateTranslation(_body.Position));
}
/// <summary>
/// GetLocalSkinWireframe
/// </summary>
/// <param name="skin"></param>
/// <returns>VertexPositionColor[]</returns>
public static VertexPositionColor[] GetLocalSkinWireframe(this CollisionSkin skin)
{
List <VertexPositionColor> wireframe = new List <VertexPositionColor>();
// skip if there is no collision skin
if (skin == null)
{
return(wireframe.ToArray());
}
for (int i = 0; i < skin.NumPrimitives; i++)
{
Primitive p = skin.GetPrimitiveLocal(i);
Matrix trans = p.TransformMatrix;
if (p is Sphere)
{
Sphere np = (Sphere)p;
List <Vector3> SpherePoints = calcCirclePoints(np.Radius);
AddShapeToWireframe(SpherePoints, wireframe, trans, Color.Blue);
AddShapeToWireframe(SpherePoints, wireframe, Matrix.CreateRotationY(MathHelper.PiOver2) * trans, Color.Red);
AddShapeToWireframe(SpherePoints, wireframe, Matrix.CreateRotationX(MathHelper.PiOver2) * trans, Color.Green);
}
else if (p is Capsule)
{
Capsule np = (Capsule)p;
List <Vector3> Ball = calcCirclePoints(np.Radius);
List <Vector3> CylPoints = new List <Vector3>();
List <Vector3> CirclePoints = new List <Vector3>();
List <Vector3> SidePoints = new List <Vector3>();
// Create LongWays profile slice
foreach (Vector3 v in Ball)
{
Vector3 t = Vector3.Transform(v, Matrix.CreateRotationX(MathHelper.PiOver2));
CylPoints.Add(t);
}
float len = np.Length;
SidePoints.Add(Vector3.Transform(new Vector3(np.Radius, len, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
SidePoints.Add(Vector3.Transform(new Vector3(np.Radius, 0, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
SidePoints.Add(Vector3.Transform(new Vector3(-np.Radius, 0, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
SidePoints.Add(Vector3.Transform(new Vector3(-np.Radius, len, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
// Create Y Rungs
AddShapeToWireframe(Ball, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0.0f * len)) * trans, Color.Green);
AddShapeToWireframe(Ball, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0.5f * np.Length)) * trans, Color.Green);
AddShapeToWireframe(Ball, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 1.0f * np.Length)) * trans, Color.Green);
// Create Z Profile
Matrix Zmat = Matrix.CreateRotationZ(MathHelper.PiOver2);
AddShapeToWireframe(CylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, np.Length)) * Zmat * trans, Color.Blue);
AddShapeToWireframe(CylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0)) * Zmat * trans, Color.Blue);
AddLineToWireframe(SidePoints[0], SidePoints[1], wireframe, Zmat * trans, Color.Blue);
AddLineToWireframe(SidePoints[2], SidePoints[3], wireframe, Zmat * trans, Color.Blue);
//// Create X Profile
Matrix Xmat = Matrix.Identity;
AddShapeToWireframe(CylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, np.Length)) * Xmat * trans, Color.Red);
AddShapeToWireframe(CylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0)) * Xmat * trans, Color.Red);
AddLineToWireframe(SidePoints[0], SidePoints[1], wireframe, Xmat * trans, Color.Red);
AddLineToWireframe(SidePoints[2], SidePoints[3], wireframe, Xmat * trans, Color.Red);
}
else if (p is Box)
{
Box np = (Box)p;
List <Vector3> xPoints = new List <Vector3>();
List <Vector3> yPoints = new List <Vector3>();
List <Vector3> zPoints = new List <Vector3>();
Vector3 slen = np.SideLengths;
xPoints.Add(new Vector3(slen.X, slen.Y, slen.Z));
xPoints.Add(new Vector3(0, slen.Y, slen.Z));
xPoints.Add(new Vector3(slen.X, 0, slen.Z));
xPoints.Add(new Vector3(0, 0, slen.Z));
xPoints.Add(new Vector3(slen.X, slen.Y, 0));
xPoints.Add(new Vector3(0, slen.Y, 0));
xPoints.Add(new Vector3(slen.X, 0, 0));
xPoints.Add(new Vector3(0, 0, 0));
yPoints.Add(new Vector3(slen.X, slen.Y, slen.Z));
yPoints.Add(new Vector3(slen.X, 0, slen.Z));
yPoints.Add(new Vector3(0, slen.Y, slen.Z));
yPoints.Add(new Vector3(0, 0, slen.Z));
yPoints.Add(new Vector3(slen.X, slen.Y, 0));
yPoints.Add(new Vector3(slen.X, 0, 0));
yPoints.Add(new Vector3(0, slen.Y, 0));
yPoints.Add(new Vector3(0, 0, 0));
zPoints.Add(new Vector3(slen.X, slen.Y, slen.Z));
zPoints.Add(new Vector3(slen.X, slen.Y, 0));
zPoints.Add(new Vector3(0, slen.Y, slen.Z));
zPoints.Add(new Vector3(0, slen.Y, 0));
zPoints.Add(new Vector3(slen.X, 0, slen.Z));
zPoints.Add(new Vector3(slen.X, 0, 0));
zPoints.Add(new Vector3(0, 0, slen.Z));
zPoints.Add(new Vector3(0, 0, 0));
AddLinesToWireframe(xPoints, wireframe, trans, Color.Red);
AddLinesToWireframe(yPoints, wireframe, trans, Color.Green);
AddLinesToWireframe(zPoints, wireframe, trans, Color.Blue);
}
else if (p is AABox)
{
}
else if (p is Heightmap)
{
Heightmap hm = (Heightmap)p;
Vector3 point, normal;
for (int e = 0; e < hm.Heights.Nx; e += 5)
{
for (int j = 0; j < hm.Heights.Nz; j += 5)
{
hm.GetSurfacePosAndNormal(out point, out normal, e, j);
AddLineToWireframe(point, point - 0.5f * normal, wireframe, trans, Color.GreenYellow);
}
}
}
else if (p is JigLibX.Geometry.Plane)
{
}
else if (p is TriangleMesh)
{
TriangleMesh np = (TriangleMesh)p;
for (int j = 0; j < np.GetNumTriangles(); j++)
{
IndexedTriangle t = np.GetTriangle(j);
Vector3 p1 = np.GetVertex(t.GetVertexIndex(0));
Vector3 p2 = np.GetVertex(t.GetVertexIndex(1));
Vector3 p3 = np.GetVertex(t.GetVertexIndex(2));
List <Vector3> tPoints = new List <Vector3>();
tPoints.Add(p1);
tPoints.Add(p2);
tPoints.Add(p3);
tPoints.Add(p1);
AddShapeToWireframe(tPoints, wireframe, trans, Color.Red);
}
}
}
return(wireframe.ToArray());
}
public static VertexPositionColor[] GetLocalSkinWireframe(this CollisionSkin skin)
{
var wireframe = new List <VertexPositionColor>();
for (var i = 0; i < skin.NumPrimitives; i++)
{
var p = skin.GetPrimitiveLocal(i);
var trans = p.TransformMatrix;
if (p is Sphere)
{
var np = (Sphere)p;
var spherePoints = CalcCirclePoints(np.Radius);
AddShapeToWireframe(spherePoints, wireframe, trans, Color.Blue);
AddShapeToWireframe(spherePoints, wireframe, Matrix.CreateRotationY(MathHelper.PiOver2) * trans, Color.Red);
AddShapeToWireframe(spherePoints, wireframe, Matrix.CreateRotationX(MathHelper.PiOver2) * trans, Color.Green);
}
else if (p is Capsule)
{
var np = (Capsule)p;
var ball = CalcCirclePoints(np.Radius);
var cylPoints = new List <Vector3>();
var circlePoints = new List <Vector3>();
var sidePoints = new List <Vector3>();
foreach (var v in ball)
{
var t = Vector3.Transform(v, Matrix.CreateRotationX(MathHelper.PiOver2));
cylPoints.Add(t);
}
var len = np.Length;
sidePoints.Add(Vector3.Transform(new Vector3(np.Radius, len, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
sidePoints.Add(Vector3.Transform(new Vector3(np.Radius, 0, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
sidePoints.Add(Vector3.Transform(new Vector3(-np.Radius, 0, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
sidePoints.Add(Vector3.Transform(new Vector3(-np.Radius, len, 0), Matrix.CreateRotationX(MathHelper.PiOver2)));
AddShapeToWireframe(ball, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0.0f * len)) * trans, Color.Green);
AddShapeToWireframe(ball, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0.5f * np.Length)) * trans, Color.Green);
AddShapeToWireframe(ball, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 1.0f * np.Length)) * trans, Color.Green);
var zmat = Matrix.CreateRotationZ(MathHelper.PiOver2);
AddShapeToWireframe(cylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, np.Length)) * zmat * trans, Color.Blue);
AddShapeToWireframe(cylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0)) * zmat * trans, Color.Blue);
AddLineToWireframe(sidePoints[0], sidePoints[1], wireframe, zmat * trans, Color.Blue);
AddLineToWireframe(sidePoints[2], sidePoints[3], wireframe, zmat * trans, Color.Blue);
var xmat = Matrix.Identity;
AddShapeToWireframe(cylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, np.Length)) * xmat * trans, Color.Red);
AddShapeToWireframe(cylPoints, wireframe, Matrix.CreateTranslation(new Vector3(0, 0, 0)) * xmat * trans, Color.Red);
AddLineToWireframe(sidePoints[0], sidePoints[1], wireframe, xmat * trans, Color.Red);
AddLineToWireframe(sidePoints[2], sidePoints[3], wireframe, xmat * trans, Color.Red);
}
else if (p is Box)
{
var np = (Box)p;
var xPoints = new List <Vector3>();
var yPoints = new List <Vector3>();
var zPoints = new List <Vector3>();
var slen = np.SideLengths;
xPoints.Add(new Vector3(slen.X, slen.Y, slen.Z));
xPoints.Add(new Vector3(0, slen.Y, slen.Z));
xPoints.Add(new Vector3(slen.X, 0, slen.Z));
xPoints.Add(new Vector3(0, 0, slen.Z));
xPoints.Add(new Vector3(slen.X, slen.Y, 0));
xPoints.Add(new Vector3(0, slen.Y, 0));
xPoints.Add(new Vector3(slen.X, 0, 0));
xPoints.Add(new Vector3(0, 0, 0));
yPoints.Add(new Vector3(slen.X, slen.Y, slen.Z));
yPoints.Add(new Vector3(slen.X, 0, slen.Z));
yPoints.Add(new Vector3(0, slen.Y, slen.Z));
yPoints.Add(new Vector3(0, 0, slen.Z));
yPoints.Add(new Vector3(slen.X, slen.Y, 0));
yPoints.Add(new Vector3(slen.X, 0, 0));
yPoints.Add(new Vector3(0, slen.Y, 0));
yPoints.Add(new Vector3(0, 0, 0));
zPoints.Add(new Vector3(slen.X, slen.Y, slen.Z));
zPoints.Add(new Vector3(slen.X, slen.Y, 0));
zPoints.Add(new Vector3(0, slen.Y, slen.Z));
zPoints.Add(new Vector3(0, slen.Y, 0));
zPoints.Add(new Vector3(slen.X, 0, slen.Z));
zPoints.Add(new Vector3(slen.X, 0, 0));
zPoints.Add(new Vector3(0, 0, slen.Z));
zPoints.Add(new Vector3(0, 0, 0));
AddLinesToWireframe(xPoints, wireframe, trans, Color.Red);
AddLinesToWireframe(yPoints, wireframe, trans, Color.Green);
AddLinesToWireframe(zPoints, wireframe, trans, Color.Blue);
}
else if (p is AABox)
{
}
else if (p is Heightmap)
{
var hm = (Heightmap)p;
for (var e = 0; e < hm.Heights.Nx; e += 5)
{
for (var j = 0; j < hm.Heights.Nz; j += 5)
{
hm.GetSurfacePosAndNormal(out var point, out var normal, e, j);
AddLineToWireframe(point, point - 0.5f * normal, wireframe, trans, Color.GreenYellow);
}
}
}
else if (p is Plane)
{
}
else if (p is TriangleMesh)
{
var np = (TriangleMesh)p;
for (var j = 0; j < np.GetNumTriangles(); j++)
{
var t = np.GetTriangle(j);
var p1 = np.GetVertex(t.GetVertexIndex(0));
var p2 = np.GetVertex(t.GetVertexIndex(1));
var p3 = np.GetVertex(t.GetVertexIndex(2));
var tPoints = new List <Vector3>();
tPoints.Add(p1);
tPoints.Add(p2);
tPoints.Add(p3);
tPoints.Add(p1);
AddShapeToWireframe(tPoints, wireframe, trans, Color.Red);
}
}
}
return(wireframe.ToArray());
}
