public CylinderCollider(RigidBody body)
{
var shape = (CylinderShape)body.CollisionShape;
if (shape == null)
{
throw new ArgumentException("The body shape does not match the collider!", "body.CollisionShape");
}
Model = new Model(new Mesh[]
{
Primitives.Cylinder(shape.Radius, shape.HalfExtentsWithMargin.Y, shape.HalfExtentsWithMargin.Y, 20, MeshMaterial.Green)
});
Body = body;
_radius = shape.Radius;
_halfLength = shape.HalfExtentsWithMargin.Y;
}
public Model CreateModel(Vector3 origin, Vector3 direction, Vector4 color)
{
// TODO: create Align method for matrices, the same as for quaternions
Matrix4 align = Matrix4.CreateTranslation(origin);
if (direction != Vector3.UnitY)
{
align *= Matrix4.CreateFromAxisAngle(Vector3.Cross(Vector3.UnitY, direction), (float)Math.Acos(Vector3.Dot(Vector3.UnitY, direction)));
}
return(new Model(new Mesh[]
{
Primitives.Cylinder(0.01f, 0, 1f, 20, new MeshMaterial
{
Diffuse = color
}),
Primitives.Cone(0.05f, 0.2f, 20, new MeshMaterial
{
Diffuse = color
}, Vector3.UnitY)
}, align * Matrix4.CreateScale(_scale)));
}