|
public static CreateFromRotationMatrix ( BEPUutilities.Matrix r ) : |
||
| r | BEPUutilities.Matrix | Rotation matrix used to create a new quaternion. |
| return | ||
/// <summary>
/// Create a static physics mesh from a model and scale.
/// </summary>
/// <param name="entity"></param>
private void AddStaticPhysics(BasicEntity entity)
{
BEPUutilities.Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(entity.Model, out vertices, out indices);
var mesh = new StaticMesh(vertices, indices,
new AffineTransform(
new BEPUutilities.Vector3(entity.Scale.X, entity.Scale.Y, entity.Scale.Z),
Quaternion.CreateFromRotationMatrix(MathConverter.Convert(entity.RotationMatrix)),
MathConverter.Convert(entity.Position)));
entity.StaticPhysicsObject = mesh;
_physicsSpace.Add(mesh);
}
public void ApplyTransformation()
{
if (_dynamicPhysicsObject == null)
{
//RotationMatrix = Matrix.CreateRotationX((float) AngleX)*Matrix.CreateRotationY((float) AngleY)*
// Matrix.CreateRotationZ((float) AngleZ);
Matrix scaleMatrix = Matrix.CreateScale(Scale);
_worldOldMatrix = scaleMatrix * RotationMatrix * Matrix.CreateTranslation(Position);
WorldTransform.Scale = Scale;
WorldTransform.World = _worldOldMatrix;
WorldTransform.InverseWorld = Matrix.Invert(Matrix.CreateTranslation(BoundingBoxOffset * Scale) * RotationMatrix * Matrix.CreateTranslation(Position));
if (StaticPhysicsObject != null && !GameSettings.e_enableeditor)
{
AffineTransform change = new AffineTransform(
new BEPUutilities.Vector3(Scale.X, Scale.Y, Scale.Z),
Quaternion.CreateFromRotationMatrix(MathConverter.Convert(RotationMatrix)),
MathConverter.Convert(Position));
if (!MathConverter.Equals(change.Matrix, StaticPhysicsObject.WorldTransform.Matrix))
{
//StaticPhysicsMatrix = MathConverter.Copy(Change.Matrix);
StaticPhysicsObject.WorldTransform = change;
}
}
}
else
{
//Has something changed?
WorldTransform.Scale = Scale;
_worldOldMatrix = Extensions.CopyFromBepuMatrix(_worldOldMatrix, _dynamicPhysicsObject.WorldTransform);
Matrix scaleMatrix = Matrix.CreateScale(Scale);
//WorldOldMatrix = Matrix.CreateScale(Scale)*WorldOldMatrix;
WorldTransform.World = scaleMatrix * _worldOldMatrix;
WorldTransform.InverseWorld = Matrix.Invert(Matrix.CreateTranslation(BoundingBoxOffset * Scale) * RotationMatrix * Matrix.CreateTranslation(Position));
}
}