private void UpdateTransforms(SimulateMethodArgs args)
{
MataliPhysicsObject mataliPhysicsObj = scene.Factory.PhysicsObjectManager.Get(args.OwnerIndex);
mataliPhysicsObj.MainWorldTransform.GetTransformMatrix(ref tempMat1);
((IPhysicsObject)mataliPhysicsObj.UserTagObj).PhysicsWorldTransform = tempMat1;
}
private void BoxCollideWithGround(MataliPhysicsObject baseObject, MataliPhysicsObject collidingObject)
{
String materialName = ((IPhysicsObject)collidingObject.UserTagObj).MaterialName;
if (materialName.Equals("Ground"))
{
// Set the collision sound volume based on the contact speed
SoundEffectInstance instance = Sound.Instance.PlaySoundEffect(bounceSound);
// Print a text message on the screen
Notifier.AddMessage("Contact with ground");
// Create a 3D text to be rendered
Text3DInfo text3d = new Text3DInfo();
text3d.Text = "BOOM!!";
// The larger the contact speed, the longer the 3D text will stay displayed
text3d.Duration = 1 * 500;
text3d.ElapsedTime = 0;
Vector3 contactPosition = Vector3.Zero;
baseObject.MainWorldTransform.GetPosition(ref contactPosition);
// Scale down the vector font since it's quite large, and display the text
// above the contact position
text3d.Transform = Matrix.CreateScale(0.03f) *
Matrix.CreateTranslation(contactPosition + Vector3.UnitY * 4);
// Add this 3D text to the display list
text3ds.Add(text3d);
}
}
/// <summary>
/// Performs raycast picking with the given near and far points.
/// </summary>
/// <param name="nearPoint">The near point of the pick ray</param>
/// <param name="farPoint">The far point of the pick ray</param>
/// <returns>A list of picked objects</returns>
public List <PickedObject> PickRayCast(Vector3 nearPoint, Vector3 farPoint)
{
pickedObjects.Clear();
Vector3 rayDirection = (farPoint - nearPoint);
rayDirection.Normalize();
scene.UpdatePhysicsObjectsIntersectedByRay(ref nearPoint, ref rayDirection, 0, false);
int objectsCollided = scene.IntersectedPhysicsObjectsCount;
Vector3 hitPosition = Vector3.Zero;
for (int i = 0; i < objectsCollided; i++)
{
MataliPhysicsObject obj = scene.GetIntersectedPhysicsObject(i, ref hitPosition);
IPhysicsObject physObj = GetIPhysicsObject(obj);
if (physObj != null && physObj.Pickable)
{
PickedObject pickedObject = new PickedObject(physObj, i);
pickedObjects.Add(pickedObject);
}
}
return(pickedObjects);
}
private void CheckCollision(CollisionMethodArgs args)
{
MataliPhysicsObject mataliPhysicsObj = scene.Factory.PhysicsObjectManager.Get(args.OwnerIndex);
MataliObject mataliObj = (MataliObject)mataliPhysicsObj.UserTagObj;
Dictionary <MataliPhysicsObject, bool> table = collisionTable[mataliPhysicsObj];
for (int i = 0; i < args.Collisions.Count; i++)
{
MataliPhysicsObject collidingObject = scene.Factory.PhysicsObjectManager.Get(args.Collisions[i]);
if (table.ContainsKey(collidingObject))
{
if (mataliObj.CollisionContinueCallback != null)
{
mataliObj.CollisionContinueCallback(mataliPhysicsObj, collidingObject);
}
}
else
{
table.Add(collidingObject, true);
if (mataliObj.CollisionStartCallback != null)
{
mataliObj.CollisionStartCallback(mataliPhysicsObj, collidingObject);
}
}
}
}
/// <summary>
/// Modifies an existing height map field with short arrays.
/// </summary>
/// <param name="physObj"></param>
/// <param name="heightmap"></param>
/// <param name="width"></param>
/// <param name="height"></param>
public void ModifyHeightmapShort(IPhysicsObject physObj, short[] heightmap, int width, int height)
{
if (!objectIDs.ContainsKey(physObj))
{
return;
}
MataliPhysicsObject mataliPhysicsObj = objectIDs[physObj];
if (mataliPhysicsObj.InternalControllers.HeightmapController == null)
{
return;
}
int index = 0;
for (int i = 0; i < height; ++i)
{
for (int j = 0; j < width; ++j, index++)
{
mataliPhysicsObj.InternalControllers.HeightmapController.SetHeight(i, j, heightmap[index]);
}
}
mataliPhysicsObj.InternalControllers.HeightmapController.UpdateBounding();
}
protected override void obj_collision_done(MataliPhysicsObject baseObject, MataliPhysicsObject collidingObject)
{
SoundEffectInstance instance = Sound.Instance.PlaySoundEffect(bounceSound);
baseObject.MainWorldTransform.GetLinearVelocity(ref linear_velocity);
linear_velocity = Vector3.Normalize(linear_velocity) * scaling_const;
baseObject.MainWorldTransform.SetLinearVelocity(linear_velocity);
}
public void SetRotation(IPhysicsObject physObj, Quaternion rotation)
{
if (objectIDs.ContainsKey(physObj))
{
MataliPhysicsObject mataliObj = objectIDs[physObj];
mataliObj.MainWorldTransform.SetRotation(Matrix.CreateFromQuaternion(rotation));
mataliObj.RecalculateMainTransform();
}
}
public void SetPosition(IPhysicsObject physObj, Vector3 position)
{
if (objectIDs.ContainsKey(physObj))
{
MataliPhysicsObject mataliObj = objectIDs[physObj];
mataliObj.MainWorldTransform.SetPosition(position);
mataliObj.RecalculateMainTransform();
}
}
public void SetTransform(IPhysicsObject physObj, Matrix transform)
{
if (objectIDs.ContainsKey(physObj))
{
MataliPhysicsObject mataliObj = objectIDs[physObj];
mataliObj.MainWorldTransform.SetTransformMatrix(transform);
mataliObj.RecalculateMainTransform();
}
}
protected override void obj_collision_done(MataliPhysicsObject baseObject, MataliPhysicsObject collidingObject)
{
String materialName = ((IPhysicsObject)collidingObject.UserTagObj).MaterialName;
if (materialName.Equals("ball"))
{
point_scored = true;
}
}
protected override void obj_collision_done(MataliPhysicsObject baseObject, MataliPhysicsObject collidingObject)
{
String materialName = ((IPhysicsObject)collidingObject.UserTagObj).MaterialName;
if (materialName.Equals("slime"))
{
obtained = true;
timeAlive = 0;
}
baseObject.MainWorldTransform.SetLinearVelocity(Vector3.Zero);
}
public BoundingBox GetAxisAlignedBoundingBox(IPhysicsObject physObj)
{
BoundingBox aabb = new BoundingBox();
if (objectIDs.ContainsKey(physObj))
{
MataliPhysicsObject mataliPhysicsObj = objectIDs[physObj];
mataliPhysicsObj.GetBoundingBox(ref aabb);
}
return(aabb);
}
public IPhysicsObject GetIPhysicsObject(MataliPhysicsObject matPhysObj)
{
foreach (KeyValuePair <IPhysicsObject, MataliPhysicsObject> pair in objectIDs)
{
if (matPhysObj.Equals(pair.Value))
{
return(pair.Key);
}
}
return(null);
}
public List <List <Vector3> > GetCollisionMesh(IPhysicsObject physObj)
{
List <List <Vector3> > collisionMesh = new List <List <Vector3> >();
Matrix mat;
if (objectIDs.ContainsKey(physObj))
{
MataliPhysicsObject mataliPhysicsObj = objectIDs[physObj];
if (mataliPhysicsObj.Shape == null)
{
return(collisionMesh);
}
mat = physObj.PhysicsWorldTransform;
if ((physObj is MataliObject) && (((MataliObject)physObj).ShapeOriginalMatrixSet))
{
mat = ((MataliObject)physObj).ShapeOriginalMatrix * mat;
}
if (mataliPhysicsObj.Shape.TriangleVertexCount > 0)
{
VertexPositionNormalTexture[] verts = new VertexPositionNormalTexture[mataliPhysicsObj.Shape.VertexCount];
int[] indices = new int[mataliPhysicsObj.Shape.IndexCount];
mataliPhysicsObj.Shape.GetMeshVertices(1, 1, false, false, verts);
mataliPhysicsObj.Shape.GetMeshIndices(false, indices);
if (!mat.Equals(Matrix.Identity))
{
for (int i = 0; i < verts.Length; ++i)
{
verts[i].Position = Vector3.Transform(verts[i].Position, mat);
}
}
for (int i = 0; i < indices.Length; i += 3)
{
List <Vector3> triangle = new List <Vector3>();
triangle.Add(verts[indices[i]].Position);
triangle.Add(verts[indices[i + 1]].Position);
triangle.Add(verts[indices[i + 2]].Position);
collisionMesh.Add(triangle);
}
}
}
return(collisionMesh);
}
public void RemovePhysicsObject(IPhysicsObject physObj)
{
if (objectIDs.ContainsKey(physObj))
{
MataliPhysicsObject mataliPhysicsObj = objectIDs[physObj];
scene.RemovePhysicsObject(mataliPhysicsObj, true, true);
collisionTable.Remove(mataliPhysicsObj);
foreach (MataliPhysicsObject obj in collisionTable.Keys)
{
if (collisionTable[obj].ContainsKey(mataliPhysicsObj))
{
collisionTable[obj].Remove(mataliPhysicsObj);
}
}
objectIDs.Remove(physObj);
}
}
private void BoxCollideWithGround(MataliPhysicsObject baseObject, MataliPhysicsObject collidingObject)
{
String materialName = ((IPhysicsObject)collidingObject.UserTagObj).MaterialName;
if (materialName.Equals("Ground"))
{
// Set the collision sound volume based on the contact speed
SoundEffectInstance instance = Sound.Instance.PlaySoundEffect(bounceSound);
// Print a text message on the screen
Notifier.AddMessage("Contact with ground");
// Create a 3D text to be rendered
Text3DInfo text3d = new Text3DInfo();
text3d.Text = "BOOM!!";
// The larger the contact speed, the longer the 3D text will stay displayed
text3d.Duration = 1 * 500;
text3d.ElapsedTime = 0;
Vector3 contactPosition = Vector3.Zero;
baseObject.MainWorldTransform.GetPosition(ref contactPosition);
// Scale down the vector font since it's quite large, and display the text
// above the contact position
text3d.Transform = Matrix.CreateScale(0.03f) *
Matrix.CreateTranslation(contactPosition + Vector3.UnitY * 4);
// Add this 3D text to the display list
text3ds.Add(text3d);
}
}
protected override void obj_collision_start(MataliPhysicsObject baseObject, MataliPhysicsObject collidingObject)
{
}
public void AddPhysicsObject(IPhysicsObject physObj)
{
if (objectIDs.ContainsKey(physObj))
{
return;
}
// rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (physObj.Mass != 0.0f && physObj.Interactable) ||
(physObj.Shape == ShapeType.TriangleMesh);
physObj.PhysicsWorldTransform = physObj.CompoundInitialWorldTransform;
MataliPhysicsObject mataliPhysicsObj = scene.Factory.PhysicsObjectManager.Create(nameCount.ToString());
if (physObj is MataliVehicle)
{
MataliVehicle vehicle = (MataliVehicle)physObj;
if (!vehicle.HasEnoughParts)
{
throw new GoblinException("Your vehicle does not have enough parts. You need to at least" +
" have a body and four wheels");
}
MataliPhysicsObject body = scene.Factory.PhysicsObjectManager.Create("Car Body " + nameCount);
body.EnableFeedback = true;
body.Material.RigidGroup = true;
body.EnableBreakRigidGroup = false;
mataliPhysicsObj.AddPhysicsObject(body);
// Add vehicle body
if (vehicle.Body.Count == 1)
{
vehicle.Body[0].CompoundInitialWorldTransform = vehicle.Body[0].RelativeTransform;
vehicle.Body[0].PhysicsWorldTransform = physObj.CompoundInitialWorldTransform *
vehicle.Body[0].RelativeTransform;
body.Material.RigidGroup = true;
body.EnableBreakRigidGroup = false;
SetPhysicalProperties(body, vehicle.Body[0]);
objectIDs.Add(vehicle.Body[0], body);
}
else
{
for (int i = 0; i < vehicle.Body.Count; ++i)
{
MataliPhysicsObject bodyPart =
scene.Factory.PhysicsObjectManager.Create("Car Body Parts " + nameCount + " " + i);
vehicle.Body[i].CompoundInitialWorldTransform = vehicle.Body[i].RelativeTransform;
vehicle.Body[i].PhysicsWorldTransform = MatrixHelper.Empty;
bodyPart.Material.RigidGroup = true;
bodyPart.EnableBreakRigidGroup = false;
SetPhysicalProperties(bodyPart, vehicle.Body[i]);
body.AddPhysicsObject(bodyPart);
objectIDs.Add(vehicle.Body[i], body);
}
}
// Add vehicle wheels
for (int i = 0; i < 4; ++i)
{
for (int j = 0; j < vehicle.Wheels[i].Count; ++j)
{
MataliPhysicsObject wheelPart =
scene.Factory.PhysicsObjectManager.Create("Car Wheel Parts " + nameCount + " " + i + " " + j);
vehicle.Wheels[i][j].CompoundInitialWorldTransform = vehicle.Wheels[i][j].RelativeTransform;
vehicle.Wheels[i][j].PhysicsWorldTransform = MatrixHelper.Empty;
for (int k = 0; k < vehicle.Body.Count; ++k)
{
wheelPart.DisableCollision(objectIDs[vehicle.Body[k]], true);
}
SetPhysicalProperties(wheelPart, vehicle.Wheels[i][j]);
mataliPhysicsObj.AddPhysicsObject(wheelPart);
objectIDs.Add(vehicle.Wheels[i][j], wheelPart);
}
}
mataliPhysicsObj.UpdateFromInitLocalTransform();
if (vehicle.Constraints.Count > 0)
{
constraintsToBeAdded.AddRange(vehicle.Constraints);
}
AddConstraint();
}
else if (physObj is MataliCloth)
{
MataliCloth cloth = (MataliCloth)physObj;
int i = 0;
foreach (MataliObject particle in cloth.Particles)
{
MataliPhysicsObject clothParticle =
scene.Factory.PhysicsObjectManager.Create("Point Cloth " + nameCount + " Particle " + i);
mataliPhysicsObj.AddPhysicsObject(clothParticle);
SetPhysicalProperties(clothParticle, particle);
objectIDs.Add(particle, clothParticle);
i++;
}
mataliPhysicsObj.UpdateFromInitLocalTransform();
constraintsToBeAdded.AddRange(cloth.Constraints);
AddConstraint();
}
SetPhysicalProperties(mataliPhysicsObj, physObj);
scene.UpdateFromInitLocalTransform(mataliPhysicsObj);
objectIDs.Add(physObj, mataliPhysicsObj);
nameCount++;
}
/// <summary>
///
/// </summary>
/// <remarks>
/// For all of the shapes that has directions (e.g., Cylinder, Hemisphere), Y direction is
/// used, so if you would like it to face other directions, use MataliObject.ShapeOriginalMatrix
/// to orient them.
///
/// For a cylinder with different bottom and top radius, IPhysicsObject.ShapeData are used.
/// ShapeData[0] - bottom radius, ShapeData[1] - height, ShapeData[2] = top radius
///
/// For Compound shape, an additional information can be set by using
/// MataliObject.CompoundShape.
///
/// For additional shape types such as Heightmap, Point, and so on, set Shape to ShapeType.Extra
/// and define MataliObject.ExtraShape.
/// </remarks>
/// <param name="mataliPhysicsObj"></param>
/// <param name="physObj"></param>
private void SetShape(MataliPhysicsObject mataliPhysicsObj, IPhysicsObject physObj)
{
Vector3 boundingBox = Vector3.Zero;
if(physObj.Model != null)
boundingBox = Vector3Helper.GetDimensions(physObj.Model.MinimumBoundingBox);
Vector3 size = Vector3.Zero;
MataliObject mataliObj = null;
if(physObj is MataliObject)
mataliObj = (MataliObject)physObj;
switch (physObj.Shape)
{
case ShapeType.Box:
if (physObj.ShapeData.Count == 3)
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
else
size = boundingBox;
size /= 2;
break;
case ShapeType.Sphere:
if (physObj.ShapeData.Count == 1)
size = new Vector3(physObj.ShapeData[0], 0, 0);
else
size = boundingBox / 2;
break;
case ShapeType.Cone:
case ShapeType.Cylinder:
case ShapeType.Capsule:
if (physObj.ShapeData.Count == 2)
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[0]);
else if(physObj.ShapeData.Count == 3)
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
else
size = new Vector3(boundingBox.X / 2, boundingBox.Y, boundingBox.X / 2);
break;
case ShapeType.Compound:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.ShapeData.Count, physObj.ShapeData[0],
physObj.ShapeData[physObj.ShapeData.Count - 1]);
break;
case ShapeType.ConvexHull:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.MeshProvider.Vertices.Count,
physObj.MeshProvider.Indices.Count, physObj.MeshProvider.Vertices[0].X);
break;
case ShapeType.Extra:
if (mataliObj == null)
throw new GoblinException("For extra shape type, you need to define the 'physObj' " +
"as MataliObject instance");
if (mataliObj.ExtraShape == ExtraShapeType.Undefined)
throw new GoblinException("Undefined type is not allowed if Extra shape type is specified");
// size is used solely for naming, not used for the collision shape
switch(mataliObj.ExtraShape)
{
case ExtraShapeType.Point:
if (physObj.ShapeData.Count != 3)
throw new GoblinException("For Point shape type, you need to specify the position (x,y,z) in ShapeData");
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Heightmap:
if (physObj.ShapeData.Count < 2)
throw new GoblinException("There needs to be at least two floats specifying the " +
"width and height");
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData.Count);
break;
case ExtraShapeType.Edge:
if (physObj.ShapeData.Count != 6)
throw new GoblinException("For Edge shape type, you need to specify the start and " +
"end positions (x,y,z) in ShapeData");
size = new Vector3(physObj.ShapeData[0] + physObj.ShapeData[3],
physObj.ShapeData[1] + physObj.ShapeData[4],
physObj.ShapeData[2] + physObj.ShapeData[5]);
break;
default:
throw new GoblinException(mataliObj.ExtraShape.ToString() + " not implemented yet");
}
break;
}
String shapeName = physObj.Shape.ToString() + size.ToString();
String primitiveName = physObj.Shape.ToString() + size.ToString();
if (mataliObj != null)
{
String suffix = "";
if (physObj.Shape == ShapeType.Extra)
suffix += mataliObj.ExtraShape.ToString();
else if(physObj.Shape == ShapeType.Compound)
suffix += mataliObj.CompoundShape.ToString();
suffix += mataliObj.ShapeOriginalMatrix.ToString();
suffix += mataliObj.ShapeCollisionMargin;
shapeName += suffix;
primitiveName += suffix;
}
Shape shape = null;
ShapePrimitive primitive = null;
if (scene.Factory.ShapeManager.Contains(shapeName))
shape = scene.Factory.ShapeManager.Find(shapeName);
else
{
if(physObj.Shape != ShapeType.Compound)
primitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
shape = scene.Factory.ShapeManager.Create(shapeName);
bool shapeSet = false;
switch (physObj.Shape)
{
case ShapeType.Box:
primitive.CreateBox(size.X, size.Y, size.Z);
break;
case ShapeType.Sphere:
primitive.CreateSphere(size.X);
break;
case ShapeType.Cone:
primitive.CreateConeY(size.Y, size.X);
break;
case ShapeType.Cylinder:
if (size.X != size.Z)
primitive.CreateCylinder2RY(size.Y, size.X, size.Z);
else
primitive.CreateCylinderY(size.Y, size.X);
break;
case ShapeType.Capsule:
primitive.CreateCapsuleY(size.Y - size.X * 2, size.X);
break;
case ShapeType.Compound:
ShapeCompoundType type = ShapeCompoundType.ConvexHull;
if (mataliObj != null)
if (mataliObj.CompoundShape == CompoundShapeType.MinkowskiSum)
type = ShapeCompoundType.MinkowskiSum;
int dataIndex = 0;
Shape compoundShapePart = null;
ShapePrimitive compoundPrimitive = null;
float[] matrixVals = new float[16];
while (dataIndex < physObj.ShapeData.Count)
{
ShapeType shapeType = (ShapeType)Enum.ToObject(typeof(ShapeType), (int)physObj.ShapeData[dataIndex++]);
switch (shapeType)
{
case ShapeType.Cylinder:
size = new Vector3(physObj.ShapeData[dataIndex], physObj.ShapeData[dataIndex + 1],
physObj.ShapeData[dataIndex]);
dataIndex += 2;
break;
case ShapeType.Sphere:
size = new Vector3(physObj.ShapeData[dataIndex], 0, 0);
dataIndex++;
break;
}
shapeName = shapeType.ToString() + size.ToString();
primitiveName = shapeType.ToString() + size.ToString();
if (scene.Factory.ShapeManager.Contains(shapeName))
compoundShapePart = scene.Factory.ShapeManager.Find(shapeName);
else
{
compoundPrimitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
compoundShapePart = scene.Factory.ShapeManager.Create(shapeName);
switch (shapeType)
{
case ShapeType.Cylinder:
compoundPrimitive.CreateCylinderY(size.Y, size.X);
break;
case ShapeType.Sphere:
compoundPrimitive.CreateSphere(size.X);
break;
default:
throw new GoblinException(shape.ToString() + " is not supported yet as a compound part");
}
compoundShapePart.Set(compoundPrimitive, Matrix.Identity, 0.0f);
}
for (int i = 0; i < 16; ++i)
matrixVals[i] = physObj.ShapeData[dataIndex + i];
dataIndex += 16;
shape.Add(compoundShapePart, MatrixHelper.FloatsToMatrix(matrixVals), 0.0f, type);
}
float margin = 0.0f;
if(mataliObj != null)
margin = mataliObj.ShapeCollisionMargin;
shape.CreateMesh(margin);
shapeSet = true;
break;
case ShapeType.ConvexHull:
case ShapeType.TriangleMesh:
float[] frictions = null;
float[] restitutions = null;
if (physObj.Shape == ShapeType.ConvexHull)
primitive.CreateConvex(physObj.MeshProvider.Vertices);
else
{
int triangleCount = physObj.MeshProvider.Indices.Count / 3;
frictions = new float[triangleCount];
restitutions = new float[triangleCount];
for (int i = 0; i < frictions.Length; i++)
{
frictions[i] = 1.0f;
restitutions[i] = 0.0f;
}
Vector3[] triVerts = new Vector3[physObj.MeshProvider.Indices.Count];
for (int i = 0; i < triVerts.Length; ++i)
triVerts[i] = physObj.MeshProvider.Vertices[physObj.MeshProvider.Indices[i]];
bool flipTriangle = (physObj is MataliObject) ? ((MataliObject)physObj).FlipTriangleOrder : true;
primitive.CreateTriangleMesh(flipTriangle, 2, frictions, restitutions, 1.0f, 0.0f, triVerts);
}
break;
case ShapeType.Extra:
switch (mataliObj.ExtraShape)
{
case ExtraShapeType.Heightmap:
int width = (int)physObj.ShapeData[0];
int height = (int)physObj.ShapeData[1];
float[] heightData = new float[height * width];
float[] heightFrictions = new float[height * width];
float[] heightRestituions = new float[height * width];
if (physObj.ShapeData.Count < (2 + heightData.Length))
throw new GoblinException("You also need to specify the hegith map data");
Buffer.BlockCopy(physObj.ShapeData.ToArray(), 2 * sizeof(float), heightData, 0,
heightData.Length * sizeof(float));
if (physObj.ShapeData.Count > (2 + heightData.Length * 2))
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length) * sizeof(float),
heightFrictions, 0, heightFrictions.Length * sizeof(float));
else
for (int i = 0; i < heightFrictions.Length; ++i)
heightFrictions[i] = mataliObj.TriangleMeshFriction;
if (physObj.ShapeData.Count > (2 + heightData.Length * 3))
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length * 2) * sizeof(float),
heightRestituions, 0, heightRestituions.Length * sizeof(float));
else
for (int i = 0; i < heightRestituions.Length; ++i)
heightRestituions[i] = mataliObj.TriangleMeshRestitution;
primitive.CreateHeightmap(0, 0, width, height, width, height, heightData, heightFrictions, heightRestituions,
mataliObj.TriangleMeshFriction, mataliObj.TriangleMeshRestitution, mataliObj.IsDynamic);
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
shape.CreateMesh(0.0f);
shapeSet = true;
mataliPhysicsObj.InternalControllers.CreateHeightmapController(true);
break;
case ExtraShapeType.Point:
primitive.CreatePoint(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Edge:
primitive.CreateEdge(new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]));
break;
case ExtraShapeType.Plane:
primitive.CreatePlaneY(physObj.ShapeData[0], (physObj.ShapeData[1] > 0));
break;
case ExtraShapeType.Triangle:
primitive.CreateTriangle(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]));
break;
case ExtraShapeType.Tetrahedron:
primitive.CreateTetrahedron(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]),
new Vector3(physObj.ShapeData[9], physObj.ShapeData[10], physObj.ShapeData[11]));
break;
case ExtraShapeType.Fluid:
break;
case ExtraShapeType.Hemisphere:
primitive.CreateHemisphereY(physObj.ShapeData[0]);
break;
}
break;
}
if (!shapeSet)
{
if (mataliObj != null)
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
else
shape.Set(primitive, Matrix.Identity, 0.0f);
if (buildCollisionMesh)
{
float margin = 0.0f;
if (mataliObj != null)
margin = mataliObj.ShapeCollisionMargin;
shape.CreateMesh(margin);
}
}
}
mataliPhysicsObj.Shape = shape;
}
private void SetPhysicalProperties(MataliPhysicsObject mataliPhysicsObj, IPhysicsObject physObj)
{
mataliPhysicsObj.UserTagObj = physObj;
mataliPhysicsObj.InitLocalTransform.SetTransformMatrix(physObj.CompoundInitialWorldTransform);
mataliPhysicsObj.InitLocalTransform.SetLinearVelocity(physObj.InitialLinearVelocity);
mataliPhysicsObj.InitLocalTransform.SetAngularVelocity(physObj.InitialAngularVelocity);
mataliPhysicsObj.UserControllers.EnableDraw = false;
mataliPhysicsObj.UserControllers.EnablePostDraw = false;
if (physObj is MataliObject && ((MataliObject)physObj).PostTransformCallback != null)
mataliPhysicsObj.UserControllers.PostTransformMethods +=
new SimulateMethod(((MataliObject)physObj).PostTransformCallback);
if ((physObj is MataliVehicle) || (physObj is MataliCloth))
return;
mataliPhysicsObj.UserControllers.PostTransformMethods += new SimulateMethod(UpdateTransforms);
SetShape(mataliPhysicsObj, physObj);
if (physObj is MataliObject)
{
if (physObj.Mass > 0)
mataliPhysicsObj.Integral.SetMass(physObj.Mass);
else
mataliPhysicsObj.Integral.SetDensity(((MataliObject)physObj).Density);
mataliPhysicsObj.Material.StaticFriction = ((MataliObject)physObj).StaticFriction;
mataliPhysicsObj.Material.DynamicFriction = ((MataliObject)physObj).DynamicFriction;
mataliPhysicsObj.Material.Restitution = ((MataliObject)physObj).Restitution;
mataliPhysicsObj.MaxPreUpdateAngularVelocity =
((MataliObject)physObj).MaxPreUpdateAngularVelocity;
mataliPhysicsObj.MaxPostUpdateAngularVelocity =
((MataliObject)physObj).MaxPostUpdateAngularVelocity;
mataliPhysicsObj.MinResponseAngularVelocity =
((MataliObject)physObj).MinResponseAngularVelocity;
mataliPhysicsObj.MinResponseLinearVelocity =
((MataliObject)physObj).MinResponseLinearVelocity;
if ((((MataliObject)physObj).CollisionStartCallback != null) ||
(((MataliObject)physObj).CollisionContinueCallback != null) ||
(((MataliObject)physObj).CollisionEndCallback != null))
{
mataliPhysicsObj.UserControllers.CollisionMethods += new CollisionMethod(CheckCollision);
Dictionary<MataliPhysicsObject, bool> table = new Dictionary<MataliPhysicsObject, bool>();
collisionTable.Add(mataliPhysicsObj, table);
}
}
else
mataliPhysicsObj.Integral.SetMass(physObj.Mass);
mataliPhysicsObj.EnableCollisions = physObj.Collidable;
mataliPhysicsObj.EnableMoving = physObj.Interactable;
if (!physObj.ApplyGravity)
{
mataliPhysicsObj.EnableLocalGravity = true;
mataliPhysicsObj.LocalGravityAcceleration = 0;
}
mataliPhysicsObj.EnableSleeping = !physObj.NeverDeactivate;
mataliPhysicsObj.EnableScreenToRayInteraction = physObj.Pickable;
}
public IPhysicsObject GetIPhysicsObject(MataliPhysicsObject matPhysObj)
{
foreach (KeyValuePair<IPhysicsObject, MataliPhysicsObject> pair in objectIDs)
{
if (matPhysObj.Equals(pair.Value))
{
return pair.Key;
}
}
return null;
}
protected abstract void obj_collision_done(MataliPhysicsObject baseObject, MataliPhysicsObject collidingObject);
protected override void obj_collision_done(Komires.MataliPhysics.PhysicsObject baseObject, Komires.MataliPhysics.PhysicsObject collidingObject)
{
}
private void SetPhysicalProperties(MataliPhysicsObject mataliPhysicsObj, IPhysicsObject physObj)
{
mataliPhysicsObj.UserTagObj = physObj;
mataliPhysicsObj.InitLocalTransform.SetTransformMatrix(physObj.CompoundInitialWorldTransform);
mataliPhysicsObj.InitLocalTransform.SetLinearVelocity(physObj.InitialLinearVelocity);
mataliPhysicsObj.InitLocalTransform.SetAngularVelocity(physObj.InitialAngularVelocity);
mataliPhysicsObj.UserControllers.EnableDraw = false;
mataliPhysicsObj.UserControllers.EnablePostDraw = false;
if (physObj is MataliObject && ((MataliObject)physObj).PostTransformCallback != null)
{
mataliPhysicsObj.UserControllers.PostTransformMethods +=
new SimulateMethod(((MataliObject)physObj).PostTransformCallback);
}
if ((physObj is MataliVehicle) || (physObj is MataliCloth))
{
return;
}
mataliPhysicsObj.UserControllers.PostTransformMethods += new SimulateMethod(UpdateTransforms);
SetShape(mataliPhysicsObj, physObj);
if (physObj is MataliObject)
{
if (physObj.Mass > 0)
{
mataliPhysicsObj.Integral.SetMass(physObj.Mass);
}
else
{
mataliPhysicsObj.Integral.SetDensity(((MataliObject)physObj).Density);
}
mataliPhysicsObj.Material.StaticFriction = ((MataliObject)physObj).StaticFriction;
mataliPhysicsObj.Material.DynamicFriction = ((MataliObject)physObj).DynamicFriction;
mataliPhysicsObj.Material.Restitution = ((MataliObject)physObj).Restitution;
mataliPhysicsObj.MaxPreUpdateAngularVelocity =
((MataliObject)physObj).MaxPreUpdateAngularVelocity;
mataliPhysicsObj.MaxPostUpdateAngularVelocity =
((MataliObject)physObj).MaxPostUpdateAngularVelocity;
mataliPhysicsObj.MinResponseAngularVelocity =
((MataliObject)physObj).MinResponseAngularVelocity;
mataliPhysicsObj.MinResponseLinearVelocity =
((MataliObject)physObj).MinResponseLinearVelocity;
if ((((MataliObject)physObj).CollisionStartCallback != null) ||
(((MataliObject)physObj).CollisionContinueCallback != null) ||
(((MataliObject)physObj).CollisionEndCallback != null))
{
mataliPhysicsObj.UserControllers.CollisionMethods += new CollisionMethod(CheckCollision);
Dictionary <MataliPhysicsObject, bool> table = new Dictionary <MataliPhysicsObject, bool>();
collisionTable.Add(mataliPhysicsObj, table);
}
}
else
{
mataliPhysicsObj.Integral.SetMass(physObj.Mass);
}
mataliPhysicsObj.EnableCollisions = physObj.Collidable;
mataliPhysicsObj.EnableMoving = physObj.Interactable;
if (!physObj.ApplyGravity)
{
mataliPhysicsObj.EnableLocalGravity = true;
mataliPhysicsObj.LocalGravityAcceleration = 0;
}
mataliPhysicsObj.EnableSleeping = !physObj.NeverDeactivate;
mataliPhysicsObj.EnableScreenToRayInteraction = physObj.Pickable;
}
/// <summary>
///
/// </summary>
/// <remarks>
/// For all of the shapes that has directions (e.g., Cylinder, Hemisphere), Y direction is
/// used, so if you would like it to face other directions, use MataliObject.ShapeOriginalMatrix
/// to orient them.
///
/// For a cylinder with different bottom and top radius, IPhysicsObject.ShapeData are used.
/// ShapeData[0] - bottom radius, ShapeData[1] - height, ShapeData[2] = top radius
///
/// For Compound shape, an additional information can be set by using
/// MataliObject.CompoundShape.
///
/// For additional shape types such as Heightmap, Point, and so on, set Shape to ShapeType.Extra
/// and define MataliObject.ExtraShape.
/// </remarks>
/// <param name="mataliPhysicsObj"></param>
/// <param name="physObj"></param>
private void SetShape(MataliPhysicsObject mataliPhysicsObj, IPhysicsObject physObj)
{
Vector3 boundingBox = Vector3.Zero;
if (physObj.Model != null)
{
boundingBox = Vector3Helper.GetDimensions(physObj.Model.MinimumBoundingBox);
}
Vector3 size = Vector3.Zero;
MataliObject mataliObj = null;
if (physObj is MataliObject)
{
mataliObj = (MataliObject)physObj;
}
switch (physObj.Shape)
{
case ShapeType.Box:
if (physObj.ShapeData.Count == 3)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
}
else
{
size = boundingBox;
}
size /= 2;
break;
case ShapeType.Sphere:
if (physObj.ShapeData.Count == 1)
{
size = new Vector3(physObj.ShapeData[0], 0, 0);
}
else
{
size = boundingBox / 2;
}
break;
case ShapeType.Cone:
case ShapeType.Cylinder:
case ShapeType.Capsule:
if (physObj.ShapeData.Count == 2)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[0]);
}
else if (physObj.ShapeData.Count == 3)
{
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
}
else
{
size = new Vector3(boundingBox.X / 2, boundingBox.Y, boundingBox.X / 2);
}
break;
case ShapeType.Compound:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.ShapeData.Count, physObj.ShapeData[0],
physObj.ShapeData[physObj.ShapeData.Count - 1]);
break;
case ShapeType.ConvexHull:
// size is used solely for naming, not used for the collision shape
size = new Vector3(physObj.MeshProvider.Vertices.Count,
physObj.MeshProvider.Indices.Count, physObj.MeshProvider.Vertices[0].X);
break;
case ShapeType.Extra:
if (mataliObj == null)
{
throw new GoblinException("For extra shape type, you need to define the 'physObj' " +
"as MataliObject instance");
}
if (mataliObj.ExtraShape == ExtraShapeType.Undefined)
{
throw new GoblinException("Undefined type is not allowed if Extra shape type is specified");
}
// size is used solely for naming, not used for the collision shape
switch (mataliObj.ExtraShape)
{
case ExtraShapeType.Point:
if (physObj.ShapeData.Count != 3)
{
throw new GoblinException("For Point shape type, you need to specify the position (x,y,z) in ShapeData");
}
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Heightmap:
if (physObj.ShapeData.Count < 2)
{
throw new GoblinException("There needs to be at least two floats specifying the " +
"width and height");
}
size = new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData.Count);
break;
case ExtraShapeType.Edge:
if (physObj.ShapeData.Count != 6)
{
throw new GoblinException("For Edge shape type, you need to specify the start and " +
"end positions (x,y,z) in ShapeData");
}
size = new Vector3(physObj.ShapeData[0] + physObj.ShapeData[3],
physObj.ShapeData[1] + physObj.ShapeData[4],
physObj.ShapeData[2] + physObj.ShapeData[5]);
break;
default:
throw new GoblinException(mataliObj.ExtraShape.ToString() + " not implemented yet");
}
break;
}
String shapeName = physObj.Shape.ToString() + size.ToString();
String primitiveName = physObj.Shape.ToString() + size.ToString();
if (mataliObj != null)
{
String suffix = "";
if (physObj.Shape == ShapeType.Extra)
{
suffix += mataliObj.ExtraShape.ToString();
}
else if (physObj.Shape == ShapeType.Compound)
{
suffix += mataliObj.CompoundShape.ToString();
}
suffix += mataliObj.ShapeOriginalMatrix.ToString();
suffix += mataliObj.ShapeCollisionMargin;
shapeName += suffix;
primitiveName += suffix;
}
Shape shape = null;
ShapePrimitive primitive = null;
if (scene.Factory.ShapeManager.Contains(shapeName))
{
shape = scene.Factory.ShapeManager.Find(shapeName);
}
else
{
if (physObj.Shape != ShapeType.Compound)
{
primitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
}
shape = scene.Factory.ShapeManager.Create(shapeName);
bool shapeSet = false;
switch (physObj.Shape)
{
case ShapeType.Box:
primitive.CreateBox(size.X, size.Y, size.Z);
break;
case ShapeType.Sphere:
primitive.CreateSphere(size.X);
break;
case ShapeType.Cone:
primitive.CreateConeY(size.Y, size.X);
break;
case ShapeType.Cylinder:
if (size.X != size.Z)
{
primitive.CreateCylinder2RY(size.Y, size.X, size.Z);
}
else
{
primitive.CreateCylinderY(size.Y, size.X);
}
break;
case ShapeType.Capsule:
primitive.CreateCapsuleY(size.Y - size.X * 2, size.X);
break;
case ShapeType.Compound:
ShapeCompoundType type = ShapeCompoundType.ConvexHull;
if (mataliObj != null)
{
if (mataliObj.CompoundShape == CompoundShapeType.MinkowskiSum)
{
type = ShapeCompoundType.MinkowskiSum;
}
}
int dataIndex = 0;
Shape compoundShapePart = null;
ShapePrimitive compoundPrimitive = null;
float[] matrixVals = new float[16];
while (dataIndex < physObj.ShapeData.Count)
{
ShapeType shapeType = (ShapeType)Enum.ToObject(typeof(ShapeType), (int)physObj.ShapeData[dataIndex++]);
switch (shapeType)
{
case ShapeType.Cylinder:
size = new Vector3(physObj.ShapeData[dataIndex], physObj.ShapeData[dataIndex + 1],
physObj.ShapeData[dataIndex]);
dataIndex += 2;
break;
case ShapeType.Sphere:
size = new Vector3(physObj.ShapeData[dataIndex], 0, 0);
dataIndex++;
break;
}
shapeName = shapeType.ToString() + size.ToString();
primitiveName = shapeType.ToString() + size.ToString();
if (scene.Factory.ShapeManager.Contains(shapeName))
{
compoundShapePart = scene.Factory.ShapeManager.Find(shapeName);
}
else
{
compoundPrimitive = scene.Factory.ShapePrimitiveManager.Create(primitiveName);
compoundShapePart = scene.Factory.ShapeManager.Create(shapeName);
switch (shapeType)
{
case ShapeType.Cylinder:
compoundPrimitive.CreateCylinderY(size.Y, size.X);
break;
case ShapeType.Sphere:
compoundPrimitive.CreateSphere(size.X);
break;
default:
throw new GoblinException(shape.ToString() + " is not supported yet as a compound part");
}
compoundShapePart.Set(compoundPrimitive, Matrix.Identity, 0.0f);
}
for (int i = 0; i < 16; ++i)
{
matrixVals[i] = physObj.ShapeData[dataIndex + i];
}
dataIndex += 16;
shape.Add(compoundShapePart, MatrixHelper.FloatsToMatrix(matrixVals), 0.0f, type);
}
float margin = 0.0f;
if (mataliObj != null)
{
margin = mataliObj.ShapeCollisionMargin;
}
shape.CreateMesh(margin);
shapeSet = true;
break;
case ShapeType.ConvexHull:
case ShapeType.TriangleMesh:
float[] frictions = null;
float[] restitutions = null;
if (physObj.Shape == ShapeType.ConvexHull)
{
primitive.CreateConvex(physObj.MeshProvider.Vertices);
}
else
{
int triangleCount = physObj.MeshProvider.Indices.Count / 3;
frictions = new float[triangleCount];
restitutions = new float[triangleCount];
for (int i = 0; i < frictions.Length; i++)
{
frictions[i] = 1.0f;
restitutions[i] = 0.0f;
}
Vector3[] triVerts = new Vector3[physObj.MeshProvider.Indices.Count];
for (int i = 0; i < triVerts.Length; ++i)
{
triVerts[i] = physObj.MeshProvider.Vertices[physObj.MeshProvider.Indices[i]];
}
bool flipTriangle = (physObj is MataliObject) ? ((MataliObject)physObj).FlipTriangleOrder : true;
primitive.CreateTriangleMesh(triVerts, flipTriangle, 2, frictions, restitutions, 1.0f, 0.0f);
}
break;
case ShapeType.Extra:
switch (mataliObj.ExtraShape)
{
case ExtraShapeType.Heightmap:
int width = (int)physObj.ShapeData[0];
int height = (int)physObj.ShapeData[1];
float[] heightData = new float[height * width];
float[] heightFrictions = new float[height * width];
float[] heightRestituions = new float[height * width];
if (physObj.ShapeData.Count < (2 + heightData.Length))
{
throw new GoblinException("You also need to specify the hegith map data");
}
Buffer.BlockCopy(physObj.ShapeData.ToArray(), 2 * sizeof(float), heightData, 0,
heightData.Length * sizeof(float));
if (physObj.ShapeData.Count > (2 + heightData.Length * 2))
{
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length) * sizeof(float),
heightFrictions, 0, heightFrictions.Length * sizeof(float));
}
else
{
for (int i = 0; i < heightFrictions.Length; ++i)
{
heightFrictions[i] = mataliObj.TriangleMeshFriction;
}
}
if (physObj.ShapeData.Count > (2 + heightData.Length * 3))
{
Buffer.BlockCopy(physObj.ShapeData.ToArray(), (2 + heightData.Length * 2) * sizeof(float),
heightRestituions, 0, heightRestituions.Length * sizeof(float));
}
else
{
for (int i = 0; i < heightRestituions.Length; ++i)
{
heightRestituions[i] = mataliObj.TriangleMeshRestitution;
}
}
primitive.CreateHeightmap(0, 0, width, height, width, height, heightData, heightFrictions, heightRestituions,
mataliObj.TriangleMeshFriction, mataliObj.TriangleMeshRestitution, mataliObj.IsDynamic);
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
shape.CreateMesh(0.0f);
shapeSet = true;
mataliPhysicsObj.InternalControllers.CreateHeightmapController(true);
break;
case ExtraShapeType.Point:
primitive.CreatePoint(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]);
break;
case ExtraShapeType.Edge:
primitive.CreateEdge(new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]));
break;
case ExtraShapeType.Plane:
primitive.CreatePlaneY(physObj.ShapeData[0], (physObj.ShapeData[1] > 0));
break;
case ExtraShapeType.Triangle:
primitive.CreateTriangle(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]));
break;
case ExtraShapeType.Tetrahedron:
primitive.CreateTetrahedron(
new Vector3(physObj.ShapeData[0], physObj.ShapeData[1], physObj.ShapeData[2]),
new Vector3(physObj.ShapeData[3], physObj.ShapeData[4], physObj.ShapeData[5]),
new Vector3(physObj.ShapeData[6], physObj.ShapeData[7], physObj.ShapeData[8]),
new Vector3(physObj.ShapeData[9], physObj.ShapeData[10], physObj.ShapeData[11]));
break;
case ExtraShapeType.Fluid:
break;
case ExtraShapeType.Hemisphere:
primitive.CreateHemisphereY(physObj.ShapeData[0]);
break;
}
break;
}
if (!shapeSet)
{
if (mataliObj != null)
{
shape.Set(primitive, mataliObj.ShapeOriginalMatrix, mataliObj.ShapeCollisionMargin);
}
else
{
shape.Set(primitive, Matrix.Identity, 0.0f);
}
if (buildCollisionMesh)
{
float margin = 0.0f;
if (mataliObj != null)
{
margin = mataliObj.ShapeCollisionMargin;
}
shape.CreateMesh(margin);
}
}
}
mataliPhysicsObj.Shape = shape;
}
