//This is called by the physics engine to update the transformation of Dynamic rigidbodies. private static void RigidBodySetWorldTransform(PhysicsElementBase element, ref Matrix physicsTransform) { if (element.BoneIndex == -1) { element.UpdateTransformationComponent(ref physicsTransform); } else { element.UpdateBoneTransformation(ref physicsTransform); } }
//This is valid for Dynamic rigidbodies (called once at initialization) //and Kinematic rigidbodies, called every simulation tick (if body not sleeping) to let the physics engine know where the kinematic body is. private static void RigidBodyGetWorldTransform(PhysicsElementBase element, out Matrix physicsTransform) { if (element.BoneIndex == -1) { element.DerivePhysicsTransformation(out physicsTransform); } else { element.DeriveBonePhysicsTransformation(out physicsTransform); } }
private void NewElement(PhysicsElementBase element, AssociatedData data, Entity entity) { element.Data = data; if (element.ColliderShapes.Count == 0) { return; //no shape no purpose } if (element.ColliderShape == null) { element.ComposeShape(); } var shape = element.ColliderShape; if (shape == null) { return; //no shape no purpose } element.BoneIndex = -1; var skinnedElement = element as PhysicsSkinnedElementBase; if (skinnedElement != null && !skinnedElement.NodeName.IsNullOrEmpty() && data.ModelComponent?.ModelViewHierarchy != null) { if (!data.BoneMatricesUpdated) { Vector3 position, scaling; Quaternion rotation; entity.Transform.WorldMatrix.Decompose(out scaling, out rotation, out position); var isScalingNegative = scaling.X * scaling.Y * scaling.Z < 0.0f; data.ModelComponent.ModelViewHierarchy.NodeTransformations[0].LocalMatrix = entity.Transform.WorldMatrix; data.ModelComponent.ModelViewHierarchy.NodeTransformations[0].IsScalingNegative = isScalingNegative; data.ModelComponent.ModelViewHierarchy.UpdateMatrices(); data.BoneMatricesUpdated = true; } skinnedElement.BoneIndex = data.ModelComponent.ModelViewHierarchy.Nodes.IndexOf(x => x.Name == skinnedElement.NodeName); if (element.BoneIndex == -1) { throw new Exception("The specified NodeName doesn't exist in the model hierarchy."); } element.BoneWorldMatrixOut = element.BoneWorldMatrix = data.ModelComponent.ModelViewHierarchy.NodeTransformations[element.BoneIndex].WorldMatrix; } var defaultGroups = element.CanCollideWith == 0 || element.CollisionGroup == 0; switch (element.Type) { case PhysicsElementBase.Types.PhantomCollider: { var c = simulation.CreateCollider(shape); element.Collider = c; //required by the next call element.Collider.Entity = entity; //required by the next call element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider c.IsTrigger = true; if (defaultGroups) { simulation.AddCollider(c, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter); } else { simulation.AddCollider(c, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith); } } break; case PhysicsElementBase.Types.StaticCollider: { var c = simulation.CreateCollider(shape); element.Collider = c; //required by the next call element.Collider.Entity = entity; //required by the next call element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider if (defaultGroups) { simulation.AddCollider(c, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter); } else { simulation.AddCollider(c, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith); } } break; case PhysicsElementBase.Types.StaticRigidBody: { var rb = simulation.CreateRigidBody(shape); rb.Entity = entity; rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform); rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform); element.Collider = rb; element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider rb.Type = RigidBodyTypes.Static; rb.Mass = 0.0f; if (defaultGroups) { simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter); } else { simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith); } } break; case PhysicsElementBase.Types.DynamicRigidBody: { var rb = simulation.CreateRigidBody(shape); rb.Entity = entity; rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform); rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform); element.Collider = rb; element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider rb.Type = RigidBodyTypes.Dynamic; if (rb.Mass == 0.0f) { rb.Mass = 1.0f; } if (defaultGroups) { simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter); } else { simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith); } } break; case PhysicsElementBase.Types.KinematicRigidBody: { var rb = simulation.CreateRigidBody(shape); rb.Entity = entity; rb.GetWorldTransformCallback = (out Matrix transform) => RigidBodyGetWorldTransform(element, out transform); rb.SetWorldTransformCallback = transform => RigidBodySetWorldTransform(element, ref transform); element.Collider = rb; element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider rb.Type = RigidBodyTypes.Kinematic; if (rb.Mass == 0.0f) { rb.Mass = 1.0f; } if (defaultGroups) { simulation.AddRigidBody(rb, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter); } else { simulation.AddRigidBody(rb, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith); } } break; case PhysicsElementBase.Types.CharacterController: { var charElem = (CharacterElement)element; var ch = simulation.CreateCharacter(shape, charElem.StepHeight); element.Collider = ch; element.Collider.Entity = entity; element.UpdatePhysicsTransformation(); //this will set position and rotation of the collider if (defaultGroups) { simulation.AddCharacter(ch, CollisionFilterGroupFlags.DefaultFilter, CollisionFilterGroupFlags.AllFilter); } else { simulation.AddCharacter(ch, (CollisionFilterGroupFlags)element.CollisionGroup, element.CanCollideWith); } characters.Add(element); } break; } elements.Add(element); if (element.BoneIndex != -1) { boneElements.Add(element); } }
private void DeleteElement(PhysicsElementBase element, bool now = false) { element.Data = null; //might be possible that this element was not valid during creation so it would be already null if (element.InternalCollider == null) { return; } var toDispose = new List <IDisposable>(); elements.Remove(element); if (element.BoneIndex != -1) { boneElements.Remove(element); } switch (element.Type) { case PhysicsElementBase.Types.PhantomCollider: case PhysicsElementBase.Types.StaticCollider: { simulation.RemoveCollider(element.Collider); } break; case PhysicsElementBase.Types.StaticRigidBody: case PhysicsElementBase.Types.DynamicRigidBody: case PhysicsElementBase.Types.KinematicRigidBody: { var rb = (RigidBody)element.Collider; var constraints = rb.LinkedConstraints.ToArray(); foreach (var c in constraints) { simulation.RemoveConstraint(c); toDispose.Add(c); } simulation.RemoveRigidBody(rb); } break; case PhysicsElementBase.Types.CharacterController: { characters.Remove(element); simulation.RemoveCharacter((Character)element.Collider); } break; } toDispose.Add(element.Collider); if (element.ColliderShape != null && !element.ColliderShape.IsPartOfAsset) { toDispose.Add(element.ColliderShape); } element.Collider = null; //dispose in another thread for better performance //if (!now) //{ // TaskList.Dispatch(toDispose, 4, 128, (i, disposable) => disposable.Dispose()); //} //else { foreach (var d in toDispose) { d.Dispose(); } } }