internal void RemoveRigidBody(RigidbodyComponent rigidBody)
{
if (discreteDynamicsWorld == null)
{
throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
}
discreteDynamicsWorld.RemoveRigidBody(rigidBody.InternalRigidBody);
}
internal void AddRigidBody(RigidbodyComponent rigidBody, CollisionFilterGroupFlags group, CollisionFilterGroupFlags mask)
{
if (discreteDynamicsWorld == null)
{
throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
}
discreteDynamicsWorld.AddRigidBody(rigidBody.InternalRigidBody, (short)group, (short)mask);
}
public override void Start()
{
simulation = this.GetSimulation();
simulation.Gravity = new Vector3(0, -9, 0);
cubeRigidBody = cube.Get<RigidbodyComponent>();
cubeRigidBody.CanSleep = false;
sphereRigidBody = sphere.Get<RigidbodyComponent>();
sphereRigidBody.CanSleep = false;
// Create the UI
constraintNameBlock = new TextBlock
{
Font = Font,
TextSize = 55,
TextColor = Color.White,
};
constraintNameBlock.SetCanvasPinOrigin(new Vector3(0.5f, 0.5f, 0));
constraintNameBlock.SetCanvasRelativePosition(new Vector3(0.5f, 0.83f, 0));
Entity.Get<UIComponent>().Page = new UIPage
{
RootElement = new Canvas
{
Children =
{
constraintNameBlock,
CreateButton("Next", Font, 1),
CreateButton("Previous", Font, -1)
}
}
};
// Create and initialize constraint
PhysicsSampleList.Add(CreatePoint2PointConstraint);
PhysicsSampleList.Add(CreateHingeConstraint);
PhysicsSampleList.Add(CreateGearConstraint);
PhysicsSampleList.Add(CreateSliderConstraint);
PhysicsSampleList.Add(CreateConeTwistConstraint);
PhysicsSampleList.Add(CreateGeneric6DoFConstraint);
PhysicsSampleList[constraintIndex]();
//Add a script for the slider constraint, to apply an impulse on collision
cubeRigidBody.ProcessCollisions = true;
Script.AddTask(async () =>
{
while (Game.IsRunning)
{
var collision = await cubeRigidBody.NewCollision();
if (!(currentConstraint is SliderConstraint)) continue;
if (collision.ColliderA != sphereRigidBody && collision.ColliderB != sphereRigidBody) continue;
sphereRigidBody.LinearVelocity = Vector3.Zero; //clear any existing velocity
sphereRigidBody.ApplyImpulse(new Vector3(-25, 0, 0)); //fire impulse
}
});
}
public void Clear()
{
rigidBody = null;
}
public XenkoMotionState(RigidbodyComponent rb)
{
rigidBody = rb;
}
/// <summary>
/// Creates the constraint.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="rigidBodyB">The rigid body b.</param>
/// <param name="frameA">The frame a.</param>
/// <param name="frameB">The frame b.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
/// <exception cref="System.Exception">
/// Cannot perform this action when the physics engine is set to CollisionsOnly
/// or
/// Both RigidBodies must be valid
/// </exception>
public static Constraint CreateConstraint(ConstraintTypes type, RigidbodyComponent rigidBodyA, RigidbodyComponent rigidBodyB, Matrix frameA, Matrix frameB, bool useReferenceFrameA = false)
{
if (rigidBodyA == null || rigidBodyB == null) throw new Exception("Both RigidBodies must be valid");
//todo check if the 2 rbs are on the same engine instance!
var rbA = rigidBodyA.InternalRigidBody;
var rbB = rigidBodyB.InternalRigidBody;
switch (type)
{
case ConstraintTypes.Point2Point:
{
var constraint = new Point2PointConstraint
{
InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Hinge:
{
var constraint = new HingeConstraint
{
InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalHingeConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Slider:
{
var constraint = new SliderConstraint
{
InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalSliderConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.ConeTwist:
{
var constraint = new ConeTwistConstraint
{
InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, rbB, frameA, frameB),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalConeTwistConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoF:
{
var constraint = new Generic6DoFConstraint
{
InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoFSpring:
{
var constraint = new Generic6DoFSpringConstraint
{
InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Gear:
{
var constraint = new GearConstraint
{
InternalGearConstraint = new BulletSharp.GearConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGearConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return constraint;
}
}
return null;
}
/// <summary>
/// Creates the constraint.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="frameA">The frame a.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
/// <exception cref="System.Exception">
/// Cannot perform this action when the physics engine is set to CollisionsOnly
/// or
/// Both RigidBodies must be valid
/// or
/// A Gear constraint always needs two rigidbodies to be created.
/// </exception>
public static Constraint CreateConstraint(ConstraintTypes type, RigidbodyComponent rigidBodyA, Matrix frameA, bool useReferenceFrameA = false)
{
if (rigidBodyA == null) throw new Exception("Both RigidBodies must be valid");
var rbA = rigidBodyA.InternalRigidBody;
switch (type)
{
case ConstraintTypes.Point2Point:
{
var constraint = new Point2PointConstraint
{
InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, frameA.TranslationVector),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Hinge:
{
var constraint = new HingeConstraint
{
InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalHingeConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Slider:
{
var constraint = new SliderConstraint
{
InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalSliderConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.ConeTwist:
{
var constraint = new ConeTwistConstraint
{
InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, frameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalConeTwistConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoF:
{
var constraint = new Generic6DoFConstraint
{
InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Generic6DoFSpring:
{
var constraint = new Generic6DoFSpringConstraint
{
InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return constraint;
}
case ConstraintTypes.Gear:
{
throw new Exception("A Gear constraint always needs two rigidbodies to be created.");
}
}
return null;
}
internal void RemoveRigidBody(RigidbodyComponent rigidBody)
{
if (discreteDynamicsWorld == null) throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
discreteDynamicsWorld.RemoveRigidBody(rigidBody.InternalRigidBody);
}
internal void AddRigidBody(RigidbodyComponent rigidBody, CollisionFilterGroupFlags group, CollisionFilterGroupFlags mask)
{
if (discreteDynamicsWorld == null) throw new Exception("Cannot perform this action when the physics engine is set to CollisionsOnly");
discreteDynamicsWorld.AddRigidBody(rigidBody.InternalRigidBody, (short)group, (short)mask);
}
/// <summary>
/// Creates the constraint.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="rigidBodyB">The rigid body b.</param>
/// <param name="frameA">The frame a.</param>
/// <param name="frameB">The frame b.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
/// <exception cref="System.Exception">
/// Cannot perform this action when the physics engine is set to CollisionsOnly
/// or
/// Both RigidBodies must be valid
/// </exception>
public static Constraint CreateConstraint(ConstraintTypes type, RigidbodyComponent rigidBodyA, RigidbodyComponent rigidBodyB, Matrix frameA, Matrix frameB, bool useReferenceFrameA = false)
{
if (rigidBodyA == null || rigidBodyB == null)
{
throw new Exception("Both RigidBodies must be valid");
}
//todo check if the 2 rbs are on the same engine instance!
var rbA = rigidBodyA.InternalRigidBody;
var rbB = rigidBodyB.InternalRigidBody;
switch (type)
{
case ConstraintTypes.Point2Point:
{
var constraint = new Point2PointConstraint
{
InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Hinge:
{
var constraint = new HingeConstraint
{
InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalHingeConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Slider:
{
var constraint = new SliderConstraint
{
InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalSliderConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.ConeTwist:
{
var constraint = new ConeTwistConstraint
{
InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, rbB, frameA, frameB),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalConeTwistConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Generic6DoF:
{
var constraint = new Generic6DoFConstraint
{
InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Generic6DoFSpring:
{
var constraint = new Generic6DoFSpringConstraint
{
InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, rbB, frameA, frameB, useReferenceFrameA),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Gear:
{
var constraint = new GearConstraint
{
InternalGearConstraint = new BulletSharp.GearConstraint(rbA, rbB, frameA.TranslationVector, frameB.TranslationVector),
RigidBodyA = rigidBodyA,
RigidBodyB = rigidBodyB
};
constraint.InternalConstraint = constraint.InternalGearConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
rigidBodyB.LinkedConstraints.Add(constraint);
return(constraint);
}
}
return(null);
}
/// <summary>
/// Creates the constraint.
/// </summary>
/// <param name="type">The type.</param>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="frameA">The frame a.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
/// <exception cref="System.Exception">
/// Cannot perform this action when the physics engine is set to CollisionsOnly
/// or
/// Both RigidBodies must be valid
/// or
/// A Gear constraint always needs two rigidbodies to be created.
/// </exception>
public static Constraint CreateConstraint(ConstraintTypes type, RigidbodyComponent rigidBodyA, Matrix frameA, bool useReferenceFrameA = false)
{
if (rigidBodyA == null)
{
throw new Exception("Both RigidBodies must be valid");
}
var rbA = rigidBodyA.InternalRigidBody;
switch (type)
{
case ConstraintTypes.Point2Point:
{
var constraint = new Point2PointConstraint
{
InternalPoint2PointConstraint = new BulletSharp.Point2PointConstraint(rbA, frameA.TranslationVector),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalPoint2PointConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Hinge:
{
var constraint = new HingeConstraint
{
InternalHingeConstraint = new BulletSharp.HingeConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalHingeConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Slider:
{
var constraint = new SliderConstraint
{
InternalSliderConstraint = new BulletSharp.SliderConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA,
};
constraint.InternalConstraint = constraint.InternalSliderConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.ConeTwist:
{
var constraint = new ConeTwistConstraint
{
InternalConeTwistConstraint = new BulletSharp.ConeTwistConstraint(rbA, frameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalConeTwistConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Generic6DoF:
{
var constraint = new Generic6DoFConstraint
{
InternalGeneric6DofConstraint = new BulletSharp.Generic6DofConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Generic6DoFSpring:
{
var constraint = new Generic6DoFSpringConstraint
{
InternalGeneric6DofSpringConstraint = new BulletSharp.Generic6DofSpringConstraint(rbA, frameA, useReferenceFrameA),
RigidBodyA = rigidBodyA
};
constraint.InternalConstraint = constraint.InternalGeneric6DofConstraint = constraint.InternalGeneric6DofSpringConstraint;
rigidBodyA.LinkedConstraints.Add(constraint);
return(constraint);
}
case ConstraintTypes.Gear:
{
throw new Exception("A Gear constraint always needs two rigidbodies to be created.");
}
}
return(null);
}
public override async Task Execute()
{
animationComponent = Entity.Get<AnimationComponent>();
rigidbodyElement = Entity.Get<RigidbodyComponent>();
rigidbodyElement.LinearFactor = new Vector3(0, 1, 0); //allow only Y motion
rigidbodyElement.AngularFactor = new Vector3(0, 0, 0); //allow no rotation
await Reset();
while (Game.IsRunning)
{
await WaitMs((int)(enemyLife * 1000));
if (exploding != null)
{
await exploding;
exploding = null;
}
await Reset();
}
}
public override async Task Execute()
{
spriteSheet = BulletSheet;
agentSpriteComponent = Entity.Get<SpriteComponent>();
var animComponent = Entity.Get<AnimationComponent>();
PlayingAnimation playingAnimation = null;
// Calculate offset of the bullet from the Agent if he is facing left and right side // TODO improve this
var bulletOffset = new Vector3(1.3f, 1.65f, 0f);
// Initialize game entities
if (!IsLiveReloading)
{
shootDelayCounter = 0f;
isAgentFacingRight = true;
currentAgentAnimation = AgentAnimation.Idle;
}
CurrentAgentAnimation = currentAgentAnimation;
var normalScaleX = Entity.Transform.Scale.X;
var bulletCS = BulletColliderShape;
Task animTask = null;
while (Game.IsRunning)
{
await Script.NextFrame();
var inputState = GetKeyboardInputState();
if (inputState == InputState.None)
inputState = GetPointerInputState();
if (inputState == InputState.RunLeft || inputState == InputState.RunRight)
{
// Update Agent's position
var dt = (float)Game.UpdateTime.Elapsed.TotalSeconds;
Entity.Transform.Position.X += ((inputState == InputState.RunRight) ? AgentMoveDistance : -AgentMoveDistance) * dt;
if (Entity.Transform.Position.X < -gameWidthHalfX)
Entity.Transform.Position.X = -gameWidthHalfX;
if (Entity.Transform.Position.X > gameWidthHalfX)
Entity.Transform.Position.X = gameWidthHalfX;
isAgentFacingRight = inputState == InputState.RunRight;
// If agent face left, flip the sprite
Entity.Transform.Scale.X = isAgentFacingRight ? normalScaleX : -normalScaleX;
// Update the sprite animation and state
CurrentAgentAnimation = AgentAnimation.Run;
if (playingAnimation == null || playingAnimation.Name != "Run")
{
playingAnimation = animComponent.Play("Run");
}
}
else if (inputState == InputState.Shoot)
{
if(animTask != null && !animTask.IsCompleted) continue;
if (animTask != null && animTask.IsCompleted) playingAnimation = null;
animTask = null;
var rb = new RigidbodyComponent { CanCollideWith = CollisionFilterGroupFlags.CustomFilter1, CollisionGroup = CollisionFilterGroups.DefaultFilter };
rb.ColliderShapes.Add(new ColliderShapeAssetDesc { Shape = bulletCS });
// Spawns a new bullet
var bullet = new Entity
{
new SpriteComponent { SpriteProvider = SpriteFromSheet.Create(spriteSheet, "bullet") },
rb,
new BeamScript()
};
bullet.Name = "bullet";
bullet.Transform.Position = (isAgentFacingRight) ? Entity.Transform.Position + bulletOffset : Entity.Transform.Position + (bulletOffset * new Vector3(-1, 1, 1));
bullet.Transform.UpdateWorldMatrix();
SceneSystem.SceneInstance.Scene.Entities.Add(bullet);
rb.LinearFactor = new Vector3(1, 0, 0);
rb.AngularFactor = new Vector3(0, 0, 0);
rb.ApplyImpulse(isAgentFacingRight ? new Vector3(25, 0, 0) : new Vector3(-25, 0, 0));
// Start animation for shooting
CurrentAgentAnimation = AgentAnimation.Shoot;
if (playingAnimation == null || playingAnimation.Name != "Attack")
{
playingAnimation = animComponent.Play("Attack");
animTask = playingAnimation.Ended();
}
}
else
{
CurrentAgentAnimation = AgentAnimation.Idle;
if (playingAnimation == null || playingAnimation.Name != "Stance")
{
playingAnimation = animComponent.Play("Stance");
}
}
}
}
