private ActorShapeDesc _CreateShapeDescriptor(Matrix pose)
{
ActorShapeDesc shapeDesc = null;
if (_nodeObject is IFrameMesh)
{
var mesh = ((IFrameMesh)_nodeObject).Mesh;
shapeDesc = mesh.CreateShapeDescriptor();
if (shapeDesc == null)
{
shapeDesc = mesh.CreateTriangleMeshDescriptor();
}
shapeDesc.Name = Name;
shapeDesc.LocalPose *= pose;
}
else if (_nodes.Count == 1)
{
shapeDesc = _nodes[0]._CreateShapeDescriptor(_nodes[0].LocalPose * pose);
}
return(shapeDesc);
}
public Actor CreateActor(Physic physic, bool dynamic, float density = 0, float mass = 0)
{
if (physic == null)
{
throw new ArgumentNullException("physic");
}
ActorDesc actorDesc = _CreateActorDescription(dynamic, density, mass);
if (_nodeObject is IFrameMesh || _nodes.Count == 1)
{
ActorShapeDesc shapeDesc = _CreateShapeDescriptor(Matrix.Identity);
if (shapeDesc is WheelShapeDesc)
{
//Matrix pose = Matrix.Identity;
//pose.set_Rows(3, shapeDesc.LocalPose.get_Rows(3));
//shapeDesc.LocalPose = pose;
//pose.set_Rows(3, actorDesc.GlobalPose.get_Rows(3));
//actorDesc.GlobalPose = pose;
actorDesc.GlobalPose = Matrix.RotationZ(-Numerics.PIover2) * actorDesc.GlobalPose;
}
if (shapeDesc != null)
{
if (density == 0 && dynamic)
{
shapeDesc.Mass = 1.0f;
}
actorDesc.Shapes.Add(shapeDesc);
}
}
else
{
foreach (var child in _nodes)
{
ActorShapeDesc shapeDesc = child._CreateShapeDescriptor(child.LocalPose);
if (shapeDesc != null)
{
if (shapeDesc is WheelShapeDesc)
{
//Matrix pose = Matrix.Identity;
//pose.set_Rows(3, shapeDesc.LocalPose.get_Rows(3));
//shapeDesc.LocalPose = pose;
shapeDesc.LocalPose = Matrix.RotationZ(-Numerics.PIover2) * shapeDesc.LocalPose;
}
if (density == 0 && dynamic)
{
var match = Regex.Match(child._tag, @"__m(?<X>\d+)((\.|_)(?<Y>\d+))?__");
if (match.Success)
{
shapeDesc.Mass = float.Parse(match.Groups["X"].Value + "." + match.Groups["Y"].Value);
}
}
actorDesc.Shapes.Add(shapeDesc);
}
}
}
if (actorDesc.Shapes.Count == 0)
{
throw new InvalidOperationException("There are any shape present and it is not allowed create a empty actor");
}
var actor = physic.CreateActor(actorDesc);
this.BindTo(actor);
return(actor);
}
