public RigidBodyConstructionInfo(float mass, MotionState motionState, CollisionShape collisionShape, Vector3 localInertia)
{
_native = btRigidBody_btRigidBodyConstructionInfo_new2(mass, (motionState != null) ? motionState._native : IntPtr.Zero,
(collisionShape != null) ? collisionShape._native : IntPtr.Zero, ref localInertia);
_collisionShape = collisionShape;
_motionState = motionState;
}
public RigidBodyConstructionInfo(float mass, MotionState motionState, CollisionShape collisionShape)
{
_native = btRigidBody_btRigidBodyConstructionInfo_new(mass, (motionState != null) ? motionState._native : IntPtr.Zero,
(collisionShape != null) ? collisionShape._native : IntPtr.Zero);
_collisionShape = collisionShape;
_motionState = motionState;
}
public void SetUpBulletPhysicsBody(float mass, BulletSharp.MotionState motionState, BulletSharp.CollisionShape collisionShape, Vector3 localInertia)
{
BulletSharpPhysics.RigidBodyConstructionInfo rbInfo =
new BulletSharpPhysics.RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
RigidBody = new BulletSharpPhysics.RigidBody(rbInfo);
bulletPhysics.World.AddRigidBody(RigidBody, GetCollisionFlags(), GetCollisionMask());
}
public BulletSharpObject(Game game, string modelAssetName, float mass, BulletSharp.MotionState motionState, BulletSharp.CollisionShape collisionShape, Vector3 localInertia)
: base(game, modelAssetName)
{
SetUpBulletPhysicsBody(mass, motionState, collisionShape, localInertia);
}
public RigidBody(RigidBodyConstructionInfo constructionInfo)
: base(btRigidBody_new(constructionInfo._native))
{
_collisionShape = constructionInfo.CollisionShape;
_motionState = constructionInfo._motionState;
}
/**
Creates or configures a RigidBody based on the current settings. Does not alter the internal state of this component in any way.
Can be used to create copies of this BRigidBody for use in other physics simulations.
*/
public bool CreateOrConfigureRigidBody(ref RigidBody rb, ref BulletSharp.Math.Vector3 localInertia, CollisionShape cs, MotionState motionState)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic())
{
cs.CalculateLocalInertia(_mass, out localInertia);
}
if (rb == null)
{
float bulletMass = _mass;
if (!isDynamic())
{
bulletMass = 0f;
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(bulletMass, motionState, cs, localInertia);
rbInfo.Friction = _friction;
rbInfo.RollingFriction = _rollingFriction;
rbInfo.LinearDamping = _linearDamping;
rbInfo.AngularDamping = _angularDamping;
rbInfo.Restitution = _restitution;
rbInfo.LinearSleepingThreshold = _linearSleepingThreshold;
rbInfo.AngularSleepingThreshold = _angularSleepingThreshold;
rbInfo.AdditionalDamping = _additionalDamping;
rbInfo.AdditionalAngularDampingFactor = _additionalAngularDampingFactor;
rbInfo.AdditionalAngularDampingThresholdSqr = _additionalAngularDampingThresholdSqr;
rbInfo.AdditionalDampingFactor = _additionalDampingFactor;
rbInfo.AdditionalLinearDampingThresholdSqr = _additionalLinearDampingThresholdSqr;
rb = new RigidBody(rbInfo);
rbInfo.Dispose();
}
else {
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
rb.SetMassProps(usedMass, localInertia);
rb.Friction = _friction;
rb.RollingFriction = _rollingFriction;
rb.SetDamping(_linearDamping, _angularDamping);
rb.Restitution = _restitution;
rb.SetSleepingThresholds(_linearSleepingThreshold, _angularSleepingThreshold);
rb.CollisionShape = cs;
}
rb.AngularVelocity = angularVelocity.ToBullet();
rb.LinearVelocity = velocity.ToBullet();
rb.CollisionFlags = m_collisionFlags;
rb.LinearFactor = _linearFactor.ToBullet();
rb.AngularFactor = _angularFactor.ToBullet();
if (m_rigidBody != null)
{
rb.DeactivationTime = m_rigidBody.DeactivationTime;
rb.InterpolationLinearVelocity = m_rigidBody.InterpolationLinearVelocity;
rb.InterpolationAngularVelocity = m_rigidBody.InterpolationAngularVelocity;
rb.InterpolationWorldTransform = m_rigidBody.InterpolationWorldTransform;
}
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
rb.ActivationState = ActivationState.DisableDeactivation;
}
return true;
}
public RigidBody(RigidBodyConstructionInfo constructionInfo)
: base(btRigidBody_new(constructionInfo._native))
{
_collisionShape = constructionInfo.CollisionShape;
_motionState = constructionInfo.MotionState;
}
/// <summary>
/// Set up all of the stuff needed before we create our body
/// </summary>
private void SetUpBodyInfo(ThingDefinition def)
{
// set up our collision shapes
CollisionShape shape = LKernel.GetG<CollisionShapeManager>().CreateAndRegisterShape(this, def);
// get the physics type and set up the mass of the body
ThingEnum physicsType = def.GetEnumProperty("physics", null);
float mass = physicsType.HasFlag(ThingEnum.Static) ? 0 : def.GetFloatProperty("mass", 1);
// create our construction info thingy
Vector3 inertia;
shape.CalculateLocalInertia(mass, out inertia);
// if it's static and doesn't have a sound, we don't need a mogre motion state because we'll be disposing of the root node afterwards
if (def.GetBoolProperty("Static", false) && SoundComponents == null)
MotionState = new DefaultMotionState();
else
MotionState = InitializationMotionState;
Info = new RigidBodyConstructionInfo(mass, MotionState, shape, inertia);
// physics material stuff from a .physmat file
string physmat = def.GetStringProperty("PhysicsMaterial", "Default");
LKernel.GetG<PhysicsMaterialFactory>().ApplyMaterial(Info, physmat);
// we can override some of them in the .thing file
if (def.FloatTokens.ContainsKey("bounciness"))
Info.Restitution = def.GetFloatProperty("bounciness", PhysicsMaterial.DEFAULT_BOUNCINESS);
if (def.FloatTokens.ContainsKey("friction"))
Info.Friction = def.GetFloatProperty("friction", PhysicsMaterial.DEFAULT_FRICTION);
if (def.FloatTokens.ContainsKey("angulardamping"))
Info.AngularDamping = def.GetFloatProperty("angulardamping", PhysicsMaterial.DEFAULT_ANGULAR_DAMPING);
if (def.FloatTokens.ContainsKey("lineardamping"))
Info.LinearDamping = def.GetFloatProperty("lineardamping", PhysicsMaterial.DEFAULT_LINEAR_DAMPING);
// choose which group to use for a default
ThingEnum defaultGroup;
if (physicsType.HasFlag(ThingEnum.Dynamic))
defaultGroup = ThingEnum.Default;
else if (physicsType.HasFlag(ThingEnum.Static))
defaultGroup = ThingEnum.Environment;
else // kinematic
defaultGroup = ThingEnum.Default;
// collision group
ThingEnum collisionGroup = def.GetEnumProperty("CollisionGroup", defaultGroup);
PonykartCollisionGroups pcg;
if (!Enum.TryParse<PonykartCollisionGroups>(collisionGroup + String.Empty, true, out pcg))
throw new FormatException("Invalid collision group!");
CollisionGroup = pcg;
// collides-with group
ThingEnum collidesWith = def.GetEnumProperty("CollidesWith", defaultGroup);
PonykartCollidesWithGroups pcwg;
if (!Enum.TryParse<PonykartCollidesWithGroups>(collidesWith + String.Empty, true, out pcwg))
throw new FormatException("Invalid collides-with group!");
CollidesWith = pcwg;
// update the transforms
Matrix4 transform = new Matrix4();
transform.MakeTransform(SpawnPosition, SpawnScale, SpawnOrientation);
Info.StartWorldTransform = transform;
MotionState.WorldTransform = transform;
}