// 物理演算でモデルの配置を更新
public void Run()
{
bulletPhysics.StepSimulation();
for (int i = 0; i < models.Count; ++i)
{
var rigid_world = bulletPhysics.GetWorld(bodies[i]); // 剛体のワールド変換行列
var model_world = model_world_from_rigid * rigid_world; // モデルのワールド変換行列
var v = model_world.get_Rows(3);
models[i].Transformer.Position = new Vector3(v.X, v.Y, v.Z);
models[i].Transformer.Rotation = Quaternion.RotationMatrix(model_world);
}
}
/// <summary>
/// 物理演算でモデルの配置を更新
/// </summary>
public void Run()
{
bulletPhysics.StepSimulation();
for (int i = 0; i < balls.Count; ++i)
{
Matrix rigid_world = bulletPhysics.GetWorld(balls[i]); // ball剛体のワールド変換行列
Matrix model_world = transferMatrixFromRigidToModel * rigid_world; // ballモデルのワールド変換行列
Vector4 v = model_world.get_Rows(3);
models[1 + i].Transformer.Position = new Vector3(v.X, v.Y, v.Z);
models[1 + i].Transformer.Rotation = Quaternion.RotationMatrix(model_world);
}
}
private void timer1_Tick(object sender, EventArgs e)
{
bulletPhysics.StepSimulation();
bulletPhysics.dynamicsWorld.ContactPairTest(ball, ball2, callBack);
Matrix rigid_world = bulletPhysics.GetWorld(ball);
Matrix model_world = rigid2model * rigid_world;
Vector4 transLation = model_world.get_Rows(3);
ball_Model.Transformer.Position = new Vector3(transLation.X, transLation.Y, transLation.Z);
ball_Model.Transformer.Rotation = Quaternion.RotationMatrix(model_world);
rigid_world = bulletPhysics.GetWorld(ball2);
model_world = rigid2model * rigid_world;
transLation = model_world.get_Rows(3);
ball_Model2.Transformer.Position = new Vector3(transLation.X, transLation.Y, transLation.Z);
ball_Model2.Transformer.Rotation = Quaternion.RotationMatrix(model_world);
}
public void Run()
{
bulletPhysics.StepSimulation();
}