/// <summary>
/// Initializes a new instance of the <see cref="CapsuleColliderShape"/> class.
/// </summary>
/// <param name="is2D">if set to <c>true</c> [is2 d].</param>
/// <param name="radius">The radius.</param>
/// <param name="height">The height.</param>
/// <param name="upAxis">Up axis.</param>
public CapsuleColliderShape(bool is2D, float radius, float height, Vector3 upAxis)
{
Type = ColliderShapeTypes.Capsule;
Is2D = is2D;
Radius = radius;
Height = height;
UpAxis = upAxis;
BulletSharp.CapsuleShape shape;
Matrix rotation;
//http://en.wikipedia.org/wiki/Capsule_(geometry)
var h = radius * 2 + height;
if (upAxis == Vector3.UnitX)
{
shape = new BulletSharp.CapsuleShapeX(radius, height);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
}
else if (upAxis == Vector3.UnitZ)
{
shape = new BulletSharp.CapsuleShapeZ(radius, height);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
}
else //default to Y
{
UpAxis = Vector3.UnitY;
shape = new BulletSharp.CapsuleShape(radius, height);
rotation = Matrix.Identity;
}
if (Is2D)
{
InternalShape = new BulletSharp.Convex2DShape(shape)
{
LocalScaling = new Vector3(1, 1, 0)
};
}
else
{
InternalShape = shape;
}
if (!PhysicsEngine.Singleton.CreateDebugPrimitives)
{
return;
}
DebugPrimitive = GeometricPrimitive.Capsule.New(PhysicsEngine.Singleton.DebugGraphicsDevice);
DebugPrimitiveScaling = Matrix.Scaling(new Vector3(radius * 2, h / 2, radius * 2) * 1.01f) * rotation;
}
/// <summary>
/// Initializes a new instance of the <see cref="CapsuleColliderShape"/> class.
/// </summary>
/// <param name="is2D">if set to <c>true</c> [is2 d].</param>
/// <param name="radius">The radius.</param>
/// <param name="height">The height.</param>
/// <param name="upAxis">Up axis.</param>
public CapsuleColliderShape(bool is2D, float radius, float height, Vector3 upAxis)
{
Type = ColliderShapeTypes.Capsule;
Is2D = is2D;
BulletSharp.CapsuleShape shape;
Matrix rotation;
//http://en.wikipedia.org/wiki/Capsule_(geometry)
var h = radius * 2 + height;
if (upAxis == Vector3.UnitX)
{
shape = new BulletSharp.CapsuleShapeX(radius, height);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
}
else if (upAxis == Vector3.UnitZ)
{
shape = new BulletSharp.CapsuleShapeZ(radius, height);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
}
else //default to Y
{
shape = new BulletSharp.CapsuleShape(radius, height);
rotation = Matrix.Identity;
}
if (Is2D)
{
InternalShape = new BulletSharp.Convex2DShape(shape)
{
LocalScaling = new Vector3(1, 1, 0)
};
}
else
{
InternalShape = shape;
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(radius * 2, h / 2, Is2D ? 1.0f : radius * 2) * 1.01f) * rotation;
}
/// <summary>
/// Create the collision capsule.
/// </summary>
/// <param name="radius">Capsule radius.</param>
/// <param name="height">Capsule height.</param>
/// <param name="axis">Capsule axis direction.</param>
public CollisionCapsule(float radius = 1f, float height = 1f, CapsuleDirectionAxis axis = CapsuleDirectionAxis.Y)
{
_axisType = axis;
switch (_axisType)
{
case CapsuleDirectionAxis.X:
_shape = new BulletSharp.CapsuleShapeX(radius, height);
break;
case CapsuleDirectionAxis.Y:
_shape = new BulletSharp.CapsuleShape(radius, height);
break;
case CapsuleDirectionAxis.Z:
_shape = new BulletSharp.CapsuleShapeZ(radius, height);
break;
}
}
/// <summary>
/// Initializes a new instance of the <see cref="CapsuleColliderShape"/> class.
/// </summary>
/// <param name="is2D">if set to <c>true</c> [is2 d].</param>
/// <param name="radius">The radius.</param>
/// <param name="height">The height.</param>
/// <param name="upAxis">Up axis.</param>
public CapsuleColliderShape(bool is2D, float radius, float height, Vector3 upAxis)
{
Type = ColliderShapeTypes.Capsule;
Is2D = is2D;
BulletSharp.CapsuleShape shape;
Matrix rotation;
//http://en.wikipedia.org/wiki/Capsule_(geometry)
var h = radius * 2 + height;
if (upAxis == Vector3.UnitX)
{
shape = new BulletSharp.CapsuleShapeX(radius, height);
rotation = Matrix.RotationZ((float)Math.PI / 2.0f);
}
else if (upAxis == Vector3.UnitZ)
{
shape = new BulletSharp.CapsuleShapeZ(radius, height);
rotation = Matrix.RotationX((float)Math.PI / 2.0f);
}
else //default to Y
{
shape = new BulletSharp.CapsuleShape(radius, height);
rotation = Matrix.Identity;
}
if (Is2D)
{
InternalShape = new BulletSharp.Convex2DShape(shape) { LocalScaling = new Vector3(1, 1, 0) };
}
else
{
InternalShape = shape;
}
DebugPrimitiveMatrix = Matrix.Scaling(new Vector3(radius * 2, h / 2, Is2D ? 1.0f : radius * 2) * 1.01f) * rotation;
}
