/// <summary>
/// Creates a physics object with Havok specific properties.
/// </summary>
/// <param name="container">The container of this physics object.</param>
public HavokObject(object container) : base(container)
{
motionType = HavokPhysics.MotionType.MOTION_BOX_INERTIA;
qualityType = HavokPhysics.CollidableQualityType.COLLIDABLE_QUALITY_INVALID;
mass = 0;
restitution = -1;
friction = -1;
allowedPenetrationDepth = -1;
maxLinearVelocity = -1;
maxAngularVelocity = -1;
convexRadius = 0.05f;
gravityFactor = 1;
isPhantom = false;
}
/// <summary>
/// Creates a physics object with Havok specific properties.
/// </summary>
/// <param name="container">The container of this physics object.</param>
public HavokObject(object container) : base(container)
{
motionType = HavokPhysics.MotionType.MOTION_BOX_INERTIA;
qualityType = HavokPhysics.CollidableQualityType.COLLIDABLE_QUALITY_INVALID;
mass = 0;
restitution = -1;
friction = -1;
allowedPenetrationDepth = -1;
maxLinearVelocity = -1;
maxAngularVelocity = -1;
convexRadius = 0.05f;
gravityFactor = 1;
isPhantom = false;
}
public override void Load(XmlElement xmlNode)
{
base.Load(xmlNode);
if (xmlNode.HasAttribute("MotionType"))
{
motionType = (HavokPhysics.MotionType)Enum.Parse(typeof(HavokPhysics.MotionType),
xmlNode.GetAttribute("MotionType"));
}
if (xmlNode.HasAttribute("QualityType"))
{
qualityType = (HavokPhysics.CollidableQualityType)Enum.Parse(
typeof(HavokPhysics.CollidableQualityType), xmlNode.GetAttribute("QualityType"));
}
if (xmlNode.HasAttribute("Friction"))
{
friction = float.Parse(xmlNode.GetAttribute("Friction"));
}
if (xmlNode.HasAttribute("Restitution"))
{
restitution = float.Parse(xmlNode.GetAttribute("Restitution"));
}
if (xmlNode.HasAttribute("AllowedPenetrationDepth"))
{
allowedPenetrationDepth = float.Parse(xmlNode.GetAttribute("AllowedPenetrationDepth"));
}
if (xmlNode.HasAttribute("MaxLinearVelocity"))
{
maxLinearVelocity = float.Parse(xmlNode.GetAttribute("MaxLinearVelocity"));
}
if (xmlNode.HasAttribute("MaxAngularVelocity"))
{
maxAngularVelocity = float.Parse(xmlNode.GetAttribute("MaxAngularVelocity"));
}
if (xmlNode.HasAttribute("ConvexRadius"))
{
convexRadius = float.Parse(xmlNode.GetAttribute("ConvexRadius"));
}
if (xmlNode.HasAttribute("GravityFactor"))
{
gravityFactor = float.Parse(xmlNode.GetAttribute("GravityFactor"));
}
if (xmlNode.HasAttribute("IsPhantom"))
{
isPhantom = bool.Parse(xmlNode.GetAttribute("IsPhantom"));
}
}
public static extern IntPtr add_rigid_body(
IntPtr shape,
float mass,
HavokPhysics.MotionType motionType,
HavokPhysics.CollidableQualityType qualityType,
[MarshalAs(UnmanagedType.LPArray, SizeConst = 3)] float[] pos,
[MarshalAs(UnmanagedType.LPArray, SizeConst = 4)] float[] rot,
[MarshalAs(UnmanagedType.LPArray, SizeConst = 3)] float[] linearVelocity,
float linearDamping,
float maxLinearVelocity,
[MarshalAs(UnmanagedType.LPArray, SizeConst = 3)] float[] angularVelocity,
float angularDamping,
float maxAngularVelocity,
float friction,
float restitution,
float allowedPenetrationDepth,
bool neverDeactivate,
float gravityFactor);
public void AddPhysicsObject(IPhysicsObject physObj)
{
if (objectIDs.ContainsKey(physObj))
{
return;
}
physObj.PhysicsWorldTransform = physObj.CompoundInitialWorldTransform;
HavokPhysics.MotionType motionType = MotionType.MOTION_INVALID;
HavokPhysics.CollidableQualityType qualityType =
CollidableQualityType.COLLIDABLE_QUALITY_INVALID;
float friction = -1;
float restitution = -1;
float maxLinearVelocity = -1;
float maxAngularVelocity = -1;
float allowedPenetrationDepth = -1;
float gravityFactor = 1;
if ((physObj is HavokObject))
{
HavokObject havokObj = (HavokObject)physObj;
motionType = havokObj.MotionType;
qualityType = havokObj.QualityType;
friction = havokObj.Friction;
restitution = havokObj.Restitution;
maxLinearVelocity = havokObj.MaxLinearVelocity;
maxAngularVelocity = havokObj.MaxAngularVelocity;
allowedPenetrationDepth = havokObj.AllowedPenetrationDepth;
gravityFactor = havokObj.GravityFactor;
}
else
{
bool isDynamic = (physObj.Mass != 0.0f && physObj.Interactable);
if (isDynamic)
{
motionType = MotionType.MOTION_DYNAMIC;
}
else
{
motionType = MotionType.MOTION_FIXED;
}
}
Quaternion rotation;
Vector3 trans;
Vector3 scale;
physObj.CompoundInitialWorldTransform.Decompose(out scale, out rotation, out trans);
IntPtr shape = GetCollisionShape(physObj, scale);
float[] pos = Vector3Helper.ToFloats(ref trans);
float[] rot = { rotation.X, rotation.Y, rotation.Z, rotation.W };
IntPtr body = HavokDllBridge.add_rigid_body(shape, physObj.Mass, motionType, qualityType,
pos, rot, Vector3Helper.ToFloats(physObj.InitialLinearVelocity), physObj.LinearDamping,
maxLinearVelocity, Vector3Helper.ToFloats(physObj.InitialAngularVelocity),
physObj.AngularDamping.X, maxAngularVelocity, friction, restitution,
allowedPenetrationDepth, physObj.NeverDeactivate, gravityFactor);
objectIDs.Add(physObj, body);
reverseIDs.Add(body, physObj);
scaleTable.Add(body, scale);
if ((physObj is HavokObject))
{
if (((HavokObject)physObj).ContactCallback != null ||
((HavokObject)physObj).CollisionStartCallback != null ||
((HavokObject)physObj).CollisionEndCallback != null)
{
HavokDllBridge.add_contact_listener(body, ((HavokObject)physObj).ContactCallback,
((HavokObject)physObj).CollisionStartCallback,
((HavokObject)physObj).CollisionEndCallback);
}
}
}
public override void Load(XmlElement xmlNode)
{
base.Load(xmlNode);
if (xmlNode.HasAttribute("MotionType"))
motionType = (HavokPhysics.MotionType)Enum.Parse(typeof(HavokPhysics.MotionType),
xmlNode.GetAttribute("MotionType"));
if (xmlNode.HasAttribute("QualityType"))
qualityType = (HavokPhysics.CollidableQualityType)Enum.Parse(
typeof(HavokPhysics.CollidableQualityType), xmlNode.GetAttribute("QualityType"));
if (xmlNode.HasAttribute("Friction"))
friction = float.Parse(xmlNode.GetAttribute("Friction"));
if (xmlNode.HasAttribute("Restitution"))
restitution = float.Parse(xmlNode.GetAttribute("Restitution"));
if (xmlNode.HasAttribute("AllowedPenetrationDepth"))
allowedPenetrationDepth = float.Parse(xmlNode.GetAttribute("AllowedPenetrationDepth"));
if (xmlNode.HasAttribute("MaxLinearVelocity"))
maxLinearVelocity = float.Parse(xmlNode.GetAttribute("MaxLinearVelocity"));
if (xmlNode.HasAttribute("MaxAngularVelocity"))
maxAngularVelocity = float.Parse(xmlNode.GetAttribute("MaxAngularVelocity"));
if (xmlNode.HasAttribute("ConvexRadius"))
convexRadius = float.Parse(xmlNode.GetAttribute("ConvexRadius"));
if (xmlNode.HasAttribute("GravityFactor"))
gravityFactor = float.Parse(xmlNode.GetAttribute("GravityFactor"));
if (xmlNode.HasAttribute("IsPhantom"))
isPhantom = bool.Parse(xmlNode.GetAttribute("IsPhantom"));
}
