static int AddStaticBody(Simulation simulation, System.Numerics.Vector3 position, BepuUtilities.Quaternion rotation, object shapeType)
{
switch (shapeType)
{
case IBoxDetection boxDetection:
IBoxDetection box = shapeType as IBoxDetection;
var boxShape = new Box(box.GetSize().x, box.GetSize().y, box.GetSize().z);
return(simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(position.X, position.Y, position.Z),
new BepuUtilities.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W),
new CollidableDescription(simulation.Shapes.Add(boxShape), 0.01f))));
case ISphereDetection sphereDetection:
ISphereDetection sphere = shapeType as ISphereDetection;
var sphereShape = new Sphere(sphere.GetRadius());
return(simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(position.X, position.Y, position.Z),
new BepuUtilities.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W),
new CollidableDescription(simulation.Shapes.Add(sphereShape), 0.01f))));
case ICapsuleDetection capsuleDetection:
ICapsuleDetection capsule = shapeType as ICapsuleDetection;
var capsuleShape = new Capsule(capsule.GetRadius(), capsule.GetHeight());
return(simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(position.X, position.Y, position.Z),
new BepuUtilities.Quaternion(rotation.X, rotation.Y, rotation.Z, rotation.W),
new CollidableDescription(simulation.Shapes.Add(capsuleShape), 0.01f))));
default:
throw new System.ArgumentException(message: CouldNotInitializeMessage, nameof(shapeType));
}
}
static int AddDynamicBody(Simulation simulation, System.Numerics.Vector3 position, BepuUtilities.Quaternion rotation, object shapeType, float mass)
{
switch (shapeType)
{
case IBoxDetection boxDetection:
IBoxDetection box = shapeType as IBoxDetection;
var boxShape = new Box(box.GetSize().x, box.GetSize().y, box.GetSize().z);
boxShape.ComputeInertia(mass, out var boxInertia);
var boxIndex = simulation.Shapes.Add(boxShape);
var boxPose = new RigidPose(position, rotation);
var boxHandle = simulation.Bodies.Add(BodyDescription.CreateDynamic(boxPose,
boxInertia,
new CollidableDescription(boxIndex, 0.01f),
new BodyActivityDescription(0.01f)));
return(boxHandle);
case ISphereDetection sphereDetection:
ISphereDetection sphere = shapeType as ISphereDetection;
var sphereShape = new Sphere(sphere.GetRadius());
sphereShape.ComputeInertia(mass, out var sphereInertia);
var sphereIndex = simulation.Shapes.Add(sphereShape);
var spherePose = new RigidPose(position, rotation);
var sphereHandle = simulation.Bodies.Add(BodyDescription.CreateDynamic(spherePose,
sphereInertia,
new CollidableDescription(sphereIndex, 0.01f),
new BodyActivityDescription(0.01f)));
return(sphereHandle);
case ICapsuleDetection capsuleDetection:
ICapsuleDetection capsule = shapeType as ICapsuleDetection;
var capsuleShape = new Capsule(capsule.GetRadius(), capsule.GetHeight());
capsuleShape.ComputeInertia(mass, out var capsuleInertia);
var capsuleIndex = simulation.Shapes.Add(capsuleShape);
var capsulePose = new RigidPose(position, rotation);
var capsuleHandle = simulation.Bodies.Add(BodyDescription.CreateDynamic(capsulePose,
capsuleInertia,
new CollidableDescription(capsuleIndex, 0.01f),
new BodyActivityDescription(0.01f)));
return(capsuleHandle);
default:
throw new ArgumentException(message: CouldNotInitializeMessage, nameof(shapeType));
}
}
