public PhysicsObject AddDynamicObject(float mass, Matrix4 transform, Collider col, Vector3?inertia = null)
{
if (mass < float.Epsilon)
{
throw new Exception("Mass must be non-zero");
}
BM.Vector3 localInertia;
if (inertia != null)
{
localInertia = inertia.Value.Cast();
}
else
{
col.BtShape.CalculateLocalInertia(mass, out localInertia);
}
using (var rbInfo = new RigidBodyConstructionInfo(mass,
new DefaultMotionState(transform.Cast()),
col.BtShape, localInertia))
{
var body = new RigidBody(rbInfo);
body.SetDamping(0, 0);
body.Restitution = 1f;
var phys = new PhysicsObject(body, col)
{
Static = false
};
phys.UpdateProperties();
body.UserObject = phys;
btWorld.AddRigidBody(body);
objects.Add(phys);
dynamicObjects.Add(phys);
return(phys);
}
}
public IEnumerable <BoundingBox> GetBoxes(Matrix4 transform)
{
foreach (var shape in btCompound.ChildList)
{
BM.Vector3 min, max;
shape.ChildShape.GetAabb(shape.Transform * transform.Cast(), out min, out max);
yield return(new BoundingBox(min.Cast(), max.Cast()));
}
}
public void UpdatePart(object tag, Matrix4 localTransform)
{
var tr = localTransform.Cast();
foreach (var part in children)
{
if (part.Tag == tag)
{
for (int i = part.Index; i < (part.Index + part.Count); i++)
{
btCompound.UpdateChildTransform(i, tr);
}
break;
}
}
btCompound.RecalculateLocalAabb();
}
public PhysicsObject AddStaticObject(Matrix4 transform, Collider col)
{
using (var rbInfo = new RigidBodyConstructionInfo(0,
new DefaultMotionState(transform.Cast()),
col.BtShape, BM.Vector3.Zero)) {
var body = new RigidBody(rbInfo);
body.Restitution = 1;
var phys = new PhysicsObject(body, col)
{
Static = true
};
phys.UpdateProperties();
body.UserObject = phys;
btWorld.AddRigidBody(body);
objects.Add(phys);
return(phys);
}
}
public void UpdatePart(object tag, Matrix4 localTransform)
{
var tr = localTransform.Cast();
foreach (var part in children)
{
if (part.Tag == tag)
{
if (part.CurrentTransform == localTransform)
{
return;
}
part.CurrentTransform = localTransform;
for (int i = part.Index; i < (part.Index + part.Count); i++)
{
btCompound.UpdateChildTransform(i, tr, false);
}
break;
}
}
}
public void AddPart(uint meshId, Matrix4 localTransform, object tag, int suridx = 0)
{
var sur = surs[suridx];
if (!sur.HasShape(meshId))
{
return;
}
var hulls = sur.GetShape(meshId);
var pt = new CollisionPart()
{
Tag = tag, Index = currentIndex, Count = hulls.Length
};
var tr = localTransform.Cast();
foreach (var h in hulls)
{
btCompound.AddChildShape(tr, h);
}
currentIndex += hulls.Length;
}
public void SetTransform(Matrix4 transform)
{
RigidBody.WorldTransform = transform.Cast();
Position = VectorMath.Transform(Vector3.Zero, Transform);
}