示例#1
0
        public void FixedUpdate()
        {
            TranslateX.Update();
            TranslateY.Update();
            TranslateZ.Update();
            RotateX.Update();
            RotateY.Update();
            RotateZ.Update();

            if (TranslateX.CurrentValue != 0.0f)
            {
                /*  Right axis is column 0  */
                positionInParent += rotationMatrix.GetColumn3(0) * TranslateX.CurrentValue;
            }
            if (TranslateY.CurrentValue != 0.0f)
            {
                /*  Up axis is column 1  */
                positionInParent += rotationMatrix.GetColumn3(1) * TranslateY.CurrentValue;
            }
            if (translateZ.CurrentValue != 0.0f)
            {
                /*  View axis is column 2  */
                positionInParent += rotationMatrix.GetColumn3(2) * TranslateZ.CurrentValue;
            }
            if (RotateX.CurrentValue != 0.0f)
            {
                Matrix4 rotation = Matrix4.CreateRotation(RotateX.CurrentValue, rotationMatrix.GetColumn3(0));
                rotationMatrix = rotation * rotationMatrix;
            }
            if (RotateY.CurrentValue != 0.0f)
            {
                Matrix4 rotation = Matrix4.CreateRotation(RotateY.CurrentValue, rotationMatrix.GetColumn3(1));
                rotationMatrix = rotation * rotationMatrix;
            }
            if (RotateZ.CurrentValue != 0.0f)
            {
                Matrix4 rotation = Matrix4.CreateRotation(RotateZ.CurrentValue, rotationMatrix.GetColumn3(2));
                rotationMatrix = rotation * rotationMatrix;
            }
        }
示例#2
0
        public void UpdateFixedStep()
        {
            TranslateX.Update();
            TranslateY.Update();
            TranslateZ.Update();
            RotateX.Update();
            RotateY.Update();
            RotateZ.Update();

            Matrix4 localToWorld = Matrix4.Identity;

            localToWorld._00 = physicsObject.RigidBody.Orientation._00;
            localToWorld._01 = physicsObject.RigidBody.Orientation._01;
            localToWorld._02 = physicsObject.RigidBody.Orientation._02;
            localToWorld._10 = physicsObject.RigidBody.Orientation._10;
            localToWorld._11 = physicsObject.RigidBody.Orientation._11;
            localToWorld._12 = physicsObject.RigidBody.Orientation._12;
            localToWorld._20 = physicsObject.RigidBody.Orientation._20;
            localToWorld._21 = physicsObject.RigidBody.Orientation._21;
            localToWorld._22 = physicsObject.RigidBody.Orientation._22;

            //  We can't use friction because sphere shape will roll,
            //  and it won't do air resistance either
            float damp  = 0.98f;
            float dampY = Services.Get <UserInterfaceManager>().FlyMode ? damp : 1.0f;

            physicsObject.RigidBody.LinearVelocity = new Vector3(
                physicsObject.RigidBody.LinearVelocity.X * damp,
                physicsObject.RigidBody.LinearVelocity.Y * dampY,
                physicsObject.RigidBody.LinearVelocity.Z * damp
                );

            float scale = 2.0f;

            // N : Z  back
            // T : Y  up
            // B : X  right
            Vector3 back = localToWorld.GetColumn3(2);

            back.Y = 0.0f;
            back   = Vector3.Normalize(back);
            Vector3 up0 = Vector3.UnitY;

            if (up0 == back)
            {
                up0 = back.MinAxis;
            }

            Vector3 right = Vector3.Normalize(Vector3.Cross(up0, back));
            Vector3 up    = Vector3.Cross(back, right);


            physicsObject.RigidBody.IsActive = true;
            //physicsObject.RigidBody.LinearVelocity += new Vector3(0.0f, 0.02f, 0.0f);
            if (TranslateX.CurrentValue != 0.0f)
            {
                /*  Right axis is column 0  */
                physicsObject.RigidBody.IsActive = true;
                //physicsObject.RigidBody.LinearVelocity += scale * localToWorld.GetColumn3(0) * TranslateX.CurrentValue;
                physicsObject.RigidBody.LinearVelocity += scale * right * TranslateX.CurrentValue;
            }
            if (TranslateY.CurrentValue != 0.0f)
            {
                /*  Up axis is column 1  */
                physicsObject.RigidBody.IsActive = true;
                //physicsObject.RigidBody.LinearVelocity += scale * localToWorld.GetColumn3(1) * TranslateY.CurrentValue;
                physicsObject.RigidBody.LinearVelocity += scale * Vector3.UnitY * TranslateY.CurrentValue;
            }
            if (translateZ.CurrentValue != 0.0f)
            {
                /*  Back axis is column 2  */
                physicsObject.RigidBody.IsActive        = true;
                physicsObject.RigidBody.LinearVelocity += scale * back /*localToWorld.GetColumn3(2)*/ * TranslateZ.CurrentValue;
            }
            if (
                (RotateX.CurrentValue != 0.0f) ||
                (RotateY.CurrentValue != 0.0f)
                )
            {
                physicsObject.RigidBody.IsActive = true;
                float v = RotateY.CurrentValue;
                float a = (float)System.Math.Abs(v);
                float s = (float)System.Math.Sign(v);
                float r = s * (float)System.Math.Pow(a, 0.2f);
                //float r = RotateY.CurrentValue;
                physicsObject.RigidBody.AngularVelocity += new Vector3(0.0f, r, 0.0f);
                physicsObject.RigidBody.AngularVelocity *= 0.94f;

                //Services.Instance.TextRenderer.DebugLine("Heading : " + heading + " Elevation : " + elevation);
                //Services.Instance.TextRenderer.DebugLine("newLocalToWorld : " + newLocalToWorld);
                //Services.Instance.TextRenderer.DebugLine("rotationMatrix : " + rotationMatrix);
            }
            physicsObject.RigidBody.IsActive = true;
        }
        public void UpdateOncePerFrame()
        {
            if (physicsObject == null)
            {
                return;
            }
            TranslateX.Update();
            TranslateY.Update();
            TranslateZ.Update();
            RotateX.Update();
            RotateY.Update();
            RotateZ.Update();

            //  We can't use friction because sphere shape will roll,
            //  and it won't do air resistance either
            float damp  = 0.88f;
            float dampY = Services.Get <UserInterfaceManager>().FlyMode ? damp : 1.0f;

            physicsObject.RigidBody.LinearVelocity = new Vector3(
                physicsObject.RigidBody.LinearVelocity.X * damp,
                physicsObject.RigidBody.LinearVelocity.Y * dampY,
                physicsObject.RigidBody.LinearVelocity.Z * damp
                );

            float scale = 2.0f;

            if (TranslateX.CurrentValue != 0.0f)
            {
                /*  Right axis is column 0  */
                //positionInParent += headingMatrix.GetColumn3(0) * TranslateX.CurrentValue;
                physicsObject.RigidBody.IsActive        = true;
                physicsObject.RigidBody.LinearVelocity += scale * headingMatrix.GetColumn3(0) * TranslateX.CurrentValue;
            }
            if (TranslateY.CurrentValue != 0.0f)
            {
                /*  Up axis is column 1  */
                //positionInParent += headingMatrix.GetColumn3(1) * TranslateY.CurrentValue;
                physicsObject.RigidBody.IsActive        = true;
                physicsObject.RigidBody.LinearVelocity += scale * headingMatrix.GetColumn3(1) * TranslateY.CurrentValue;
            }
            if (TranslateZ.CurrentValue != 0.0f)
            {
                /*  View axis is column 2  */
                //positionInParent += headingMatrix.GetColumn3(2) * TranslateZ.CurrentValue;
                physicsObject.RigidBody.IsActive        = true;
                physicsObject.RigidBody.LinearVelocity += scale * headingMatrix.GetColumn3(2) * TranslateZ.CurrentValue;
            }
            if (
                (RotateX.CurrentValue != 0.0f) ||
                (RotateY.CurrentValue != 0.0f)
                )
            {
                heading   += RotateY.CurrentValue;
                elevation += RotateX.CurrentValue;

                UpdateTransform();

                //Services.Instance.TextRenderer.DebugLine("Heading : " + heading + " Elevation : " + elevation);
                //Services.Instance.TextRenderer.DebugLine("newLocalToWorld : " + newLocalToWorld);
                //Services.Instance.TextRenderer.DebugLine("rotationMatrix : " + rotationMatrix);
            }
        }
        public void UpdateFixedStep()
        {
            TranslateX.Update();
            TranslateY.Update();
            TranslateZ.Update();
            RotateX.Update();
            RotateY.Update();
            RotateZ.Update();
            SpeedModifier.Update();

            float speed = 1.0f + speedModifier.CurrentValue;

            if (TranslateX.CurrentValue != 0.0f)
            {
                /*  Right axis is column 0  */
                positionInParent += headingMatrix.GetColumn3(0) * TranslateX.CurrentValue * speed;
            }
            if (TranslateY.CurrentValue != 0.0f)
            {
                /*  Up axis is column 1  */
                positionInParent += headingMatrix.GetColumn3(1) * TranslateY.CurrentValue * speed;
            }
            if (translateZ.CurrentValue != 0.0f)
            {
                /*  View axis is column 2  */
                positionInParent += headingMatrix.GetColumn3(2) * TranslateZ.CurrentValue * speed;
            }
            if (
                (RotateX.CurrentValue != 0.0f) ||
                (RotateY.CurrentValue != 0.0f)
                )
            {
                heading   += RotateY.CurrentValue;
                elevation += RotateX.CurrentValue;
                Matrix4 elevationMatrix = Matrix4.CreateRotation(elevation, Vector3.UnitX);
                headingMatrix  = Matrix4.CreateRotation(heading, Vector3.UnitY);
                rotationMatrix = headingMatrix * elevationMatrix;
            }

            if (frame == null)
            {
                return;
            }

            Matrix4 localToParent = rotationMatrix;
            Matrix4 parentToLocal;

            Matrix4.Transpose(localToParent, out parentToLocal);

            // HACK
            if (positionInParent.Y < 0.03f)
            {
                positionInParent.Y = 0.03f;
            }

            /*  Put translation to column 3  */
            localToParent._03 = positionInParent.X;
            localToParent._13 = positionInParent.Y;
            localToParent._23 = positionInParent.Z;
            localToParent._33 = 1.0f;

            /*  Put inverse translation to column 3 */
            parentToLocal._03 = parentToLocal._00 * -positionInParent.X + parentToLocal._01 * -positionInParent.Y + parentToLocal._02 * -positionInParent.Z;
            parentToLocal._13 = parentToLocal._10 * -positionInParent.X + parentToLocal._11 * -positionInParent.Y + parentToLocal._12 * -positionInParent.Z;
            parentToLocal._23 = parentToLocal._20 * -positionInParent.X + parentToLocal._21 * -positionInParent.Y + parentToLocal._22 * -positionInParent.Z;
            parentToLocal._33 = 1.0f;

            Frame.LocalToParent.Set(localToParent, parentToLocal);
        }
        public void UpdateFixedStep()
        {
            TranslateX.Update();
            TranslateY.Update();
            TranslateZ.Update();
            RotateX.Update();
            RotateY.Update();
            RotateZ.Update();

            Matrix4 localToWorld = Matrix4.Identity;

            localToWorld._00 = physicsObject.RigidBody.Orientation._00;
            localToWorld._01 = physicsObject.RigidBody.Orientation._01;
            localToWorld._02 = physicsObject.RigidBody.Orientation._02;
            localToWorld._10 = physicsObject.RigidBody.Orientation._10;
            localToWorld._11 = physicsObject.RigidBody.Orientation._11;
            localToWorld._12 = physicsObject.RigidBody.Orientation._12;
            localToWorld._20 = physicsObject.RigidBody.Orientation._20;
            localToWorld._21 = physicsObject.RigidBody.Orientation._21;
            localToWorld._22 = physicsObject.RigidBody.Orientation._22;

            //  We can't use friction because sphere shape will roll,
            //  and it won't do air resistance either
            float damp  = 0.98f;
            float dampY = Services.Get <UserInterfaceManager>().FlyMode ? damp : 1.0f;

            physicsObject.RigidBody.LinearVelocity = new Vector3(
                physicsObject.RigidBody.LinearVelocity.X * damp,
                physicsObject.RigidBody.LinearVelocity.Y * dampY,
                physicsObject.RigidBody.LinearVelocity.Z * damp
                );

            float scale = 2.0f;

            // N : Z  back
            // T : Y  up
            // B : X  right
            Vector3 back = localToWorld.GetColumn3(2);
            Vector3 up0  = Vector3.UnitY;

            if (up0 == back)
            {
                up0 = back.MinAxis;
            }

            Vector3 right = Vector3.Normalize(Vector3.Cross(up0, back));
            Vector3 up    = Vector3.Cross(back, right);

            //physicsObject.RigidBody.LinearVelocity += new Vector3(0.0f, 0.02f, 0.0f);
            if (TranslateX.CurrentValue != 0.0f)
            {
                physicsObject.RigidBody.LinearVelocity += right * TranslateX.CurrentValue;
            }
            if (TranslateY.CurrentValue != 0.0f)
            {
                physicsObject.RigidBody.LinearVelocity += scale * Vector3.UnitY * TranslateY.CurrentValue;
            }
            if (translateZ.CurrentValue != 0.0f)
            {
                physicsObject.RigidBody.LinearVelocity += back * TranslateZ.CurrentValue;
            }

            //  Compute desired orientation
            Matrix4 lookAt = Matrix4.CreateLookAt(physicsObject.RigidBody.Position, Target, Vector3.UnitY);

            //  Required rotation to get to desired orientation
            Matrix4 q = physicsObject.RigidBody.Orientation * Matrix4.Transpose(lookAt);

            //  Convert to axis angle
            Vector3 axis;
            float   angle;

            q.ToAxisAngle(out axis, out angle);

            //  Convert to torque
            float   k            = 1.0f / (1.0f + angle / (float)System.Math.PI);
            Matrix4 inertiaWorld = Matrix4.Invert(physicsObject.RigidBody.InverseInertiaWorld);
            Vector3 torque       = inertiaWorld.TransformDirection(axis);
            Vector3 torqueScaled = torque * 400.0f * k * k;

            physicsObject.RigidBody.AddTorque(torqueScaled);

            //  Also apply some damping
            physicsObject.RigidBody.AngularVelocity *= 0.9f;

            physicsObject.RigidBody.IsActive = true;
        }
        public void UpdateFixedStep()
        {
            TranslateX.Update();
            TranslateY.Update();
            TranslateZ.Update();
            RotateX.Update();
            RotateY.Update();
            RotateZ.Update();

            if (TranslateX.CurrentValue != 0.0f)
            {
                /*  Right axis is column 0  */
                positionInParent += rotationMatrix.GetColumn3(0) * TranslateX.CurrentValue;
            }
            if (TranslateY.CurrentValue != 0.0f)
            {
                /*  Up axis is column 1  */
                positionInParent += rotationMatrix.GetColumn3(1) * TranslateY.CurrentValue;
            }
            if (translateZ.CurrentValue != 0.0f)
            {
                /*  View axis is column 2  */
                positionInParent += rotationMatrix.GetColumn3(2) * TranslateZ.CurrentValue;
            }
            if (RotateX.CurrentValue != 0.0f)
            {
                Matrix4 rotation = Matrix4.CreateRotation(RotateX.CurrentValue, rotationMatrix.GetColumn3(0));
                rotationMatrix = rotation * rotationMatrix;
            }
            if (RotateY.CurrentValue != 0.0f)
            {
                Matrix4 rotation = Matrix4.CreateRotation(RotateY.CurrentValue, rotationMatrix.GetColumn3(1));
                rotationMatrix = rotation * rotationMatrix;
            }
            if (RotateZ.CurrentValue != 0.0f)
            {
                Matrix4 rotation = Matrix4.CreateRotation(RotateZ.CurrentValue, rotationMatrix.GetColumn3(2));
                rotationMatrix = Matrix4.CreateRotation(RotateZ.CurrentValue, rotationMatrix.GetColumn3(2)) * rotationMatrix;
            }
            if (frame == null)
            {
                return;
            }

            Matrix4 localToParent = rotationMatrix;
            Matrix4 parentToLocal;

            Matrix4.Transpose(localToParent, out parentToLocal);

            // HACK
            if (positionInParent.Y < 0.03f)
            {
                positionInParent.Y = 0.03f;
            }

            /*  Put translation to column 3  */
            localToParent._03 = positionInParent.X;
            localToParent._13 = positionInParent.Y;
            localToParent._23 = positionInParent.Z;
            localToParent._33 = 1.0f;

            /*  Put inverse translation to column 3 */
            parentToLocal._03 = parentToLocal._00 * -positionInParent.X + parentToLocal._01 * -positionInParent.Y + parentToLocal._02 * -positionInParent.Z;
            parentToLocal._13 = parentToLocal._10 * -positionInParent.X + parentToLocal._11 * -positionInParent.Y + parentToLocal._12 * -positionInParent.Z;
            parentToLocal._23 = parentToLocal._20 * -positionInParent.X + parentToLocal._21 * -positionInParent.Y + parentToLocal._22 * -positionInParent.Z;
            parentToLocal._33 = 1.0f;

            //rame.LocalToParent.Set(localToParent);
            Frame.LocalToParent.Set(localToParent, parentToLocal);
        }