/// <summary>
/// Create the collision plane.
/// </summary>
/// <param name="normal">Plane normal vector.</param>
public CollisionEndlessPlane(Vector3?normal = null)
{
// default normal
if (normal == null)
{
normal = Vector3.Up;
}
// create the plane shape
_shape = new BulletSharp.StaticPlaneShape(ToBullet.Vector((Vector3)normal), 1);
}
/// <summary>
/// Create the collision height map.
/// </summary>
/// <param name="heightData">Height map data (should be defined as byte[size.X * size.Y * 4]).</param>
/// <param name="size">Tilemap size (Y is actually Z axis).</param>
/// <param name="scale">Scale tiles width and depth.</param>
/// <param name="minHeight">Min height value.</param>
/// <param name="maxHeight">Max height value.</param>
/// <param name="heightScale">Optional height scale.</param>
/// <param name="upIndex">Up index.</param>
/// <param name="useDiamondSubdivision">Divide the tiles into diamond shapes for more accurare results.</param>
private void Build(float[] heightData, Point size, Vector2 scale, float minHeight = 0f, float maxHeight = 100f, float heightScale = 1f, int upIndex = 1, bool useDiamondSubdivision = false)
{
// get int ptr for data bytes
_rawDataHandle = System.Runtime.InteropServices.GCHandle.Alloc(heightData, System.Runtime.InteropServices.GCHandleType.Pinned);
var address = _rawDataHandle.AddrOfPinnedObject();
// create heightmap
var heightmap = new BulletSharp.HeightfieldTerrainShape(size.X, size.Y, address,
heightScale, minHeight, maxHeight, upIndex,
BulletSharp.PhyScalarType.Single, false);
// set transform and diamond subdivision
heightmap.SetUseDiamondSubdivision(useDiamondSubdivision);
heightmap.LocalScaling = ToBullet.Vector(new Vector3(scale.X, 1, scale.Y));
// set shape
_shape = heightmap;
}
/// <summary>
/// Create the collision convext hull.
/// </summary>
/// <param name="points">Points to create convex hull from.</param>
public CollisionConvexHull(Vector3[] points)
{
// convert to bullet vectors and create the shape
BulletSharp.Math.Vector3[] bvectors = ToBullet.Vectors(points);
_shape = new BulletSharp.ConvexHullShape(bvectors);
}
/// <summary>
/// Add a child shape to this compound shape.
/// </summary>
/// <param name="shape">Collision shape to add.</param>
/// <param name="transform">Transformations for child shape.</param>
public void AddShape(ICollisionShape shape, Matrix?transform = null)
{
var comShape = _shape as BulletSharp.CompoundShape;
comShape.AddChildShape(ToBullet.Matrix(transform ?? Matrix.Identity), shape.BulletCollisionShape);
}
/// <summary>
/// Create the collision triangle.
/// </summary>
/// <param name="p1">Triangle point 1.</param>
/// <param name="p2">Triangle point 2.</param>
/// <param name="p3">Triangle point 2.</param>
public CollisionTriangle(Vector3 p1, Vector3 p2, Vector3 p3)
{
_shape = new BulletSharp.TriangleShape(ToBullet.Vector(p1), ToBullet.Vector(p2), ToBullet.Vector(p3));
}
