public virtual void Dispose() { GC.SuppressFinalize(this); _constraint?.Dispose(); _constraint = null; }
protected virtual void OnHandleInput() { if (Input.KeysPressed.Count != 0) { Keys key = Input.KeysPressed[0]; switch (key) { case Keys.Escape: case Keys.Q: Quit(); return; case Keys.F3: IsDebugDrawEnabled = !IsDebugDrawEnabled; break; case Keys.F11: ToggleFullScreen(); break; case Keys.Space: PhysicsContext.ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView)); break; } } if (Input.MousePressed != MouseButtonFlags.None) { Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView); if (Input.MousePressed == MouseButtonFlags.RightDown) { if (PhysicsContext.World != null) { Vector3 rayFrom = Freelook.Eye; CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(rayFrom, rayTo); PhysicsContext.World.RayTest(rayFrom, rayTo, rayCallback); if (rayCallback.HasHit) { RigidBody body = rayCallback.CollisionObject as RigidBody; if (body != null) { if (!(body.IsStaticObject || body.IsKinematicObject)) { pickedBody = body; pickedBody.ActivationState = ActivationState.DisableDeactivation; Vector3 pickPos = rayCallback.HitPointWorld; Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform)); if (use6Dof) { Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false); dof6.LinearLowerLimit = Vector3.Zero; dof6.LinearUpperLimit = Vector3.Zero; dof6.AngularLowerLimit = Vector3.Zero; dof6.AngularUpperLimit = Vector3.Zero; PhysicsContext.World.AddConstraint(dof6); pickConstraint = dof6; dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5); } else { Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot); PhysicsContext.World.AddConstraint(p2p); pickConstraint = p2p; p2p.Setting.ImpulseClamp = 30; //very weak constraint for picking p2p.Setting.Tau = 0.001f; /* * p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0); * p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1); * p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2); * p2p.SetParam(ConstraintParams.Erp, 0.1f, 0); * p2p.SetParam(ConstraintParams.Erp, 0.1f, 1); * p2p.SetParam(ConstraintParams.Erp, 0.1f, 2); */ } use6Dof = !use6Dof; oldPickingDist = (pickPos - rayFrom).Length(); } } } } } else if (Input.MousePressed == MouseButtonFlags.RightUp) { if (pickConstraint != null && PhysicsContext.World != null) { PhysicsContext.World.RemoveConstraint(pickConstraint); pickConstraint.Dispose(); pickConstraint = null; pickedBody.ForceActivationState(ActivationState.ActiveTag); pickedBody.DeactivationTime = 0; pickedBody = null; } } } // Mouse movement if (Input.MouseDown == MouseButtonFlags.RightDown) { if (pickConstraint != null) { Vector3 newRayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView); if (pickConstraint.ConstraintType == TypedConstraintType.D6) { Generic6DofConstraint pickCon = pickConstraint as Generic6DofConstraint; //keep it at the same picking distance Vector3 rayFrom = Freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; Vector3 newPivotB = rayFrom + dir; Matrix tempFrameOffsetA = pickCon.FrameOffsetA; tempFrameOffsetA.M41 = newPivotB.X; tempFrameOffsetA.M42 = newPivotB.Y; tempFrameOffsetA.M43 = newPivotB.Z; pickCon.FrameOffsetA = tempFrameOffsetA; } else { Point2PointConstraint pickCon = pickConstraint as Point2PointConstraint; //keep it at the same picking distance Vector3 rayFrom = Freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; pickCon.PivotInB = rayFrom + dir; } } } }
public void Unregister(TypedConstraint cst) { this.constraints.Remove(cst); this.World.RemoveConstraint(cst); cst.Dispose(); }