|
protected Initialize ( |
||
| collisionInformation | ||
| return | void | |
/// <summary>
/// Splits a single compound collidable into two separate compound collidables and computes information needed by the simulation.
/// </summary>
/// <param name="childContributions">List of distribution information associated with each child shape of the whole compound shape used by the compound being split.</param>
/// <param name="splitPredicate">Delegate which determines if a child in the original compound should be moved to the new compound.</param>
/// <param name="a">Original compound to be split. Children in this compound will be removed and added to the other compound.</param>
/// <param name="b">Compound to receive children removed from the original compound.</param>
/// <param name="distributionInfoA">Volume, volume distribution, and center information about the new form of the original compound collidable.</param>
/// <param name="distributionInfoB">Volume, volume distribution, and center information about the new compound collidable.</param>
/// <returns>Whether or not the predicate returned true for any element in the original compound and split the compound.</returns>
public static bool SplitCompound(IList<ShapeDistributionInformation> childContributions, Func<CompoundChild, bool> splitPredicate,
Entity<CompoundCollidable> a, out Entity<CompoundCollidable> b,
out ShapeDistributionInformation distributionInfoA, out ShapeDistributionInformation distributionInfoB)
{
var bCollidable = new CompoundCollidable { Shape = a.CollisionInformation.Shape };
b = null;
float weightA, weightB;
if (SplitCompound(childContributions, splitPredicate, a.CollisionInformation, bCollidable, out distributionInfoA, out distributionInfoB, out weightA, out weightB))
{
//Reconfigure the entities using the data computed in the split.
float originalMass = a.mass;
if (a.CollisionInformation.children.Count > 0)
{
float newMassA = (weightA / (weightA + weightB)) * originalMass;
Matrix3x3.Multiply(ref distributionInfoA.VolumeDistribution, newMassA * InertiaHelper.InertiaTensorScale, out distributionInfoA.VolumeDistribution);
a.Initialize(a.CollisionInformation, newMassA, distributionInfoA.VolumeDistribution, distributionInfoA.Volume);
}
if (bCollidable.children.Count > 0)
{
float newMassB = (weightB / (weightA + weightB)) * originalMass;
Matrix3x3.Multiply(ref distributionInfoB.VolumeDistribution, newMassB * InertiaHelper.InertiaTensorScale, out distributionInfoB.VolumeDistribution);
b = new Entity<CompoundCollidable>();
b.Initialize(bCollidable, newMassB, distributionInfoB.VolumeDistribution, distributionInfoB.Volume);
}
SplitReposition(a, b, ref distributionInfoA, ref distributionInfoB, weightA, weightB);
return true;
}
else
return false;
}
/// <summary>
/// Removes a child from a compound body.
/// </summary>
/// <param name="childContributions">List of distribution information associated with each child shape of the whole compound shape used by the compound being split.</param>
/// <param name="removalPredicate">Delegate which determines if a child in the original compound should be moved to the new compound.</param>
/// <param name="distributionInfo">Volume, volume distribution, and center information about the new form of the original compound collidable.</param>
/// <param name="compound">Original compound to have a child removed.</param>
/// <returns>Whether or not the predicate returned true for any element in the original compound and split the compound.</returns>
public static bool RemoveChildFromCompound(Entity<CompoundCollidable> compound, Func<CompoundChild, bool> removalPredicate, IList<ShapeDistributionInformation> childContributions,
out ShapeDistributionInformation distributionInfo)
{
float weight;
float removedWeight;
Vector3 removedCenter;
if (RemoveChildFromCompound(compound.CollisionInformation, removalPredicate, childContributions, out distributionInfo, out weight, out removedWeight, out removedCenter))
{
//Reconfigure the entities using the data computed in the split.
//Only bother if there are any children left in the compound!
if (compound.CollisionInformation.Children.Count > 0)
{
float originalMass = compound.mass;
float newMass = (weight / (weight + removedWeight)) * originalMass;
Matrix3x3.Multiply(ref distributionInfo.VolumeDistribution, newMass * InertiaHelper.InertiaTensorScale, out distributionInfo.VolumeDistribution);
compound.Initialize(compound.CollisionInformation, newMass, distributionInfo.VolumeDistribution, distributionInfo.Volume);
RemoveReposition(compound, ref distributionInfo, weight, removedWeight, ref removedCenter);
}
return true;
}
else
return false;
}
