///setupRigidBody is only used internally by the constructor
public void SetupRigidBody(RigidBodyConstructionInfo constructionInfo)
{
m_internalType = CollisionObjectTypes.CO_RIGID_BODY;
m_linearVelocity = IndexedVector3.Zero;
m_angularVelocity = IndexedVector3.Zero;
m_angularFactor = IndexedVector3.One;
m_linearFactor = IndexedVector3.One;
m_gravity = IndexedVector3.Zero;
m_gravity_acceleration = IndexedVector3.Zero;
m_totalForce = IndexedVector3.Zero;
m_totalTorque = IndexedVector3.Zero;
SetDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping);
m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold;
m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold;
m_optionalMotionState = constructionInfo.m_motionState;
m_contactSolverType = 0;
m_frictionSolverType = 0;
m_additionalDamping = constructionInfo.m_additionalDamping;
m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor;
m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr;
m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr;
m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor;
if (m_optionalMotionState != null)
{
m_optionalMotionState.GetWorldTransform(out m_worldTransform);
}
else
{
SetWorldTransform(ref constructionInfo.m_startWorldTransform);
}
m_interpolationWorldTransform = m_worldTransform;
m_interpolationLinearVelocity = IndexedVector3.Zero;
m_interpolationAngularVelocity = IndexedVector3.Zero;
//moved to btCollisionObject
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
SetCollisionShape(constructionInfo.m_collisionShape);
m_debugBodyId = uniqueId++;
SetMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
UpdateInertiaTensor();
m_rigidbodyFlags = RigidBodyFlags.BT_NONE;
m_constraintRefs = new List <TypedConstraint>();
m_deltaLinearVelocity = IndexedVector3.Zero;
m_deltaAngularVelocity = IndexedVector3.Zero;
m_invMass = m_inverseMass * m_linearFactor;
m_pushVelocity = IndexedVector3.Zero;
m_turnVelocity = IndexedVector3.Zero;
}
public void BuildCollisionData(Color[] map, int width, int height, Vector3 bottomLeft)
{
Vector2 dim = Vector2.One;
Vector3 scale = new Vector3(dim, 1);
BoxShape collisionBoxShape = new BoxShape(new IndexedVector3(0.5f));
for (int x = 0; x < width; x++)
{
for (int y = 0; y < height; y++)
{
int currentIndex = x + y * width;
if (map[currentIndex] == Color.White)
{
float yOffset = -dim.Y;//0f;// -(dim.Y / 2f);
Vector3 position = new Vector3(x - bottomLeft.X, (bottomLeft.Y - y) + yOffset, bottomLeft.Z);
m_waterLocations.Add(position);
}
if (map[currentIndex] == Color.White)
{
// check the 4 ordinals , if we're surrounded by other solid blocks
// then we don't need a block here.
bool upSet = false;
bool downSet = false;
bool leftSet = false;
bool rightSet = false;
if (x >= 1 && x < width - 1)
{
if (map[currentIndex - 1] == Color.White)
{
leftSet = true;
}
if (map[currentIndex + 1] == Color.White)
{
rightSet = true;
}
}
if (y >= 1 && y < height - 1)
{
if (map[currentIndex - height] == Color.White)
{
upSet = true;
}
if (map[currentIndex + height] == Color.White)
{
downSet = true;
}
}
// if we're not surrounded by blocks then add in.
if (!(upSet && downSet && leftSet && rightSet))
{
Object rigifdBody;
float yOffset = -dim.Y;//0f;// -(dim.Y / 2f);
Vector3 position = new Vector3(x - bottomLeft.X, (bottomLeft.Y - y) + yOffset, bottomLeft.Z);
RigidBodyConstructionInfo constructionInfo = new BulletMonogame.BulletDynamics.RigidBodyConstructionInfo(0f, null, (BulletMonogame.BulletCollision.CollisionShape)collisionBoxShape);
RigidBody rigidBody = new BulletMonogame.BulletDynamics.RigidBody(constructionInfo);
Matrix bsm = Matrix.CreateTranslation(position);
rigidBody.SetWorldTransform(bsm);
// FIXME MAN - setup some collision flags on these bodies...
BulletMonogame.BulletCollision.CollisionFilterGroups flags = (BulletMonogame.BulletCollision.CollisionFilterGroups)(1 << 8);
BulletMonogame.BulletCollision.CollisionFilterGroups mask = (BulletMonogame.BulletCollision.CollisionFilterGroups)(1 << 9);
//rigidBody.CollisionFlags |= (BulletSharp.CollisionFlags)CollisionObjectType.Ground;
m_dynamicsWorld.AddRigidBody(rigidBody, flags, mask);
}
}
// Build water ghost objects.
foreach (Vector3 pos in m_waterLocations)
{
GhostObject ghostObject = new GhostObject();
ghostObject.SetCollisionShape((BulletMonogame.BulletCollision.CollisionShape)collisionBoxShape);
CollisionFilterGroups flags = (CollisionFilterGroups)(1 << 10);
CollisionFilterGroups mask = (CollisionFilterGroups)(1 << 9);
ghostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE | CollisionFlags.CF_STATIC_OBJECT); // We can choose to make it "solid" if we want...
ghostObject.SetWorldTransform(BulletMonogame.LinearMath.IndexedMatrix.CreateTranslation(pos));
m_dynamicsWorld.AddCollisionObject(ghostObject, flags, mask);
break;
}
}
}
}
///btRigidBody constructor for backwards compatibility.
///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
public RigidBody(float mass, IMotionState motionState, CollisionShape collisionShape, IndexedVector3 localInertia)
{
RigidBodyConstructionInfo cinfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
SetupRigidBody(cinfo);
}
///btRigidBody constructor using construction info
public RigidBody(RigidBodyConstructionInfo constructionInfo)
{
SetupRigidBody(constructionInfo);
}
