public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
IndexedMatrix mat =
IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
pRawOrientation.Z, pRawOrientation.W));
mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
CollisionShape shape = (pShape as BulletShapeXNA).shape;
// TODO: Feed Update array into null
RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
body.SetWorldTransform(mat);
body.SetUserPointer(pLocalID);
return new BulletBodyXNA(pLocalID, body);
}
internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
IndexedMatrix mat =
IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
pRawOrientation.Z, pRawOrientation.W));
mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
CollisionShape shape = pShape as CollisionShape;
// TODO: Feed Update array into null
RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
body.SetWorldTransform(mat);
body.SetUserPointer(pLocalID);
return body;
}
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 BulletXNA.BulletDynamics.RigidBodyConstructionInfo(0f, null, (BulletXNA.BulletCollision.CollisionShape)collisionBoxShape);
RigidBody rigidBody = new BulletXNA.BulletDynamics.RigidBody(constructionInfo);
Matrix bsm = Matrix.CreateTranslation(position);
rigidBody.SetWorldTransform(bsm);
// FIXME MAN - setup some collision flags on these bodies...
BulletXNA.BulletCollision.CollisionFilterGroups flags = (BulletXNA.BulletCollision.CollisionFilterGroups)(1 << 8);
BulletXNA.BulletCollision.CollisionFilterGroups mask = (BulletXNA.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((BulletXNA.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(BulletXNA.LinearMath.IndexedMatrix.CreateTranslation(pos));
m_dynamicsWorld.AddCollisionObject(ghostObject, flags, mask);
break;
}
}
}
}
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 BulletXNA.BulletDynamics.RigidBodyConstructionInfo(0f, null, (BulletXNA.BulletCollision.CollisionShape)collisionBoxShape);
RigidBody rigidBody = new BulletXNA.BulletDynamics.RigidBody(constructionInfo);
Matrix bsm = Matrix.CreateTranslation(position);
rigidBody.SetWorldTransform(bsm);
// FIXME MAN - setup some collision flags on these bodies...
BulletXNA.BulletCollision.CollisionFilterGroups flags = (BulletXNA.BulletCollision.CollisionFilterGroups)(1 << 8);
BulletXNA.BulletCollision.CollisionFilterGroups mask = (BulletXNA.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((BulletXNA.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(BulletXNA.LinearMath.IndexedMatrix.CreateTranslation(pos));
m_dynamicsWorld.AddCollisionObject(ghostObject, flags, mask);
break;
}
}
}
}
