/// <summary>
/// Sets the frames.
/// </summary>
/// <param name="frameA">The frame a.</param>
/// <param name="frameB">The frame b.</param>
public void SetFrames(float4x4 frameA, float4x4 frameB)
{
var o = (SliderConstraintImp)_sci.UserObject;
o._sci.SetFrames(Translator.Float4X4ToBtMatrix(frameA), Translator.Float4X4ToBtMatrix(frameB));
}
/// <summary>
/// Calculates the transforms.
/// </summary>
/// <param name="transA">The trans a.</param>
/// <param name="transB">The trans b.</param>
public void CalculateTransforms(float4x4 transA, float4x4 transB)
{
_sci.CalculateTransforms(Translator.Float4X4ToBtMatrix(transA), Translator.Float4X4ToBtMatrix(transB));
}
/// <summary>
/// Adds the point.
/// </summary>
/// <param name="point">The point.</param>
public void AddPoint(float3 point)
{
var btPoint = Translator.Float3ToBtVector3(point);
BtConvexHullShape.AddPoint(btPoint, true);
}
/// <summary>
/// Gets the scaled point.
/// </summary>
/// <param name="index">The index.</param>
/// <returns></returns>
public float3 GetScaledPoint(int index)
{
var retval = Translator.BtVector3ToFloat3(BtConvexHullShape.GetScaledPoint(index));
return(retval);
}
/// <summary>
/// Gets the hinge angle.
/// </summary>
/// <param name="transA">The trans a.</param>
/// <param name="transB">The trans b.</param>
/// <returns></returns>
public float GetHingeAngle(float4x4 transA, float4x4 transB)
{
var retval = _hci.GetHingeAngle(Translator.Float4X4ToBtMatrix(transA), Translator.Float4X4ToBtMatrix(transB));
return(retval);
}
/// <summary>
/// Sets the motor target.
/// </summary>
/// <param name="qAinB">The q ain b.</param>
/// <param name="dt">The dt.</param>
public void SetMotorTarget(Quaternion qAinB, float dt)
{
var o = (HingeConstraintImp)_hci.UserObject;
o._hci.SetMotorTarget(Translator.QuaternionToBtQuaternion(qAinB), dt);
}
/// <summary>
/// Sets the frames.
/// </summary>
/// <param name="frameA">The frame a.</param>
/// <param name="frameB">The frame b.</param>
public void SetFrames(float4x4 frameA, float4x4 frameB)
{
_g6dofci.SetFrames(Translator.Float4X4ToBtMatrix(frameA), Translator.Float4X4ToBtMatrix(frameB));
}
/// <summary>
/// Sets the axis.
/// </summary>
/// <param name="axisInA">The axis in a.</param>
public void SetAxis(float3 axisInA)
{
var o = (HingeConstraintImp)_hci.UserObject;
_hci.SetAxis(Translator.Float3ToBtVector3(axisInA));
}
/// <summary>
/// Gets the axis.
/// </summary>
/// <param name="axisIndex">Index of the axis.</param>
/// <returns></returns>
public float3 GetAxis(int axisIndex)
{
var retval = Translator.BtVector3ToFloat3(_g6dofci.GetAxis(axisIndex));
return(retval);
}
/// <summary>
/// Sets the axis.
/// </summary>
/// <param name="axis1">The axis1.</param>
/// <param name="axis2">The axis2.</param>
public void SetAxis(float3 axis1, float3 axis2)
{
_g6dofci.SetAxis(Translator.Float3ToBtVector3(axis1), Translator.Float3ToBtVector3(axis2));
}
/// <summary>
/// Calculates the angle info2.
/// </summary>
/// <param name="transA">The trans a.</param>
/// <param name="transB">The trans b.</param>
/// <param name="invInertiaWorldA">The inv inertia world a.</param>
/// <param name="invInertiaWorldB">The inv inertia world b.</param>
public void CalcAngleInfo2(float4x4 transA, float4x4 transB, float4x4 invInertiaWorldA, float4x4 invInertiaWorldB)
{
_cti.CalcAngleInfo2(Translator.Float4X4ToBtMatrix(transA), Translator.Float4X4ToBtMatrix(transB), Translator.Float4X4ToBtMatrix(invInertiaWorldA), Translator.Float4X4ToBtMatrix(invInertiaWorldB));
}
/// <summary>
/// Sets the motor target in constraint space.
/// </summary>
/// <param name="q">The q.</param>
public void SetMotorTargetInConstraintSpace(Quaternion q)
{
_cti.SetMotorTargetInConstraintSpace(Translator.QuaternionToBtQuaternion(q));
}
/// <summary>
/// Sets the motor target.
/// </summary>
/// <param name="q">The q.</param>
public void SetMotorTarget(Quaternion q)
{
_cti.SetMotorTarget(Translator.QuaternionToBtQuaternion(q));
}
/// <summary>
/// Gets the point for angle.
/// </summary>
/// <param name="fAngleInRadius">The f angle in radius.</param>
/// <param name="fLength">Length of the f.</param>
/// <returns></returns>
public float3 GetPointForAngle(float fAngleInRadius, float fLength)
{
var retval = Translator.BtVector3ToFloat3(_cti.GetPointForAngle(fAngleInRadius, fLength));
return(retval);
}
/*private void MyTickCallBack(ManifoldPoint cp, CollisionObjectWrapper colobj0wrap, int partid0, int index0, CollisionObjectWrapper colobj1wrap, int partid1, int index1)
* {
* Debug.WriteLine("MyTickCallBack");
* int numManifolds = BtWorld.Dispatcher.NumManifolds;
* RigidBodyImp myRb;
* //Debug.WriteLine("numManifolds: " + numManifolds);
* for (int i = 0; i < numManifolds; i++)
* {
* PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i);
* int numContacts = contactManifold.NumContacts;
* if (numContacts > 0)
* {
* CollisionObject obA = (CollisionObject) contactManifold.Body0;
* CollisionObject obB = (CollisionObject) contactManifold.Body1;
*
* // Debug.WriteLine(numContacts);
* var pnA = obA.UserObject;
*
* for (int j = 0; j < numContacts; j++)
* {
* ManifoldPoint pt = contactManifold.GetContactPoint(j);
*
* }
* }
* }
* }*/
/// <summary>
/// Adds the rigid body.
/// </summary>
/// <param name="mass">The mass.</param>
/// <param name="worldTransform">The world transform.</param>
/// <param name="orientation">The orientation.</param>
/// <param name="colShape">The col shape.</param>
/// <returns></returns>
public IRigidBodyImp AddRigidBody(float mass, float3 worldTransform, float3 orientation, ICollisionShapeImp colShape /*, float3 intertia*/)
{
// Use bullet to do what needs to be done:
var btMatrix = Matrix.RotationX(orientation.x)
* Matrix.RotationY(orientation.y)
* Matrix.RotationZ(orientation.z)
* Matrix.Translation(worldTransform.x, worldTransform.y, worldTransform.z);
var btMotionState = new DefaultMotionState(btMatrix);
var shapeType = colShape.GetType().ToString();
CollisionShape btColShape;
// var isStatic = false;
switch (shapeType)
{
//Primitives
case "Fusee.Engine.BoxShapeImp":
var box = (BoxShapeImp)colShape;
var btBoxHalfExtents = Translator.Float3ToBtVector3(box.HalfExtents);
btColShape = new BoxShape(btBoxHalfExtents);
break;
case "Fusee.Engine.CapsuleShapeImp":
var capsule = (CapsuleShapeImp)colShape;
btColShape = new CapsuleShape(capsule.Radius, capsule.HalfHeight);
break;
case "Fusee.Engine.ConeShapeImp":
var cone = (ConeShapeImp)colShape;
btColShape = new ConeShape(cone.Radius, cone.Height);
break;
case "Fusee.Engine.CylinderShapeImp":
var cylinider = (CylinderShapeImp)colShape;
var btCylinderHalfExtents = Translator.Float3ToBtVector3(cylinider.HalfExtents);
btColShape = new CylinderShape(btCylinderHalfExtents);
break;
case "Fusee.Engine.MultiSphereShapeImp":
var multiSphere = (MultiSphereShapeImp)colShape;
var btPositions = new Vector3[multiSphere.SphereCount];
var btRadi = new float[multiSphere.SphereCount];
for (int i = 0; i < multiSphere.SphereCount; i++)
{
var pos = Translator.Float3ToBtVector3(multiSphere.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = multiSphere.GetSphereRadius(i);
}
btColShape = new MultiSphereShape(btPositions, btRadi);
break;
case "Fusee.Engine.SphereShapeImp":
var sphere = (SphereShapeImp)colShape;
var btRadius = sphere.Radius;
btColShape = new SphereShape(btRadius);
break;
//Misc
case "Fusee.Engine.CompoundShapeImp":
var compShape = (CompoundShapeImp)colShape;
btColShape = new CompoundShape(true);
btColShape = compShape.BtCompoundShape;
break;
case "Fusee.Engine.EmptyShapeImp":
btColShape = new EmptyShape();
break;
//Meshes
case "Fusee.Engine.ConvexHullShapeImp":
var convHull = (ConvexHullShapeImp)colShape;
var btPoints = new Vector3[convHull.GetNumPoints()];
for (int i = 0; i < convHull.GetNumPoints(); i++)
{
var point = convHull.GetScaledPoint(i);
btPoints[i] = Translator.Float3ToBtVector3(point);
}
btColShape = new ConvexHullShape(btPoints);
//btColShape.LocalScaling = new Vector3(3,3,3);
break;
case "Fusee.Engine.StaticPlaneShapeImp":
var staticPlane = (StaticPlaneShapeImp)colShape;
Debug.WriteLine("staticplane: " + staticPlane.Margin);
var btNormal = Translator.Float3ToBtVector3(staticPlane.PlaneNormal);
btColShape = new StaticPlaneShape(btNormal, staticPlane.PlaneConstant);
// isStatic = true;
//btColShape.Margin = 0.04f;
//Debug.WriteLine("btColshape" + btColShape.Margin);
break;
case "Fusee.Engine.GImpactMeshShapeImp":
var gImpMesh = (GImpactMeshShapeImp)colShape;
gImpMesh.BtGImpactMeshShape.UpdateBound();
var btGimp = new GImpactMeshShape(gImpMesh.BtGImpactMeshShape.MeshInterface);
btGimp.UpdateBound();
btColShape = btGimp;
break;
//Default
default:
Debug.WriteLine("defaultImp");
btColShape = new EmptyShape();
break;
}
var btLocalInertia = btColShape.CalculateLocalInertia(mass);
// btLocalInertia *= (10.0f*10);
RigidBodyConstructionInfo btRbcInfo = new RigidBodyConstructionInfo(mass, btMotionState, btColShape,
btLocalInertia);
var btRigidBody = new RigidBody(btRbcInfo);
btRigidBody.Restitution = 0.2f;
btRigidBody.Friction = 0.2f;
btRigidBody.CollisionFlags = CollisionFlags.CustomMaterialCallback;
BtWorld.AddRigidBody(btRigidBody);
btRbcInfo.Dispose();
var retval = new RigidBodyImp();
retval._rbi = btRigidBody;
btRigidBody.UserObject = retval;
return(retval);
}
