public void doForce(Vector3 force, bool now) { tempVector3.setValue(force.X, force.Y, force.Z); if (now) { Body.applyCentralForce(tempVector3); } else { m_taintedForce += force; m_parent_scene.AddPhysicsActorTaint(this); } }
// private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) { m_taintedForce = new PhysicsVector(); m_velocity = new PhysicsVector(); m_target_velocity = new PhysicsVector(); m_position = pos; m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless m_acceleration = new PhysicsVector(); m_parent_scene = parent_scene; PID_D = pid_d; PID_P = pid_p; CAPSULE_RADIUS = capsule_radius; m_density = density; heightFudgeFactor = height_fudge_factor; walkDivisor = walk_divisor; runDivisor = rundivisor; for (int i = 0; i < 11; i++) { m_colliderarr[i] = false; } for (int i = 0; i < 11; i++) { m_colliderGroundarr[i] = false; } CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH; m_isPhysical = false; // current status: no ODE information exists m_tainted_isPhysical = true; // new tainted status: need to create ODE information m_parent_scene.AddPhysicsActorTaint(this); // m_name = avName; tempVector1 = new btVector3(0, 0, 0); tempVector2 = new btVector3(0, 0, 0); tempVector3 = new btVector3(0, 0, 0); tempVector4 = new btVector3(0, 0, 0); tempVector5RayCast = new btVector3(0, 0, 0); tempVector6RayCast = new btVector3(0, 0, 0); tempVector7RayCast = new btVector3(0, 0, 0); tempQuat1 = new btQuaternion(0, 0, 0, 1); tempTrans1 = new btTransform(tempQuat1, tempVector1); // m_movementComparision = new PhysicsVector(0, 0, 0); m_CapsuleOrientationAxis = new btVector3(1, 0, 1); }
public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) { m_position = pos; m_zeroPosition = pos; m_parent_scene = parent_scene; PID_D = pid_d; PID_P = pid_p; CAPSULE_RADIUS = capsule_radius; m_density = density; heightFudgeFactor = height_fudge_factor; walkDivisor = walk_divisor; runDivisor = rundivisor; for (int i = 0; i < 11; i++) { m_colliderarr[i] = false; } for (int i = 0; i < 11; i++) { m_colliderGroundarr[i] = false; } CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f; m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH; m_isPhysical = false; // current status: no ODE information exists m_tainted_isPhysical = true; // new tainted status: need to create ODE information m_parent_scene.AddPhysicsActorTaint(this); // m_name = avName; tempVector1 = new btVector3(0, 0, 0); tempVector2 = new btVector3(0, 0, 0); tempVector3 = new btVector3(0, 0, 0); tempVector4 = new btVector3(0, 0, 0); tempVector5RayCast = new btVector3(0, 0, 0); tempVector6RayCast = new btVector3(0, 0, 0); tempVector7RayCast = new btVector3(0, 0, 0); tempQuat1 = new btQuaternion(0, 0, 0, 1); tempTrans1 = new btTransform(tempQuat1, tempVector1); // m_movementComparision = new PhysicsVector(0, 0, 0); m_CapsuleOrientationAxis = new btVector3(1, 0, 1); }
public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical) { tempPosition1 = new btVector3(0, 0, 0); tempPosition2 = new btVector3(0, 0, 0); tempPosition3 = new btVector3(0, 0, 0); tempSize1 = new btVector3(0, 0, 0); tempSize2 = new btVector3(0, 0, 0); tempLinearVelocity1 = new btVector3(0, 0, 0); tempLinearVelocity2 = new btVector3(0, 0, 0); tempAngularVelocity1 = new btVector3(0, 0, 0); tempAngularVelocity2 = new btVector3(0, 0, 0); tempInertia1 = new btVector3(0, 0, 0); tempInertia2 = new btVector3(0, 0, 0); tempOrientation1 = new btQuaternion(0, 0, 0, 1); tempOrientation2 = new btQuaternion(0, 0, 0, 1); _parent_scene = parent_scene; tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); tempTransform2 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ; tempTransform3 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ; tempTransform4 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ; tempMotionState1 = new btDefaultMotionState(_parent_scene.TransZero); tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero); tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero); AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize); int regionsize = (int)Constants.RegionSize; if (regionsize == 256) regionsize = 512; AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize); _target_velocity = Vector3.Zero; _velocity = Vector3.Zero; _position = pos; m_taintposition = pos; PID_D = parent_scene.bodyPIDD; PID_G = parent_scene.bodyPIDG; m_density = parent_scene.geomDefaultDensity; // m_tensor = parent_scene.bodyMotorJointMaxforceTensor; // body_autodisable_frames = parent_scene.bodyFramesAutoDisable; prim_geom = null; Body = null; if (size.X <= 0) size.X = 0.01f; if (size.Y <= 0) size.Y = 0.01f; if (size.Z <= 0) size.Z = 0.01f; _size = size; m_taintsize = _size; _acceleration = Vector3.Zero; m_rotationalVelocity = Vector3.Zero; _orientation = rotation; m_taintrot = _orientation; _mesh = mesh; _pbs = pbs; _parent_scene = parent_scene; if (pos.Z < 0) m_isphysical = false; else { m_isphysical = pisPhysical; // If we're physical, we need to be in the master space for now. // linksets *should* be in a space together.. but are not currently } m_primName = primName; m_taintadd = true; _parent_scene.AddPhysicsActorTaint(this); }