/// <summary>
/// Creates a capsule body.
/// </summary>
/// <param name="simulation">The simulation to use.</param>
/// <param name="position">The position of the body.</param>
/// <param name="rotation">The rotation of the body.</param>
/// <param name="radius">The radius of the capsule.</param>
/// <param name="height">The height of the cylinder part of the capsule.</param>
/// <returns>The capsule body that was created.</returns>
public static CapsuleBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation,
float radius, float height)
{
var obj = new CapsuleBody(simulation);
obj.Position = position;
obj.Rotation = rotation;
obj.Radius = radius;
obj.Height = height;
simulation.Register(obj);
return(obj);
}
/// <summary>
/// Determine whether a capsule and a sphere intersect.
/// </summary>
/// <param name="capsule">Capsule physics object</param>
/// <param name="sphere">Sphere physics object</param>
public static bool CapsuleSphereCollision(CapsuleBody capsule, SphereBody sphere)
{
// reference frame: capsule at (0, 0, 0), pointing in positive y direction
var sphereCoordsRelative = sphere.Position - capsule.Position;
// to transform coordinate system to have capsule be axis-aligned, we apply
// the reverse of the rotation to the sphere coordinates
var inverse = new Quaternion(capsule.Rotation.X, capsule.Rotation.Y, capsule.Rotation.Z, -capsule.Rotation.W);
var sphereCoordsTransformed = Vector3.Transform(sphereCoordsRelative, inverse);
// coordinates of the line in the centre of the cylinder part
const int capsuleMinY = 0;
var capsuleMaxY = capsule.Height;
const int closestPointToSphereX = 0;
var closestPointToSphereY = Math.Clamp(sphereCoordsTransformed.Y, capsuleMinY, capsuleMaxY);
const int closestPointToSphereZ = 0;
return(Vector3.DistanceSquared(sphereCoordsTransformed,
new Vector3(closestPointToSphereX, closestPointToSphereY, closestPointToSphereZ))
< Math.Pow(capsule.Radius + sphere.Radius, 2));
}
public static CapsuleBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector2 size)
{
var shape = new Capsule(size.X, size.Y);
shape.ComputeInertia(1, out var inertia);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.1f);
var activity = new BodyActivityDescription(0.01f);
var pose = new RigidPose(position, rotation);
var descriptor = BodyDescription.CreateDynamic(pose, inertia, collidable, activity);
var handle = simulation.Simulation.Bodies.Add(descriptor);
var obj = new CapsuleBody(simulation, handle);
simulation.Register(obj);
return(obj);
}
/// <summary>
/// Determine whether a capsule and a box intersect.
/// </summary>
/// <param name="capsule">The capsule</param>
/// <param name="box">The box</param>
public static bool CapsuleBoxCollision(CapsuleBody capsule, BoxBody box)
{
throw new NotImplementedException("Capsule-box collision checks are not implemented.");
}
/// <summary>
/// Determine whether two capsules intersect.
/// </summary>
/// <param name="firstCapsule">The first capsule</param>
/// <param name="secondCapsule">The second capsule</param>
public static bool CapsuleCapsuleCollision(CapsuleBody firstCapsule, CapsuleBody secondCapsule)
{
throw new NotImplementedException("Capsule-capsule collision checks are not implemented.");
}
