C# CollisionSkin.ApplyLocalTransform方法代码示例

        public override void Initialise()
        {
            base.Initialise();

            // Create new bodey and collision skin
            m_Body = new Body();
            m_Skin = new CollisionSkin(m_Body);

            if (m_Body != null)
            {
                // Set skin to the body
                m_Body.CollisionSkin = m_Skin;

                // Check the skin was successfully created and add this 
                // custom dice as a primitive to the collision skin
                if (m_Skin != null)
                {
                    Box box = new Box(Vector3.Zero, Matrix.Identity, transform.Scale);
                    m_Skin.AddPrimitive(box, (int)MaterialTable.MaterialID.BouncyNormal);

                    // Set mass
                    m_Mass = SetMass(1.0f);

                    // Move the body to correct position initially
                    m_Body.MoveTo(transform.Position, Matrix.Identity);

                    // Apply transform to skin
                    m_Skin.ApplyLocalTransform(new JigLibX.Math.Transform(-m_Mass, Matrix.Identity));

                    // Enable body
                    EnableBody();
                }
            }
        }

        public BowlingPin(Game game, Model model, Matrix orientation, Vector3 position)
            : base(game, model)
        {
            body = new Body();
            collision = new CollisionSkin(body);

            // add a capsule for the main corpus
            Primitive capsule = new Capsule(Vector3.Zero, Matrix.Identity, 0.1f, 1.3f);
            // add a small box at the buttom
            Primitive box = new Box(new Vector3(-0.1f,-0.1f,-0.1f), Matrix.Identity, Vector3.One * 0.2f);
            // add a sphere in the middle
            Primitive sphere = new Sphere(new Vector3(0.0f, 0.0f, 0.3f), 0.3f);

            collision.AddPrimitive(capsule, new MaterialProperties(0.1f, 0.5f, 0.5f));
            collision.AddPrimitive(box, new MaterialProperties(0.1f, 0.5f, 0.5f));
            collision.AddPrimitive(sphere, new MaterialProperties(0.1f, 0.5f, 0.5f));

            body.CollisionSkin = this.collision;
            Vector3 com = SetMass(0.5f);

            body.MoveTo(position, orientation);
            collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));

            body.EnableBody();
            this.scale = Vector3.One * 10.0f;
        }

        public Missile(ParentGame game, Model modelObj, Texture2D[] modelTextures, DrawingClass drawClass, GameplayScreen Screen)
            : base(game, modelObj, modelTextures)
        {
            this.drawClass = drawClass;
            this.Screen = Screen;

            _body = new Body();
            _skin = new CollisionSkin(_body);
            _body.CollisionSkin = _skin;

            Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(1f,1f,4f));
            _skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));

            Vector3 com = SetMass(2.0f);

            _body.MoveTo(position, Matrix.Identity);
            _skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
            _body.EnableBody();

            Body.ExternalData = this;

            Vector3 pos = position;
            Vector3 forwardVec = Body.Orientation.Forward;
            forwardVec.Normalize();

            pos -= forwardVec * 10;
            // Use the particle emitter helper to output our trail particles.
            trailEmitter = new ParticleEmitter(drawClass.projectileTrailParticles,
                                               trailParticlesPerSecond, position);

            rgob = new RagdollObject(parentGame, null, null, null, RagdollObject.RagdollType.Simple, 1.0f, 3);
            rgob.Position = position;
            //rgob.PutToSleep();

            //rgob.limbs[0].PhysicsBody.AngularVelocity = (new Vector3(1, 1, 0) * 2000);

            RagdollTransforms = new List<Matrix>();

            RagdollTransforms = rgob.GetWorldMatrix();

            foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
                DisableCollisions(lim.PhysicsBody, Body);

            foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
                foreach (BuildingPiece pic in Screen.PieceList)
                    DisableCollisions(lim.PhysicsBody, pic.Body);

            foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
                foreach (Building bld in Screen.Buildings)
                    DisableCollisions(lim.PhysicsBody, bld.Body);

            foreach (JigLibX.Objects.PhysicObject lim in rgob.limbs)
                DisableCollisions(lim.PhysicsBody, Screen.terrainActor.Body);

            foreach (JigLibX.Objects.PhysicObject limb0 in rgob.limbs)
                foreach (Missile mis in Screen.BulletList)
                    foreach (JigLibX.Objects.PhysicObject limb1 in mis.rgob.limbs)
                        DisableCollisions(limb1.PhysicsBody, limb0.PhysicsBody);
        }

        public BoxObject(Game game,Model model,Vector3 sideLengths, Matrix orientation, Vector3 position)
            : base(game,model)
        {
            body = new Body();
            collision = new CollisionSkin(body);

            collision.AddPrimitive(new Box(- 0.5f * sideLengths, orientation, sideLengths), new MaterialProperties(0.8f, 0.8f, 0.7f));
            body.CollisionSkin = this.collision;
            Vector3 com = SetMass(1.0f);
            body.MoveTo(position, Matrix.Identity);
            collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
            body.EnableBody();
            this.scale = sideLengths;
        }

        public CapsuleObject(Game game, Model model,float radius,float length, Matrix orientation, Vector3 position)
            : base(game, model)
        {
            body = new Body();
            collision = new CollisionSkin(body);
            collision.AddPrimitive(new Capsule(Vector3.Transform(new Vector3(-0.5f,0,0), orientation),orientation,radius,length),(int)MaterialTable.MaterialID.BouncyNormal);
            body.CollisionSkin = this.collision;
            Vector3 com = SetMass(10.0f);
            body.MoveTo(position + com, Matrix.Identity);

            collision.ApplyLocalTransform(new Transform(-com,Matrix.Identity));

            body.EnableBody();
            this.scale = new Vector3(radius, radius, length / 2);
        }

        public CylinderObject(Game game, float radius, float length, Vector3 position, Model model)
            : base(game, model)
        {
            body = new Body();
            collision = new CollisionSkin(body);

            if (length - 2.0f * radius < 0.0f)
                throw new ArgumentException("Radius must be at least half length");

            Capsule middle = new Capsule(Vector3.Zero, Matrix.Identity, radius, length - 2.0f * radius);

            float sideLength = 2.0f * radius / (float) Math.Sqrt(2.0d);

            Vector3 sides = new Vector3(-0.5f * sideLength, -0.5f * sideLength, -radius);

            Box supply0 = new Box(sides, Matrix.Identity,
                new Vector3(sideLength, sideLength, length));

            Box supply1 = new Box(Vector3.Transform(sides,Matrix.CreateRotationZ(MathHelper.PiOver4)),
                Matrix.CreateRotationZ(MathHelper.PiOver4), new Vector3(sideLength, sideLength, length));

            collision.AddPrimitive(middle, new MaterialProperties(0.8f, 0.8f, 0.7f));
            collision.AddPrimitive(supply0, new MaterialProperties(0.8f, 0.8f, 0.7f));
            collision.AddPrimitive(supply1, new MaterialProperties(0.8f, 0.8f, 0.7f));

            body.CollisionSkin = this.collision;

            Vector3 com = SetMass(1.0f);
            collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));

            #region Manually set body inertia
            float cylinderMass = body.Mass;

            float comOffs = (length - 2.0f * radius) * 0.5f; ;

            float Ixx = 0.5f * cylinderMass * radius * radius + cylinderMass * comOffs * comOffs;
            float Iyy = 0.25f * cylinderMass * radius * radius + (1.0f / 12.0f) * cylinderMass * length * length + cylinderMass * comOffs * comOffs;
            float Izz = Iyy;

            body.SetBodyInertia(Ixx, Iyy, Izz);
            #endregion

            body.MoveTo(position, Matrix.CreateRotationX(MathHelper.PiOver2));

            body.EnableBody();

            this.scale = new Vector3(radius, radius, length * 0.5f);
        }

      public Cuboid(Vector dimension)
      {
         Dimension = dimension;

         PhysicsBody = new Body();
         collisionSkin = new CollisionSkin(PhysicsBody);
         PhysicsBody.CollisionSkin = collisionSkin;

         var box = new Box(Vector3.Zero, Microsoft.Xna.Framework.Matrix.Identity, Dimension.ToXna());
         collisionSkin.AddPrimitive(box, new MaterialProperties(0.1f, 0.4f, 0.9f));
         
         var com = ApplyMass(1.0f);
         //  PhysicsBody.MoveTo(Utils.VectorBalderToXna(this.Position), Microsoft.Xna.Framework.Matrix.Identity);
         collisionSkin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Microsoft.Xna.Framework.Matrix.Identity));
         PhysicsBody.EnableBody();
      }

        public BuildingPiece(ParentGame game, Model modelObj, Texture2D[] modelTextures,
            DrawingClass drawClass, GameplayScreen Screen, float Length, float Width, float Height)
            : base(game, modelObj, modelTextures)
        {
            // Use the particle emitter helper to output our trail particles.
            trailEmitter = new ParticleEmitter(drawClass.smokePlumeParticles,
                                               3, position);

            fireEmitter = new ParticleEmitter(drawClass.fireParticles,
                                               30, position);

            this.Screen = Screen;
            this.drawClass = drawClass;

            _body = new Body();
            _skin = new CollisionSkin(_body);
            _body.CollisionSkin = _skin;

            //Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(10f, 7f, 7f));
            Box box = new Box(Vector3.Zero, Matrix.Identity, new Vector3(Length, Width, Height));
            if (Length > Width && Length > Height)
                boundSphere.Radius = Length;
            else if (Width > Length && Width > Height)
                boundSphere.Radius = Width;
            else
                boundSphere.Radius = Height;
            _skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));

            Vector3 com = SetMass(3.0f);

            _body.MoveTo(position, Matrix.Identity);
            _skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
            _body.EnableBody();

            Body.ExternalData = this;

            SetBody(rotation);

            Body.AllowFreezing = true;
            Body.SetDeactivationTime(1);

            foreach (BuildingPiece pic in Screen.PieceList)
                DisableCollisions(this.Body, pic.Body);

            foreach (Building bld in Screen.Buildings)
                DisableCollisions(this.Body, bld.Body);
        }

        public BoxActor(Game game, Vector3 position, Vector3 scale)
            : base(game)
        {
            this.position = position;
            this.scale = scale;
            _body = new Body();
            _skin = new CollisionSkin(_body);
            _body.CollisionSkin = _skin;

            Box box = new Box(Vector3.Zero, Matrix.Identity, scale);
            _skin.AddPrimitive(box, new MaterialProperties(0.8f, 0.8f, 0.7f));

            Vector3 com = SetMass(1.0f);

            _body.MoveTo(position, Matrix.Identity);
            _skin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));
            _body.EnableBody();
        }

        protected override void LoadSpecific()
        {
            base.LoadSpecific();

            // Create new bodey and collision skin
            m_Body = new Body();
            m_Skin = new CollisionSkin(m_Body);

            if (m_Body != null)
            {
                // Set skin to the body
                m_Body.CollisionSkin = m_Skin;

                // Check the skin was successfully created and add this 
                // custom dice as a primitive to the collision skin
                if (m_Skin != null)
                {
                    Vector3 sideLengths = (m_BoundingBox.Max - m_BoundingBox.Min);

                    if (sideLengths.Y <= 0)
                        sideLengths.Y = 1;

                    Box box = new Box(Vector3.Zero, Matrix.Identity, sideLengths);
                    m_Skin.AddPrimitive(box, (int)MaterialTable.MaterialID.BouncyNormal);

                    // Set mass
                    m_Mass = SetMass(1.0f);

                    // Move the body to correct position initially
                    m_Body.MoveTo((transform.Position + new Vector3(0, (sideLengths.Y * 0.5f), 0)), Matrix.Identity);

                    // Apply transform to skin
                    m_Skin.ApplyLocalTransform(new JigLibX.Math.Transform(-m_Mass, Matrix.Identity));

                    // Enable it 
                    Enable();

                    // Set to immovable
                    m_Body.Immovable = true;
                }
            }
        }

        public TriangleMeshObject(Game game, Model model, Matrix orientation, Vector3 position)
            : base(game, model)
        {
            body = new Body();
            collision = new CollisionSkin(null);

            triangleMesh = new TriangleMesh();

            List<Vector3> vertexList = new List<Vector3>();
            List<TriangleVertexIndices> indexList = new List<TriangleVertexIndices>();

            ExtractData(vertexList, indexList, model);

            triangleMesh.CreateMesh(vertexList,indexList, 4, 1.0f);
            collision.AddPrimitive(triangleMesh,new MaterialProperties(0.8f,0.7f,0.6f));
            PhysicsSystem.CurrentPhysicsSystem.CollisionSystem.AddCollisionSkin(collision);

            // Transform
            collision.ApplyLocalTransform(new JigLibX.Math.Transform(position, orientation));
            // we also need to move this dummy, so the object is *rendered* at the correct positiob
            body.MoveTo(position, orientation);
        }

        public override void OnAdd(Scene scene)
        {
            base.OnAdd(scene);

            scene.AddActor(this);

            PhysicsSystem world = scene.GetPhysicsEngine();

            Vector3 pos = Vector3.Up * 256 + 15*(new Vector3((float)RandomHelper.RandomGen.NextDouble(), (float)RandomHelper.RandomGen.NextDouble(), (float)RandomHelper.RandomGen.NextDouble())*2-Vector3.One);
            //pos.X += (scene.MainTerrain as TerrainHeightmap).GetWidth()*0.5f;
            //pos.Z += (scene.MainTerrain as TerrainHeightmap).GetDepth() * 0.5f;
            Vector3 normal = Vector3.Up;
            //scene.MainTerrain.GenerateRandomTransform(RandomHelper.RandomGen, out pos, out normal);
            //pos = pos + Vector3.Up * 5;

            body = new CharacterBody();
            collision = new CollisionSkin(body);

            standCapsule = new Capsule(Vector3.Zero, Matrix.CreateRotationX(MathHelper.PiOver2), 1.0f, 1.778f);
            crouchCapsule = new Capsule(Vector3.Zero, Matrix.CreateRotationX(MathHelper.PiOver2), 1.0f, 1.0f);
            SetupPosture(false);
            collision.AddPrimitive(standCapsule, (int)MaterialTable.MaterialID.NormalRough);
            body.CollisionSkin = collision;
            Vector3 com = PhysicsHelper.SetMass(75.0f, body, collision);

            body.MoveTo(pos + com, Matrix.Identity);
            collision.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));

            body.SetBodyInvInertia(0.0f, 0.0f, 0.0f);

            body.AllowFreezing = false;
            body.EnableBody();
            Transformation = new Transform(body);

            ResetState();
        }

        public override void Initialize()
        {
            Body = new Body();
            Skin = new CollisionSkin(Body);
            Body.CollisionSkin = Skin;

            radius = 12;
            float length = 3;

            //Capsule middle = new Capsule(Vector3.Zero, Matrix.Identity, radius, length - 2.0f * radius);

            float sideLength = 2.0f * radius / (float)Math.Sqrt(2.0d);

            Vector3 sides = new Vector3(-0.5f * sideLength, -0.5f * sideLength, -radius);

            Box supply0 = new Box(sides, Matrix.Identity,
                new Vector3(sideLength, sideLength, length));

            Box supply1 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ(MathHelper.PiOver4)),
                Matrix.CreateRotationZ(MathHelper.PiOver4), new Vector3(sideLength, sideLength, length));

            Box supply2 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ( (MathHelper.PiOver4 * 0.5f) )),
                Matrix.CreateRotationZ( (MathHelper.PiOver4 * 0.5f) ), new Vector3(sideLength, sideLength, length));

            Box supply3 = new Box(Vector3.Transform(sides, Matrix.CreateRotationZ((MathHelper.PiOver4 * 1.5f))),
                Matrix.CreateRotationZ((MathHelper.PiOver4 * 1.5f)), new Vector3(sideLength, sideLength, length));

            //Skin.AddPrimitive(middle, new MaterialProperties(0.8f, 0.8f, 0.7f));
            Skin.AddPrimitive(supply0, new MaterialProperties(0.8f, 0.8f, 0.7f));
            Skin.AddPrimitive(supply1, new MaterialProperties(0.8f, 0.8f, 0.7f));
            Skin.AddPrimitive(supply2, new MaterialProperties(0.8f, 0.8f, 0.7f));
            Skin.AddPrimitive(supply3, new MaterialProperties(0.8f, 0.8f, 0.7f));

            Vector3 com = SetMass(1.0f);

            Body.MoveTo(position, Matrix.Identity);
            Skin.ApplyLocalTransform(new Transform(-com, Matrix.Identity));

            #region Manually set body inertia
            float cylinderMass = Body.Mass;

            float comOffs = (length - 2.0f * radius) * 0.5f; ;

            float Ixx = 0.5f * cylinderMass * radius * radius + cylinderMass * comOffs * comOffs;
            float Iyy = 0.25f * cylinderMass * radius * radius + (1.0f / 12.0f) * cylinderMass * length * length + cylinderMass * comOffs * comOffs;
            float Izz = Iyy;

            Body.SetBodyInertia(Ixx, Iyy, Izz);
            #endregion

            Body.EnableBody();

            Body.ExternalData = this;

            SetBody(rotation);
        }

        public PlayerPhysicsObject(Vector3 size, Matrix orientation, Vector3 pos)
        {
            body = new Body();
            collision = new CollisionSkin(body);

            collision.AddPrimitive(new Sphere(pos, size.Y), (int)MaterialTable.MaterialID.NotBouncyNormal);

            body.CollisionSkin = this.collision;

            Vector3 com = SetMass(1.0f);
            body.MoveTo(pos, Matrix.Identity);
            collision.ApplyLocalTransform(new Transform(-com, Matrix.Identity));
            body.EnableBody();

            //body.SetBodyInvInertia(0.0f, 0.0f, 0.0f);
            body.AllowFreezing = false;
        }

        public void setBody(Vector3 position)
        {
            scale = new Vector3(1f, 1f, 1f);
            _body = new Body();
            _skin = new CollisionSkin(_body);
            _body.CollisionSkin = _skin;

            Box box = new Box(position, Matrix.Identity, scale);

            _skin.AddPrimitive(box, (int)MaterialTable.MaterialID.BouncySmooth);

            Vector3 com = SetMass(1.0f);

            _body.MoveTo(position, Matrix.Identity);
            _skin.ApplyLocalTransform(new JigLibX.Math.Transform(-com, Matrix.Identity));
            _body.EnableBody();
        }