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authorSean Dague2007-07-16 15:40:11 +0000
committerSean Dague2007-07-16 15:40:11 +0000
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-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs1068
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diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@@ -1,534 +1,534 @@
1/* 1/*
2* Copyright (c) Contributors, http://www.openmetaverse.org/ 2* Copyright (c) Contributors, http://www.openmetaverse.org/
3* See CONTRIBUTORS.TXT for a full list of copyright holders. 3* See CONTRIBUTORS.TXT for a full list of copyright holders.
4* 4*
5* Redistribution and use in source and binary forms, with or without 5* Redistribution and use in source and binary forms, with or without
6* modification, are permitted provided that the following conditions are met: 6* modification, are permitted provided that the following conditions are met:
7* * Redistributions of source code must retain the above copyright 7* * Redistributions of source code must retain the above copyright
8* notice, this list of conditions and the following disclaimer. 8* notice, this list of conditions and the following disclaimer.
9* * Redistributions in binary form must reproduce the above copyright 9* * Redistributions in binary form must reproduce the above copyright
10* notice, this list of conditions and the following disclaimer in the 10* notice, this list of conditions and the following disclaimer in the
11* documentation and/or other materials provided with the distribution. 11* documentation and/or other materials provided with the distribution.
12* * Neither the name of the OpenSim Project nor the 12* * Neither the name of the OpenSim Project nor the
13* names of its contributors may be used to endorse or promote products 13* names of its contributors may be used to endorse or promote products
14* derived from this software without specific prior written permission. 14* derived from this software without specific prior written permission.
15* 15*
16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY 16* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY
17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 17* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 18* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY 19* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 20* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 21* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 22* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 23* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26* 26*
27*/ 27*/
28#region References 28#region References
29using System; 29using System;
30using System.Collections.Generic; 30using System.Collections.Generic;
31using OpenSim.Physics.Manager; 31using OpenSim.Physics.Manager;
32using Axiom.Math; 32using Axiom.Math;
33//Specific References for BulletXPlugin 33//Specific References for BulletXPlugin
34using MonoXnaCompactMaths; 34using MonoXnaCompactMaths;
35using XnaDevRu.BulletX; 35using XnaDevRu.BulletX;
36using XnaDevRu.BulletX.Dynamics; 36using XnaDevRu.BulletX.Dynamics;
37#endregion 37#endregion
38 38
39namespace OpenSim.Region.Physics.BulletXPlugin 39namespace OpenSim.Region.Physics.BulletXPlugin
40{ 40{
41 /// <summary> 41 /// <summary>
42 /// This Class converts objects and types for BulletX 42 /// This Class converts objects and types for BulletX
43 /// </summary> 43 /// </summary>
44 public class BulletXConversions 44 public class BulletXConversions
45 { 45 {
46 public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) 46 public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
47 { 47 {
48 return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); 48 return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
49 } 49 }
50 public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3) 50 public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)
51 { 51 {
52 XnaVector3.X = physicsVector.X; 52 XnaVector3.X = physicsVector.X;
53 XnaVector3.Y = physicsVector.Y; 53 XnaVector3.Y = physicsVector.Y;
54 XnaVector3.Z = physicsVector.Z; 54 XnaVector3.Z = physicsVector.Z;
55 } 55 }
56 public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3) 56 public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
57 { 57 {
58 return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); 58 return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
59 } 59 }
60 /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector) 60 /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)
61 { 61 {
62 xnaVector3.X = physicsVector.X; 62 xnaVector3.X = physicsVector.X;
63 xnaVector3.Y = physicsVector.Y; 63 xnaVector3.Y = physicsVector.Y;
64 xnaVector3.Z = physicsVector.Z; 64 xnaVector3.Z = physicsVector.Z;
65 }*/ 65 }*/
66 #region Axiom and Xna 66 #region Axiom and Xna
67 ///// <summary> 67 ///// <summary>
68 ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know 68 ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
69 ///// </summary> 69 ///// </summary>
70 ///// <param name="AxiomVector3"></param> 70 ///// <param name="AxiomVector3"></param>
71 ///// <returns></returns> 71 ///// <returns></returns>
72 //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3) 72 //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
73 //{ 73 //{
74 // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z); 74 // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
75 //} 75 //}
76 #endregion 76 #endregion
77 } 77 }
78 /// <summary> 78 /// <summary>
79 /// PhysicsPlugin Class for BulletX 79 /// PhysicsPlugin Class for BulletX
80 /// </summary> 80 /// </summary>
81 public class BulletXPlugin : IPhysicsPlugin 81 public class BulletXPlugin : IPhysicsPlugin
82 { 82 {
83 private BulletXScene _mScene; 83 private BulletXScene _mScene;
84 84
85 public BulletXPlugin() 85 public BulletXPlugin()
86 { 86 {
87 } 87 }
88 public bool Init() 88 public bool Init()
89 { 89 {
90 return true; 90 return true;
91 } 91 }
92 public PhysicsScene GetScene() 92 public PhysicsScene GetScene()
93 { 93 {
94 if (_mScene == null) 94 if (_mScene == null)
95 { 95 {
96 _mScene = new BulletXScene(); 96 _mScene = new BulletXScene();
97 } 97 }
98 return (_mScene); 98 return (_mScene);
99 } 99 }
100 public string GetName() 100 public string GetName()
101 { 101 {
102 return ("BulletXEngine"); 102 return ("BulletXEngine");
103 } 103 }
104 public void Dispose() 104 public void Dispose()
105 { 105 {
106 } 106 }
107 } 107 }
108 /// <summary> 108 /// <summary>
109 /// PhysicsScene Class for BulletX 109 /// PhysicsScene Class for BulletX
110 /// </summary> 110 /// </summary>
111 public class BulletXScene : PhysicsScene 111 public class BulletXScene : PhysicsScene
112 { 112 {
113 public DiscreteDynamicsWorld ddWorld; 113 public DiscreteDynamicsWorld ddWorld;
114 private CollisionDispatcher cDispatcher; 114 private CollisionDispatcher cDispatcher;
115 private OverlappingPairCache opCache; 115 private OverlappingPairCache opCache;
116 private SequentialImpulseConstraintSolver sicSolver; 116 private SequentialImpulseConstraintSolver sicSolver;
117 117
118 private const int minXY = 0; 118 private const int minXY = 0;
119 private const int minZ = 0; 119 private const int minZ = 0;
120 private const int maxXY = 256; 120 private const int maxXY = 256;
121 private const int maxZ = 4096; 121 private const int maxZ = 4096;
122 private const int maxHandles = 32766; //Why? I don't know 122 private const int maxHandles = 32766; //Why? I don't know
123 private static float gravity = 9.8f; 123 private static float gravity = 9.8f;
124 private static float heightLevel0 = 77.0f; 124 private static float heightLevel0 = 77.0f;
125 private static float heightLevel1 = 200.0f; 125 private static float heightLevel1 = 200.0f;
126 private static float lowGravityFactor = 0.2f; 126 private static float lowGravityFactor = 0.2f;
127 127
128 private float[] _heightmap; 128 private float[] _heightmap;
129 private List<BulletXCharacter> _characters = new List<BulletXCharacter>(); 129 private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
130 130
131 public static float Gravity { get { return gravity; } } 131 public static float Gravity { get { return gravity; } }
132 public static float HeightLevel0 { get { return heightLevel0; } } 132 public static float HeightLevel0 { get { return heightLevel0; } }
133 public static float HeightLevel1 { get { return heightLevel1; } } 133 public static float HeightLevel1 { get { return heightLevel1; } }
134 public static float LowGravityFactor { get { return lowGravityFactor; } } 134 public static float LowGravityFactor { get { return lowGravityFactor; } }
135 135
136 public BulletXScene() 136 public BulletXScene()
137 { 137 {
138 cDispatcher = new CollisionDispatcher(); 138 cDispatcher = new CollisionDispatcher();
139 MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ); 139 MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);
140 MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ); 140 MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);
141 opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); 141 opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
142 sicSolver = new SequentialImpulseConstraintSolver(); 142 sicSolver = new SequentialImpulseConstraintSolver();
143 143
144 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); 144 ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
145 ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); 145 ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
146 146
147 this._heightmap = new float[65536]; 147 this._heightmap = new float[65536];
148 } 148 }
149 149
150 public override PhysicsActor AddAvatar(PhysicsVector position) 150 public override PhysicsActor AddAvatar(PhysicsVector position)
151 { 151 {
152 PhysicsVector pos = new PhysicsVector(); 152 PhysicsVector pos = new PhysicsVector();
153 pos.X = position.X; 153 pos.X = position.X;
154 pos.Y = position.Y; 154 pos.Y = position.Y;
155 pos.Z = position.Z + 20; 155 pos.Z = position.Z + 20;
156 BulletXCharacter newAv = new BulletXCharacter(this, pos); 156 BulletXCharacter newAv = new BulletXCharacter(this, pos);
157 this._characters.Add(newAv); 157 this._characters.Add(newAv);
158 return newAv; 158 return newAv;
159 } 159 }
160 160
161 public override void RemoveAvatar(PhysicsActor actor) 161 public override void RemoveAvatar(PhysicsActor actor)
162 { 162 {
163 163
164 } 164 }
165 165
166 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) 166 public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
167 { 167 {
168 PhysicsVector pos = new PhysicsVector(); 168 PhysicsVector pos = new PhysicsVector();
169 pos.X = position.X; 169 pos.X = position.X;
170 pos.Y = position.Y; 170 pos.Y = position.Y;
171 pos.Z = position.Z; 171 pos.Z = position.Z;
172 PhysicsVector siz = new PhysicsVector(); 172 PhysicsVector siz = new PhysicsVector();
173 siz.X = size.X; 173 siz.X = size.X;
174 siz.Y = size.Y; 174 siz.Y = size.Y;
175 siz.Z = size.Z; 175 siz.Z = size.Z;
176 return new BulletXPrim(); 176 return new BulletXPrim();
177 } 177 }
178 178
179 public override void Simulate(float timeStep) 179 public override void Simulate(float timeStep)
180 { 180 {
181 foreach (BulletXCharacter actor in _characters) 181 foreach (BulletXCharacter actor in _characters)
182 { 182 {
183 actor.Move(timeStep); 183 actor.Move(timeStep);
184 184
185 } 185 }
186 ddWorld.StepSimulation(timeStep, 0, timeStep); 186 ddWorld.StepSimulation(timeStep, 0, timeStep);
187 foreach (BulletXCharacter actor in _characters) 187 foreach (BulletXCharacter actor in _characters)
188 { 188 {
189 actor.ValidateHeight(this._heightmap[ 189 actor.ValidateHeight(this._heightmap[
190 (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 190 (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
191 + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]); 191 + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);
192 } 192 }
193 foreach (BulletXCharacter actor in _characters) 193 foreach (BulletXCharacter actor in _characters)
194 { 194 {
195 actor.UpdatePosition(); 195 actor.UpdatePosition();
196 } 196 }
197 197
198 } 198 }
199 199
200 public override void GetResults() 200 public override void GetResults()
201 { 201 {
202 202
203 } 203 }
204 204
205 public override bool IsThreaded 205 public override bool IsThreaded
206 { 206 {
207 get 207 get
208 { 208 {
209 return (false); // for now we won't be multithreaded 209 return (false); // for now we won't be multithreaded
210 } 210 }
211 } 211 }
212 212
213 public override void SetTerrain(float[] heightMap) 213 public override void SetTerrain(float[] heightMap)
214 { 214 {
215 //As the same as ODE, heightmap (x,y) must be swapped for BulletX 215 //As the same as ODE, heightmap (x,y) must be swapped for BulletX
216 for (int i = 0; i < 65536; i++) 216 for (int i = 0; i < 65536; i++)
217 { 217 {
218 // this._heightmap[i] = (double)heightMap[i]; 218 // this._heightmap[i] = (double)heightMap[i];
219 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...) 219 // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
220 int x = i & 0xff; 220 int x = i & 0xff;
221 int y = i >> 8; 221 int y = i >> 8;
222 this._heightmap[i] = heightMap[x * 256 + y]; 222 this._heightmap[i] = heightMap[x * 256 + y];
223 } 223 }
224 } 224 }
225 225
226 public override void DeleteTerrain() 226 public override void DeleteTerrain()
227 { 227 {
228 228
229 } 229 }
230 } 230 }
231 /// <summary> 231 /// <summary>
232 /// PhysicsActor Character Class for BulletX 232 /// PhysicsActor Character Class for BulletX
233 /// </summary> 233 /// </summary>
234 public class BulletXCharacter : PhysicsActor 234 public class BulletXCharacter : PhysicsActor
235 { 235 {
236 private PhysicsVector _position; 236 private PhysicsVector _position;
237 private PhysicsVector _velocity; 237 private PhysicsVector _velocity;
238 private PhysicsVector _acceleration; 238 private PhysicsVector _acceleration;
239 private bool flying; 239 private bool flying;
240 private RigidBody rigidBody; 240 private RigidBody rigidBody;
241 public Axiom.Math.Vector2 RigidBodyHorizontalPosition 241 public Axiom.Math.Vector2 RigidBodyHorizontalPosition
242 { 242 {
243 get 243 get
244 { 244 {
245 return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y); 245 return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
246 } 246 }
247 } 247 }
248 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) 248 public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
249 { 249 {
250 _velocity = new PhysicsVector(); 250 _velocity = new PhysicsVector();
251 _position = pos; 251 _position = pos;
252 _acceleration = new PhysicsVector(); 252 _acceleration = new PhysicsVector();
253 float _mass = 50.0f; //This depends of avatar's dimensions 253 float _mass = 50.0f; //This depends of avatar's dimensions
254 Matrix _startTransform = Matrix.Identity; 254 Matrix _startTransform = Matrix.Identity;
255 _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos); 255 _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
256 Matrix _centerOfMassOffset = Matrix.Identity; 256 Matrix _centerOfMassOffset = Matrix.Identity;
257 CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f)); 257 CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));
258 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); 258 DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
259 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); 259 MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
260 _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 260 _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
261 261
262 //The next values might change 262 //The next values might change
263 float _linearDamping = 0.0f; 263 float _linearDamping = 0.0f;
264 float _angularDamping = 0.0f; 264 float _angularDamping = 0.0f;
265 float _friction = 0.5f; 265 float _friction = 0.5f;
266 float _restitution = 0.0f; 266 float _restitution = 0.0f;
267 267
268 rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); 268 rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
269 rigidBody.ActivationState = ActivationState.DisableDeactivation; 269 rigidBody.ActivationState = ActivationState.DisableDeactivation;
270 270
271 parent_scene.ddWorld.AddRigidBody(rigidBody); 271 parent_scene.ddWorld.AddRigidBody(rigidBody);
272 } 272 }
273 273
274 public override bool Flying 274 public override bool Flying
275 { 275 {
276 get 276 get
277 { 277 {
278 return flying; 278 return flying;
279 } 279 }
280 set 280 set
281 { 281 {
282 flying = value; 282 flying = value;
283 } 283 }
284 } 284 }
285 285
286 public override PhysicsVector Position 286 public override PhysicsVector Position
287 { 287 {
288 get 288 get
289 { 289 {
290 return _position; 290 return _position;
291 } 291 }
292 set 292 set
293 { 293 {
294 _position = value; 294 _position = value;
295 } 295 }
296 } 296 }
297 297
298 public override PhysicsVector Velocity 298 public override PhysicsVector Velocity
299 { 299 {
300 get 300 get
301 { 301 {
302 return _velocity; 302 return _velocity;
303 } 303 }
304 set 304 set
305 { 305 {
306 _velocity = value; 306 _velocity = value;
307 } 307 }
308 } 308 }
309 309
310 public override bool Kinematic 310 public override bool Kinematic
311 { 311 {
312 get 312 get
313 { 313 {
314 return false; 314 return false;
315 } 315 }
316 set 316 set
317 { 317 {
318 318
319 } 319 }
320 } 320 }
321 321
322 public override Axiom.Math.Quaternion Orientation 322 public override Axiom.Math.Quaternion Orientation
323 { 323 {
324 get 324 get
325 { 325 {
326 return Axiom.Math.Quaternion.Identity; 326 return Axiom.Math.Quaternion.Identity;
327 } 327 }
328 set 328 set
329 { 329 {
330 330
331 } 331 }
332 } 332 }
333 333
334 public override PhysicsVector Acceleration 334 public override PhysicsVector Acceleration
335 { 335 {
336 get 336 get
337 { 337 {
338 return _acceleration; 338 return _acceleration;
339 } 339 }
340 340
341 } 341 }
342 public void SetAcceleration(PhysicsVector accel) 342 public void SetAcceleration(PhysicsVector accel)
343 { 343 {
344 this._acceleration = accel; 344 this._acceleration = accel;
345 } 345 }
346 346
347 public override void AddForce(PhysicsVector force) 347 public override void AddForce(PhysicsVector force)
348 { 348 {
349 349
350 } 350 }
351 351
352 public override void SetMomentum(PhysicsVector momentum) 352 public override void SetMomentum(PhysicsVector momentum)
353 { 353 {
354 354
355 } 355 }
356 356
357 public void Move(float timeStep) 357 public void Move(float timeStep)
358 { 358 {
359 MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3(); 359 MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
360 //if (this._velocity.X == 0.0f) 360 //if (this._velocity.X == 0.0f)
361 // vec.X = this.rigidBody.LinearVelocity.X; //current velocity 361 // vec.X = this.rigidBody.LinearVelocity.X; //current velocity
362 //else 362 //else
363 vec.X = this._velocity.X; //overrides current velocity 363 vec.X = this._velocity.X; //overrides current velocity
364 364
365 //if (this._velocity.Y == 0.0f) 365 //if (this._velocity.Y == 0.0f)
366 // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity 366 // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity
367 //else 367 //else
368 vec.Y = this._velocity.Y; //overrides current velocity 368 vec.Y = this._velocity.Y; //overrides current velocity
369 369
370 float nextZVelocity; 370 float nextZVelocity;
371 //if (this._velocity.Z == 0.0f) 371 //if (this._velocity.Z == 0.0f)
372 // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity 372 // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity
373 //else 373 //else
374 nextZVelocity = this._velocity.Z; //overrides current velocity 374 nextZVelocity = this._velocity.Z; //overrides current velocity
375 375
376 if (flying) 376 if (flying)
377 { 377 {
378 //Antigravity with movement 378 //Antigravity with movement
379 if (this._position.Z <= BulletXScene.HeightLevel0) 379 if (this._position.Z <= BulletXScene.HeightLevel0)
380 { 380 {
381 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep; 381 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;
382 } 382 }
383 //Lowgravity with movement 383 //Lowgravity with movement
384 else if((this._position.Z > BulletXScene.HeightLevel0) 384 else if((this._position.Z > BulletXScene.HeightLevel0)
385 && (this._position.Z <= BulletXScene.HeightLevel1)) 385 && (this._position.Z <= BulletXScene.HeightLevel1))
386 { 386 {
387 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); 387 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
388 } 388 }
389 //Lowgravity with... 389 //Lowgravity with...
390 else if (this._position.Z > BulletXScene.HeightLevel1) 390 else if (this._position.Z > BulletXScene.HeightLevel1)
391 { 391 {
392 if(nextZVelocity > 0) //no movement 392 if(nextZVelocity > 0) //no movement
393 vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); 393 vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
394 else 394 else
395 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); 395 vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
396 396
397 } 397 }
398 } 398 }
399 else 399 else
400 { 400 {
401 vec.Z = nextZVelocity; 401 vec.Z = nextZVelocity;
402 } 402 }
403 rigidBody.LinearVelocity = vec; 403 rigidBody.LinearVelocity = vec;
404 } 404 }
405 405
406 public void UpdatePosition() 406 public void UpdatePosition()
407 { 407 {
408 this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); 408 this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
409 } 409 }
410 410
411 //This validation is very basic 411 //This validation is very basic
412 internal void ValidateHeight(float heighmapPositionValue) 412 internal void ValidateHeight(float heighmapPositionValue)
413 { 413 {
414 if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue) 414 if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)
415 { 415 {
416 Matrix m = rigidBody.WorldTransform; 416 Matrix m = rigidBody.WorldTransform;
417 MonoXnaCompactMaths.Vector3 v3 = m.Translation; 417 MonoXnaCompactMaths.Vector3 v3 = m.Translation;
418 v3.Z = heighmapPositionValue; 418 v3.Z = heighmapPositionValue;
419 m.Translation = v3; 419 m.Translation = v3;
420 rigidBody.WorldTransform = m; 420 rigidBody.WorldTransform = m;
421 } 421 }
422 } 422 }
423 } 423 }
424 /// <summary> 424 /// <summary>
425 /// PhysicsActor Prim Class for BulletX 425 /// PhysicsActor Prim Class for BulletX
426 /// </summary> 426 /// </summary>
427 public class BulletXPrim : PhysicsActor 427 public class BulletXPrim : PhysicsActor
428 { 428 {
429 private PhysicsVector _position; 429 private PhysicsVector _position;
430 private PhysicsVector _velocity; 430 private PhysicsVector _velocity;
431 private PhysicsVector _acceleration; 431 private PhysicsVector _acceleration;
432 432
433 public BulletXPrim() 433 public BulletXPrim()
434 { 434 {
435 _velocity = new PhysicsVector(); 435 _velocity = new PhysicsVector();
436 _position = new PhysicsVector(); 436 _position = new PhysicsVector();
437 _acceleration = new PhysicsVector(); 437 _acceleration = new PhysicsVector();
438 } 438 }
439 public override bool Flying 439 public override bool Flying
440 { 440 {
441 get 441 get
442 { 442 {
443 return false; //no flying prims for you 443 return false; //no flying prims for you
444 } 444 }
445 set 445 set
446 { 446 {
447 447
448 } 448 }
449 } 449 }
450 public override PhysicsVector Position 450 public override PhysicsVector Position
451 { 451 {
452 get 452 get
453 { 453 {
454 PhysicsVector pos = new PhysicsVector(); 454 PhysicsVector pos = new PhysicsVector();
455 // PhysicsVector vec = this._prim.Position; 455 // PhysicsVector vec = this._prim.Position;
456 //pos.X = vec.X; 456 //pos.X = vec.X;
457 //pos.Y = vec.Y; 457 //pos.Y = vec.Y;
458 //pos.Z = vec.Z; 458 //pos.Z = vec.Z;
459 return pos; 459 return pos;
460 460
461 } 461 }
462 set 462 set
463 { 463 {
464 /*PhysicsVector vec = value; 464 /*PhysicsVector vec = value;
465 PhysicsVector pos = new PhysicsVector(); 465 PhysicsVector pos = new PhysicsVector();
466 pos.X = vec.X; 466 pos.X = vec.X;
467 pos.Y = vec.Y; 467 pos.Y = vec.Y;
468 pos.Z = vec.Z; 468 pos.Z = vec.Z;
469 this._prim.Position = pos;*/ 469 this._prim.Position = pos;*/
470 } 470 }
471 } 471 }
472 472
473 public override PhysicsVector Velocity 473 public override PhysicsVector Velocity
474 { 474 {
475 get 475 get
476 { 476 {
477 return _velocity; 477 return _velocity;
478 } 478 }
479 set 479 set
480 { 480 {
481 _velocity = value; 481 _velocity = value;
482 } 482 }
483 } 483 }
484 484
485 public override bool Kinematic 485 public override bool Kinematic
486 { 486 {
487 get 487 get
488 { 488 {
489 return false; 489 return false;
490 //return this._prim.Kinematic; 490 //return this._prim.Kinematic;
491 } 491 }
492 set 492 set
493 { 493 {
494 //this._prim.Kinematic = value; 494 //this._prim.Kinematic = value;
495 } 495 }
496 } 496 }
497 497
498 public override Axiom.Math.Quaternion Orientation 498 public override Axiom.Math.Quaternion Orientation
499 { 499 {
500 get 500 get
501 { 501 {
502 Axiom.Math.Quaternion res = new Axiom.Math.Quaternion(); 502 Axiom.Math.Quaternion res = new Axiom.Math.Quaternion();
503 return res; 503 return res;
504 } 504 }
505 set 505 set
506 { 506 {
507 507
508 } 508 }
509 } 509 }
510 510
511 public override PhysicsVector Acceleration 511 public override PhysicsVector Acceleration
512 { 512 {
513 get 513 get
514 { 514 {
515 return _acceleration; 515 return _acceleration;
516 } 516 }
517 517
518 } 518 }
519 public void SetAcceleration(PhysicsVector accel) 519 public void SetAcceleration(PhysicsVector accel)
520 { 520 {
521 this._acceleration = accel; 521 this._acceleration = accel;
522 } 522 }
523 523
524 public override void AddForce(PhysicsVector force) 524 public override void AddForce(PhysicsVector force)
525 { 525 {
526 526
527 } 527 }
528 528
529 public override void SetMomentum(PhysicsVector momentum) 529 public override void SetMomentum(PhysicsVector momentum)
530 { 530 {
531 531
532 } 532 }
533 } 533 }
534} 534}
generated by cgit v1.1 at 2024-12-14 13:36:33 +0000