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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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
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
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.IO;
30using System.Runtime.InteropServices;
31using System.Security;
32using System.Text;
33using BulletXNA;
34using OpenMetaverse;
35using BulletXNA.LinearMath;
36using BulletXNA.BulletCollision;
37using BulletXNA.BulletDynamics;
38using BulletXNA.BulletCollision.CollisionDispatch;
39using OpenSim.Framework;
40
41namespace OpenSim.Region.Physics.BulletSNPlugin {
42
43// Classes to allow some type checking for the API
44// These hold pointers to allocated objects in the unmanaged space.
45
46
47
48 // Constraint type values as defined by Bullet
49public enum ConstraintType : int
50{
51 POINT2POINT_CONSTRAINT_TYPE = 3,
52 HINGE_CONSTRAINT_TYPE,
53 CONETWIST_CONSTRAINT_TYPE,
54 D6_CONSTRAINT_TYPE,
55 SLIDER_CONSTRAINT_TYPE,
56 CONTACT_CONSTRAINT_TYPE,
57 D6_SPRING_CONSTRAINT_TYPE,
58 MAX_CONSTRAINT_TYPE
59}
60
61
62// ===============================================================================
63[StructLayout(LayoutKind.Sequential)]
64public struct ConvexHull
65{
66 Vector3 Offset;
67 int VertexCount;
68 Vector3[] Vertices;
69}
70public enum BSPhysicsShapeType
71{
72 SHAPE_UNKNOWN = 0,
73 SHAPE_CAPSULE = 1,
74 SHAPE_BOX = 2,
75 SHAPE_CONE = 3,
76 SHAPE_CYLINDER = 4,
77 SHAPE_SPHERE = 5,
78 SHAPE_MESH = 6,
79 SHAPE_HULL = 7,
80 // following defined by BulletSim
81 SHAPE_GROUNDPLANE = 20,
82 SHAPE_TERRAIN = 21,
83 SHAPE_COMPOUND = 22,
84 SHAPE_HEIGHTMAP = 23,
85};
86
87// The native shapes have predefined shape hash keys
88public enum FixedShapeKey : ulong
89{
90 KEY_NONE = 0,
91 KEY_BOX = 1,
92 KEY_SPHERE = 2,
93 KEY_CONE = 3,
94 KEY_CYLINDER = 4,
95 KEY_CAPSULE = 5,
96}
97
98[StructLayout(LayoutKind.Sequential)]
99public struct ShapeData
100{
101 public uint ID;
102 public BSPhysicsShapeType Type;
103 public Vector3 Position;
104 public Quaternion Rotation;
105 public Vector3 Velocity;
106 public Vector3 Scale;
107 public float Mass;
108 public float Buoyancy;
109 public System.UInt64 HullKey;
110 public System.UInt64 MeshKey;
111 public float Friction;
112 public float Restitution;
113 public float Collidable; // true of things bump into this
114 public float Static; // true if a static object. Otherwise gravity, etc.
115 public float Solid; // true if object cannot be passed through
116 public Vector3 Size;
117
118 // note that bools are passed as floats since bool size changes by language and architecture
119 public const float numericTrue = 1f;
120 public const float numericFalse = 0f;
121}
122[StructLayout(LayoutKind.Sequential)]
123public struct SweepHit
124{
125 public uint ID;
126 public float Fraction;
127 public Vector3 Normal;
128 public Vector3 Point;
129}
130[StructLayout(LayoutKind.Sequential)]
131public struct RaycastHit
132{
133 public uint ID;
134 public float Fraction;
135 public Vector3 Normal;
136}
137[StructLayout(LayoutKind.Sequential)]
138public struct CollisionDesc
139{
140 public uint aID;
141 public uint bID;
142 public Vector3 point;
143 public Vector3 normal;
144}
145[StructLayout(LayoutKind.Sequential)]
146public struct EntityProperties
147{
148 public uint ID;
149 public Vector3 Position;
150 public Quaternion Rotation;
151 public Vector3 Velocity;
152 public Vector3 Acceleration;
153 public Vector3 RotationalVelocity;
154 public override string ToString()
155 {
156 return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>",
157 ID.ToString(),
158 Position.X,Position.Y,Position.Z,
159 Rotation.X,Rotation.Y,Rotation.Z,Rotation.W,
160 Velocity.X,Velocity.Y,Velocity.Z,
161 RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z
162 );
163 }
164}
165
166// Format of this structure must match the definition in the C++ code
167// NOTE: adding the X causes compile breaks if used. These are unused symbols
168// that can be removed from both here and the unmanaged definition of this structure.
169[StructLayout(LayoutKind.Sequential)]
170public struct ConfigurationParameters
171{
172 public float defaultFriction;
173 public float defaultDensity;
174 public float defaultRestitution;
175 public float collisionMargin;
176 public float gravity;
177
178 public float XlinearDamping;
179 public float XangularDamping;
180 public float XdeactivationTime;
181 public float XlinearSleepingThreshold;
182 public float XangularSleepingThreshold;
183 public float XccdMotionThreshold;
184 public float XccdSweptSphereRadius;
185 public float XcontactProcessingThreshold;
186
187 public float XterrainImplementation;
188 public float XterrainFriction;
189 public float XterrainHitFraction;
190 public float XterrainRestitution;
191 public float XterrainCollisionMargin;
192
193 public float XavatarFriction;
194 public float XavatarStandingFriction;
195 public float XavatarDensity;
196 public float XavatarRestitution;
197 public float XavatarCapsuleWidth;
198 public float XavatarCapsuleDepth;
199 public float XavatarCapsuleHeight;
200 public float XavatarContactProcessingThreshold;
201
202 public float XvehicleAngularDamping;
203
204 public float maxPersistantManifoldPoolSize;
205 public float maxCollisionAlgorithmPoolSize;
206 public float shouldDisableContactPoolDynamicAllocation;
207 public float shouldForceUpdateAllAabbs;
208 public float shouldRandomizeSolverOrder;
209 public float shouldSplitSimulationIslands;
210 public float shouldEnableFrictionCaching;
211 public float numberOfSolverIterations;
212
213 public float XlinksetImplementation;
214 public float XlinkConstraintUseFrameOffset;
215 public float XlinkConstraintEnableTransMotor;
216 public float XlinkConstraintTransMotorMaxVel;
217 public float XlinkConstraintTransMotorMaxForce;
218 public float XlinkConstraintERP;
219 public float XlinkConstraintCFM;
220 public float XlinkConstraintSolverIterations;
221
222 public float physicsLoggingFrames;
223
224 public const float numericTrue = 1f;
225 public const float numericFalse = 0f;
226}
227
228
229// The states a bullet collision object can have
230
231public enum ActivationState : uint
232{
233 UNDEFINED = 0,
234 ACTIVE_TAG = 1,
235 ISLAND_SLEEPING = 2,
236 WANTS_DEACTIVATION = 3,
237 DISABLE_DEACTIVATION = 4,
238 DISABLE_SIMULATION = 5,
239}
240
241public enum CollisionObjectTypes : int
242{
243 CO_COLLISION_OBJECT = 1 << 0,
244 CO_RIGID_BODY = 1 << 1,
245 CO_GHOST_OBJECT = 1 << 2,
246 CO_SOFT_BODY = 1 << 3,
247 CO_HF_FLUID = 1 << 4,
248 CO_USER_TYPE = 1 << 5,
249}
250
251// Values used by Bullet and BulletSim to control object properties.
252// Bullet's "CollisionFlags" has more to do with operations on the
253// object (if collisions happen, if gravity effects it, ...).
254 [Flags]
255public enum CollisionFlags : uint
256{
257 CF_STATIC_OBJECT = 1 << 0,
258 CF_KINEMATIC_OBJECT = 1 << 1,
259 CF_NO_CONTACT_RESPONSE = 1 << 2,
260 CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
261 CF_CHARACTER_OBJECT = 1 << 4,
262 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
263 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
264 // Following used by BulletSim to control collisions and updates
265 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
266 BS_FLOATS_ON_WATER = 1 << 11,
267 BS_VEHICLE_COLLISIONS = 1 << 12,
268 BS_NONE = 0,
269 BS_ALL = 0xFFFFFFFF,
270
271 // These are the collision flags switched depending on physical state.
272 // The other flags are used for other things and should not be fooled with.
273 BS_ACTIVE = CF_STATIC_OBJECT
274 | CF_KINEMATIC_OBJECT
275 | CF_NO_CONTACT_RESPONSE
276};
277
278// Values for collisions groups and masks
279public enum CollisionFilterGroups : uint
280{
281 // Don't use the bit definitions!! Define the use in a
282 // filter/mask definition below. This way collision interactions
283 // are more easily debugged.
284 BNoneGroup = 0,
285 BDefaultGroup = 1 << 0,
286 BStaticGroup = 1 << 1,
287 BKinematicGroup = 1 << 2,
288 BDebrisGroup = 1 << 3,
289 BSensorTrigger = 1 << 4,
290 BCharacterGroup = 1 << 5,
291 BAllGroup = 0xFFFFFFFF,
292 // Filter groups defined by BulletSim
293 BGroundPlaneGroup = 1 << 10,
294 BTerrainGroup = 1 << 11,
295 BRaycastGroup = 1 << 12,
296 BSolidGroup = 1 << 13,
297 // BLinksetGroup = xx // a linkset proper is either static or dynamic
298 BLinksetChildGroup = 1 << 14,
299 // The collsion filters and masked are defined in one place -- don't want them scattered
300 AvatarGroup = BCharacterGroup,
301 AvatarMask = BAllGroup,
302 ObjectGroup = BSolidGroup,
303 ObjectMask = BAllGroup,
304 StaticObjectGroup = BStaticGroup,
305 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
306 LinksetGroup = BLinksetChildGroup,
307 LinksetMask = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other
308 VolumeDetectGroup = BSensorTrigger,
309 VolumeDetectMask = ~BSensorTrigger,
310 TerrainGroup = BTerrainGroup,
311 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
312 GroundPlaneGroup = BGroundPlaneGroup,
313 GroundPlaneMask = BAllGroup
314
315};
316
317// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
318// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
319public enum ConstraintParams : int
320{
321 BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
322 BT_CONSTRAINT_STOP_ERP,
323 BT_CONSTRAINT_CFM,
324 BT_CONSTRAINT_STOP_CFM,
325};
326public enum ConstraintParamAxis : int
327{
328 AXIS_LINEAR_X = 0,
329 AXIS_LINEAR_Y,
330 AXIS_LINEAR_Z,
331 AXIS_ANGULAR_X,
332 AXIS_ANGULAR_Y,
333 AXIS_ANGULAR_Z,
334 AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
335 AXIS_ANGULAR_ALL,
336 AXIS_ALL
337};
338
339// ===============================================================================
340static class BulletSimAPI {
341 private static int m_collisionsThisFrame;
342 public delegate void DebugLogCallback(string msg);
343 /// <summary>
344 ///
345 /// </summary>
346 /// <param name="p"></param>
347 /// <param name="p_2"></param>
348 internal static bool RemoveObjectFromWorld2(object pWorld, object pBody)
349 {
350 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
351 RigidBody body = pBody as RigidBody;
352 world.RemoveRigidBody(body);
353 return true;
354 }
355
356 internal static void SetRestitution2(object pBody, float pRestitution)
357 {
358 RigidBody body = pBody as RigidBody;
359 body.SetRestitution(pRestitution);
360 }
361
362 internal static void SetMargin2(object pShape, float pMargin)
363 {
364 CollisionShape shape = pShape as CollisionShape;
365 shape.SetMargin(pMargin);
366 }
367
368 internal static void SetLocalScaling2(object pShape, Vector3 pScale)
369 {
370 CollisionShape shape = pShape as CollisionShape;
371 IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
372 shape.SetLocalScaling(ref vec);
373
374 }
375
376 internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
377 {
378 RigidBody body = pBody as RigidBody;
379 body.SetContactProcessingThreshold(contactprocessingthreshold);
380 }
381
382 internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
383 {
384 RigidBody body = pBody as RigidBody;
385 body.SetCcdMotionThreshold(pccdMotionThreashold);
386 }
387
388 internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
389 {
390 RigidBody body = pBody as RigidBody;
391 body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
392 }
393
394 internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
395 {
396 RigidBody body = pBody as RigidBody;
397 body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
398 }
399
400 internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
401 {
402 CollisionObject body = pBody as CollisionObject;
403 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
404 existingcollisionFlags |= pcollisionFlags;
405 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
406 return (CollisionFlags) (uint) existingcollisionFlags;
407 }
408
409 internal static void AddObjectToWorld2(object pWorld, object pBody)
410 {
411 RigidBody body = pBody as RigidBody;
412 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
413 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
414
415 world.AddRigidBody(body);
416
417 //if (body.GetBroadphaseHandle() != null)
418 // world.UpdateSingleAabb(body);
419 }
420
421 internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation)
422 {
423 RigidBody body = pBody as RigidBody;
424 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
425 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
426
427 world.AddRigidBody(body);
428 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
429 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
430 _orientation.W);
431 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
432 mat._origin = vposition;
433 body.SetWorldTransform(mat);
434 //if (body.GetBroadphaseHandle() != null)
435 // world.UpdateSingleAabb(body);
436 }
437
438 internal static void ForceActivationState2(object pBody, ActivationState pActivationState)
439 {
440 CollisionObject body = pBody as CollisionObject;
441 body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
442 }
443
444 internal static void UpdateSingleAabb2(object pWorld, object pBody)
445 {
446 CollisionObject body = pBody as CollisionObject;
447 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
448 world.UpdateSingleAabb(body);
449 }
450
451 internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
452 {
453 RigidBody body = pBody as RigidBody;
454 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
455 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
456 if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
457 return false;
458 return true;
459 }
460
461 internal static void ClearAllForces2(object pBody)
462 {
463 CollisionObject body = pBody as CollisionObject;
464 IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
465 body.SetInterpolationLinearVelocity(ref zeroVector);
466 body.SetInterpolationAngularVelocity(ref zeroVector);
467 IndexedMatrix bodytransform = body.GetWorldTransform();
468
469 body.SetInterpolationWorldTransform(ref bodytransform);
470
471 if (body is RigidBody)
472 {
473 RigidBody rigidbody = body as RigidBody;
474 rigidbody.SetLinearVelocity(zeroVector);
475 rigidbody.SetAngularVelocity(zeroVector);
476 rigidbody.ClearForces();
477 }
478 }
479
480 internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
481 {
482 RigidBody body = pBody as RigidBody;
483 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
484 body.SetInterpolationAngularVelocity(ref vec);
485 }
486
487 internal static void SetAngularVelocity2(object pBody, Vector3 pVector3)
488 {
489 RigidBody body = pBody as RigidBody;
490 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
491 body.SetAngularVelocity(ref vec);
492 }
493
494 internal static void ClearForces2(object pBody)
495 {
496 RigidBody body = pBody as RigidBody;
497 body.ClearForces();
498 }
499
500 internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
501 {
502 RigidBody body = pBody as RigidBody;
503 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
504 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
505 _orientation.W);
506 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
507 mat._origin = vposition;
508 body.SetWorldTransform(mat);
509
510 }
511
512 internal static Vector3 GetPosition2(object pBody)
513 {
514 RigidBody body = pBody as RigidBody;
515 IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
516 return new Vector3(pos.X, pos.Y, pos.Z);
517 }
518
519 internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
520 {
521 CollisionShape shape = pShape as CollisionShape;
522 IndexedVector3 inertia = IndexedVector3.Zero;
523 shape.CalculateLocalInertia(pphysMass, out inertia);
524 return new Vector3(inertia.X, inertia.Y, inertia.Z);
525 }
526
527 internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
528 {
529 RigidBody body = pBody as RigidBody;
530 IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
531 body.SetMassProps(pphysMass, inertia);
532 }
533
534
535 internal static void SetObjectForce2(object pBody, Vector3 _force)
536 {
537 RigidBody body = pBody as RigidBody;
538 IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
539 body.SetTotalForce(ref force);
540 }
541
542 internal static void SetFriction2(object pBody, float _currentFriction)
543 {
544 RigidBody body = pBody as RigidBody;
545 body.SetFriction(_currentFriction);
546 }
547
548 internal static void SetLinearVelocity2(object pBody, Vector3 _velocity)
549 {
550 RigidBody body = pBody as RigidBody;
551 IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
552 body.SetLinearVelocity(velocity);
553 }
554
555 internal static void Activate2(object pBody, bool pforceactivation)
556 {
557 RigidBody body = pBody as RigidBody;
558 body.Activate(pforceactivation);
559
560 }
561
562 internal static Quaternion GetOrientation2(object pBody)
563 {
564 RigidBody body = pBody as RigidBody;
565 IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
566 return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
567 }
568
569 internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
570 {
571 RigidBody body = pBody as RigidBody;
572 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
573 existingcollisionFlags &= ~pcollisionFlags;
574 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
575 return (CollisionFlags)(uint)existingcollisionFlags;
576 }
577
578 internal static void SetGravity2(object pBody, Vector3 pGravity)
579 {
580 RigidBody body = pBody as RigidBody;
581 IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
582 body.SetGravity(gravity);
583 }
584
585 internal static bool DestroyConstraint2(object pBody, object pConstraint)
586 {
587 RigidBody body = pBody as RigidBody;
588 TypedConstraint constraint = pConstraint as TypedConstraint;
589 body.RemoveConstraintRef(constraint);
590 return true;
591 }
592
593 internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
594 {
595 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
596 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
597 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
598 constraint.SetLinearLowerLimit(lowlimit);
599 constraint.SetLinearUpperLimit(highlimit);
600 return true;
601 }
602
603 internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
604 {
605 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
606 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
607 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
608 constraint.SetAngularLowerLimit(lowlimit);
609 constraint.SetAngularUpperLimit(highlimit);
610 return true;
611 }
612
613 internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
614 {
615 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
616 constraint.SetOverrideNumSolverIterations((int)cnt);
617 }
618
619 internal static void CalculateTransforms2(object pConstraint)
620 {
621 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
622 constraint.CalculateTransforms();
623 }
624
625 internal static void SetConstraintEnable2(object pConstraint, float p_2)
626 {
627 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
628 constraint.SetEnabled((p_2 == 0) ? false : true);
629 }
630
631
632 //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
633 internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
634
635 {
636 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
637 RigidBody body1 = pBody1 as RigidBody;
638 RigidBody body2 = pBody2 as RigidBody;
639 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
640 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
641 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
642 frame1._origin = frame1v;
643
644 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
645 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
646 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
647 frame2._origin = frame1v;
648
649 Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
650 puseLinearReferenceFrameA);
651 consttr.CalculateTransforms();
652 world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
653
654 return consttr;
655 }
656
657
658 /// <summary>
659 ///
660 /// </summary>
661 /// <param name="pWorld"></param>
662 /// <param name="pBody1"></param>
663 /// <param name="pBody2"></param>
664 /// <param name="pjoinPoint"></param>
665 /// <param name="puseLinearReferenceFrameA"></param>
666 /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
667 /// <returns></returns>
668 internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
669 {
670 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
671 RigidBody body1 = pBody1 as RigidBody;
672 RigidBody body2 = pBody2 as RigidBody;
673 IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
674 IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
675
676 IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
677 IndexedMatrix mat = IndexedMatrix.Identity;
678 mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
679 frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
680 frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
681
682 Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
683 consttr.CalculateTransforms();
684 world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
685
686 return consttr;
687 }
688 //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
689 internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
690 {
691 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
692 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
693 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
694 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
695 frame1._origin = frame1v;
696
697 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
698 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
699 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
700 frame2._origin = frame1v;
701 constraint.SetFrames(ref frame1, ref frame2);
702 }
703
704
705
706
707 internal static bool IsInWorld2(object pWorld, object pShapeObj)
708 {
709 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
710 CollisionObject shape = pShapeObj as CollisionObject;
711 return world.IsInWorld(shape);
712 }
713
714 internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
715 {
716 RigidBody body = pBody as RigidBody;
717 IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
718 body.SetInterpolationLinearVelocity(ref velocity);
719 }
720
721 internal static bool UseFrameOffset2(object pConstraint, float onOff)
722 {
723 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
724 constraint.SetUseFrameOffset((onOff == 0) ? false : true);
725 return true;
726 }
727 //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
728 internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
729 {
730 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
731 constraint.SetBreakingImpulseThreshold(threshold);
732 return true;
733 }
734 //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
735 internal static void SetAngularDamping2(object pBody, float angularDamping)
736 {
737 RigidBody body = pBody as RigidBody;
738 float lineardamping = body.GetLinearDamping();
739 body.SetDamping(lineardamping, angularDamping);
740
741 }
742
743 internal static void UpdateInertiaTensor2(object pBody)
744 {
745 RigidBody body = pBody as RigidBody;
746 body.UpdateInertiaTensor();
747 }
748
749 internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
750 {
751
752 CompoundShape shape = pCompoundShape as CompoundShape;
753 shape.RecalculateLocalAabb();
754 }
755
756 //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
757 internal static CollisionFlags GetCollisionFlags2(object pBody)
758 {
759 RigidBody body = pBody as RigidBody;
760 uint flags = (uint)body.GetCollisionFlags();
761 return (CollisionFlags) flags;
762 }
763
764 internal static void SetDamping2(object pBody, float pLinear, float pAngular)
765 {
766 RigidBody body = pBody as RigidBody;
767 body.SetDamping(pLinear, pAngular);
768 }
769 //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
770 internal static void SetDeactivationTime2(object pBody, float pDeactivationTime)
771 {
772 RigidBody body = pBody as RigidBody;
773 body.SetDeactivationTime(pDeactivationTime);
774 }
775 //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
776 internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
777 {
778 RigidBody body = pBody as RigidBody;
779 body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
780 }
781
782 internal static CollisionObjectTypes GetBodyType2(object pBody)
783 {
784 RigidBody body = pBody as RigidBody;
785 return (CollisionObjectTypes)(int) body.GetInternalType();
786 }
787
788 //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
789 internal static void ApplyCentralForce2(object pBody, Vector3 pfSum)
790 {
791 RigidBody body = pBody as RigidBody;
792 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
793 body.ApplyCentralForce(ref fSum);
794 }
795 internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
796 {
797 RigidBody body = pBody as RigidBody;
798 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
799 body.ApplyCentralImpulse(ref fSum);
800 }
801 internal static void ApplyTorque2(object pBody, Vector3 pfSum)
802 {
803 RigidBody body = pBody as RigidBody;
804 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
805 body.ApplyTorque(ref fSum);
806 }
807 internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
808 {
809 RigidBody body = pBody as RigidBody;
810 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
811 body.ApplyTorqueImpulse(ref fSum);
812 }
813
814 internal static void DumpRigidBody2(object p, object p_2)
815 {
816 //TODO:
817 }
818
819 internal static void DumpCollisionShape2(object p, object p_2)
820 {
821 //TODO:
822 }
823
824 internal static void DestroyObject2(object p, object p_2)
825 {
826 //TODO:
827 }
828
829 internal static void Shutdown2(object pWorld)
830 {
831 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
832 world.Cleanup();
833 }
834
835 internal static void DeleteCollisionShape2(object p, object p_2)
836 {
837 //TODO:
838 }
839 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
840
841 internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
842 {
843 CollisionWorld world = pWorld as CollisionWorld;
844 IndexedMatrix mat =
845 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
846 pRawOrientation.Z, pRawOrientation.W));
847 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
848 CollisionShape shape = pShape as CollisionShape;
849 //UpdateSingleAabb2(world, shape);
850 // TODO: Feed Update array into null
851 RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
852
853 body.SetUserPointer(pLocalID);
854 return body;
855 }
856
857
858 internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
859 {
860
861 IndexedMatrix mat =
862 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
863 pRawOrientation.Z, pRawOrientation.W));
864 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
865
866 CollisionShape shape = pShape as CollisionShape;
867
868 // TODO: Feed Update array into null
869 RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
870 body.SetWorldTransform(mat);
871 body.SetUserPointer(pLocalID);
872 return body;
873 }
874 //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
875 internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
876 {
877 RigidBody body = pBody as RigidBody;
878 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
879 }
880 //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
881 internal static void SetHitFraction2(object pBody, float pHitFraction)
882 {
883 RigidBody body = pBody as RigidBody;
884 body.SetHitFraction(pHitFraction);
885 }
886 //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
887 internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
888 {
889 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
890 IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
891 CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
892 capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
893 capsuleShapeZ.SetLocalScaling(ref scale);
894
895 return capsuleShapeZ;
896 }
897
898 public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle)
899 {
900 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
901
902 p.angularDamping = o[0].XangularDamping;
903 p.defaultFriction = o[0].defaultFriction;
904 p.defaultFriction = o[0].defaultFriction;
905 p.defaultDensity = o[0].defaultDensity;
906 p.defaultRestitution = o[0].defaultRestitution;
907 p.collisionMargin = o[0].collisionMargin;
908 p.gravity = o[0].gravity;
909
910 p.linearDamping = o[0].XlinearDamping;
911 p.angularDamping = o[0].XangularDamping;
912 p.deactivationTime = o[0].XdeactivationTime;
913 p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
914 p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
915 p.ccdMotionThreshold = o[0].XccdMotionThreshold;
916 p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
917 p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
918
919 p.terrainImplementation = o[0].XterrainImplementation;
920 p.terrainFriction = o[0].XterrainFriction;
921
922 p.terrainHitFraction = o[0].XterrainHitFraction;
923 p.terrainRestitution = o[0].XterrainRestitution;
924 p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
925
926 p.avatarFriction = o[0].XavatarFriction;
927 p.avatarStandingFriction = o[0].XavatarStandingFriction;
928 p.avatarDensity = o[0].XavatarDensity;
929 p.avatarRestitution = o[0].XavatarRestitution;
930 p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
931 p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
932 p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
933 p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
934
935 p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
936
937 p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
938 p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
939 p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
940 p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
941 p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
942 p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
943 p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
944 p.numberOfSolverIterations = o[0].numberOfSolverIterations;
945
946 p.linksetImplementation = o[0].XlinksetImplementation;
947 p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
948 p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
949 p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
950 p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
951 p.linkConstraintERP = o[0].XlinkConstraintERP;
952 p.linkConstraintCFM = o[0].XlinkConstraintCFM;
953 p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
954 p.physicsLoggingFrames = o[0].physicsLoggingFrames;
955 DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
956
957 DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
958 CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
959
960
961 if (p.maxPersistantManifoldPoolSize > 0)
962 cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
963 if (p.shouldDisableContactPoolDynamicAllocation !=0)
964 m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
965 //if (p.maxCollisionAlgorithmPoolSize >0 )
966
967 DbvtBroadphase m_broadphase = new DbvtBroadphase();
968 //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
969 //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
970
971 //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
972 m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
973
974 SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
975
976 DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
977 world.UpdatedObjects = updateArray;
978 world.UpdatedCollisions = collisionArray;
979 world.WorldSettings.Params = p;
980 world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
981 world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
982 if (p.shouldRandomizeSolverOrder != 0)
983 world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
984
985 world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
986 //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
987
988 if (p.shouldEnableFrictionCaching != 0)
989 world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
990
991 if (p.numberOfSolverIterations > 0)
992 world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
993
994
995 world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
996 world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
997 world.GetSolverInfo().m_globalCfm = 0.0f;
998 world.GetSolverInfo().m_tau = 0.6f;
999 world.GetSolverInfo().m_friction = 0.3f;
1000 world.GetSolverInfo().m_maxErrorReduction = 20f;
1001 world.GetSolverInfo().m_numIterations = 10;
1002 world.GetSolverInfo().m_erp = 0.2f;
1003 world.GetSolverInfo().m_erp2 = 0.1f;
1004 world.GetSolverInfo().m_sor = 1.0f;
1005 world.GetSolverInfo().m_splitImpulse = false;
1006 world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
1007 world.GetSolverInfo().m_linearSlop = 0.0f;
1008 world.GetSolverInfo().m_warmstartingFactor = 0.85f;
1009 world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
1010 world.SetForceUpdateAllAabbs(true);
1011
1012
1013 world.SetGravity(new IndexedVector3(0,0,p.gravity));
1014
1015 return world;
1016 }
1017 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
1018 internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
1019 {
1020 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
1021 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
1022 {
1023 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
1024 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
1025 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
1026 }
1027 if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
1028 {
1029 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
1030 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
1031 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
1032 }
1033 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
1034 {
1035 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
1036 }
1037 return true;
1038 }
1039
1040 internal static bool PushUpdate2(object pCollisionObject)
1041 {
1042 bool ret = false;
1043 RigidBody rb = pCollisionObject as RigidBody;
1044 if (rb != null)
1045 {
1046 SimMotionState sms = rb.GetMotionState() as SimMotionState;
1047 if (sms != null)
1048 {
1049 IndexedMatrix wt = IndexedMatrix.Identity;
1050 sms.GetWorldTransform(out wt);
1051 sms.SetWorldTransform(ref wt, true);
1052 ret = true;
1053 }
1054 }
1055 return ret;
1056
1057 }
1058
1059 internal static bool IsCompound2(object pShape)
1060 {
1061 CollisionShape shape = pShape as CollisionShape;
1062 return shape.IsCompound();
1063 }
1064 internal static bool IsPloyhedral2(object pShape)
1065 {
1066 CollisionShape shape = pShape as CollisionShape;
1067 return shape.IsPolyhedral();
1068 }
1069 internal static bool IsConvex2d2(object pShape)
1070 {
1071 CollisionShape shape = pShape as CollisionShape;
1072 return shape.IsConvex2d();
1073 }
1074 internal static bool IsConvex2(object pShape)
1075 {
1076 CollisionShape shape = pShape as CollisionShape;
1077 return shape.IsConvex();
1078 }
1079 internal static bool IsNonMoving2(object pShape)
1080 {
1081 CollisionShape shape = pShape as CollisionShape;
1082 return shape.IsNonMoving();
1083 }
1084 internal static bool IsConcave2(object pShape)
1085 {
1086 CollisionShape shape = pShape as CollisionShape;
1087 return shape.IsConcave();
1088 }
1089 internal static bool IsInfinite2(object pShape)
1090 {
1091 CollisionShape shape = pShape as CollisionShape;
1092 return shape.IsInfinite();
1093 }
1094 internal static bool IsNativeShape2(object pShape)
1095 {
1096 CollisionShape shape = pShape as CollisionShape;
1097 bool ret;
1098 switch (shape.GetShapeType())
1099 {
1100 case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
1101 case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
1102 case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
1103 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
1104 ret = true;
1105 break;
1106 default:
1107 ret = false;
1108 break;
1109 }
1110 return ret;
1111 }
1112 //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
1113 internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
1114 {
1115 IndexedMatrix bodyTransform = new IndexedMatrix();
1116 bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
1117 bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
1118 GhostObject gObj = new PairCachingGhostObject();
1119 gObj.SetWorldTransform(bodyTransform);
1120 CollisionShape shape = pShape as CollisionShape;
1121 gObj.SetCollisionShape(shape);
1122 gObj.SetUserPointer(pLocalID);
1123 // TODO: Add to Special CollisionObjects!
1124 return gObj;
1125 }
1126
1127 public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
1128 {
1129 var world = pWorld as DiscreteDynamicsWorld;
1130 var obj = pObj as CollisionObject;
1131 var shape = pShape as CollisionShape;
1132 obj.SetCollisionShape(shape);
1133
1134 }
1135 //(PhysicsScene.World.ptr, nativeShapeData)
1136 internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData)
1137 {
1138 var world = pWorld as DiscreteDynamicsWorld;
1139 CollisionShape shape = null;
1140 switch (pShapeData.Type)
1141 {
1142 case BSPhysicsShapeType.SHAPE_BOX:
1143 shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
1144 break;
1145 case BSPhysicsShapeType.SHAPE_CONE:
1146 shape = new ConeShapeZ(0.5f, 1.0f);
1147 break;
1148 case BSPhysicsShapeType.SHAPE_CYLINDER:
1149 shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
1150 break;
1151 case BSPhysicsShapeType.SHAPE_SPHERE:
1152 shape = new SphereShape(0.5f);
1153 break;
1154
1155 }
1156 if (shape != null)
1157 {
1158 IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
1159 shape.SetMargin(world.WorldSettings.Params.collisionMargin);
1160 shape.SetLocalScaling(ref scaling);
1161
1162 }
1163 return shape;
1164 }
1165 //PhysicsScene.World.ptr, false
1166 internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
1167 {
1168 return new CompoundShape(enableDynamicAabbTree);
1169 }
1170
1171 internal static int GetNumberOfCompoundChildren2(object pCompoundShape)
1172 {
1173 var compoundshape = pCompoundShape as CompoundShape;
1174 return compoundshape.GetNumChildShapes();
1175 }
1176 //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
1177 internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
1178 {
1179 IndexedMatrix relativeTransform = new IndexedMatrix();
1180 var compoundshape = pCShape as CompoundShape;
1181 var addshape = paddShape as CollisionShape;
1182
1183 relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
1184 relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
1185 compoundshape.AddChildShape(ref relativeTransform, addshape);
1186
1187 }
1188
1189 internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
1190 {
1191 var compoundshape = pCShape as CompoundShape;
1192 CollisionShape ret = null;
1193 ret = compoundshape.GetChildShape(pii);
1194 compoundshape.RemoveChildShapeByIndex(pii);
1195 return ret;
1196 }
1197
1198 internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
1199 {
1200 StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
1201 m_planeshape.SetMargin(pcollisionMargin);
1202 m_planeshape.SetUserPointer(pLocalId);
1203 return m_planeshape;
1204 }
1205
1206 internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
1207 {
1208 HingeConstraint constrain = null;
1209 var rb1 = pBody1 as RigidBody;
1210 var rb2 = ppBody2 as RigidBody;
1211 if (rb1 != null && rb2 != null)
1212 {
1213 IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
1214 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
1215 IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
1216 IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
1217 var world = pWorld as DiscreteDynamicsWorld;
1218 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1219 }
1220 return constrain;
1221 }
1222
1223 internal static bool ReleaseHeightMapInfo2(object pMapInfo)
1224 {
1225 if (pMapInfo != null)
1226 {
1227 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
1228 if (mapinfo.heightMap != null)
1229 mapinfo.heightMap = null;
1230
1231
1232 }
1233 return true;
1234 }
1235
1236 internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
1237 {
1238 CompoundShape compoundshape = new CompoundShape(false);
1239 var world = pWorld as DiscreteDynamicsWorld;
1240
1241
1242 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
1243 int ii = 1;
1244
1245 for (int i = 0; i < pHullCount; i++)
1246 {
1247 int vertexCount = (int) pConvHulls[ii];
1248
1249 IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
1250 IndexedMatrix childTrans = IndexedMatrix.Identity;
1251 childTrans._origin = centroid;
1252
1253 List<IndexedVector3> virts = new List<IndexedVector3>();
1254 int ender = ((ii + 4) + (vertexCount*3));
1255 for (int iii = ii + 4; iii < ender; iii+=3)
1256 {
1257
1258 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
1259 }
1260 ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
1261 convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
1262 compoundshape.AddChildShape(ref childTrans, convexShape);
1263 ii += (vertexCount*3 + 4);
1264 }
1265
1266
1267 return compoundshape;
1268 }
1269
1270 internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
1271 {
1272 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
1273
1274 for (int iter = 0; iter < pVerticesCount; iter++)
1275 {
1276 if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
1277 if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
1278 }
1279
1280 ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
1281 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
1282 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
1283 var world = pWorld as DiscreteDynamicsWorld;
1284 IndexedMesh mesh = new IndexedMesh();
1285 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1286 mesh.m_numTriangles = pIndicesCount/3;
1287 mesh.m_numVertices = pVerticesCount;
1288 mesh.m_triangleIndexBase = indicesarr;
1289 mesh.m_vertexBase = vertices;
1290 mesh.m_vertexStride = 3;
1291 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1292 mesh.m_triangleIndexStride = 3;
1293
1294 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1295 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1296 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
1297 meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
1298 // world.UpdateSingleAabb(meshShape);
1299 return meshShape;
1300
1301 }
1302 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
1303 {
1304
1305 String fileName = "objTest3.raw";
1306 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1307 StreamWriter sw = new StreamWriter(completePath);
1308 IndexedMesh mesh = new IndexedMesh();
1309
1310 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1311 mesh.m_numTriangles = pIndicesCount / 3;
1312 mesh.m_numVertices = pVerticesCount;
1313 mesh.m_triangleIndexBase = indices;
1314 mesh.m_vertexBase = vertices;
1315 mesh.m_vertexStride = 3;
1316 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1317 mesh.m_triangleIndexStride = 3;
1318
1319 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1320 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1321
1322
1323
1324 for (int i = 0; i < pVerticesCount; i++)
1325 {
1326
1327 string s = vertices[indices[i * 3]].ToString("0.0000");
1328 s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1329 s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1330
1331 sw.Write(s + "\n");
1332 }
1333
1334 sw.Close();
1335 }
1336 public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
1337 {
1338
1339 String fileName = "objTest6.raw";
1340 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1341 StreamWriter sw = new StreamWriter(completePath);
1342 IndexedMesh mesh = new IndexedMesh();
1343
1344 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1345 mesh.m_numTriangles = pIndicesCount / 3;
1346 mesh.m_numVertices = pVerticesCount;
1347 mesh.m_triangleIndexBase = indices;
1348 mesh.m_vertexBase = vertices;
1349 mesh.m_vertexStride = 3;
1350 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1351 mesh.m_triangleIndexStride = 3;
1352
1353 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1354 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1355
1356
1357 sw.WriteLine("Indices");
1358 sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
1359 for (int iter = 0; iter < indices.Length; iter++)
1360 {
1361 sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
1362 }
1363 sw.WriteLine("VerticesFloats");
1364 sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
1365 for (int iter = 0; iter < vertices.Length; iter++)
1366 {
1367 sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
1368 }
1369
1370 // for (int i = 0; i < pVerticesCount; i++)
1371 // {
1372 //
1373 // string s = vertices[indices[i * 3]].ToString("0.0000");
1374 // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1375 // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1376 //
1377 // sw.Write(s + "\n");
1378 //}
1379
1380 sw.Close();
1381 }
1382 //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
1383 internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
1384 {
1385 BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
1386 mapInfo.heightMap = null;
1387 mapInfo.minCoords = pminCoords;
1388 mapInfo.maxCoords = pmaxCoords;
1389 mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
1390 mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
1391 mapInfo.ID = pId;
1392 mapInfo.minZ = pminCoords.Z;
1393 mapInfo.maxZ = pmaxCoords.Z;
1394 mapInfo.collisionMargin = pCollisionMargin;
1395 if (mapInfo.minZ == mapInfo.maxZ)
1396 mapInfo.minZ -= 0.2f;
1397 mapInfo.heightMap = pheightMap;
1398
1399 return mapInfo;
1400
1401 }
1402
1403 internal static object CreateTerrainShape2(object pMapInfo)
1404 {
1405 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
1406 const int upAxis = 2;
1407 const float scaleFactor = 1.0f;
1408 HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
1409 mapinfo.heightMap, scaleFactor,
1410 mapinfo.minZ, mapinfo.maxZ, upAxis,
1411 false);
1412 terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
1413 terrainShape.SetUseDiamondSubdivision(true);
1414 terrainShape.SetUserPointer(mapinfo.ID);
1415 return terrainShape;
1416 }
1417
1418 internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
1419 {
1420 TypedConstraint tconstrain = pConstraint as TypedConstraint;
1421 bool onOff = ponOff != 0;
1422 bool ret = false;
1423
1424 switch (tconstrain.GetConstraintType())
1425 {
1426 case TypedConstraintType.D6_CONSTRAINT_TYPE:
1427 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
1428 constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
1429 constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
1430 constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
1431 ret = true;
1432 break;
1433 }
1434
1435
1436 return ret;
1437
1438 }
1439
1440 internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
1441 {
1442 int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
1443 out collidersCount, out colliders);
1444 return epic;
1445 }
1446
1447 private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
1448 {
1449 int numSimSteps = 0;
1450
1451
1452 //if (updatedEntities is null)
1453 // updatedEntities = new List<BulletXNA.EntityProperties>();
1454
1455 //if (colliders is null)
1456 // colliders = new List<BulletXNA.CollisionDesc>();
1457
1458
1459 if (pWorld is DiscreteDynamicsWorld)
1460 {
1461 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
1462
1463 numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
1464 int updates = 0;
1465
1466 updatedEntityCount = world.UpdatedObjects.Count;
1467 updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
1468 updatedEntityCount = updatedEntities.Count;
1469 world.UpdatedObjects.Clear();
1470
1471
1472 collidersCount = world.UpdatedCollisions.Count;
1473 colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
1474
1475 world.UpdatedCollisions.Clear();
1476 m_collisionsThisFrame = 0;
1477 int numManifolds = world.GetDispatcher().GetNumManifolds();
1478 for (int j = 0; j < numManifolds; j++)
1479 {
1480 PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
1481 int numContacts = contactManifold.GetNumContacts();
1482 if (numContacts == 0)
1483 continue;
1484
1485 CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
1486 CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
1487
1488 ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
1489 IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
1490 IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
1491
1492 RecordCollision(world, objA, objB, contactPoint, contactNormal);
1493 m_collisionsThisFrame ++;
1494 if (m_collisionsThisFrame >= 9999999)
1495 break;
1496
1497
1498 }
1499
1500
1501 }
1502 else
1503 {
1504 //if (updatedEntities is null)
1505 updatedEntities = new List<BulletXNA.EntityProperties>();
1506 updatedEntityCount = 0;
1507 //if (colliders is null)
1508 colliders = new List<BulletXNA.CollisionDesc>();
1509 collidersCount = 0;
1510 }
1511 return numSimSteps;
1512 }
1513
1514 private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
1515 {
1516
1517 IndexedVector3 contactNormal = norm;
1518 if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
1519 (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
1520 {
1521 return;
1522 }
1523 uint idA = (uint)objA.GetUserPointer();
1524 uint idB = (uint)objB.GetUserPointer();
1525 if (idA > idB)
1526 {
1527 uint temp = idA;
1528 idA = idB;
1529 idB = temp;
1530 contactNormal = -contactNormal;
1531 }
1532
1533 ulong collisionID = ((ulong) idA << 32) | idB;
1534
1535 BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
1536 {
1537 aID = idA,
1538 bID = idB,
1539 point = contact,
1540 normal = contactNormal
1541 };
1542 world.UpdatedCollisions.Add(cDesc);
1543 m_collisionsThisFrame++;
1544
1545
1546 }
1547 private static EntityProperties GetDebugProperties(object pWorld, object pBody)
1548 {
1549 EntityProperties ent = new EntityProperties();
1550 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
1551 RigidBody body = pBody as RigidBody;
1552 IndexedMatrix transform = body.GetWorldTransform();
1553 IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
1554 IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
1555 IndexedQuaternion rotation = transform.GetRotation();
1556 ent.Acceleration = Vector3.Zero;
1557 ent.ID = (uint)body.GetUserPointer();
1558 ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
1559 ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
1560 ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
1561 ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
1562 return ent;
1563
1564
1565 }
1566
1567
1568 internal static Vector3 GetLocalScaling2(object pBody)
1569 {
1570 CollisionShape shape = pBody as CollisionShape;
1571 IndexedVector3 scale = shape.GetLocalScaling();
1572 return new Vector3(scale.X,scale.Y,scale.Z);
1573 }
1574
1575 internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
1576 {
1577 DynamicsWorld world = pWorld as DynamicsWorld;
1578 if (world != null)
1579 {
1580 if (NotMe is CollisionObject || NotMe is RigidBody)
1581 {
1582 CollisionObject AvoidBody = NotMe as CollisionObject;
1583
1584 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
1585 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
1586 using (
1587 ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin,
1588 rEnd, AvoidBody)
1589 )
1590 {
1591 world.RayTest(ref rOrigin, ref rEnd, rayCallback);
1592 if (rayCallback.HasHit())
1593 {
1594 IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
1595
1596 }
1597 return rayCallback.HasHit();
1598 }
1599 }
1600 }
1601 return false;
1602 }
1603}
1604}
generated by cgit v1.1 at 2024-12-20 07:31:09 +0000