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