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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs431
1 files changed, 355 insertions, 76 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 6fc10e9..17ebed2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -81,11 +81,11 @@ private sealed class BulletBodyXNA : BulletBody
81private sealed class BulletShapeXNA : BulletShape 81private sealed class BulletShapeXNA : BulletShape
82{ 82{
83 public CollisionShape shape; 83 public CollisionShape shape;
84 public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 84 public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ)
85 : base() 85 : base()
86 { 86 {
87 shape = xx; 87 shape = xx;
88 type = typ; 88 shapeType = typ;
89 } 89 }
90 public override bool HasPhysicalShape 90 public override bool HasPhysicalShape
91 { 91 {
@@ -97,7 +97,7 @@ private sealed class BulletShapeXNA : BulletShape
97 } 97 }
98 public override BulletShape Clone() 98 public override BulletShape Clone()
99 { 99 {
100 return new BulletShapeXNA(shape, type); 100 return new BulletShapeXNA(shape, shapeType);
101 } 101 }
102 public override bool ReferenceSame(BulletShape other) 102 public override bool ReferenceSame(BulletShape other)
103 { 103 {
@@ -137,8 +137,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
137 internal int LastEntityProperty = 0; 137 internal int LastEntityProperty = 0;
138 138
139 internal EntityProperties[] UpdatedObjects; 139 internal EntityProperties[] UpdatedObjects;
140 internal Dictionary<uint, GhostObject> specialCollisionObjects; 140 internal Dictionary<uint, GhostObject> specialCollisionObjects;
141 141
142 private static int m_collisionsThisFrame; 142 private static int m_collisionsThisFrame;
143 private BSScene PhysicsScene { get; set; } 143 private BSScene PhysicsScene { get; set; }
144 144
@@ -151,7 +151,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
151 } 151 }
152 152
153 /// <summary> 153 /// <summary>
154 /// 154 ///
155 /// </summary> 155 /// </summary>
156 /// <param name="p"></param> 156 /// <param name="p"></param>
157 /// <param name="p_2"></param> 157 /// <param name="p_2"></param>
@@ -169,12 +169,25 @@ private sealed class BulletConstraintXNA : BulletConstraint
169 return true; 169 return true;
170 } 170 }
171 171
172 public override bool ClearCollisionProxyCache(BulletWorld pWorld, BulletBody pBody)
173 {
174 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
175 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
176 CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
177 if (body != null && collisionObject != null && collisionObject.GetBroadphaseHandle() != null)
178 {
179 world.RemoveCollisionObject(collisionObject);
180 world.AddCollisionObject(collisionObject);
181 }
182 return true;
183 }
184
172 public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) 185 public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
173 { 186 {
174 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 187 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
175 TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; 188 TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
176 world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); 189 world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
177 190
178 return true; 191 return true;
179 192
180 } 193 }
@@ -300,7 +313,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
300 public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { 313 public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
301 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 314 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
302 return world.GetForceUpdateAllAabbs(); 315 return world.GetForceUpdateAllAabbs();
303 316
304 } 317 }
305 public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) 318 public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
306 { 319 {
@@ -404,7 +417,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
404 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); 417 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
405 mat._origin = vposition; 418 mat._origin = vposition;
406 collisionObject.SetWorldTransform(mat); 419 collisionObject.SetWorldTransform(mat);
407 420
408 } 421 }
409 422
410 public override Vector3 GetPosition(BulletBody pCollisionObject) 423 public override Vector3 GetPosition(BulletBody pCollisionObject)
@@ -457,7 +470,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
457 { 470 {
458 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; 471 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
459 collisionObject.Activate(pforceactivation); 472 collisionObject.Activate(pforceactivation);
460 473
461 } 474 }
462 475
463 public override Quaternion GetOrientation(BulletBody pCollisionObject) 476 public override Quaternion GetOrientation(BulletBody pCollisionObject)
@@ -486,7 +499,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
486 { 499 {
487 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; 500 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
488 return collisionObject.GetCcdSweptSphereRadius(); 501 return collisionObject.GetCcdSweptSphereRadius();
489 502
490 } 503 }
491 504
492 public override IntPtr GetUserPointer(BulletBody pCollisionObject) 505 public override IntPtr GetUserPointer(BulletBody pCollisionObject)
@@ -559,8 +572,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
559 } 572 }
560 573
561 574
562 public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 575 public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
563 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 576 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
564 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 577 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
565 578
566 { 579 {
@@ -604,7 +617,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
604 } 617 }
605 618
606 /// <summary> 619 /// <summary>
607 /// 620 ///
608 /// </summary> 621 /// </summary>
609 /// <param name="pWorld"></param> 622 /// <param name="pWorld"></param>
610 /// <param name="pBody1"></param> 623 /// <param name="pBody1"></param>
@@ -752,6 +765,214 @@ private sealed class BulletConstraintXNA : BulletConstraint
752 constraint.SetBreakingImpulseThreshold(threshold); 765 constraint.SetBreakingImpulseThreshold(threshold);
753 return true; 766 return true;
754 } 767 }
768 public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
769 {
770 HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
771 if (softness == HINGE_NOT_SPECIFIED)
772 constraint.SetLimit(low, high);
773 else
774 constraint.SetLimit(low, high, softness, bias, relaxation);
775 return true;
776 }
777 public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
778 {
779 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
780 constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true));
781 return true;
782 }
783
784 public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
785 {
786 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
787 if (index == SPRING_NOT_SPECIFIED)
788 {
789 constraint.SetEquilibriumPoint();
790 }
791 else
792 {
793 if (equilibriumPoint == SPRING_NOT_SPECIFIED)
794 constraint.SetEquilibriumPoint(index);
795 else
796 constraint.SetEquilibriumPoint(index, equilibriumPoint);
797 }
798 return true;
799 }
800
801 public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness)
802 {
803 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
804 constraint.SetStiffness(index, stiffness);
805 return true;
806 }
807
808 public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping)
809 {
810 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
811 constraint.SetDamping(index, damping);
812 return true;
813 }
814
815 public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
816 {
817 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
818 switch (lowerUpper)
819 {
820 case SLIDER_LOWER_LIMIT:
821 switch (linAng)
822 {
823 case SLIDER_LINEAR:
824 constraint.SetLowerLinLimit(val);
825 break;
826 case SLIDER_ANGULAR:
827 constraint.SetLowerAngLimit(val);
828 break;
829 }
830 break;
831 case SLIDER_UPPER_LIMIT:
832 switch (linAng)
833 {
834 case SLIDER_LINEAR:
835 constraint.SetUpperLinLimit(val);
836 break;
837 case SLIDER_ANGULAR:
838 constraint.SetUpperAngLimit(val);
839 break;
840 }
841 break;
842 }
843 return true;
844 }
845 public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
846 {
847 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
848 switch (softRestDamp)
849 {
850 case SLIDER_SET_SOFTNESS:
851 switch (dirLimOrtho)
852 {
853 case SLIDER_SET_DIRECTION:
854 switch (linAng)
855 {
856 case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
857 case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
858 }
859 break;
860 case SLIDER_SET_LIMIT:
861 switch (linAng)
862 {
863 case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
864 case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
865 }
866 break;
867 case SLIDER_SET_ORTHO:
868 switch (linAng)
869 {
870 case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
871 case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
872 }
873 break;
874 }
875 break;
876 case SLIDER_SET_RESTITUTION:
877 switch (dirLimOrtho)
878 {
879 case SLIDER_SET_DIRECTION:
880 switch (linAng)
881 {
882 case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
883 case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
884 }
885 break;
886 case SLIDER_SET_LIMIT:
887 switch (linAng)
888 {
889 case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
890 case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
891 }
892 break;
893 case SLIDER_SET_ORTHO:
894 switch (linAng)
895 {
896 case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
897 case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
898 }
899 break;
900 }
901 break;
902 case SLIDER_SET_DAMPING:
903 switch (dirLimOrtho)
904 {
905 case SLIDER_SET_DIRECTION:
906 switch (linAng)
907 {
908 case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
909 case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
910 }
911 break;
912 case SLIDER_SET_LIMIT:
913 switch (linAng)
914 {
915 case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
916 case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
917 }
918 break;
919 case SLIDER_SET_ORTHO:
920 switch (linAng)
921 {
922 case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
923 case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
924 }
925 break;
926 }
927 break;
928 }
929 return true;
930 }
931 public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
932 {
933 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
934 switch (linAng)
935 {
936 case SLIDER_LINEAR:
937 constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
938 break;
939 case SLIDER_ANGULAR:
940 constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
941 break;
942 }
943 return true;
944 }
945 public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
946 {
947 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
948 switch (forceVel)
949 {
950 case SLIDER_MOTOR_VELOCITY:
951 switch (linAng)
952 {
953 case SLIDER_LINEAR:
954 constraint.SetTargetLinMotorVelocity(val);
955 break;
956 case SLIDER_ANGULAR:
957 constraint.SetTargetAngMotorVelocity(val);
958 break;
959 }
960 break;
961 case SLIDER_MAX_MOTOR_FORCE:
962 switch (linAng)
963 {
964 case SLIDER_LINEAR:
965 constraint.SetMaxLinMotorForce(val);
966 break;
967 case SLIDER_ANGULAR:
968 constraint.SetMaxAngMotorForce(val);
969 break;
970 }
971 break;
972 }
973 return true;
974 }
975
755 //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); 976 //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
756 public override void SetAngularDamping(BulletBody pBody, float angularDamping) 977 public override void SetAngularDamping(BulletBody pBody, float angularDamping)
757 { 978 {
@@ -824,7 +1045,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
824 { 1045 {
825 RigidBody body = (pBody as BulletBodyXNA).rigidBody; 1046 RigidBody body = (pBody as BulletBodyXNA).rigidBody;
826 float angularDamping = body.GetAngularDamping(); 1047 float angularDamping = body.GetAngularDamping();
827 body.SetDamping(lin_damping, angularDamping); 1048 body.SetDamping(lin_damping, angularDamping);
828 } 1049 }
829 1050
830 public override float GetLinearDamping(BulletBody pBody) 1051 public override float GetLinearDamping(BulletBody pBody)
@@ -907,7 +1128,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
907 RigidBody bo = co as RigidBody; 1128 RigidBody bo = co as RigidBody;
908 if (bo == null) 1129 if (bo == null)
909 { 1130 {
910 1131
911 if (world.IsInWorld(co)) 1132 if (world.IsInWorld(co))
912 { 1133 {
913 world.RemoveCollisionObject(co); 1134 world.RemoveCollisionObject(co);
@@ -915,7 +1136,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
915 } 1136 }
916 else 1137 else
917 { 1138 {
918 1139
919 if (world.IsInWorld(bo)) 1140 if (world.IsInWorld(bo))
920 { 1141 {
921 world.RemoveRigidBody(bo); 1142 world.RemoveRigidBody(bo);
@@ -947,7 +1168,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
947 1168
948 // TODO: Turn this from a reference copy to a Value Copy. 1169 // TODO: Turn this from a reference copy to a Value Copy.
949 BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); 1170 BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
950 1171
951 return shape2; 1172 return shape2;
952 } 1173 }
953 1174
@@ -957,7 +1178,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
957 return false; 1178 return false;
958 } 1179 }
959 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); 1180 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
960 1181
961 public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) 1182 public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
962 { 1183 {
963 CollisionWorld world = (pWorld as BulletWorldXNA).world; 1184 CollisionWorld world = (pWorld as BulletWorldXNA).world;
@@ -993,11 +1214,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
993 m_startWorldTransform = IndexedMatrix.Identity; 1214 m_startWorldTransform = IndexedMatrix.Identity;
994 */ 1215 */
995 body.SetUserPointer(pLocalID); 1216 body.SetUserPointer(pLocalID);
996 1217
997 return new BulletBodyXNA(pLocalID, body); 1218 return new BulletBodyXNA(pLocalID, body);
998 } 1219 }
999 1220
1000 1221
1001 public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) 1222 public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
1002 { 1223 {
1003 1224
@@ -1025,7 +1246,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1025 public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) 1246 public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
1026 { 1247 {
1027 1248
1028 /* TODO */ 1249 /* TODO */
1029 return Vector3.Zero; 1250 return Vector3.Zero;
1030 } 1251 }
1031 public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } 1252 public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
@@ -1035,7 +1256,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1035 { 1256 {
1036 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; 1257 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
1037 return collisionObject.IsStaticObject(); 1258 return collisionObject.IsStaticObject();
1038 1259
1039 } 1260 }
1040 public override bool IsKinematicObject(BulletBody pCollisionObject) 1261 public override bool IsKinematicObject(BulletBody pCollisionObject)
1041 { 1262 {
@@ -1098,10 +1319,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
1098 return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); 1319 return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
1099 } 1320 }
1100 1321
1101 private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, 1322 private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
1102 ConfigurationParameters[] o, 1323 ConfigurationParameters[] o,
1103 int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, 1324 int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
1104 int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, 1325 int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
1105 object mDebugLogCallbackHandle) 1326 object mDebugLogCallbackHandle)
1106 { 1327 {
1107 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); 1328 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
@@ -1138,9 +1359,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
1138 p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; 1359 p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
1139 p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; 1360 p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
1140 p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; 1361 p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
1141 1362
1142 p.vehicleAngularDamping = BSParam.VehicleAngularDamping; 1363 p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
1143 1364
1144 p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; 1365 p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
1145 p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; 1366 p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
1146 p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; 1367 p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
@@ -1160,7 +1381,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1160 p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; 1381 p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
1161 p.physicsLoggingFrames = o[0].physicsLoggingFrames; 1382 p.physicsLoggingFrames = o[0].physicsLoggingFrames;
1162 DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); 1383 DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
1163 1384
1164 DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); 1385 DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
1165 CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); 1386 CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
1166 1387
@@ -1221,6 +1442,50 @@ private sealed class BulletConstraintXNA : BulletConstraint
1221 //BSParam.TerrainImplementation = 0; 1442 //BSParam.TerrainImplementation = 0;
1222 world.SetGravity(new IndexedVector3(0,0,p.gravity)); 1443 world.SetGravity(new IndexedVector3(0,0,p.gravity));
1223 1444
1445 // Turn off Pooling since globals and pooling are bad for threading.
1446 BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
1447 BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
1448 BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
1449 BulletGlobals.CastResultPool.SetPoolingEnabled(false);
1450 BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
1451 BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
1452 BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
1453 BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
1454 BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
1455 BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
1456 BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
1457 BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
1458 BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
1459 BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
1460 BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
1461 BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);
1462
1463 BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
1464 BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
1465 BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
1466 BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
1467 BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
1468 BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
1469 BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
1470 BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
1471 BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
1472 BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
1473 BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
1474 BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
1475 BulletGlobals.GJKPool.SetPoolingEnabled(false);
1476 BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
1477 BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
1478 BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
1479 BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
1480 BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
1481 BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
1482 BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
1483 BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
1484 BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
1485 BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
1486 BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
1487 BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);
1488
1224 return world; 1489 return world;
1225 } 1490 }
1226 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL 1491 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
@@ -1263,7 +1528,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1263 } 1528 }
1264 } 1529 }
1265 return ret; 1530 return ret;
1266 1531
1267 } 1532 }
1268 1533
1269 public override float GetAngularMotionDisc(BulletShape pShape) 1534 public override float GetAngularMotionDisc(BulletShape pShape)
@@ -1353,10 +1618,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
1353 CollisionShape shape = (pShape as BulletShapeXNA).shape; 1618 CollisionShape shape = (pShape as BulletShapeXNA).shape;
1354 gObj.SetCollisionShape(shape); 1619 gObj.SetCollisionShape(shape);
1355 gObj.SetUserPointer(pLocalID); 1620 gObj.SetUserPointer(pLocalID);
1356 1621
1357 if (specialCollisionObjects.ContainsKey(pLocalID)) 1622 if (specialCollisionObjects.ContainsKey(pLocalID))
1358 specialCollisionObjects[pLocalID] = gObj; 1623 specialCollisionObjects[pLocalID] = gObj;
1359 else 1624 else
1360 specialCollisionObjects.Add(pLocalID, gObj); 1625 specialCollisionObjects.Add(pLocalID, gObj);
1361 1626
1362 // TODO: Add to Special CollisionObjects! 1627 // TODO: Add to Special CollisionObjects!
@@ -1447,8 +1712,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
1447 return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); 1712 return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
1448 } 1713 }
1449 1714
1450 public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { 1715 public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
1451 1716
1452 if (cShape == null) 1717 if (cShape == null)
1453 return null; 1718 return null;
1454 CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; 1719 CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
@@ -1456,7 +1721,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1456 BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); 1721 BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
1457 1722
1458 1723
1459 return retShape; 1724 return retShape;
1460 } 1725 }
1461 1726
1462 public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) 1727 public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
@@ -1475,7 +1740,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1475 ret = BSPhysicsShapeType.SHAPE_UNKNOWN; 1740 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1476 break; 1741 break;
1477 case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: 1742 case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
1478 ret = BSPhysicsShapeType.SHAPE_MESH; 1743 ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
1479 break; 1744 break;
1480 case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: 1745 case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
1481 ret = BSPhysicsShapeType.SHAPE_HULL; 1746 ret = BSPhysicsShapeType.SHAPE_HULL;
@@ -1503,7 +1768,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1503 ret = BSPhysicsShapeType.SHAPE_CONE; 1768 ret = BSPhysicsShapeType.SHAPE_CONE;
1504 break; 1769 break;
1505 case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: 1770 case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
1506 ret = BSPhysicsShapeType.SHAPE_UNKNOWN; 1771 ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
1507 break; 1772 break;
1508 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: 1773 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
1509 ret = BSPhysicsShapeType.SHAPE_CYLINDER; 1774 ret = BSPhysicsShapeType.SHAPE_CYLINDER;
@@ -1547,7 +1812,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1547 break; 1812 break;
1548 ///Used for GIMPACT Trimesh integration 1813 ///Used for GIMPACT Trimesh integration
1549 case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: 1814 case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
1550 ret = BSPhysicsShapeType.SHAPE_MESH; 1815 ret = BSPhysicsShapeType.SHAPE_GIMPACT;
1551 break; 1816 break;
1552 ///Multimaterial mesh 1817 ///Multimaterial mesh
1553 case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: 1818 case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
@@ -1598,8 +1863,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
1598 return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); 1863 return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
1599 } 1864 }
1600 1865
1601 public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 1866 public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1602 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 1867 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
1603 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 1868 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
1604 1869
1605 { 1870 {
@@ -1745,7 +2010,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1745 { 2010 {
1746 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 2011 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
1747 CompoundShape compoundshape = new CompoundShape(false); 2012 CompoundShape compoundshape = new CompoundShape(false);
1748 2013
1749 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); 2014 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
1750 int ii = 1; 2015 int ii = 1;
1751 2016
@@ -1761,7 +2026,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1761 int ender = ((ii + 4) + (vertexCount*3)); 2026 int ender = ((ii + 4) + (vertexCount*3));
1762 for (int iii = ii + 4; iii < ender; iii+=3) 2027 for (int iii = ii + 4; iii < ender; iii+=3)
1763 { 2028 {
1764 2029
1765 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); 2030 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
1766 } 2031 }
1767 ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); 2032 ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
@@ -1769,26 +2034,35 @@ private sealed class BulletConstraintXNA : BulletConstraint
1769 compoundshape.AddChildShape(ref childTrans, convexShape); 2034 compoundshape.AddChildShape(ref childTrans, convexShape);
1770 ii += (vertexCount*3 + 4); 2035 ii += (vertexCount*3 + 4);
1771 } 2036 }
1772 2037
1773 return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); 2038 return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
1774 } 2039 }
1775 2040
1776 public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) 2041 public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
1777 { 2042 {
1778 /* TODO */ return null; 2043 /* TODO */ return null;
2044 }
1779 2045
2046 public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
2047 {
2048 /* TODO */ return null;
2049 }
2050
2051 public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
2052 {
2053 /* TODO */ return null;
1780 } 2054 }
1781 2055
1782 public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) 2056 public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
1783 { 2057 {
1784 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); 2058 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
1785 2059
1786 for (int iter = 0; iter < pVerticesCount; iter++) 2060 for (int iter = 0; iter < pVerticesCount; iter++)
1787 { 2061 {
1788 if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; 2062 if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
1789 if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; 2063 if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
1790 } 2064 }
1791 2065
1792 ObjectArray<int> indicesarr = new ObjectArray<int>(indices); 2066 ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
1793 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); 2067 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
1794 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); 2068 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
@@ -1802,7 +2076,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1802 mesh.m_vertexStride = 3; 2076 mesh.m_vertexStride = 3;
1803 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; 2077 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1804 mesh.m_triangleIndexStride = 3; 2078 mesh.m_triangleIndexStride = 3;
1805 2079
1806 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); 2080 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1807 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); 2081 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1808 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); 2082 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
@@ -1811,9 +2085,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
1811 return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); 2085 return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
1812 2086
1813 } 2087 }
2088 public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
2089 {
2090 // TODO:
2091 return null;
2092 }
1814 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) 2093 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
1815 { 2094 {
1816 2095
1817 String fileName = "objTest3.raw"; 2096 String fileName = "objTest3.raw";
1818 String completePath = System.IO.Path.Combine(Util.configDir(), fileName); 2097 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1819 StreamWriter sw = new StreamWriter(completePath); 2098 StreamWriter sw = new StreamWriter(completePath);
@@ -1839,7 +2118,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1839 string s = vertices[indices[i * 3]].ToString("0.0000"); 2118 string s = vertices[indices[i * 3]].ToString("0.0000");
1840 s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); 2119 s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1841 s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); 2120 s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1842 2121
1843 sw.Write(s + "\n"); 2122 sw.Write(s + "\n");
1844 } 2123 }
1845 2124
@@ -1861,7 +2140,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1861 mesh.m_vertexStride = 3; 2140 mesh.m_vertexStride = 3;
1862 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; 2141 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1863 mesh.m_triangleIndexStride = 3; 2142 mesh.m_triangleIndexStride = 3;
1864 2143
1865 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); 2144 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1866 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); 2145 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1867 2146
@@ -1892,7 +2171,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1892 sw.Close(); 2171 sw.Close();
1893 } 2172 }
1894 2173
1895 public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 2174 public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
1896 float scaleFactor, float collisionMargin) 2175 float scaleFactor, float collisionMargin)
1897 { 2176 {
1898 const int upAxis = 2; 2177 const int upAxis = 2;
@@ -1900,7 +2179,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1900 heightMap, scaleFactor, 2179 heightMap, scaleFactor,
1901 minHeight, maxHeight, upAxis, 2180 minHeight, maxHeight, upAxis,
1902 false); 2181 false);
1903 terrainShape.SetMargin(collisionMargin + 0.5f); 2182 terrainShape.SetMargin(collisionMargin);
1904 terrainShape.SetUseDiamondSubdivision(true); 2183 terrainShape.SetUseDiamondSubdivision(true);
1905 terrainShape.SetUserPointer(id); 2184 terrainShape.SetUserPointer(id);
1906 return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); 2185 return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
@@ -1934,14 +2213,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
1934 /* TODO */ 2213 /* TODO */
1935 updatedEntityCount = 0; 2214 updatedEntityCount = 0;
1936 collidersCount = 0; 2215 collidersCount = 0;
1937 2216
1938 2217
1939 int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); 2218 int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
1940 2219
1941 return ret; 2220 return ret;
1942 } 2221 }
1943 2222
1944 private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 2223 private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
1945 out int updatedEntityCount, out EntityProperties[] updatedEntities, 2224 out int updatedEntityCount, out EntityProperties[] updatedEntities,
1946 out int collidersCount, out CollisionDesc[] colliders) 2225 out int collidersCount, out CollisionDesc[] colliders)
1947 { 2226 {
@@ -1950,24 +2229,24 @@ private sealed class BulletConstraintXNA : BulletConstraint
1950 return epic; 2229 return epic;
1951 } 2230 }
1952 2231
1953 private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, 2232 private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
1954 out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) 2233 out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
1955 { 2234 {
1956 int numSimSteps = 0; 2235 int numSimSteps = 0;
1957 Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); 2236 Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
1958 Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); 2237 Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
1959 LastEntityProperty=0; 2238 LastEntityProperty=0;
1960 2239
1961 2240
1962 2241
1963 2242
1964 2243
1965 2244
1966 LastCollisionDesc=0; 2245 LastCollisionDesc=0;
1967 2246
1968 updatedEntityCount = 0; 2247 updatedEntityCount = 0;
1969 collidersCount = 0; 2248 collidersCount = 0;
1970 2249
1971 2250
1972 if (pWorld is BulletWorldXNA) 2251 if (pWorld is BulletWorldXNA)
1973 { 2252 {
@@ -2024,7 +2303,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2024 2303
2025 collidersCount = LastCollisionDesc; 2304 collidersCount = LastCollisionDesc;
2026 colliders = UpdatedCollisions; 2305 colliders = UpdatedCollisions;
2027 2306
2028 2307
2029 } 2308 }
2030 else 2309 else
@@ -2032,15 +2311,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
2032 //if (updatedEntities is null) 2311 //if (updatedEntities is null)
2033 //updatedEntities = new List<BulletXNA.EntityProperties>(); 2312 //updatedEntities = new List<BulletXNA.EntityProperties>();
2034 //updatedEntityCount = 0; 2313 //updatedEntityCount = 0;
2035 2314
2036 2315
2037 //collidersCount = 0; 2316 //collidersCount = 0;
2038 2317
2039 updatedEntities = new EntityProperties[0]; 2318 updatedEntities = new EntityProperties[0];
2040 2319
2041 2320
2042 colliders = new CollisionDesc[0]; 2321 colliders = new CollisionDesc[0];
2043 2322
2044 } 2323 }
2045 return numSimSteps; 2324 return numSimSteps;
2046 } 2325 }
@@ -2048,7 +2327,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2048 { 2327 {
2049 IOverlappingPairCache cache = obj.GetOverlappingPairCache(); 2328 IOverlappingPairCache cache = obj.GetOverlappingPairCache();
2050 ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray(); 2329 ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
2051 2330
2052 DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; 2331 DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
2053 PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); 2332 PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
2054 BroadphasePair collisionPair; 2333 BroadphasePair collisionPair;
@@ -2060,7 +2339,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2060 ManifoldPoint pt; 2339 ManifoldPoint pt;
2061 2340
2062 int numPairs = pairs.Count; 2341 int numPairs = pairs.Count;
2063 2342
2064 for (int i = 0; i < numPairs; i++) 2343 for (int i = 0; i < numPairs; i++)
2065 { 2344 {
2066 manifoldArray.Clear(); 2345 manifoldArray.Clear();
@@ -2069,7 +2348,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2069 collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); 2348 collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
2070 if (collisionPair == null) 2349 if (collisionPair == null)
2071 continue; 2350 continue;
2072 2351
2073 collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); 2352 collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
2074 for (int j = 0; j < manifoldArray.Count; j++) 2353 for (int j = 0; j < manifoldArray.Count; j++)
2075 { 2354 {
@@ -2092,7 +2371,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2092 } 2371 }
2093 private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) 2372 private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
2094 { 2373 {
2095 2374
2096 IndexedVector3 contactNormal = norm; 2375 IndexedVector3 contactNormal = norm;
2097 if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && 2376 if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
2098 (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) 2377 (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
@@ -2162,11 +2441,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
2162 if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) 2441 if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
2163 { 2442 {
2164 CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; 2443 CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
2165 2444
2166 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); 2445 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
2167 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); 2446 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
2168 using ( 2447 using (
2169 ClosestNotMeRayResultCallback rayCallback = 2448 ClosestNotMeRayResultCallback rayCallback =
2170 new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) 2449 new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
2171 ) 2450 )
2172 { 2451 {
@@ -2182,9 +2461,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
2182 return false; 2461 return false;
2183 } 2462 }
2184} 2463}
2185
2186 2464
2187 2465
2466
2188 2467
2189 public class SimMotionState : DefaultMotionState 2468 public class SimMotionState : DefaultMotionState
2190 { 2469 {
@@ -2277,12 +2556,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
2277 m_lastProperties = m_properties; 2556 m_lastProperties = m_properties;
2278 if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) 2557 if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
2279 m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); 2558 m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);
2280 2559
2281 //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; 2560 //(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
2282 } 2561 }
2283 2562
2284 2563
2285 2564
2286 2565
2287 } 2566 }
2288 public override void SetRigidBody(RigidBody body) 2567 public override void SetRigidBody(RigidBody body)
@@ -2305,7 +2584,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2305 (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && 2584 (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) &&
2306 (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); 2585 (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon)));
2307 } 2586 }
2308 2587
2309 } 2588 }
2310} 2589}
2311 2590
generated by cgit v1.1 at 2025-01-10 21:30:00 +0000