diff options
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 142 |
1 files changed, 71 insertions, 71 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index b37265a..59780ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | |||
@@ -81,11 +81,11 @@ private sealed class BulletBodyXNA : BulletBody | |||
81 | private sealed class BulletShapeXNA : BulletShape | 81 | private 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> |
@@ -174,7 +174,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
174 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | 174 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
175 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; | 175 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; |
176 | world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); | 176 | world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); |
177 | 177 | ||
178 | return true; | 178 | return true; |
179 | 179 | ||
180 | } | 180 | } |
@@ -300,7 +300,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
300 | public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { | 300 | public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { |
301 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | 301 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
302 | return world.GetForceUpdateAllAabbs(); | 302 | return world.GetForceUpdateAllAabbs(); |
303 | 303 | ||
304 | } | 304 | } |
305 | public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) | 305 | public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) |
306 | { | 306 | { |
@@ -404,7 +404,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
404 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); | 404 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); |
405 | mat._origin = vposition; | 405 | mat._origin = vposition; |
406 | collisionObject.SetWorldTransform(mat); | 406 | collisionObject.SetWorldTransform(mat); |
407 | 407 | ||
408 | } | 408 | } |
409 | 409 | ||
410 | public override Vector3 GetPosition(BulletBody pCollisionObject) | 410 | public override Vector3 GetPosition(BulletBody pCollisionObject) |
@@ -457,7 +457,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
457 | { | 457 | { |
458 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | 458 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
459 | collisionObject.Activate(pforceactivation); | 459 | collisionObject.Activate(pforceactivation); |
460 | 460 | ||
461 | } | 461 | } |
462 | 462 | ||
463 | public override Quaternion GetOrientation(BulletBody pCollisionObject) | 463 | public override Quaternion GetOrientation(BulletBody pCollisionObject) |
@@ -486,7 +486,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
486 | { | 486 | { |
487 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | 487 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
488 | return collisionObject.GetCcdSweptSphereRadius(); | 488 | return collisionObject.GetCcdSweptSphereRadius(); |
489 | 489 | ||
490 | } | 490 | } |
491 | 491 | ||
492 | public override IntPtr GetUserPointer(BulletBody pCollisionObject) | 492 | public override IntPtr GetUserPointer(BulletBody pCollisionObject) |
@@ -559,8 +559,8 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
559 | } | 559 | } |
560 | 560 | ||
561 | 561 | ||
562 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | 562 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, |
563 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, | 563 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, |
564 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 564 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) |
565 | 565 | ||
566 | { | 566 | { |
@@ -604,7 +604,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
604 | } | 604 | } |
605 | 605 | ||
606 | /// <summary> | 606 | /// <summary> |
607 | /// | 607 | /// |
608 | /// </summary> | 608 | /// </summary> |
609 | /// <param name="pWorld"></param> | 609 | /// <param name="pWorld"></param> |
610 | /// <param name="pBody1"></param> | 610 | /// <param name="pBody1"></param> |
@@ -824,7 +824,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
824 | { | 824 | { |
825 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | 825 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
826 | float angularDamping = body.GetAngularDamping(); | 826 | float angularDamping = body.GetAngularDamping(); |
827 | body.SetDamping(lin_damping, angularDamping); | 827 | body.SetDamping(lin_damping, angularDamping); |
828 | } | 828 | } |
829 | 829 | ||
830 | public override float GetLinearDamping(BulletBody pBody) | 830 | public override float GetLinearDamping(BulletBody pBody) |
@@ -907,7 +907,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
907 | RigidBody bo = co as RigidBody; | 907 | RigidBody bo = co as RigidBody; |
908 | if (bo == null) | 908 | if (bo == null) |
909 | { | 909 | { |
910 | 910 | ||
911 | if (world.IsInWorld(co)) | 911 | if (world.IsInWorld(co)) |
912 | { | 912 | { |
913 | world.RemoveCollisionObject(co); | 913 | world.RemoveCollisionObject(co); |
@@ -915,7 +915,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
915 | } | 915 | } |
916 | else | 916 | else |
917 | { | 917 | { |
918 | 918 | ||
919 | if (world.IsInWorld(bo)) | 919 | if (world.IsInWorld(bo)) |
920 | { | 920 | { |
921 | world.RemoveRigidBody(bo); | 921 | world.RemoveRigidBody(bo); |
@@ -947,7 +947,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
947 | 947 | ||
948 | // TODO: Turn this from a reference copy to a Value Copy. | 948 | // TODO: Turn this from a reference copy to a Value Copy. |
949 | BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); | 949 | BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); |
950 | 950 | ||
951 | return shape2; | 951 | return shape2; |
952 | } | 952 | } |
953 | 953 | ||
@@ -957,7 +957,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
957 | return false; | 957 | return false; |
958 | } | 958 | } |
959 | //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); | 959 | //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); |
960 | 960 | ||
961 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | 961 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) |
962 | { | 962 | { |
963 | CollisionWorld world = (pWorld as BulletWorldXNA).world; | 963 | CollisionWorld world = (pWorld as BulletWorldXNA).world; |
@@ -993,11 +993,11 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
993 | m_startWorldTransform = IndexedMatrix.Identity; | 993 | m_startWorldTransform = IndexedMatrix.Identity; |
994 | */ | 994 | */ |
995 | body.SetUserPointer(pLocalID); | 995 | body.SetUserPointer(pLocalID); |
996 | 996 | ||
997 | return new BulletBodyXNA(pLocalID, body); | 997 | return new BulletBodyXNA(pLocalID, body); |
998 | } | 998 | } |
999 | 999 | ||
1000 | 1000 | ||
1001 | public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | 1001 | public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) |
1002 | { | 1002 | { |
1003 | 1003 | ||
@@ -1025,7 +1025,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1025 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) | 1025 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) |
1026 | { | 1026 | { |
1027 | 1027 | ||
1028 | /* TODO */ | 1028 | /* TODO */ |
1029 | return Vector3.Zero; | 1029 | return Vector3.Zero; |
1030 | } | 1030 | } |
1031 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } | 1031 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } |
@@ -1035,7 +1035,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1035 | { | 1035 | { |
1036 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | 1036 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
1037 | return collisionObject.IsStaticObject(); | 1037 | return collisionObject.IsStaticObject(); |
1038 | 1038 | ||
1039 | } | 1039 | } |
1040 | public override bool IsKinematicObject(BulletBody pCollisionObject) | 1040 | public override bool IsKinematicObject(BulletBody pCollisionObject) |
1041 | { | 1041 | { |
@@ -1098,10 +1098,10 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1098 | return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); | 1098 | return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); |
1099 | } | 1099 | } |
1100 | 1100 | ||
1101 | private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, | 1101 | private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, |
1102 | ConfigurationParameters[] o, | 1102 | ConfigurationParameters[] o, |
1103 | int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, | 1103 | int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, |
1104 | int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, | 1104 | int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, |
1105 | object mDebugLogCallbackHandle) | 1105 | object mDebugLogCallbackHandle) |
1106 | { | 1106 | { |
1107 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); | 1107 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); |
@@ -1138,9 +1138,9 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1138 | p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; | 1138 | p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; |
1139 | p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; | 1139 | p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; |
1140 | p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; | 1140 | p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; |
1141 | 1141 | ||
1142 | p.vehicleAngularDamping = BSParam.VehicleAngularDamping; | 1142 | p.vehicleAngularDamping = BSParam.VehicleAngularDamping; |
1143 | 1143 | ||
1144 | p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; | 1144 | p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; |
1145 | p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; | 1145 | p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; |
1146 | p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; | 1146 | p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; |
@@ -1160,7 +1160,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1160 | p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; | 1160 | p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; |
1161 | p.physicsLoggingFrames = o[0].physicsLoggingFrames; | 1161 | p.physicsLoggingFrames = o[0].physicsLoggingFrames; |
1162 | DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); | 1162 | DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); |
1163 | 1163 | ||
1164 | DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); | 1164 | DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); |
1165 | CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); | 1165 | CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); |
1166 | 1166 | ||
@@ -1263,7 +1263,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1263 | } | 1263 | } |
1264 | } | 1264 | } |
1265 | return ret; | 1265 | return ret; |
1266 | 1266 | ||
1267 | } | 1267 | } |
1268 | 1268 | ||
1269 | public override float GetAngularMotionDisc(BulletShape pShape) | 1269 | public override float GetAngularMotionDisc(BulletShape pShape) |
@@ -1353,10 +1353,10 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1353 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | 1353 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1354 | gObj.SetCollisionShape(shape); | 1354 | gObj.SetCollisionShape(shape); |
1355 | gObj.SetUserPointer(pLocalID); | 1355 | gObj.SetUserPointer(pLocalID); |
1356 | 1356 | ||
1357 | if (specialCollisionObjects.ContainsKey(pLocalID)) | 1357 | if (specialCollisionObjects.ContainsKey(pLocalID)) |
1358 | specialCollisionObjects[pLocalID] = gObj; | 1358 | specialCollisionObjects[pLocalID] = gObj; |
1359 | else | 1359 | else |
1360 | specialCollisionObjects.Add(pLocalID, gObj); | 1360 | specialCollisionObjects.Add(pLocalID, gObj); |
1361 | 1361 | ||
1362 | // TODO: Add to Special CollisionObjects! | 1362 | // TODO: Add to Special CollisionObjects! |
@@ -1447,8 +1447,8 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1447 | return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); | 1447 | return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); |
1448 | } | 1448 | } |
1449 | 1449 | ||
1450 | public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { | 1450 | public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { |
1451 | 1451 | ||
1452 | if (cShape == null) | 1452 | if (cShape == null) |
1453 | return null; | 1453 | return null; |
1454 | CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; | 1454 | CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; |
@@ -1456,7 +1456,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1456 | BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); | 1456 | BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); |
1457 | 1457 | ||
1458 | 1458 | ||
1459 | return retShape; | 1459 | return retShape; |
1460 | } | 1460 | } |
1461 | 1461 | ||
1462 | public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) | 1462 | public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) |
@@ -1598,8 +1598,8 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1598 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); | 1598 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); |
1599 | } | 1599 | } |
1600 | 1600 | ||
1601 | public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | 1601 | public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, |
1602 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, | 1602 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, |
1603 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 1603 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) |
1604 | 1604 | ||
1605 | { | 1605 | { |
@@ -1745,7 +1745,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1745 | { | 1745 | { |
1746 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | 1746 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1747 | CompoundShape compoundshape = new CompoundShape(false); | 1747 | CompoundShape compoundshape = new CompoundShape(false); |
1748 | 1748 | ||
1749 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); | 1749 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); |
1750 | int ii = 1; | 1750 | int ii = 1; |
1751 | 1751 | ||
@@ -1761,7 +1761,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1761 | int ender = ((ii + 4) + (vertexCount*3)); | 1761 | int ender = ((ii + 4) + (vertexCount*3)); |
1762 | for (int iii = ii + 4; iii < ender; iii+=3) | 1762 | for (int iii = ii + 4; iii < ender; iii+=3) |
1763 | { | 1763 | { |
1764 | 1764 | ||
1765 | virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); | 1765 | virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); |
1766 | } | 1766 | } |
1767 | ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); | 1767 | ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); |
@@ -1769,7 +1769,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1769 | compoundshape.AddChildShape(ref childTrans, convexShape); | 1769 | compoundshape.AddChildShape(ref childTrans, convexShape); |
1770 | ii += (vertexCount*3 + 4); | 1770 | ii += (vertexCount*3 + 4); |
1771 | } | 1771 | } |
1772 | 1772 | ||
1773 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); | 1773 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); |
1774 | } | 1774 | } |
1775 | 1775 | ||
@@ -1791,13 +1791,13 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1791 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | 1791 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) |
1792 | { | 1792 | { |
1793 | //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); | 1793 | //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); |
1794 | 1794 | ||
1795 | for (int iter = 0; iter < pVerticesCount; iter++) | 1795 | for (int iter = 0; iter < pVerticesCount; iter++) |
1796 | { | 1796 | { |
1797 | if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; | 1797 | if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; |
1798 | if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; | 1798 | if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; |
1799 | } | 1799 | } |
1800 | 1800 | ||
1801 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); | 1801 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); |
1802 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); | 1802 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); |
1803 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); | 1803 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); |
@@ -1811,7 +1811,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1811 | mesh.m_vertexStride = 3; | 1811 | mesh.m_vertexStride = 3; |
1812 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | 1812 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; |
1813 | mesh.m_triangleIndexStride = 3; | 1813 | mesh.m_triangleIndexStride = 3; |
1814 | 1814 | ||
1815 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | 1815 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); |
1816 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | 1816 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); |
1817 | BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); | 1817 | BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); |
@@ -1822,7 +1822,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1822 | } | 1822 | } |
1823 | public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) | 1823 | public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) |
1824 | { | 1824 | { |
1825 | 1825 | ||
1826 | String fileName = "objTest3.raw"; | 1826 | String fileName = "objTest3.raw"; |
1827 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | 1827 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); |
1828 | StreamWriter sw = new StreamWriter(completePath); | 1828 | StreamWriter sw = new StreamWriter(completePath); |
@@ -1848,7 +1848,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1848 | string s = vertices[indices[i * 3]].ToString("0.0000"); | 1848 | string s = vertices[indices[i * 3]].ToString("0.0000"); |
1849 | s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | 1849 | s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); |
1850 | s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | 1850 | s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); |
1851 | 1851 | ||
1852 | sw.Write(s + "\n"); | 1852 | sw.Write(s + "\n"); |
1853 | } | 1853 | } |
1854 | 1854 | ||
@@ -1870,7 +1870,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1870 | mesh.m_vertexStride = 3; | 1870 | mesh.m_vertexStride = 3; |
1871 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | 1871 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; |
1872 | mesh.m_triangleIndexStride = 3; | 1872 | mesh.m_triangleIndexStride = 3; |
1873 | 1873 | ||
1874 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | 1874 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); |
1875 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | 1875 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); |
1876 | 1876 | ||
@@ -1901,7 +1901,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1901 | sw.Close(); | 1901 | sw.Close(); |
1902 | } | 1902 | } |
1903 | 1903 | ||
1904 | public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, | 1904 | public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, |
1905 | float scaleFactor, float collisionMargin) | 1905 | float scaleFactor, float collisionMargin) |
1906 | { | 1906 | { |
1907 | const int upAxis = 2; | 1907 | const int upAxis = 2; |
@@ -1943,14 +1943,14 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1943 | /* TODO */ | 1943 | /* TODO */ |
1944 | updatedEntityCount = 0; | 1944 | updatedEntityCount = 0; |
1945 | collidersCount = 0; | 1945 | collidersCount = 0; |
1946 | 1946 | ||
1947 | 1947 | ||
1948 | int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); | 1948 | int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); |
1949 | 1949 | ||
1950 | return ret; | 1950 | return ret; |
1951 | } | 1951 | } |
1952 | 1952 | ||
1953 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, | 1953 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, |
1954 | out int updatedEntityCount, out EntityProperties[] updatedEntities, | 1954 | out int updatedEntityCount, out EntityProperties[] updatedEntities, |
1955 | out int collidersCount, out CollisionDesc[] colliders) | 1955 | out int collidersCount, out CollisionDesc[] colliders) |
1956 | { | 1956 | { |
@@ -1959,24 +1959,24 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1959 | return epic; | 1959 | return epic; |
1960 | } | 1960 | } |
1961 | 1961 | ||
1962 | private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, | 1962 | private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, |
1963 | out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) | 1963 | out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) |
1964 | { | 1964 | { |
1965 | int numSimSteps = 0; | 1965 | int numSimSteps = 0; |
1966 | Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); | 1966 | Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); |
1967 | Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); | 1967 | Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); |
1968 | LastEntityProperty=0; | 1968 | LastEntityProperty=0; |
1969 | 1969 | ||
1970 | 1970 | ||
1971 | 1971 | ||
1972 | 1972 | ||
1973 | 1973 | ||
1974 | 1974 | ||
1975 | LastCollisionDesc=0; | 1975 | LastCollisionDesc=0; |
1976 | 1976 | ||
1977 | updatedEntityCount = 0; | 1977 | updatedEntityCount = 0; |
1978 | collidersCount = 0; | 1978 | collidersCount = 0; |
1979 | 1979 | ||
1980 | 1980 | ||
1981 | if (pWorld is BulletWorldXNA) | 1981 | if (pWorld is BulletWorldXNA) |
1982 | { | 1982 | { |
@@ -2033,7 +2033,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2033 | 2033 | ||
2034 | collidersCount = LastCollisionDesc; | 2034 | collidersCount = LastCollisionDesc; |
2035 | colliders = UpdatedCollisions; | 2035 | colliders = UpdatedCollisions; |
2036 | 2036 | ||
2037 | 2037 | ||
2038 | } | 2038 | } |
2039 | else | 2039 | else |
@@ -2041,15 +2041,15 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2041 | //if (updatedEntities is null) | 2041 | //if (updatedEntities is null) |
2042 | //updatedEntities = new List<BulletXNA.EntityProperties>(); | 2042 | //updatedEntities = new List<BulletXNA.EntityProperties>(); |
2043 | //updatedEntityCount = 0; | 2043 | //updatedEntityCount = 0; |
2044 | 2044 | ||
2045 | 2045 | ||
2046 | //collidersCount = 0; | 2046 | //collidersCount = 0; |
2047 | 2047 | ||
2048 | updatedEntities = new EntityProperties[0]; | 2048 | updatedEntities = new EntityProperties[0]; |
2049 | 2049 | ||
2050 | 2050 | ||
2051 | colliders = new CollisionDesc[0]; | 2051 | colliders = new CollisionDesc[0]; |
2052 | 2052 | ||
2053 | } | 2053 | } |
2054 | return numSimSteps; | 2054 | return numSimSteps; |
2055 | } | 2055 | } |
@@ -2057,7 +2057,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2057 | { | 2057 | { |
2058 | IOverlappingPairCache cache = obj.GetOverlappingPairCache(); | 2058 | IOverlappingPairCache cache = obj.GetOverlappingPairCache(); |
2059 | ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray(); | 2059 | ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray(); |
2060 | 2060 | ||
2061 | DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; | 2061 | DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; |
2062 | PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); | 2062 | PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); |
2063 | BroadphasePair collisionPair; | 2063 | BroadphasePair collisionPair; |
@@ -2069,7 +2069,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2069 | ManifoldPoint pt; | 2069 | ManifoldPoint pt; |
2070 | 2070 | ||
2071 | int numPairs = pairs.Count; | 2071 | int numPairs = pairs.Count; |
2072 | 2072 | ||
2073 | for (int i = 0; i < numPairs; i++) | 2073 | for (int i = 0; i < numPairs; i++) |
2074 | { | 2074 | { |
2075 | manifoldArray.Clear(); | 2075 | manifoldArray.Clear(); |
@@ -2078,7 +2078,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2078 | collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); | 2078 | collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); |
2079 | if (collisionPair == null) | 2079 | if (collisionPair == null) |
2080 | continue; | 2080 | continue; |
2081 | 2081 | ||
2082 | collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); | 2082 | collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); |
2083 | for (int j = 0; j < manifoldArray.Count; j++) | 2083 | for (int j = 0; j < manifoldArray.Count; j++) |
2084 | { | 2084 | { |
@@ -2101,7 +2101,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2101 | } | 2101 | } |
2102 | private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) | 2102 | private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) |
2103 | { | 2103 | { |
2104 | 2104 | ||
2105 | IndexedVector3 contactNormal = norm; | 2105 | IndexedVector3 contactNormal = norm; |
2106 | if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && | 2106 | if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && |
2107 | (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) | 2107 | (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) |
@@ -2171,11 +2171,11 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2171 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) | 2171 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) |
2172 | { | 2172 | { |
2173 | CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; | 2173 | CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; |
2174 | 2174 | ||
2175 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); | 2175 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); |
2176 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); | 2176 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); |
2177 | using ( | 2177 | using ( |
2178 | ClosestNotMeRayResultCallback rayCallback = | 2178 | ClosestNotMeRayResultCallback rayCallback = |
2179 | new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) | 2179 | new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) |
2180 | ) | 2180 | ) |
2181 | { | 2181 | { |
@@ -2191,9 +2191,9 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2191 | return false; | 2191 | return false; |
2192 | } | 2192 | } |
2193 | } | 2193 | } |
2194 | |||
2195 | 2194 | ||
2196 | 2195 | ||
2196 | |||
2197 | 2197 | ||
2198 | public class SimMotionState : DefaultMotionState | 2198 | public class SimMotionState : DefaultMotionState |
2199 | { | 2199 | { |
@@ -2286,12 +2286,12 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2286 | m_lastProperties = m_properties; | 2286 | m_lastProperties = m_properties; |
2287 | if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) | 2287 | if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) |
2288 | m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); | 2288 | m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); |
2289 | 2289 | ||
2290 | //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; | 2290 | //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; |
2291 | } | 2291 | } |
2292 | 2292 | ||
2293 | 2293 | ||
2294 | 2294 | ||
2295 | 2295 | ||
2296 | } | 2296 | } |
2297 | public override void SetRigidBody(RigidBody body) | 2297 | public override void SetRigidBody(RigidBody body) |
@@ -2314,7 +2314,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
2314 | (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && | 2314 | (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && |
2315 | (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); | 2315 | (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); |
2316 | } | 2316 | } |
2317 | 2317 | ||
2318 | } | 2318 | } |
2319 | } | 2319 | } |
2320 | 2320 | ||