diff options
Diffstat (limited to 'OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs')
-rwxr-xr-x | OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs | 2589 |
1 files changed, 2589 insertions, 0 deletions
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs b/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs new file mode 100755 index 0000000..741f8db --- /dev/null +++ b/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs | |||
@@ -0,0 +1,2589 @@ | |||
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 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.IO; | ||
30 | using System.Runtime.InteropServices; | ||
31 | using System.Text; | ||
32 | |||
33 | using OpenSim.Framework; | ||
34 | |||
35 | using OpenMetaverse; | ||
36 | |||
37 | using BulletXNA; | ||
38 | using BulletXNA.LinearMath; | ||
39 | using BulletXNA.BulletCollision; | ||
40 | using BulletXNA.BulletDynamics; | ||
41 | using BulletXNA.BulletCollision.CollisionDispatch; | ||
42 | |||
43 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
44 | { | ||
45 | public sealed class BSAPIXNA : BSAPITemplate | ||
46 | { | ||
47 | private sealed class BulletWorldXNA : BulletWorld | ||
48 | { | ||
49 | public DiscreteDynamicsWorld world; | ||
50 | public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx) | ||
51 | : base(id, physScene) | ||
52 | { | ||
53 | world = xx; | ||
54 | } | ||
55 | } | ||
56 | |||
57 | private sealed class BulletBodyXNA : BulletBody | ||
58 | { | ||
59 | public CollisionObject body; | ||
60 | public RigidBody rigidBody { get { return RigidBody.Upcast(body); } } | ||
61 | |||
62 | public BulletBodyXNA(uint id, CollisionObject xx) | ||
63 | : base(id) | ||
64 | { | ||
65 | body = xx; | ||
66 | } | ||
67 | public override bool HasPhysicalBody | ||
68 | { | ||
69 | get { return body != null; } | ||
70 | } | ||
71 | public override void Clear() | ||
72 | { | ||
73 | body = null; | ||
74 | } | ||
75 | public override string AddrString | ||
76 | { | ||
77 | get { return "XNARigidBody"; } | ||
78 | } | ||
79 | } | ||
80 | |||
81 | private sealed class BulletShapeXNA : BulletShape | ||
82 | { | ||
83 | public CollisionShape shape; | ||
84 | public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) | ||
85 | : base() | ||
86 | { | ||
87 | shape = xx; | ||
88 | shapeType = typ; | ||
89 | } | ||
90 | public override bool HasPhysicalShape | ||
91 | { | ||
92 | get { return shape != null; } | ||
93 | } | ||
94 | public override void Clear() | ||
95 | { | ||
96 | shape = null; | ||
97 | } | ||
98 | public override BulletShape Clone() | ||
99 | { | ||
100 | return new BulletShapeXNA(shape, shapeType); | ||
101 | } | ||
102 | public override bool ReferenceSame(BulletShape other) | ||
103 | { | ||
104 | BulletShapeXNA otheru = other as BulletShapeXNA; | ||
105 | return (otheru != null) && (this.shape == otheru.shape); | ||
106 | |||
107 | } | ||
108 | public override string AddrString | ||
109 | { | ||
110 | get { return "XNACollisionShape"; } | ||
111 | } | ||
112 | } | ||
113 | private sealed class BulletConstraintXNA : BulletConstraint | ||
114 | { | ||
115 | public TypedConstraint constrain; | ||
116 | public BulletConstraintXNA(TypedConstraint xx) : base() | ||
117 | { | ||
118 | constrain = xx; | ||
119 | } | ||
120 | |||
121 | public override void Clear() | ||
122 | { | ||
123 | constrain = null; | ||
124 | } | ||
125 | public override bool HasPhysicalConstraint { get { return constrain != null; } } | ||
126 | |||
127 | // Used for log messages for a unique display of the memory/object allocated to this instance | ||
128 | public override string AddrString | ||
129 | { | ||
130 | get { return "XNAConstraint"; } | ||
131 | } | ||
132 | } | ||
133 | internal int m_maxCollisions; | ||
134 | internal CollisionDesc[] UpdatedCollisions; | ||
135 | internal int LastCollisionDesc = 0; | ||
136 | internal int m_maxUpdatesPerFrame; | ||
137 | internal int LastEntityProperty = 0; | ||
138 | |||
139 | internal EntityProperties[] UpdatedObjects; | ||
140 | internal Dictionary<uint, GhostObject> specialCollisionObjects; | ||
141 | |||
142 | private static int m_collisionsThisFrame; | ||
143 | private BSScene PhysicsScene { get; set; } | ||
144 | |||
145 | public override string BulletEngineName { get { return "BulletXNA"; } } | ||
146 | public override string BulletEngineVersion { get; protected set; } | ||
147 | |||
148 | public BSAPIXNA(string paramName, BSScene physScene) | ||
149 | { | ||
150 | PhysicsScene = physScene; | ||
151 | } | ||
152 | |||
153 | /// <summary> | ||
154 | /// | ||
155 | /// </summary> | ||
156 | /// <param name="p"></param> | ||
157 | /// <param name="p_2"></param> | ||
158 | public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) | ||
159 | { | ||
160 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
161 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
162 | CollisionObject collisionObject = ((BulletBodyXNA)pBody).body; | ||
163 | if (body != null) | ||
164 | world.RemoveRigidBody(body); | ||
165 | else if (collisionObject != null) | ||
166 | world.RemoveCollisionObject(collisionObject); | ||
167 | else | ||
168 | return false; | ||
169 | return true; | ||
170 | } | ||
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 | |||
185 | public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) | ||
186 | { | ||
187 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
188 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; | ||
189 | world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); | ||
190 | |||
191 | return true; | ||
192 | |||
193 | } | ||
194 | |||
195 | public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint) | ||
196 | { | ||
197 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
198 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; | ||
199 | world.RemoveConstraint(constraint); | ||
200 | return true; | ||
201 | } | ||
202 | |||
203 | public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) | ||
204 | { | ||
205 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
206 | collisionObject.SetRestitution(pRestitution); | ||
207 | } | ||
208 | |||
209 | public override int GetShapeType(BulletShape pShape) | ||
210 | { | ||
211 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
212 | return (int)shape.GetShapeType(); | ||
213 | } | ||
214 | public override void SetMargin(BulletShape pShape, float pMargin) | ||
215 | { | ||
216 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
217 | shape.SetMargin(pMargin); | ||
218 | } | ||
219 | |||
220 | public override float GetMargin(BulletShape pShape) | ||
221 | { | ||
222 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
223 | return shape.GetMargin(); | ||
224 | } | ||
225 | |||
226 | public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) | ||
227 | { | ||
228 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
229 | IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | ||
230 | shape.SetLocalScaling(ref vec); | ||
231 | |||
232 | } | ||
233 | |||
234 | public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold) | ||
235 | { | ||
236 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
237 | collisionObject.SetContactProcessingThreshold(contactprocessingthreshold); | ||
238 | } | ||
239 | |||
240 | public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) | ||
241 | { | ||
242 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
243 | collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); | ||
244 | } | ||
245 | |||
246 | public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) | ||
247 | { | ||
248 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
249 | collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); | ||
250 | } | ||
251 | |||
252 | public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) | ||
253 | { | ||
254 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
255 | body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); | ||
256 | } | ||
257 | |||
258 | public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) | ||
259 | { | ||
260 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
261 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); | ||
262 | existingcollisionFlags |= pcollisionFlags; | ||
263 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | ||
264 | return (CollisionFlags) (uint) existingcollisionFlags; | ||
265 | } | ||
266 | |||
267 | public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) | ||
268 | { | ||
269 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
270 | CollisionObject cbody = (pBody as BulletBodyXNA).body; | ||
271 | RigidBody rbody = cbody as RigidBody; | ||
272 | |||
273 | // Bullet resets several variables when an object is added to the world. In particular, | ||
274 | // BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic | ||
275 | // type. Of course, the collision flags in the broadphase proxy are initialized to default. | ||
276 | IndexedMatrix origPos = cbody.GetWorldTransform(); | ||
277 | if (rbody != null) | ||
278 | { | ||
279 | IndexedVector3 origGrav = rbody.GetGravity(); | ||
280 | world.AddRigidBody(rbody); | ||
281 | rbody.SetGravity(origGrav); | ||
282 | } | ||
283 | else | ||
284 | { | ||
285 | world.AddCollisionObject(cbody); | ||
286 | } | ||
287 | cbody.SetWorldTransform(origPos); | ||
288 | |||
289 | pBody.ApplyCollisionMask(pWorld.physicsScene); | ||
290 | |||
291 | //if (body.GetBroadphaseHandle() != null) | ||
292 | // world.UpdateSingleAabb(body); | ||
293 | return true; | ||
294 | } | ||
295 | |||
296 | public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState) | ||
297 | { | ||
298 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
299 | collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); | ||
300 | } | ||
301 | |||
302 | public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject) | ||
303 | { | ||
304 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
305 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
306 | world.UpdateSingleAabb(collisionObject); | ||
307 | } | ||
308 | |||
309 | public override void UpdateAabbs(BulletWorld pWorld) { | ||
310 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
311 | world.UpdateAabbs(); | ||
312 | } | ||
313 | public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { | ||
314 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
315 | return world.GetForceUpdateAllAabbs(); | ||
316 | |||
317 | } | ||
318 | public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) | ||
319 | { | ||
320 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
321 | world.SetForceUpdateAllAabbs(pForce); | ||
322 | } | ||
323 | |||
324 | public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) | ||
325 | { | ||
326 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
327 | collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
328 | collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
329 | if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) | ||
330 | return false; | ||
331 | return true; | ||
332 | } | ||
333 | |||
334 | public override void ClearAllForces(BulletBody pCollisionObject) | ||
335 | { | ||
336 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
337 | IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); | ||
338 | collisionObject.SetInterpolationLinearVelocity(ref zeroVector); | ||
339 | collisionObject.SetInterpolationAngularVelocity(ref zeroVector); | ||
340 | IndexedMatrix bodytransform = collisionObject.GetWorldTransform(); | ||
341 | |||
342 | collisionObject.SetInterpolationWorldTransform(ref bodytransform); | ||
343 | |||
344 | if (collisionObject is RigidBody) | ||
345 | { | ||
346 | RigidBody rigidbody = collisionObject as RigidBody; | ||
347 | rigidbody.SetLinearVelocity(zeroVector); | ||
348 | rigidbody.SetAngularVelocity(zeroVector); | ||
349 | rigidbody.ClearForces(); | ||
350 | } | ||
351 | } | ||
352 | |||
353 | public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3) | ||
354 | { | ||
355 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
356 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | ||
357 | collisionObject.SetInterpolationAngularVelocity(ref vec); | ||
358 | } | ||
359 | |||
360 | public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) | ||
361 | { | ||
362 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
363 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | ||
364 | body.SetAngularVelocity(ref vec); | ||
365 | } | ||
366 | public override Vector3 GetTotalForce(BulletBody pBody) | ||
367 | { | ||
368 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
369 | IndexedVector3 iv3 = body.GetTotalForce(); | ||
370 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
371 | } | ||
372 | public override Vector3 GetTotalTorque(BulletBody pBody) | ||
373 | { | ||
374 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
375 | IndexedVector3 iv3 = body.GetTotalTorque(); | ||
376 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
377 | } | ||
378 | public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) | ||
379 | { | ||
380 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
381 | IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); | ||
382 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
383 | } | ||
384 | public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) | ||
385 | { | ||
386 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
387 | IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); | ||
388 | body.SetInvInertiaDiagLocal(ref iv3); | ||
389 | } | ||
390 | public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) | ||
391 | { | ||
392 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
393 | IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); | ||
394 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
395 | body.ApplyForce(ref forceiv3, ref posiv3); | ||
396 | } | ||
397 | public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) | ||
398 | { | ||
399 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
400 | IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); | ||
401 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
402 | body.ApplyImpulse(ref impiv3, ref posiv3); | ||
403 | } | ||
404 | |||
405 | public override void ClearForces(BulletBody pBody) | ||
406 | { | ||
407 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
408 | body.ClearForces(); | ||
409 | } | ||
410 | |||
411 | public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) | ||
412 | { | ||
413 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
414 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); | ||
415 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, | ||
416 | _orientation.W); | ||
417 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); | ||
418 | mat._origin = vposition; | ||
419 | collisionObject.SetWorldTransform(mat); | ||
420 | |||
421 | } | ||
422 | |||
423 | public override Vector3 GetPosition(BulletBody pCollisionObject) | ||
424 | { | ||
425 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
426 | IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin; | ||
427 | return new Vector3(pos.X, pos.Y, pos.Z); | ||
428 | } | ||
429 | |||
430 | public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) | ||
431 | { | ||
432 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
433 | IndexedVector3 inertia = IndexedVector3.Zero; | ||
434 | shape.CalculateLocalInertia(pphysMass, out inertia); | ||
435 | return new Vector3(inertia.X, inertia.Y, inertia.Z); | ||
436 | } | ||
437 | |||
438 | public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) | ||
439 | { | ||
440 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
441 | if (body != null) // Can't set mass props on collision object. | ||
442 | { | ||
443 | IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); | ||
444 | body.SetMassProps(pphysMass, inertia); | ||
445 | } | ||
446 | } | ||
447 | |||
448 | |||
449 | public override void SetObjectForce(BulletBody pBody, Vector3 _force) | ||
450 | { | ||
451 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
452 | IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); | ||
453 | body.SetTotalForce(ref force); | ||
454 | } | ||
455 | |||
456 | public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) | ||
457 | { | ||
458 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
459 | collisionObject.SetFriction(_currentFriction); | ||
460 | } | ||
461 | |||
462 | public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) | ||
463 | { | ||
464 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
465 | IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); | ||
466 | body.SetLinearVelocity(velocity); | ||
467 | } | ||
468 | |||
469 | public override void Activate(BulletBody pCollisionObject, bool pforceactivation) | ||
470 | { | ||
471 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
472 | collisionObject.Activate(pforceactivation); | ||
473 | |||
474 | } | ||
475 | |||
476 | public override Quaternion GetOrientation(BulletBody pCollisionObject) | ||
477 | { | ||
478 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
479 | IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation(); | ||
480 | return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); | ||
481 | } | ||
482 | |||
483 | public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) | ||
484 | { | ||
485 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
486 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); | ||
487 | existingcollisionFlags &= ~pcollisionFlags; | ||
488 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | ||
489 | return (CollisionFlags)(uint)existingcollisionFlags; | ||
490 | } | ||
491 | |||
492 | public override float GetCcdMotionThreshold(BulletBody pCollisionObject) | ||
493 | { | ||
494 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
495 | return collisionObject.GetCcdSquareMotionThreshold(); | ||
496 | } | ||
497 | |||
498 | public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject) | ||
499 | { | ||
500 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
501 | return collisionObject.GetCcdSweptSphereRadius(); | ||
502 | |||
503 | } | ||
504 | |||
505 | public override IntPtr GetUserPointer(BulletBody pCollisionObject) | ||
506 | { | ||
507 | CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; | ||
508 | return (IntPtr)shape.GetUserPointer(); | ||
509 | } | ||
510 | |||
511 | public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val) | ||
512 | { | ||
513 | CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; | ||
514 | shape.SetUserPointer(val); | ||
515 | } | ||
516 | |||
517 | public override void SetGravity(BulletBody pBody, Vector3 pGravity) | ||
518 | { | ||
519 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
520 | if (body != null) // Can't set collisionobject.set gravity | ||
521 | { | ||
522 | IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); | ||
523 | body.SetGravity(gravity); | ||
524 | } | ||
525 | } | ||
526 | |||
527 | public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) | ||
528 | { | ||
529 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
530 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; | ||
531 | world.RemoveConstraint(constraint); | ||
532 | return true; | ||
533 | } | ||
534 | |||
535 | public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | ||
536 | { | ||
537 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
538 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | ||
539 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | ||
540 | constraint.SetLinearLowerLimit(lowlimit); | ||
541 | constraint.SetLinearUpperLimit(highlimit); | ||
542 | return true; | ||
543 | } | ||
544 | |||
545 | public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | ||
546 | { | ||
547 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
548 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | ||
549 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | ||
550 | constraint.SetAngularLowerLimit(lowlimit); | ||
551 | constraint.SetAngularUpperLimit(highlimit); | ||
552 | return true; | ||
553 | } | ||
554 | |||
555 | public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) | ||
556 | { | ||
557 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
558 | constraint.SetOverrideNumSolverIterations((int)cnt); | ||
559 | } | ||
560 | |||
561 | public override bool CalculateTransforms(BulletConstraint pConstraint) | ||
562 | { | ||
563 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
564 | constraint.CalculateTransforms(); | ||
565 | return true; | ||
566 | } | ||
567 | |||
568 | public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) | ||
569 | { | ||
570 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
571 | constraint.SetEnabled((p_2 == 0) ? false : true); | ||
572 | } | ||
573 | |||
574 | |||
575 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
576 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, | ||
577 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
578 | |||
579 | { | ||
580 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
581 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
582 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
583 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
584 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
585 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
586 | frame1._origin = frame1v; | ||
587 | |||
588 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
589 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
590 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
591 | frame2._origin = frame1v; | ||
592 | |||
593 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, | ||
594 | puseLinearReferenceFrameA); | ||
595 | consttr.CalculateTransforms(); | ||
596 | world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); | ||
597 | |||
598 | return new BulletConstraintXNA(consttr); | ||
599 | } | ||
600 | |||
601 | public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1, | ||
602 | Vector3 pframe1, Quaternion pframe1rot, | ||
603 | bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies) | ||
604 | { | ||
605 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
606 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
607 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
608 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
609 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
610 | frame1._origin = frame1v; | ||
611 | |||
612 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB); | ||
613 | consttr.CalculateTransforms(); | ||
614 | world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); | ||
615 | |||
616 | return new BulletConstraintXNA(consttr); | ||
617 | } | ||
618 | |||
619 | /// <summary> | ||
620 | /// | ||
621 | /// </summary> | ||
622 | /// <param name="pWorld"></param> | ||
623 | /// <param name="pBody1"></param> | ||
624 | /// <param name="pBody2"></param> | ||
625 | /// <param name="pjoinPoint"></param> | ||
626 | /// <param name="puseLinearReferenceFrameA"></param> | ||
627 | /// <param name="pdisableCollisionsBetweenLinkedBodies"></param> | ||
628 | /// <returns></returns> | ||
629 | public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
630 | { | ||
631 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
632 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
633 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
634 | IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | ||
635 | IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | ||
636 | |||
637 | IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); | ||
638 | IndexedMatrix mat = IndexedMatrix.Identity; | ||
639 | mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); | ||
640 | frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; | ||
641 | frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; | ||
642 | |||
643 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); | ||
644 | consttr.CalculateTransforms(); | ||
645 | world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); | ||
646 | |||
647 | return new BulletConstraintXNA(consttr); | ||
648 | } | ||
649 | //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); | ||
650 | public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) | ||
651 | { | ||
652 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
653 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
654 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
655 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
656 | frame1._origin = frame1v; | ||
657 | |||
658 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
659 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
660 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
661 | frame2._origin = frame2v; | ||
662 | constraint.SetFrames(ref frame1, ref frame2); | ||
663 | return true; | ||
664 | } | ||
665 | |||
666 | public override Vector3 GetLinearVelocity(BulletBody pBody) | ||
667 | { | ||
668 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
669 | IndexedVector3 iv3 = body.GetLinearVelocity(); | ||
670 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
671 | } | ||
672 | public override Vector3 GetAngularVelocity(BulletBody pBody) | ||
673 | { | ||
674 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
675 | IndexedVector3 iv3 = body.GetAngularVelocity(); | ||
676 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
677 | } | ||
678 | public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) | ||
679 | { | ||
680 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
681 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
682 | IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); | ||
683 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
684 | } | ||
685 | public override void Translate(BulletBody pCollisionObject, Vector3 trans) | ||
686 | { | ||
687 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
688 | collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z)); | ||
689 | } | ||
690 | public override void UpdateDeactivation(BulletBody pBody, float timeStep) | ||
691 | { | ||
692 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
693 | body.UpdateDeactivation(timeStep); | ||
694 | } | ||
695 | |||
696 | public override bool WantsSleeping(BulletBody pBody) | ||
697 | { | ||
698 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
699 | return body.WantsSleeping(); | ||
700 | } | ||
701 | |||
702 | public override void SetAngularFactor(BulletBody pBody, float factor) | ||
703 | { | ||
704 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
705 | body.SetAngularFactor(factor); | ||
706 | } | ||
707 | |||
708 | public override Vector3 GetAngularFactor(BulletBody pBody) | ||
709 | { | ||
710 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
711 | IndexedVector3 iv3 = body.GetAngularFactor(); | ||
712 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
713 | } | ||
714 | |||
715 | public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject) | ||
716 | { | ||
717 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
718 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
719 | return world.IsInWorld(collisionObject); | ||
720 | } | ||
721 | |||
722 | public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint) | ||
723 | { | ||
724 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
725 | TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; | ||
726 | body.AddConstraintRef(constrain); | ||
727 | } | ||
728 | |||
729 | public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint) | ||
730 | { | ||
731 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
732 | TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; | ||
733 | body.RemoveConstraintRef(constrain); | ||
734 | } | ||
735 | |||
736 | public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) | ||
737 | { | ||
738 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
739 | return new BulletConstraintXNA(body.GetConstraintRef(index)); | ||
740 | } | ||
741 | |||
742 | public override int GetNumConstraintRefs(BulletBody pBody) | ||
743 | { | ||
744 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
745 | return body.GetNumConstraintRefs(); | ||
746 | } | ||
747 | |||
748 | public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity) | ||
749 | { | ||
750 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
751 | IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); | ||
752 | collisionObject.SetInterpolationLinearVelocity(ref velocity); | ||
753 | } | ||
754 | |||
755 | public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) | ||
756 | { | ||
757 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
758 | constraint.SetUseFrameOffset((onOff == 0) ? false : true); | ||
759 | return true; | ||
760 | } | ||
761 | //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); | ||
762 | public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) | ||
763 | { | ||
764 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
765 | constraint.SetBreakingImpulseThreshold(threshold); | ||
766 | return true; | ||
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 | |||
976 | //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); | ||
977 | public override void SetAngularDamping(BulletBody pBody, float angularDamping) | ||
978 | { | ||
979 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
980 | float lineardamping = body.GetLinearDamping(); | ||
981 | body.SetDamping(lineardamping, angularDamping); | ||
982 | |||
983 | } | ||
984 | |||
985 | public override void UpdateInertiaTensor(BulletBody pBody) | ||
986 | { | ||
987 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
988 | if (body != null) // can't update inertia tensor on CollisionObject | ||
989 | body.UpdateInertiaTensor(); | ||
990 | } | ||
991 | |||
992 | public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) | ||
993 | { | ||
994 | CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; | ||
995 | shape.RecalculateLocalAabb(); | ||
996 | } | ||
997 | |||
998 | //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) | ||
999 | public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject) | ||
1000 | { | ||
1001 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1002 | uint flags = (uint)collisionObject.GetCollisionFlags(); | ||
1003 | return (CollisionFlags) flags; | ||
1004 | } | ||
1005 | |||
1006 | public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) | ||
1007 | { | ||
1008 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1009 | body.SetDamping(pLinear, pAngular); | ||
1010 | } | ||
1011 | //PhysBody.ptr, PhysicsScene.Params.deactivationTime); | ||
1012 | public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime) | ||
1013 | { | ||
1014 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1015 | collisionObject.SetDeactivationTime(pDeactivationTime); | ||
1016 | } | ||
1017 | //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); | ||
1018 | public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) | ||
1019 | { | ||
1020 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1021 | body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); | ||
1022 | } | ||
1023 | |||
1024 | public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) | ||
1025 | { | ||
1026 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
1027 | return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); | ||
1028 | } | ||
1029 | |||
1030 | public override void ApplyGravity(BulletBody pBody) | ||
1031 | { | ||
1032 | |||
1033 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1034 | body.ApplyGravity(); | ||
1035 | } | ||
1036 | |||
1037 | public override Vector3 GetGravity(BulletBody pBody) | ||
1038 | { | ||
1039 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1040 | IndexedVector3 gravity = body.GetGravity(); | ||
1041 | return new Vector3(gravity.X, gravity.Y, gravity.Z); | ||
1042 | } | ||
1043 | |||
1044 | public override void SetLinearDamping(BulletBody pBody, float lin_damping) | ||
1045 | { | ||
1046 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1047 | float angularDamping = body.GetAngularDamping(); | ||
1048 | body.SetDamping(lin_damping, angularDamping); | ||
1049 | } | ||
1050 | |||
1051 | public override float GetLinearDamping(BulletBody pBody) | ||
1052 | { | ||
1053 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1054 | return body.GetLinearDamping(); | ||
1055 | } | ||
1056 | |||
1057 | public override float GetAngularDamping(BulletBody pBody) | ||
1058 | { | ||
1059 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1060 | return body.GetAngularDamping(); | ||
1061 | } | ||
1062 | |||
1063 | public override float GetLinearSleepingThreshold(BulletBody pBody) | ||
1064 | { | ||
1065 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1066 | return body.GetLinearSleepingThreshold(); | ||
1067 | } | ||
1068 | |||
1069 | public override void ApplyDamping(BulletBody pBody, float timeStep) | ||
1070 | { | ||
1071 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1072 | body.ApplyDamping(timeStep); | ||
1073 | } | ||
1074 | |||
1075 | public override Vector3 GetLinearFactor(BulletBody pBody) | ||
1076 | { | ||
1077 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1078 | IndexedVector3 linearFactor = body.GetLinearFactor(); | ||
1079 | return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z); | ||
1080 | } | ||
1081 | |||
1082 | public override void SetLinearFactor(BulletBody pBody, Vector3 factor) | ||
1083 | { | ||
1084 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1085 | body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z)); | ||
1086 | } | ||
1087 | |||
1088 | public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot) | ||
1089 | { | ||
1090 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1091 | IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W); | ||
1092 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat); | ||
1093 | mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
1094 | body.SetCenterOfMassTransform( ref mat); | ||
1095 | /* TODO: double check this */ | ||
1096 | } | ||
1097 | |||
1098 | //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); | ||
1099 | public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) | ||
1100 | { | ||
1101 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1102 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
1103 | body.ApplyCentralForce(ref fSum); | ||
1104 | } | ||
1105 | public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) | ||
1106 | { | ||
1107 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1108 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
1109 | body.ApplyCentralImpulse(ref fSum); | ||
1110 | } | ||
1111 | public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) | ||
1112 | { | ||
1113 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1114 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
1115 | body.ApplyTorque(ref fSum); | ||
1116 | } | ||
1117 | public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) | ||
1118 | { | ||
1119 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
1120 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
1121 | body.ApplyTorqueImpulse(ref fSum); | ||
1122 | } | ||
1123 | |||
1124 | public override void DestroyObject(BulletWorld pWorld, BulletBody pBody) | ||
1125 | { | ||
1126 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1127 | CollisionObject co = (pBody as BulletBodyXNA).rigidBody; | ||
1128 | RigidBody bo = co as RigidBody; | ||
1129 | if (bo == null) | ||
1130 | { | ||
1131 | |||
1132 | if (world.IsInWorld(co)) | ||
1133 | { | ||
1134 | world.RemoveCollisionObject(co); | ||
1135 | } | ||
1136 | } | ||
1137 | else | ||
1138 | { | ||
1139 | |||
1140 | if (world.IsInWorld(bo)) | ||
1141 | { | ||
1142 | world.RemoveRigidBody(bo); | ||
1143 | } | ||
1144 | } | ||
1145 | if (co != null) | ||
1146 | { | ||
1147 | if (co.GetUserPointer() != null) | ||
1148 | { | ||
1149 | uint localId = (uint) co.GetUserPointer(); | ||
1150 | if (specialCollisionObjects.ContainsKey(localId)) | ||
1151 | { | ||
1152 | specialCollisionObjects.Remove(localId); | ||
1153 | } | ||
1154 | } | ||
1155 | } | ||
1156 | |||
1157 | } | ||
1158 | |||
1159 | public override void Shutdown(BulletWorld pWorld) | ||
1160 | { | ||
1161 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1162 | world.Cleanup(); | ||
1163 | } | ||
1164 | |||
1165 | public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id) | ||
1166 | { | ||
1167 | CollisionShape shape1 = (pShape as BulletShapeXNA).shape; | ||
1168 | |||
1169 | // TODO: Turn this from a reference copy to a Value Copy. | ||
1170 | BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); | ||
1171 | |||
1172 | return shape2; | ||
1173 | } | ||
1174 | |||
1175 | public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape) | ||
1176 | { | ||
1177 | //TODO: | ||
1178 | return false; | ||
1179 | } | ||
1180 | //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); | ||
1181 | |||
1182 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
1183 | { | ||
1184 | CollisionWorld world = (pWorld as BulletWorldXNA).world; | ||
1185 | IndexedMatrix mat = | ||
1186 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | ||
1187 | pRawOrientation.Z, pRawOrientation.W)); | ||
1188 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
1189 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1190 | //UpdateSingleAabb(world, shape); | ||
1191 | // TODO: Feed Update array into null | ||
1192 | SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null); | ||
1193 | RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero); | ||
1194 | RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero) | ||
1195 | { | ||
1196 | m_mass = 0 | ||
1197 | }; | ||
1198 | /* | ||
1199 | m_mass = mass; | ||
1200 | m_motionState =motionState; | ||
1201 | m_collisionShape = collisionShape; | ||
1202 | m_localInertia = localInertia; | ||
1203 | m_linearDamping = 0f; | ||
1204 | m_angularDamping = 0f; | ||
1205 | m_friction = 0.5f; | ||
1206 | m_restitution = 0f; | ||
1207 | m_linearSleepingThreshold = 0.8f; | ||
1208 | m_angularSleepingThreshold = 1f; | ||
1209 | m_additionalDamping = false; | ||
1210 | m_additionalDampingFactor = 0.005f; | ||
1211 | m_additionalLinearDampingThresholdSqr = 0.01f; | ||
1212 | m_additionalAngularDampingThresholdSqr = 0.01f; | ||
1213 | m_additionalAngularDampingFactor = 0.01f; | ||
1214 | m_startWorldTransform = IndexedMatrix.Identity; | ||
1215 | */ | ||
1216 | body.SetUserPointer(pLocalID); | ||
1217 | |||
1218 | return new BulletBodyXNA(pLocalID, body); | ||
1219 | } | ||
1220 | |||
1221 | |||
1222 | public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
1223 | { | ||
1224 | |||
1225 | IndexedMatrix mat = | ||
1226 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | ||
1227 | pRawOrientation.Z, pRawOrientation.W)); | ||
1228 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
1229 | |||
1230 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1231 | |||
1232 | // TODO: Feed Update array into null | ||
1233 | RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); | ||
1234 | body.SetWorldTransform(mat); | ||
1235 | body.SetUserPointer(pLocalID); | ||
1236 | return new BulletBodyXNA(pLocalID, body); | ||
1237 | } | ||
1238 | //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
1239 | public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags) | ||
1240 | { | ||
1241 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1242 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); | ||
1243 | return (CollisionFlags)collisionObject.GetCollisionFlags(); | ||
1244 | } | ||
1245 | |||
1246 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) | ||
1247 | { | ||
1248 | |||
1249 | /* TODO */ | ||
1250 | return Vector3.Zero; | ||
1251 | } | ||
1252 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } | ||
1253 | public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } | ||
1254 | public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } | ||
1255 | public override bool IsStaticObject(BulletBody pCollisionObject) | ||
1256 | { | ||
1257 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1258 | return collisionObject.IsStaticObject(); | ||
1259 | |||
1260 | } | ||
1261 | public override bool IsKinematicObject(BulletBody pCollisionObject) | ||
1262 | { | ||
1263 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1264 | return collisionObject.IsKinematicObject(); | ||
1265 | } | ||
1266 | public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject) | ||
1267 | { | ||
1268 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1269 | return collisionObject.IsStaticOrKinematicObject(); | ||
1270 | } | ||
1271 | public override bool HasContactResponse(BulletBody pCollisionObject) | ||
1272 | { | ||
1273 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1274 | return collisionObject.HasContactResponse(); | ||
1275 | } | ||
1276 | public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } | ||
1277 | public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } | ||
1278 | public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } | ||
1279 | public override bool IsActive(BulletBody pBody) { /* TODO */ return false; } | ||
1280 | public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; } | ||
1281 | public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; } | ||
1282 | public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ } | ||
1283 | public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } | ||
1284 | |||
1285 | //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); | ||
1286 | public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction) | ||
1287 | { | ||
1288 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1289 | collisionObject.SetHitFraction(pHitFraction); | ||
1290 | } | ||
1291 | //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); | ||
1292 | public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) | ||
1293 | { | ||
1294 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1295 | IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | ||
1296 | CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); | ||
1297 | capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
1298 | capsuleShapeZ.SetLocalScaling(ref scale); | ||
1299 | |||
1300 | return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ; | ||
1301 | } | ||
1302 | |||
1303 | public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, | ||
1304 | int maxCollisions, ref CollisionDesc[] collisionArray, | ||
1305 | int maxUpdates, ref EntityProperties[] updateArray | ||
1306 | ) | ||
1307 | { | ||
1308 | |||
1309 | UpdatedObjects = updateArray; | ||
1310 | UpdatedCollisions = collisionArray; | ||
1311 | /* TODO */ | ||
1312 | ConfigurationParameters[] configparms = new ConfigurationParameters[1]; | ||
1313 | configparms[0] = parms; | ||
1314 | Vector3 worldExtent = maxPosition; | ||
1315 | m_maxCollisions = maxCollisions; | ||
1316 | m_maxUpdatesPerFrame = maxUpdates; | ||
1317 | specialCollisionObjects = new Dictionary<uint, GhostObject>(); | ||
1318 | |||
1319 | return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); | ||
1320 | } | ||
1321 | |||
1322 | private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, | ||
1323 | ConfigurationParameters[] o, | ||
1324 | int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, | ||
1325 | int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, | ||
1326 | object mDebugLogCallbackHandle) | ||
1327 | { | ||
1328 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); | ||
1329 | |||
1330 | p.angularDamping = BSParam.AngularDamping; | ||
1331 | p.defaultFriction = o[0].defaultFriction; | ||
1332 | p.defaultFriction = o[0].defaultFriction; | ||
1333 | p.defaultDensity = o[0].defaultDensity; | ||
1334 | p.defaultRestitution = o[0].defaultRestitution; | ||
1335 | p.collisionMargin = o[0].collisionMargin; | ||
1336 | p.gravity = o[0].gravity; | ||
1337 | |||
1338 | p.linearDamping = BSParam.LinearDamping; | ||
1339 | p.angularDamping = BSParam.AngularDamping; | ||
1340 | p.deactivationTime = BSParam.DeactivationTime; | ||
1341 | p.linearSleepingThreshold = BSParam.LinearSleepingThreshold; | ||
1342 | p.angularSleepingThreshold = BSParam.AngularSleepingThreshold; | ||
1343 | p.ccdMotionThreshold = BSParam.CcdMotionThreshold; | ||
1344 | p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius; | ||
1345 | p.contactProcessingThreshold = BSParam.ContactProcessingThreshold; | ||
1346 | |||
1347 | p.terrainImplementation = BSParam.TerrainImplementation; | ||
1348 | p.terrainFriction = BSParam.TerrainFriction; | ||
1349 | |||
1350 | p.terrainHitFraction = BSParam.TerrainHitFraction; | ||
1351 | p.terrainRestitution = BSParam.TerrainRestitution; | ||
1352 | p.terrainCollisionMargin = BSParam.TerrainCollisionMargin; | ||
1353 | |||
1354 | p.avatarFriction = BSParam.AvatarFriction; | ||
1355 | p.avatarStandingFriction = BSParam.AvatarStandingFriction; | ||
1356 | p.avatarDensity = BSParam.AvatarDensity; | ||
1357 | p.avatarRestitution = BSParam.AvatarRestitution; | ||
1358 | p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth; | ||
1359 | p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; | ||
1360 | p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; | ||
1361 | p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; | ||
1362 | |||
1363 | p.vehicleAngularDamping = BSParam.VehicleAngularDamping; | ||
1364 | |||
1365 | p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; | ||
1366 | p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; | ||
1367 | p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; | ||
1368 | p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; | ||
1369 | p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; | ||
1370 | p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; | ||
1371 | p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; | ||
1372 | p.numberOfSolverIterations = o[0].numberOfSolverIterations; | ||
1373 | |||
1374 | p.linksetImplementation = BSParam.LinksetImplementation; | ||
1375 | p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset); | ||
1376 | p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor); | ||
1377 | p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; | ||
1378 | p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; | ||
1379 | p.linkConstraintERP = BSParam.LinkConstraintERP; | ||
1380 | p.linkConstraintCFM = BSParam.LinkConstraintCFM; | ||
1381 | p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; | ||
1382 | p.physicsLoggingFrames = o[0].physicsLoggingFrames; | ||
1383 | DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); | ||
1384 | |||
1385 | DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); | ||
1386 | CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); | ||
1387 | |||
1388 | |||
1389 | if (p.maxPersistantManifoldPoolSize > 0) | ||
1390 | cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; | ||
1391 | if (p.shouldDisableContactPoolDynamicAllocation !=0) | ||
1392 | m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); | ||
1393 | //if (p.maxCollisionAlgorithmPoolSize >0 ) | ||
1394 | |||
1395 | DbvtBroadphase m_broadphase = new DbvtBroadphase(); | ||
1396 | //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); | ||
1397 | //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); | ||
1398 | |||
1399 | //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); | ||
1400 | m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); | ||
1401 | |||
1402 | SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); | ||
1403 | |||
1404 | DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); | ||
1405 | |||
1406 | world.LastCollisionDesc = 0; | ||
1407 | world.LastEntityProperty = 0; | ||
1408 | |||
1409 | world.WorldSettings.Params = p; | ||
1410 | world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); | ||
1411 | world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; | ||
1412 | if (p.shouldRandomizeSolverOrder != 0) | ||
1413 | world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; | ||
1414 | |||
1415 | world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); | ||
1416 | //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port | ||
1417 | |||
1418 | if (p.shouldEnableFrictionCaching != 0) | ||
1419 | world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; | ||
1420 | |||
1421 | if (p.numberOfSolverIterations > 0) | ||
1422 | world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; | ||
1423 | |||
1424 | |||
1425 | world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; | ||
1426 | world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; | ||
1427 | world.GetSolverInfo().m_globalCfm = 0.0f; | ||
1428 | world.GetSolverInfo().m_tau = 0.6f; | ||
1429 | world.GetSolverInfo().m_friction = 0.3f; | ||
1430 | world.GetSolverInfo().m_maxErrorReduction = 20f; | ||
1431 | world.GetSolverInfo().m_numIterations = 10; | ||
1432 | world.GetSolverInfo().m_erp = 0.2f; | ||
1433 | world.GetSolverInfo().m_erp2 = 0.1f; | ||
1434 | world.GetSolverInfo().m_sor = 1.0f; | ||
1435 | world.GetSolverInfo().m_splitImpulse = false; | ||
1436 | world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; | ||
1437 | world.GetSolverInfo().m_linearSlop = 0.0f; | ||
1438 | world.GetSolverInfo().m_warmstartingFactor = 0.85f; | ||
1439 | world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; | ||
1440 | world.SetForceUpdateAllAabbs(true); | ||
1441 | |||
1442 | //BSParam.TerrainImplementation = 0; | ||
1443 | world.SetGravity(new IndexedVector3(0,0,p.gravity)); | ||
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 | |||
1489 | return world; | ||
1490 | } | ||
1491 | //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL | ||
1492 | public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) | ||
1493 | { | ||
1494 | Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; | ||
1495 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | ||
1496 | { | ||
1497 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); | ||
1498 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); | ||
1499 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); | ||
1500 | } | ||
1501 | if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | ||
1502 | { | ||
1503 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); | ||
1504 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); | ||
1505 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); | ||
1506 | } | ||
1507 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) | ||
1508 | { | ||
1509 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); | ||
1510 | } | ||
1511 | return true; | ||
1512 | } | ||
1513 | |||
1514 | public override bool PushUpdate(BulletBody pCollisionObject) | ||
1515 | { | ||
1516 | bool ret = false; | ||
1517 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1518 | RigidBody rb = collisionObject as RigidBody; | ||
1519 | if (rb != null) | ||
1520 | { | ||
1521 | SimMotionState sms = rb.GetMotionState() as SimMotionState; | ||
1522 | if (sms != null) | ||
1523 | { | ||
1524 | IndexedMatrix wt = IndexedMatrix.Identity; | ||
1525 | sms.GetWorldTransform(out wt); | ||
1526 | sms.SetWorldTransform(ref wt, true); | ||
1527 | ret = true; | ||
1528 | } | ||
1529 | } | ||
1530 | return ret; | ||
1531 | |||
1532 | } | ||
1533 | |||
1534 | public override float GetAngularMotionDisc(BulletShape pShape) | ||
1535 | { | ||
1536 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1537 | return shape.GetAngularMotionDisc(); | ||
1538 | } | ||
1539 | public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) | ||
1540 | { | ||
1541 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1542 | return shape.GetContactBreakingThreshold(defaultFactor); | ||
1543 | } | ||
1544 | public override bool IsCompound(BulletShape pShape) | ||
1545 | { | ||
1546 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1547 | return shape.IsCompound(); | ||
1548 | } | ||
1549 | public override bool IsSoftBody(BulletShape pShape) | ||
1550 | { | ||
1551 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1552 | return shape.IsSoftBody(); | ||
1553 | } | ||
1554 | public override bool IsPolyhedral(BulletShape pShape) | ||
1555 | { | ||
1556 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1557 | return shape.IsPolyhedral(); | ||
1558 | } | ||
1559 | public override bool IsConvex2d(BulletShape pShape) | ||
1560 | { | ||
1561 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1562 | return shape.IsConvex2d(); | ||
1563 | } | ||
1564 | public override bool IsConvex(BulletShape pShape) | ||
1565 | { | ||
1566 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1567 | return shape.IsConvex(); | ||
1568 | } | ||
1569 | public override bool IsNonMoving(BulletShape pShape) | ||
1570 | { | ||
1571 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1572 | return shape.IsNonMoving(); | ||
1573 | } | ||
1574 | public override bool IsConcave(BulletShape pShape) | ||
1575 | { | ||
1576 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1577 | return shape.IsConcave(); | ||
1578 | } | ||
1579 | public override bool IsInfinite(BulletShape pShape) | ||
1580 | { | ||
1581 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1582 | return shape.IsInfinite(); | ||
1583 | } | ||
1584 | public override bool IsNativeShape(BulletShape pShape) | ||
1585 | { | ||
1586 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1587 | bool ret; | ||
1588 | switch (shape.GetShapeType()) | ||
1589 | { | ||
1590 | case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: | ||
1591 | case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: | ||
1592 | case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: | ||
1593 | case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: | ||
1594 | ret = true; | ||
1595 | break; | ||
1596 | default: | ||
1597 | ret = false; | ||
1598 | break; | ||
1599 | } | ||
1600 | return ret; | ||
1601 | } | ||
1602 | |||
1603 | public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin) | ||
1604 | { | ||
1605 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1606 | shape.SetMargin(pMargin); | ||
1607 | } | ||
1608 | |||
1609 | //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation | ||
1610 | public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
1611 | { | ||
1612 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1613 | IndexedMatrix bodyTransform = new IndexedMatrix(); | ||
1614 | bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
1615 | bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); | ||
1616 | GhostObject gObj = new PairCachingGhostObject(); | ||
1617 | gObj.SetWorldTransform(bodyTransform); | ||
1618 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1619 | gObj.SetCollisionShape(shape); | ||
1620 | gObj.SetUserPointer(pLocalID); | ||
1621 | |||
1622 | if (specialCollisionObjects.ContainsKey(pLocalID)) | ||
1623 | specialCollisionObjects[pLocalID] = gObj; | ||
1624 | else | ||
1625 | specialCollisionObjects.Add(pLocalID, gObj); | ||
1626 | |||
1627 | // TODO: Add to Special CollisionObjects! | ||
1628 | return new BulletBodyXNA(pLocalID, gObj); | ||
1629 | } | ||
1630 | |||
1631 | public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape) | ||
1632 | { | ||
1633 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1634 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
1635 | if (pShape == null) | ||
1636 | { | ||
1637 | collisionObject.SetCollisionShape(new EmptyShape()); | ||
1638 | } | ||
1639 | else | ||
1640 | { | ||
1641 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1642 | collisionObject.SetCollisionShape(shape); | ||
1643 | } | ||
1644 | } | ||
1645 | public override BulletShape GetCollisionShape(BulletBody pCollisionObject) | ||
1646 | { | ||
1647 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1648 | CollisionShape shape = collisionObject.GetCollisionShape(); | ||
1649 | return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); | ||
1650 | } | ||
1651 | |||
1652 | //(PhysicsScene.World.ptr, nativeShapeData) | ||
1653 | public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) | ||
1654 | { | ||
1655 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1656 | CollisionShape shape = null; | ||
1657 | switch (pShapeData.Type) | ||
1658 | { | ||
1659 | case BSPhysicsShapeType.SHAPE_BOX: | ||
1660 | shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); | ||
1661 | break; | ||
1662 | case BSPhysicsShapeType.SHAPE_CONE: | ||
1663 | shape = new ConeShapeZ(0.5f, 1.0f); | ||
1664 | break; | ||
1665 | case BSPhysicsShapeType.SHAPE_CYLINDER: | ||
1666 | shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); | ||
1667 | break; | ||
1668 | case BSPhysicsShapeType.SHAPE_SPHERE: | ||
1669 | shape = new SphereShape(0.5f); | ||
1670 | break; | ||
1671 | |||
1672 | } | ||
1673 | if (shape != null) | ||
1674 | { | ||
1675 | IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); | ||
1676 | shape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
1677 | shape.SetLocalScaling(ref scaling); | ||
1678 | |||
1679 | } | ||
1680 | return new BulletShapeXNA(shape, pShapeData.Type); | ||
1681 | } | ||
1682 | //PhysicsScene.World.ptr, false | ||
1683 | public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree) | ||
1684 | { | ||
1685 | return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); | ||
1686 | } | ||
1687 | |||
1688 | public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) | ||
1689 | { | ||
1690 | CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; | ||
1691 | return compoundshape.GetNumChildShapes(); | ||
1692 | } | ||
1693 | //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot | ||
1694 | public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) | ||
1695 | { | ||
1696 | IndexedMatrix relativeTransform = new IndexedMatrix(); | ||
1697 | CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; | ||
1698 | CollisionShape addshape = (paddShape as BulletShapeXNA).shape; | ||
1699 | |||
1700 | relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); | ||
1701 | relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); | ||
1702 | compoundshape.AddChildShape(ref relativeTransform, addshape); | ||
1703 | |||
1704 | } | ||
1705 | |||
1706 | public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) | ||
1707 | { | ||
1708 | CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; | ||
1709 | CollisionShape ret = null; | ||
1710 | ret = compoundshape.GetChildShape(pii); | ||
1711 | compoundshape.RemoveChildShapeByIndex(pii); | ||
1712 | return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); | ||
1713 | } | ||
1714 | |||
1715 | public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { | ||
1716 | |||
1717 | if (cShape == null) | ||
1718 | return null; | ||
1719 | CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; | ||
1720 | CollisionShape shape = compoundShape.GetChildShape(indx); | ||
1721 | BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); | ||
1722 | |||
1723 | |||
1724 | return retShape; | ||
1725 | } | ||
1726 | |||
1727 | public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) | ||
1728 | { | ||
1729 | BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1730 | switch (pin) | ||
1731 | { | ||
1732 | case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: | ||
1733 | ret = BSPhysicsShapeType.SHAPE_BOX; | ||
1734 | break; | ||
1735 | case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE: | ||
1736 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1737 | break; | ||
1738 | |||
1739 | case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE: | ||
1740 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1741 | break; | ||
1742 | case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: | ||
1743 | ret = BSPhysicsShapeType.SHAPE_CONVEXHULL; | ||
1744 | break; | ||
1745 | case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: | ||
1746 | ret = BSPhysicsShapeType.SHAPE_HULL; | ||
1747 | break; | ||
1748 | case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: | ||
1749 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1750 | break; | ||
1751 | case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE: | ||
1752 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1753 | break; | ||
1754 | //implicit convex shapes | ||
1755 | case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE: | ||
1756 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1757 | break; | ||
1758 | case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: | ||
1759 | ret = BSPhysicsShapeType.SHAPE_SPHERE; | ||
1760 | break; | ||
1761 | case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE: | ||
1762 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1763 | break; | ||
1764 | case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE: | ||
1765 | ret = BSPhysicsShapeType.SHAPE_CAPSULE; | ||
1766 | break; | ||
1767 | case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: | ||
1768 | ret = BSPhysicsShapeType.SHAPE_CONE; | ||
1769 | break; | ||
1770 | case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: | ||
1771 | ret = BSPhysicsShapeType.SHAPE_CONVEXHULL; | ||
1772 | break; | ||
1773 | case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: | ||
1774 | ret = BSPhysicsShapeType.SHAPE_CYLINDER; | ||
1775 | break; | ||
1776 | case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE: | ||
1777 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1778 | break; | ||
1779 | case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE: | ||
1780 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1781 | break; | ||
1782 | case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE: | ||
1783 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1784 | break; | ||
1785 | case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE: | ||
1786 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1787 | break; | ||
1788 | case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE: | ||
1789 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1790 | break; | ||
1791 | case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE: | ||
1792 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1793 | break; | ||
1794 | //concave shape | ||
1795 | case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE: | ||
1796 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1797 | break; | ||
1798 | //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! | ||
1799 | case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE: | ||
1800 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1801 | break; | ||
1802 | case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: | ||
1803 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1804 | break; | ||
1805 | ///used for demo integration FAST/Swift collision library and Bullet | ||
1806 | case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE: | ||
1807 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1808 | break; | ||
1809 | //terrain | ||
1810 | case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE: | ||
1811 | ret = BSPhysicsShapeType.SHAPE_HEIGHTMAP; | ||
1812 | break; | ||
1813 | ///Used for GIMPACT Trimesh integration | ||
1814 | case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: | ||
1815 | ret = BSPhysicsShapeType.SHAPE_GIMPACT; | ||
1816 | break; | ||
1817 | ///Multimaterial mesh | ||
1818 | case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: | ||
1819 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1820 | break; | ||
1821 | |||
1822 | case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE: | ||
1823 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1824 | break; | ||
1825 | case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE: | ||
1826 | ret = BSPhysicsShapeType.SHAPE_GROUNDPLANE; | ||
1827 | break; | ||
1828 | case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE: | ||
1829 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1830 | break; | ||
1831 | case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE: | ||
1832 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1833 | break; | ||
1834 | |||
1835 | case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE: | ||
1836 | ret = BSPhysicsShapeType.SHAPE_COMPOUND; | ||
1837 | break; | ||
1838 | |||
1839 | case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE: | ||
1840 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1841 | break; | ||
1842 | case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE: | ||
1843 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1844 | break; | ||
1845 | case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE: | ||
1846 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1847 | break; | ||
1848 | case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE: | ||
1849 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1850 | break; | ||
1851 | } | ||
1852 | return ret; | ||
1853 | } | ||
1854 | |||
1855 | public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } | ||
1856 | public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ } | ||
1857 | |||
1858 | public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) | ||
1859 | { | ||
1860 | StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); | ||
1861 | m_planeshape.SetMargin(pcollisionMargin); | ||
1862 | m_planeshape.SetUserPointer(pLocalId); | ||
1863 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); | ||
1864 | } | ||
1865 | |||
1866 | public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1867 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, | ||
1868 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
1869 | |||
1870 | { | ||
1871 | Generic6DofSpringConstraint constrain = null; | ||
1872 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1873 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1874 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1875 | if (body1 != null && body2 != null) | ||
1876 | { | ||
1877 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
1878 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
1879 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
1880 | frame1._origin = frame1v; | ||
1881 | |||
1882 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
1883 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
1884 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
1885 | frame2._origin = frame1v; | ||
1886 | |||
1887 | constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); | ||
1888 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1889 | |||
1890 | constrain.CalculateTransforms(); | ||
1891 | } | ||
1892 | |||
1893 | return new BulletConstraintXNA(constrain); | ||
1894 | } | ||
1895 | |||
1896 | public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1897 | Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, | ||
1898 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
1899 | { | ||
1900 | HingeConstraint constrain = null; | ||
1901 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1902 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1903 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1904 | if (rb1 != null && rb2 != null) | ||
1905 | { | ||
1906 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); | ||
1907 | IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); | ||
1908 | IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); | ||
1909 | IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); | ||
1910 | constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA); | ||
1911 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1912 | } | ||
1913 | return new BulletConstraintXNA(constrain); | ||
1914 | } | ||
1915 | |||
1916 | public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1917 | Vector3 pframe1, Quaternion pframe1rot, | ||
1918 | Vector3 pframe2, Quaternion pframe2rot, | ||
1919 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
1920 | { | ||
1921 | SliderConstraint constrain = null; | ||
1922 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1923 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1924 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1925 | if (rb1 != null && rb2 != null) | ||
1926 | { | ||
1927 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
1928 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
1929 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
1930 | frame1._origin = frame1v; | ||
1931 | |||
1932 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
1933 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
1934 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
1935 | frame2._origin = frame1v; | ||
1936 | |||
1937 | constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA); | ||
1938 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1939 | } | ||
1940 | return new BulletConstraintXNA(constrain); | ||
1941 | } | ||
1942 | |||
1943 | public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1944 | Vector3 pframe1, Quaternion pframe1rot, | ||
1945 | Vector3 pframe2, Quaternion pframe2rot, | ||
1946 | bool pdisableCollisionsBetweenLinkedBodies) | ||
1947 | { | ||
1948 | ConeTwistConstraint constrain = null; | ||
1949 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1950 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1951 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1952 | if (rb1 != null && rb2 != null) | ||
1953 | { | ||
1954 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
1955 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
1956 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
1957 | frame1._origin = frame1v; | ||
1958 | |||
1959 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
1960 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
1961 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
1962 | frame2._origin = frame1v; | ||
1963 | |||
1964 | constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2); | ||
1965 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1966 | } | ||
1967 | return new BulletConstraintXNA(constrain); | ||
1968 | } | ||
1969 | |||
1970 | public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1971 | Vector3 paxisInA, Vector3 paxisInB, | ||
1972 | float pratio, bool pdisableCollisionsBetweenLinkedBodies) | ||
1973 | { | ||
1974 | Generic6DofConstraint constrain = null; | ||
1975 | /* BulletXNA does not have a gear constraint | ||
1976 | GearConstraint constrain = null; | ||
1977 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1978 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1979 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1980 | if (rb1 != null && rb2 != null) | ||
1981 | { | ||
1982 | IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); | ||
1983 | IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); | ||
1984 | constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio); | ||
1985 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1986 | } | ||
1987 | */ | ||
1988 | return new BulletConstraintXNA(constrain); | ||
1989 | } | ||
1990 | |||
1991 | public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1992 | Vector3 ppivotInA, Vector3 ppivotInB, | ||
1993 | bool pdisableCollisionsBetweenLinkedBodies) | ||
1994 | { | ||
1995 | Point2PointConstraint constrain = null; | ||
1996 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1997 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1998 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1999 | if (rb1 != null && rb2 != null) | ||
2000 | { | ||
2001 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); | ||
2002 | IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); | ||
2003 | constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB); | ||
2004 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
2005 | } | ||
2006 | return new BulletConstraintXNA(constrain); | ||
2007 | } | ||
2008 | |||
2009 | public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) | ||
2010 | { | ||
2011 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
2012 | CompoundShape compoundshape = new CompoundShape(false); | ||
2013 | |||
2014 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
2015 | int ii = 1; | ||
2016 | |||
2017 | for (int i = 0; i < pHullCount; i++) | ||
2018 | { | ||
2019 | int vertexCount = (int) pConvHulls[ii]; | ||
2020 | |||
2021 | IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); | ||
2022 | IndexedMatrix childTrans = IndexedMatrix.Identity; | ||
2023 | childTrans._origin = centroid; | ||
2024 | |||
2025 | List<IndexedVector3> virts = new List<IndexedVector3>(); | ||
2026 | int ender = ((ii + 4) + (vertexCount*3)); | ||
2027 | for (int iii = ii + 4; iii < ender; iii+=3) | ||
2028 | { | ||
2029 | |||
2030 | virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); | ||
2031 | } | ||
2032 | ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); | ||
2033 | convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
2034 | compoundshape.AddChildShape(ref childTrans, convexShape); | ||
2035 | ii += (vertexCount*3 + 4); | ||
2036 | } | ||
2037 | |||
2038 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); | ||
2039 | } | ||
2040 | |||
2041 | public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) | ||
2042 | { | ||
2043 | /* TODO */ return null; | ||
2044 | } | ||
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; | ||
2054 | } | ||
2055 | |||
2056 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | ||
2057 | { | ||
2058 | //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); | ||
2059 | |||
2060 | for (int iter = 0; iter < pVerticesCount; iter++) | ||
2061 | { | ||
2062 | if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; | ||
2063 | if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; | ||
2064 | } | ||
2065 | |||
2066 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); | ||
2067 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); | ||
2068 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); | ||
2069 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
2070 | IndexedMesh mesh = new IndexedMesh(); | ||
2071 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
2072 | mesh.m_numTriangles = pIndicesCount/3; | ||
2073 | mesh.m_numVertices = pVerticesCount; | ||
2074 | mesh.m_triangleIndexBase = indicesarr; | ||
2075 | mesh.m_vertexBase = vertices; | ||
2076 | mesh.m_vertexStride = 3; | ||
2077 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
2078 | mesh.m_triangleIndexStride = 3; | ||
2079 | |||
2080 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
2081 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
2082 | BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); | ||
2083 | meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
2084 | // world.UpdateSingleAabb(meshShape); | ||
2085 | return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); | ||
2086 | |||
2087 | } | ||
2088 | public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | ||
2089 | { | ||
2090 | // TODO: | ||
2091 | return null; | ||
2092 | } | ||
2093 | public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) | ||
2094 | { | ||
2095 | |||
2096 | String fileName = "objTest3.raw"; | ||
2097 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | ||
2098 | StreamWriter sw = new StreamWriter(completePath); | ||
2099 | IndexedMesh mesh = new IndexedMesh(); | ||
2100 | |||
2101 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
2102 | mesh.m_numTriangles = pIndicesCount / 3; | ||
2103 | mesh.m_numVertices = pVerticesCount; | ||
2104 | mesh.m_triangleIndexBase = indices; | ||
2105 | mesh.m_vertexBase = vertices; | ||
2106 | mesh.m_vertexStride = 3; | ||
2107 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
2108 | mesh.m_triangleIndexStride = 3; | ||
2109 | |||
2110 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
2111 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
2112 | |||
2113 | |||
2114 | |||
2115 | for (int i = 0; i < pVerticesCount; i++) | ||
2116 | { | ||
2117 | |||
2118 | string s = vertices[indices[i * 3]].ToString("0.0000"); | ||
2119 | s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | ||
2120 | s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | ||
2121 | |||
2122 | sw.Write(s + "\n"); | ||
2123 | } | ||
2124 | |||
2125 | sw.Close(); | ||
2126 | } | ||
2127 | public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) | ||
2128 | { | ||
2129 | |||
2130 | String fileName = "objTest6.raw"; | ||
2131 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | ||
2132 | StreamWriter sw = new StreamWriter(completePath); | ||
2133 | IndexedMesh mesh = new IndexedMesh(); | ||
2134 | |||
2135 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
2136 | mesh.m_numTriangles = pIndicesCount / 3; | ||
2137 | mesh.m_numVertices = pVerticesCount; | ||
2138 | mesh.m_triangleIndexBase = indices; | ||
2139 | mesh.m_vertexBase = vertices; | ||
2140 | mesh.m_vertexStride = 3; | ||
2141 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
2142 | mesh.m_triangleIndexStride = 3; | ||
2143 | |||
2144 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
2145 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
2146 | |||
2147 | |||
2148 | sw.WriteLine("Indices"); | ||
2149 | sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); | ||
2150 | for (int iter = 0; iter < indices.Length; iter++) | ||
2151 | { | ||
2152 | sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); | ||
2153 | } | ||
2154 | sw.WriteLine("VerticesFloats"); | ||
2155 | sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); | ||
2156 | for (int iter = 0; iter < vertices.Length; iter++) | ||
2157 | { | ||
2158 | sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); | ||
2159 | } | ||
2160 | |||
2161 | // for (int i = 0; i < pVerticesCount; i++) | ||
2162 | // { | ||
2163 | // | ||
2164 | // string s = vertices[indices[i * 3]].ToString("0.0000"); | ||
2165 | // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | ||
2166 | // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | ||
2167 | // | ||
2168 | // sw.Write(s + "\n"); | ||
2169 | //} | ||
2170 | |||
2171 | sw.Close(); | ||
2172 | } | ||
2173 | |||
2174 | public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, | ||
2175 | float scaleFactor, float collisionMargin) | ||
2176 | { | ||
2177 | const int upAxis = 2; | ||
2178 | HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y, | ||
2179 | heightMap, scaleFactor, | ||
2180 | minHeight, maxHeight, upAxis, | ||
2181 | false); | ||
2182 | terrainShape.SetMargin(collisionMargin); | ||
2183 | terrainShape.SetUseDiamondSubdivision(true); | ||
2184 | terrainShape.SetUserPointer(id); | ||
2185 | return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); | ||
2186 | } | ||
2187 | |||
2188 | public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) | ||
2189 | { | ||
2190 | TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain; | ||
2191 | bool onOff = ponOff != 0; | ||
2192 | bool ret = false; | ||
2193 | |||
2194 | switch (tconstrain.GetConstraintType()) | ||
2195 | { | ||
2196 | case TypedConstraintType.D6_CONSTRAINT_TYPE: | ||
2197 | Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint; | ||
2198 | constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; | ||
2199 | constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; | ||
2200 | constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; | ||
2201 | ret = true; | ||
2202 | break; | ||
2203 | } | ||
2204 | |||
2205 | |||
2206 | return ret; | ||
2207 | |||
2208 | } | ||
2209 | |||
2210 | public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, | ||
2211 | out int updatedEntityCount, out int collidersCount) | ||
2212 | { | ||
2213 | /* TODO */ | ||
2214 | updatedEntityCount = 0; | ||
2215 | collidersCount = 0; | ||
2216 | |||
2217 | |||
2218 | int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); | ||
2219 | |||
2220 | return ret; | ||
2221 | } | ||
2222 | |||
2223 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, | ||
2224 | out int updatedEntityCount, out EntityProperties[] updatedEntities, | ||
2225 | out int collidersCount, out CollisionDesc[] colliders) | ||
2226 | { | ||
2227 | int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, | ||
2228 | out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame); | ||
2229 | return epic; | ||
2230 | } | ||
2231 | |||
2232 | private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, | ||
2233 | out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) | ||
2234 | { | ||
2235 | int numSimSteps = 0; | ||
2236 | Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); | ||
2237 | Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); | ||
2238 | LastEntityProperty=0; | ||
2239 | |||
2240 | |||
2241 | |||
2242 | |||
2243 | |||
2244 | |||
2245 | LastCollisionDesc=0; | ||
2246 | |||
2247 | updatedEntityCount = 0; | ||
2248 | collidersCount = 0; | ||
2249 | |||
2250 | |||
2251 | if (pWorld is BulletWorldXNA) | ||
2252 | { | ||
2253 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
2254 | |||
2255 | world.LastCollisionDesc = 0; | ||
2256 | world.LastEntityProperty = 0; | ||
2257 | numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); | ||
2258 | |||
2259 | PersistentManifold contactManifold; | ||
2260 | CollisionObject objA; | ||
2261 | CollisionObject objB; | ||
2262 | ManifoldPoint manifoldPoint; | ||
2263 | PairCachingGhostObject pairCachingGhostObject; | ||
2264 | |||
2265 | m_collisionsThisFrame = 0; | ||
2266 | int numManifolds = world.GetDispatcher().GetNumManifolds(); | ||
2267 | for (int j = 0; j < numManifolds; j++) | ||
2268 | { | ||
2269 | contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); | ||
2270 | int numContacts = contactManifold.GetNumContacts(); | ||
2271 | if (numContacts == 0) | ||
2272 | continue; | ||
2273 | |||
2274 | objA = contactManifold.GetBody0() as CollisionObject; | ||
2275 | objB = contactManifold.GetBody1() as CollisionObject; | ||
2276 | |||
2277 | manifoldPoint = contactManifold.GetContactPoint(0); | ||
2278 | //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); | ||
2279 | // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A | ||
2280 | |||
2281 | RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance()); | ||
2282 | m_collisionsThisFrame ++; | ||
2283 | if (m_collisionsThisFrame >= 9999999) | ||
2284 | break; | ||
2285 | |||
2286 | |||
2287 | } | ||
2288 | |||
2289 | foreach (GhostObject ghostObject in specialCollisionObjects.Values) | ||
2290 | { | ||
2291 | pairCachingGhostObject = ghostObject as PairCachingGhostObject; | ||
2292 | if (pairCachingGhostObject != null) | ||
2293 | { | ||
2294 | RecordGhostCollisions(pairCachingGhostObject); | ||
2295 | } | ||
2296 | |||
2297 | } | ||
2298 | |||
2299 | |||
2300 | updatedEntityCount = LastEntityProperty; | ||
2301 | updatedEntities = UpdatedObjects; | ||
2302 | |||
2303 | collidersCount = LastCollisionDesc; | ||
2304 | colliders = UpdatedCollisions; | ||
2305 | |||
2306 | |||
2307 | } | ||
2308 | else | ||
2309 | { | ||
2310 | //if (updatedEntities is null) | ||
2311 | //updatedEntities = new List<BulletXNA.EntityProperties>(); | ||
2312 | //updatedEntityCount = 0; | ||
2313 | |||
2314 | |||
2315 | //collidersCount = 0; | ||
2316 | |||
2317 | updatedEntities = new EntityProperties[0]; | ||
2318 | |||
2319 | |||
2320 | colliders = new CollisionDesc[0]; | ||
2321 | |||
2322 | } | ||
2323 | return numSimSteps; | ||
2324 | } | ||
2325 | public void RecordGhostCollisions(PairCachingGhostObject obj) | ||
2326 | { | ||
2327 | IOverlappingPairCache cache = obj.GetOverlappingPairCache(); | ||
2328 | ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray(); | ||
2329 | |||
2330 | DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; | ||
2331 | PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); | ||
2332 | BroadphasePair collisionPair; | ||
2333 | PersistentManifold contactManifold; | ||
2334 | |||
2335 | CollisionObject objA; | ||
2336 | CollisionObject objB; | ||
2337 | |||
2338 | ManifoldPoint pt; | ||
2339 | |||
2340 | int numPairs = pairs.Count; | ||
2341 | |||
2342 | for (int i = 0; i < numPairs; i++) | ||
2343 | { | ||
2344 | manifoldArray.Clear(); | ||
2345 | if (LastCollisionDesc < UpdatedCollisions.Length) | ||
2346 | break; | ||
2347 | collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); | ||
2348 | if (collisionPair == null) | ||
2349 | continue; | ||
2350 | |||
2351 | collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); | ||
2352 | for (int j = 0; j < manifoldArray.Count; j++) | ||
2353 | { | ||
2354 | contactManifold = manifoldArray[j]; | ||
2355 | int numContacts = contactManifold.GetNumContacts(); | ||
2356 | objA = contactManifold.GetBody0() as CollisionObject; | ||
2357 | objB = contactManifold.GetBody1() as CollisionObject; | ||
2358 | for (int p = 0; p < numContacts; p++) | ||
2359 | { | ||
2360 | pt = contactManifold.GetContactPoint(p); | ||
2361 | if (pt.GetDistance() < 0.0f) | ||
2362 | { | ||
2363 | RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance()); | ||
2364 | break; | ||
2365 | } | ||
2366 | } | ||
2367 | } | ||
2368 | } | ||
2369 | |||
2370 | } | ||
2371 | private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) | ||
2372 | { | ||
2373 | |||
2374 | IndexedVector3 contactNormal = norm; | ||
2375 | if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && | ||
2376 | (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) | ||
2377 | { | ||
2378 | return; | ||
2379 | } | ||
2380 | uint idA = (uint)objA.GetUserPointer(); | ||
2381 | uint idB = (uint)objB.GetUserPointer(); | ||
2382 | if (idA > idB) | ||
2383 | { | ||
2384 | uint temp = idA; | ||
2385 | idA = idB; | ||
2386 | idB = temp; | ||
2387 | contactNormal = -contactNormal; | ||
2388 | } | ||
2389 | |||
2390 | //ulong collisionID = ((ulong) idA << 32) | idB; | ||
2391 | |||
2392 | CollisionDesc cDesc = new CollisionDesc() | ||
2393 | { | ||
2394 | aID = idA, | ||
2395 | bID = idB, | ||
2396 | point = new Vector3(contact.X,contact.Y,contact.Z), | ||
2397 | normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z), | ||
2398 | penetration = penetration | ||
2399 | |||
2400 | }; | ||
2401 | if (world.LastCollisionDesc < world.UpdatedCollisions.Length) | ||
2402 | world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); | ||
2403 | m_collisionsThisFrame++; | ||
2404 | |||
2405 | |||
2406 | } | ||
2407 | private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject) | ||
2408 | { | ||
2409 | EntityProperties ent = new EntityProperties(); | ||
2410 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
2411 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
2412 | IndexedMatrix transform = collisionObject.GetWorldTransform(); | ||
2413 | IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity(); | ||
2414 | IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity(); | ||
2415 | IndexedQuaternion rotation = transform.GetRotation(); | ||
2416 | ent.Acceleration = Vector3.Zero; | ||
2417 | ent.ID = (uint)collisionObject.GetUserPointer(); | ||
2418 | ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); | ||
2419 | ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); | ||
2420 | ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); | ||
2421 | ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); | ||
2422 | return ent; | ||
2423 | } | ||
2424 | |||
2425 | public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ | ||
2426 | return false; } | ||
2427 | |||
2428 | public override Vector3 GetLocalScaling(BulletShape pShape) | ||
2429 | { | ||
2430 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
2431 | IndexedVector3 scale = shape.GetLocalScaling(); | ||
2432 | return new Vector3(scale.X,scale.Y,scale.Z); | ||
2433 | } | ||
2434 | |||
2435 | public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) | ||
2436 | { | ||
2437 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
2438 | if (world != null) | ||
2439 | { | ||
2440 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) | ||
2441 | { | ||
2442 | CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; | ||
2443 | |||
2444 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); | ||
2445 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); | ||
2446 | using ( | ||
2447 | ClosestNotMeRayResultCallback rayCallback = | ||
2448 | new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) | ||
2449 | ) | ||
2450 | { | ||
2451 | world.RayTest(ref rOrigin, ref rEnd, rayCallback); | ||
2452 | if (rayCallback.HasHit()) | ||
2453 | { | ||
2454 | IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; | ||
2455 | } | ||
2456 | return rayCallback.HasHit(); | ||
2457 | } | ||
2458 | } | ||
2459 | } | ||
2460 | return false; | ||
2461 | } | ||
2462 | } | ||
2463 | |||
2464 | |||
2465 | |||
2466 | |||
2467 | public class SimMotionState : DefaultMotionState | ||
2468 | { | ||
2469 | public RigidBody Rigidbody; | ||
2470 | public Vector3 ZeroVect; | ||
2471 | |||
2472 | private IndexedMatrix m_xform; | ||
2473 | |||
2474 | private EntityProperties m_properties; | ||
2475 | private EntityProperties m_lastProperties; | ||
2476 | private BSAPIXNA m_world; | ||
2477 | |||
2478 | const float POSITION_TOLERANCE = 0.05f; | ||
2479 | const float VELOCITY_TOLERANCE = 0.001f; | ||
2480 | const float ROTATION_TOLERANCE = 0.01f; | ||
2481 | const float ANGULARVELOCITY_TOLERANCE = 0.01f; | ||
2482 | |||
2483 | public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates) | ||
2484 | { | ||
2485 | IndexedQuaternion OrientationQuaterion = starTransform.GetRotation(); | ||
2486 | m_properties = new EntityProperties() | ||
2487 | { | ||
2488 | ID = id, | ||
2489 | Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z), | ||
2490 | Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W) | ||
2491 | }; | ||
2492 | m_lastProperties = new EntityProperties() | ||
2493 | { | ||
2494 | ID = id, | ||
2495 | Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z), | ||
2496 | Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W) | ||
2497 | }; | ||
2498 | m_world = pWorld; | ||
2499 | m_xform = starTransform; | ||
2500 | } | ||
2501 | |||
2502 | public override void GetWorldTransform(out IndexedMatrix worldTrans) | ||
2503 | { | ||
2504 | worldTrans = m_xform; | ||
2505 | } | ||
2506 | |||
2507 | public override void SetWorldTransform(IndexedMatrix worldTrans) | ||
2508 | { | ||
2509 | SetWorldTransform(ref worldTrans); | ||
2510 | } | ||
2511 | |||
2512 | public override void SetWorldTransform(ref IndexedMatrix worldTrans) | ||
2513 | { | ||
2514 | SetWorldTransform(ref worldTrans, false); | ||
2515 | } | ||
2516 | public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force) | ||
2517 | { | ||
2518 | m_xform = worldTrans; | ||
2519 | // Put the new transform into m_properties | ||
2520 | IndexedQuaternion OrientationQuaternion = m_xform.GetRotation(); | ||
2521 | IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity(); | ||
2522 | IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity(); | ||
2523 | m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z); | ||
2524 | m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y, | ||
2525 | OrientationQuaternion.Z, OrientationQuaternion.W); | ||
2526 | // A problem with stock Bullet is that we don't get an event when an object is deactivated. | ||
2527 | // This means that the last non-zero values for linear and angular velocity | ||
2528 | // are left in the viewer who does dead reconning and the objects look like | ||
2529 | // they float off. | ||
2530 | // BulletSim ships with a patch to Bullet which creates such an event. | ||
2531 | m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z); | ||
2532 | m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z); | ||
2533 | |||
2534 | if (force | ||
2535 | |||
2536 | || !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE) | ||
2537 | || !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE) | ||
2538 | // If the Velocity and AngularVelocity are zero, most likely the object has | ||
2539 | // been deactivated. If they both are zero and they have become zero recently, | ||
2540 | // make sure a property update is sent so the zeros make it to the viewer. | ||
2541 | || ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect) | ||
2542 | && | ||
2543 | (m_properties.Velocity != m_lastProperties.Velocity || | ||
2544 | m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity)) | ||
2545 | // If Velocity and AngularVelocity are non-zero but have changed, send an update. | ||
2546 | || !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE) | ||
2547 | || | ||
2548 | !AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity, | ||
2549 | ANGULARVELOCITY_TOLERANCE) | ||
2550 | ) | ||
2551 | |||
2552 | |||
2553 | { | ||
2554 | // Add this update to the list of updates for this frame. | ||
2555 | m_lastProperties = m_properties; | ||
2556 | if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) | ||
2557 | m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); | ||
2558 | |||
2559 | //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; | ||
2560 | } | ||
2561 | |||
2562 | |||
2563 | |||
2564 | |||
2565 | } | ||
2566 | public override void SetRigidBody(RigidBody body) | ||
2567 | { | ||
2568 | Rigidbody = body; | ||
2569 | } | ||
2570 | internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon) | ||
2571 | { | ||
2572 | return | ||
2573 | (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && | ||
2574 | (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && | ||
2575 | (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))); | ||
2576 | } | ||
2577 | |||
2578 | internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon) | ||
2579 | { | ||
2580 | return | ||
2581 | (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && | ||
2582 | (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && | ||
2583 | (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && | ||
2584 | (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); | ||
2585 | } | ||
2586 | |||
2587 | } | ||
2588 | } | ||
2589 | |||