From 82b954b2125acf3c3647422fbbe543e96b6d4e91 Mon Sep 17 00:00:00 2001 From: teravus Date: Sun, 20 Jan 2013 08:06:15 -0500 Subject: * Tweak the BulletSimN API a bit. --- .../Region/Physics/BulletSNPlugin/BulletSimAPI.cs | 27 +++++++++++----------- 1 file changed, 14 insertions(+), 13 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs index 93643c9..ba96905 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs @@ -894,7 +894,7 @@ static class BulletSimAPI { return capsuleShapeZ; } - public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List collisionArray, int mMaxUpdatesPerFrame, ref List updateArray, object mDebugLogCallbackHandle) + public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref BulletXNA.CollisionDesc[] collisionArray, int mMaxUpdatesPerFrame, ref BulletXNA.EntityProperties[] updateArray, object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); @@ -1436,14 +1436,14 @@ static class BulletSimAPI { } - internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out Listcolliders) + internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders) { int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, out collidersCount, out colliders); return epic; } - private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders) + private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders) { int numSimSteps = 0; @@ -1462,16 +1462,16 @@ static class BulletSimAPI { numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); int updates = 0; - updatedEntityCount = world.UpdatedObjects.Count; - updatedEntities = new List(world.UpdatedObjects); - updatedEntityCount = updatedEntities.Count; - world.UpdatedObjects.Clear(); + updatedEntityCount = world.UpdatedObjects.Length; + updatedEntities = (world.UpdatedObjects); + updatedEntityCount = updatedEntities.Length; + //world.UpdatedObjects = ; - collidersCount = world.UpdatedCollisions.Count; - colliders = new List(world.UpdatedCollisions); + collidersCount = world.UpdatedCollisions.Length; + colliders = (world.UpdatedCollisions); - world.UpdatedCollisions.Clear(); + world.UpdatedCollisions = new BulletXNA.CollisionDesc[0]; m_collisionsThisFrame = 0; int numManifolds = world.GetDispatcher().GetNumManifolds(); for (int j = 0; j < numManifolds; j++) @@ -1501,10 +1501,10 @@ static class BulletSimAPI { else { //if (updatedEntities is null) - updatedEntities = new List(); + updatedEntities = new BulletXNA.EntityProperties[0]; updatedEntityCount = 0; //if (colliders is null) - colliders = new List(); + colliders = new BulletXNA.CollisionDesc[0]; collidersCount = 0; } return numSimSteps; @@ -1538,7 +1538,8 @@ static class BulletSimAPI { point = contact, normal = contactNormal }; - world.UpdatedCollisions.Add(cDesc); + if (world.LastCollisionDesc < world.UpdatedCollisions.Length) + world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); m_collisionsThisFrame++; -- cgit v1.1 From 6a75949323dedce1e141190cc90175f04afdad0a Mon Sep 17 00:00:00 2001 From: teravus Date: Sun, 20 Jan 2013 08:07:49 -0500 Subject: * Dumping BulletSimNPlugin in favor of combining the API --- .../Region/Physics/BulletSNPlugin/BulletSimAPI.cs | 1604 -------------------- 1 file changed, 1604 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs deleted file mode 100644 index ba96905..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs +++ /dev/null @@ -1,1604 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.IO; -using System.Runtime.InteropServices; -using System.Security; -using System.Text; -using BulletXNA; -using OpenMetaverse; -using BulletXNA.LinearMath; -using BulletXNA.BulletCollision; -using BulletXNA.BulletDynamics; -using BulletXNA.BulletCollision.CollisionDispatch; -using OpenSim.Framework; - -namespace OpenSim.Region.Physics.BulletSNPlugin { - -// Classes to allow some type checking for the API -// These hold pointers to allocated objects in the unmanaged space. - - - - // Constraint type values as defined by Bullet -public enum ConstraintType : int -{ - POINT2POINT_CONSTRAINT_TYPE = 3, - HINGE_CONSTRAINT_TYPE, - CONETWIST_CONSTRAINT_TYPE, - D6_CONSTRAINT_TYPE, - SLIDER_CONSTRAINT_TYPE, - CONTACT_CONSTRAINT_TYPE, - D6_SPRING_CONSTRAINT_TYPE, - MAX_CONSTRAINT_TYPE -} - -// =============================================================================== -[StructLayout(LayoutKind.Sequential)] -public struct ConvexHull -{ - Vector3 Offset; - int VertexCount; - Vector3[] Vertices; -} -public enum BSPhysicsShapeType -{ - SHAPE_UNKNOWN = 0, - SHAPE_CAPSULE = 1, - SHAPE_BOX = 2, - SHAPE_CONE = 3, - SHAPE_CYLINDER = 4, - SHAPE_SPHERE = 5, - SHAPE_MESH = 6, - SHAPE_HULL = 7, - // following defined by BulletSim - SHAPE_GROUNDPLANE = 20, - SHAPE_TERRAIN = 21, - SHAPE_COMPOUND = 22, - SHAPE_HEIGHTMAP = 23, -}; - -// The native shapes have predefined shape hash keys -public enum FixedShapeKey : ulong -{ - KEY_NONE = 0, - KEY_BOX = 1, - KEY_SPHERE = 2, - KEY_CONE = 3, - KEY_CYLINDER = 4, - KEY_CAPSULE = 5, -} - -[StructLayout(LayoutKind.Sequential)] -public struct ShapeData -{ - public uint ID; - public BSPhysicsShapeType Type; - public Vector3 Position; - public Quaternion Rotation; - public Vector3 Velocity; - public Vector3 Scale; - public float Mass; - public float Buoyancy; - public System.UInt64 HullKey; - public System.UInt64 MeshKey; - public float Friction; - public float Restitution; - public float Collidable; // true of things bump into this - public float Static; // true if a static object. Otherwise gravity, etc. - public float Solid; // true if object cannot be passed through - public Vector3 Size; - - // note that bools are passed as floats since bool size changes by language and architecture - public const float numericTrue = 1f; - public const float numericFalse = 0f; -} -[StructLayout(LayoutKind.Sequential)] -public struct SweepHit -{ - public uint ID; - public float Fraction; - public Vector3 Normal; - public Vector3 Point; -} -[StructLayout(LayoutKind.Sequential)] -public struct RaycastHit -{ - public uint ID; - public float Fraction; - public Vector3 Normal; -} -[StructLayout(LayoutKind.Sequential)] -public struct CollisionDesc -{ - public uint aID; - public uint bID; - public Vector3 point; - public Vector3 normal; -} -[StructLayout(LayoutKind.Sequential)] -public struct EntityProperties -{ - public uint ID; - public Vector3 Position; - public Quaternion Rotation; - public Vector3 Velocity; - public Vector3 Acceleration; - public Vector3 RotationalVelocity; - public override string ToString() - { - return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>", - ID.ToString(), - Position.X,Position.Y,Position.Z, - Rotation.X,Rotation.Y,Rotation.Z,Rotation.W, - Velocity.X,Velocity.Y,Velocity.Z, - RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z - ); - } -} - -// Format of this structure must match the definition in the C++ code -// NOTE: adding the X causes compile breaks if used. These are unused symbols -// that can be removed from both here and the unmanaged definition of this structure. -[StructLayout(LayoutKind.Sequential)] -public struct ConfigurationParameters -{ - public float defaultFriction; - public float defaultDensity; - public float defaultRestitution; - public float collisionMargin; - public float gravity; - - public float XlinearDamping; - public float XangularDamping; - public float XdeactivationTime; - public float XlinearSleepingThreshold; - public float XangularSleepingThreshold; - public float XccdMotionThreshold; - public float XccdSweptSphereRadius; - public float XcontactProcessingThreshold; - - public float XterrainImplementation; - public float XterrainFriction; - public float XterrainHitFraction; - public float XterrainRestitution; - public float XterrainCollisionMargin; - - public float XavatarFriction; - public float XavatarStandingFriction; - public float XavatarDensity; - public float XavatarRestitution; - public float XavatarCapsuleWidth; - public float XavatarCapsuleDepth; - public float XavatarCapsuleHeight; - public float XavatarContactProcessingThreshold; - - public float XvehicleAngularDamping; - - public float maxPersistantManifoldPoolSize; - public float maxCollisionAlgorithmPoolSize; - public float shouldDisableContactPoolDynamicAllocation; - public float shouldForceUpdateAllAabbs; - public float shouldRandomizeSolverOrder; - public float shouldSplitSimulationIslands; - public float shouldEnableFrictionCaching; - public float numberOfSolverIterations; - - public float XlinksetImplementation; - public float XlinkConstraintUseFrameOffset; - public float XlinkConstraintEnableTransMotor; - public float XlinkConstraintTransMotorMaxVel; - public float XlinkConstraintTransMotorMaxForce; - public float XlinkConstraintERP; - public float XlinkConstraintCFM; - public float XlinkConstraintSolverIterations; - - public float physicsLoggingFrames; - - public const float numericTrue = 1f; - public const float numericFalse = 0f; -} - - -// The states a bullet collision object can have - -public enum ActivationState : uint -{ - UNDEFINED = 0, - ACTIVE_TAG = 1, - ISLAND_SLEEPING = 2, - WANTS_DEACTIVATION = 3, - DISABLE_DEACTIVATION = 4, - DISABLE_SIMULATION = 5, -} - -public enum CollisionObjectTypes : int -{ - CO_COLLISION_OBJECT = 1 << 0, - CO_RIGID_BODY = 1 << 1, - CO_GHOST_OBJECT = 1 << 2, - CO_SOFT_BODY = 1 << 3, - CO_HF_FLUID = 1 << 4, - CO_USER_TYPE = 1 << 5, -} - -// Values used by Bullet and BulletSim to control object properties. -// Bullet's "CollisionFlags" has more to do with operations on the -// object (if collisions happen, if gravity effects it, ...). - [Flags] -public enum CollisionFlags : uint -{ - CF_STATIC_OBJECT = 1 << 0, - CF_KINEMATIC_OBJECT = 1 << 1, - CF_NO_CONTACT_RESPONSE = 1 << 2, - CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3, - CF_CHARACTER_OBJECT = 1 << 4, - CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, - CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, - // Following used by BulletSim to control collisions and updates - BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, - BS_FLOATS_ON_WATER = 1 << 11, - BS_VEHICLE_COLLISIONS = 1 << 12, - BS_NONE = 0, - BS_ALL = 0xFFFFFFFF, - - // These are the collision flags switched depending on physical state. - // The other flags are used for other things and should not be fooled with. - BS_ACTIVE = CF_STATIC_OBJECT - | CF_KINEMATIC_OBJECT - | CF_NO_CONTACT_RESPONSE -}; - -// Values for collisions groups and masks -public enum CollisionFilterGroups : uint -{ - // Don't use the bit definitions!! Define the use in a - // filter/mask definition below. This way collision interactions - // are more easily debugged. - BNoneGroup = 0, - BDefaultGroup = 1 << 0, - BStaticGroup = 1 << 1, - BKinematicGroup = 1 << 2, - BDebrisGroup = 1 << 3, - BSensorTrigger = 1 << 4, - BCharacterGroup = 1 << 5, - BAllGroup = 0xFFFFFFFF, - // Filter groups defined by BulletSim - BGroundPlaneGroup = 1 << 10, - BTerrainGroup = 1 << 11, - BRaycastGroup = 1 << 12, - BSolidGroup = 1 << 13, - // BLinksetGroup = xx // a linkset proper is either static or dynamic - BLinksetChildGroup = 1 << 14, - // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarGroup = BCharacterGroup, - AvatarMask = BAllGroup, - ObjectGroup = BSolidGroup, - ObjectMask = BAllGroup, - StaticObjectGroup = BStaticGroup, - StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much - LinksetGroup = BLinksetChildGroup, - LinksetMask = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other - VolumeDetectGroup = BSensorTrigger, - VolumeDetectMask = ~BSensorTrigger, - TerrainGroup = BTerrainGroup, - TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide - GroundPlaneGroup = BGroundPlaneGroup, - GroundPlaneMask = BAllGroup - -}; - -// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 -// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. -public enum ConstraintParams : int -{ - BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730 - BT_CONSTRAINT_STOP_ERP, - BT_CONSTRAINT_CFM, - BT_CONSTRAINT_STOP_CFM, -}; -public enum ConstraintParamAxis : int -{ - AXIS_LINEAR_X = 0, - AXIS_LINEAR_Y, - AXIS_LINEAR_Z, - AXIS_ANGULAR_X, - AXIS_ANGULAR_Y, - AXIS_ANGULAR_Z, - AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls - AXIS_ANGULAR_ALL, - AXIS_ALL -}; - -// =============================================================================== -static class BulletSimAPI { - private static int m_collisionsThisFrame; - public delegate void DebugLogCallback(string msg); - /// - /// - /// - /// - /// - internal static bool RemoveObjectFromWorld2(object pWorld, object pBody) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body = pBody as RigidBody; - world.RemoveRigidBody(body); - return true; - } - - internal static void SetRestitution2(object pBody, float pRestitution) - { - RigidBody body = pBody as RigidBody; - body.SetRestitution(pRestitution); - } - - internal static void SetMargin2(object pShape, float pMargin) - { - CollisionShape shape = pShape as CollisionShape; - shape.SetMargin(pMargin); - } - - internal static void SetLocalScaling2(object pShape, Vector3 pScale) - { - CollisionShape shape = pShape as CollisionShape; - IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); - shape.SetLocalScaling(ref vec); - - } - - internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold) - { - RigidBody body = pBody as RigidBody; - body.SetContactProcessingThreshold(contactprocessingthreshold); - } - - internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold) - { - RigidBody body = pBody as RigidBody; - body.SetCcdMotionThreshold(pccdMotionThreashold); - } - - internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius) - { - RigidBody body = pBody as RigidBody; - body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); - } - - internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor) - { - RigidBody body = pBody as RigidBody; - body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); - } - - internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) - { - CollisionObject body = pBody as CollisionObject; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); - existingcollisionFlags |= pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags) (uint) existingcollisionFlags; - } - - internal static void AddObjectToWorld2(object pWorld, object pBody) - { - RigidBody body = pBody as RigidBody; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) - - world.AddRigidBody(body); - - //if (body.GetBroadphaseHandle() != null) - // world.UpdateSingleAabb(body); - } - - internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation) - { - RigidBody body = pBody as RigidBody; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) - - world.AddRigidBody(body); - IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); - IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, - _orientation.W); - IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); - mat._origin = vposition; - body.SetWorldTransform(mat); - //if (body.GetBroadphaseHandle() != null) - // world.UpdateSingleAabb(body); - } - - internal static void ForceActivationState2(object pBody, ActivationState pActivationState) - { - CollisionObject body = pBody as CollisionObject; - body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); - } - - internal static void UpdateSingleAabb2(object pWorld, object pBody) - { - CollisionObject body = pBody as CollisionObject; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - world.UpdateSingleAabb(body); - } - - internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask) - { - RigidBody body = pBody as RigidBody; - body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) - return false; - return true; - } - - internal static void ClearAllForces2(object pBody) - { - CollisionObject body = pBody as CollisionObject; - IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); - body.SetInterpolationLinearVelocity(ref zeroVector); - body.SetInterpolationAngularVelocity(ref zeroVector); - IndexedMatrix bodytransform = body.GetWorldTransform(); - - body.SetInterpolationWorldTransform(ref bodytransform); - - if (body is RigidBody) - { - RigidBody rigidbody = body as RigidBody; - rigidbody.SetLinearVelocity(zeroVector); - rigidbody.SetAngularVelocity(zeroVector); - rigidbody.ClearForces(); - } - } - - internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetInterpolationAngularVelocity(ref vec); - } - - internal static void SetAngularVelocity2(object pBody, Vector3 pVector3) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetAngularVelocity(ref vec); - } - - internal static void ClearForces2(object pBody) - { - RigidBody body = pBody as RigidBody; - body.ClearForces(); - } - - internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); - IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, - _orientation.W); - IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); - mat._origin = vposition; - body.SetWorldTransform(mat); - - } - - internal static Vector3 GetPosition2(object pBody) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; - return new Vector3(pos.X, pos.Y, pos.Z); - } - - internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass) - { - CollisionShape shape = pShape as CollisionShape; - IndexedVector3 inertia = IndexedVector3.Zero; - shape.CalculateLocalInertia(pphysMass, out inertia); - return new Vector3(inertia.X, inertia.Y, inertia.Z); - } - - internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); - body.SetMassProps(pphysMass, inertia); - } - - - internal static void SetObjectForce2(object pBody, Vector3 _force) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); - body.SetTotalForce(ref force); - } - - internal static void SetFriction2(object pBody, float _currentFriction) - { - RigidBody body = pBody as RigidBody; - body.SetFriction(_currentFriction); - } - - internal static void SetLinearVelocity2(object pBody, Vector3 _velocity) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); - body.SetLinearVelocity(velocity); - } - - internal static void Activate2(object pBody, bool pforceactivation) - { - RigidBody body = pBody as RigidBody; - body.Activate(pforceactivation); - - } - - internal static Quaternion GetOrientation2(object pBody) - { - RigidBody body = pBody as RigidBody; - IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); - return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); - } - - internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) - { - RigidBody body = pBody as RigidBody; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); - existingcollisionFlags &= ~pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags)(uint)existingcollisionFlags; - } - - internal static void SetGravity2(object pBody, Vector3 pGravity) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); - body.SetGravity(gravity); - } - - internal static bool DestroyConstraint2(object pBody, object pConstraint) - { - RigidBody body = pBody as RigidBody; - TypedConstraint constraint = pConstraint as TypedConstraint; - body.RemoveConstraintRef(constraint); - return true; - } - - internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); - IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); - constraint.SetLinearLowerLimit(lowlimit); - constraint.SetLinearUpperLimit(highlimit); - return true; - } - - internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); - IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); - constraint.SetAngularLowerLimit(lowlimit); - constraint.SetAngularUpperLimit(highlimit); - return true; - } - - internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetOverrideNumSolverIterations((int)cnt); - } - - internal static void CalculateTransforms2(object pConstraint) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.CalculateTransforms(); - } - - internal static void SetConstraintEnable2(object pConstraint, float p_2) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetEnabled((p_2 == 0) ? false : true); - } - - - //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body1 = pBody1 as RigidBody; - RigidBody body2 = pBody2 as RigidBody; - IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); - IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); - IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); - frame1._origin = frame1v; - - IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); - IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); - IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); - frame2._origin = frame1v; - - Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, - puseLinearReferenceFrameA); - consttr.CalculateTransforms(); - world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); - - return consttr; - } - - - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// - internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body1 = pBody1 as RigidBody; - RigidBody body2 = pBody2 as RigidBody; - IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); - IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); - - IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); - IndexedMatrix mat = IndexedMatrix.Identity; - mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); - frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; - frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; - - Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); - consttr.CalculateTransforms(); - world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); - - return consttr; - } - //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); - IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); - IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); - frame1._origin = frame1v; - - IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); - IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); - IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); - frame2._origin = frame1v; - constraint.SetFrames(ref frame1, ref frame2); - } - - - - - internal static bool IsInWorld2(object pWorld, object pShapeObj) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - CollisionObject shape = pShapeObj as CollisionObject; - return world.IsInWorld(shape); - } - - internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); - body.SetInterpolationLinearVelocity(ref velocity); - } - - internal static bool UseFrameOffset2(object pConstraint, float onOff) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetUseFrameOffset((onOff == 0) ? false : true); - return true; - } - //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); - internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold) - { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; - constraint.SetBreakingImpulseThreshold(threshold); - return true; - } - //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); - internal static void SetAngularDamping2(object pBody, float angularDamping) - { - RigidBody body = pBody as RigidBody; - float lineardamping = body.GetLinearDamping(); - body.SetDamping(lineardamping, angularDamping); - - } - - internal static void UpdateInertiaTensor2(object pBody) - { - RigidBody body = pBody as RigidBody; - body.UpdateInertiaTensor(); - } - - internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape) - { - - CompoundShape shape = pCompoundShape as CompoundShape; - shape.RecalculateLocalAabb(); - } - - //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr) - internal static CollisionFlags GetCollisionFlags2(object pBody) - { - RigidBody body = pBody as RigidBody; - uint flags = (uint)body.GetCollisionFlags(); - return (CollisionFlags) flags; - } - - internal static void SetDamping2(object pBody, float pLinear, float pAngular) - { - RigidBody body = pBody as RigidBody; - body.SetDamping(pLinear, pAngular); - } - //PhysBody.ptr, PhysicsScene.Params.deactivationTime); - internal static void SetDeactivationTime2(object pBody, float pDeactivationTime) - { - RigidBody body = pBody as RigidBody; - body.SetDeactivationTime(pDeactivationTime); - } - //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) - { - RigidBody body = pBody as RigidBody; - body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); - } - - internal static CollisionObjectTypes GetBodyType2(object pBody) - { - RigidBody body = pBody as RigidBody; - return (CollisionObjectTypes)(int) body.GetInternalType(); - } - - //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); - internal static void ApplyCentralForce2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralForce(ref fSum); - } - internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralImpulse(ref fSum); - } - internal static void ApplyTorque2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorque(ref fSum); - } - internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum) - { - RigidBody body = pBody as RigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorqueImpulse(ref fSum); - } - - internal static void DumpRigidBody2(object p, object p_2) - { - //TODO: - } - - internal static void DumpCollisionShape2(object p, object p_2) - { - //TODO: - } - - internal static void DestroyObject2(object p, object p_2) - { - //TODO: - } - - internal static void Shutdown2(object pWorld) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - world.Cleanup(); - } - - internal static void DeleteCollisionShape2(object p, object p_2) - { - //TODO: - } - //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - - internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - CollisionWorld world = pWorld as CollisionWorld; - IndexedMatrix mat = - IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, - pRawOrientation.Z, pRawOrientation.W)); - mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - CollisionShape shape = pShape as CollisionShape; - //UpdateSingleAabb2(world, shape); - // TODO: Feed Update array into null - RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); - - body.SetUserPointer(pLocalID); - return body; - } - - - internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - - IndexedMatrix mat = - IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, - pRawOrientation.Z, pRawOrientation.W)); - mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - - CollisionShape shape = pShape as CollisionShape; - - // TODO: Feed Update array into null - RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); - body.SetWorldTransform(mat); - body.SetUserPointer(pLocalID); - return body; - } - //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags) - { - RigidBody body = pBody as RigidBody; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); - } - //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - internal static void SetHitFraction2(object pBody, float pHitFraction) - { - RigidBody body = pBody as RigidBody; - body.SetHitFraction(pHitFraction); - } - //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); - internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); - CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); - capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); - capsuleShapeZ.SetLocalScaling(ref scale); - - return capsuleShapeZ; - } - - public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref BulletXNA.CollisionDesc[] collisionArray, int mMaxUpdatesPerFrame, ref BulletXNA.EntityProperties[] updateArray, object mDebugLogCallbackHandle) - { - CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); - - p.angularDamping = o[0].XangularDamping; - p.defaultFriction = o[0].defaultFriction; - p.defaultFriction = o[0].defaultFriction; - p.defaultDensity = o[0].defaultDensity; - p.defaultRestitution = o[0].defaultRestitution; - p.collisionMargin = o[0].collisionMargin; - p.gravity = o[0].gravity; - - p.linearDamping = o[0].XlinearDamping; - p.angularDamping = o[0].XangularDamping; - p.deactivationTime = o[0].XdeactivationTime; - p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; - p.angularSleepingThreshold = o[0].XangularSleepingThreshold; - p.ccdMotionThreshold = o[0].XccdMotionThreshold; - p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; - p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; - - p.terrainImplementation = o[0].XterrainImplementation; - p.terrainFriction = o[0].XterrainFriction; - - p.terrainHitFraction = o[0].XterrainHitFraction; - p.terrainRestitution = o[0].XterrainRestitution; - p.terrainCollisionMargin = o[0].XterrainCollisionMargin; - - p.avatarFriction = o[0].XavatarFriction; - p.avatarStandingFriction = o[0].XavatarStandingFriction; - p.avatarDensity = o[0].XavatarDensity; - p.avatarRestitution = o[0].XavatarRestitution; - p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; - p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; - p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; - p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; - - p.vehicleAngularDamping = o[0].XvehicleAngularDamping; - - p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; - p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; - p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; - p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; - p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; - p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; - p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; - p.numberOfSolverIterations = o[0].numberOfSolverIterations; - - p.linksetImplementation = o[0].XlinksetImplementation; - p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; - p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; - p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; - p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; - p.linkConstraintERP = o[0].XlinkConstraintERP; - p.linkConstraintCFM = o[0].XlinkConstraintCFM; - p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; - p.physicsLoggingFrames = o[0].physicsLoggingFrames; - DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); - - DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); - CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); - - - if (p.maxPersistantManifoldPoolSize > 0) - cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; - if (p.shouldDisableContactPoolDynamicAllocation !=0) - m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); - //if (p.maxCollisionAlgorithmPoolSize >0 ) - - DbvtBroadphase m_broadphase = new DbvtBroadphase(); - //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); - //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); - - //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); - m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); - - SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); - - DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); - world.UpdatedObjects = updateArray; - world.UpdatedCollisions = collisionArray; - world.WorldSettings.Params = p; - world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); - world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; - if (p.shouldRandomizeSolverOrder != 0) - world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; - - world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); - //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port - - if (p.shouldEnableFrictionCaching != 0) - world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; - - if (p.numberOfSolverIterations > 0) - world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; - - - world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; - world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; - world.GetSolverInfo().m_globalCfm = 0.0f; - world.GetSolverInfo().m_tau = 0.6f; - world.GetSolverInfo().m_friction = 0.3f; - world.GetSolverInfo().m_maxErrorReduction = 20f; - world.GetSolverInfo().m_numIterations = 10; - world.GetSolverInfo().m_erp = 0.2f; - world.GetSolverInfo().m_erp2 = 0.1f; - world.GetSolverInfo().m_sor = 1.0f; - world.GetSolverInfo().m_splitImpulse = false; - world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; - world.GetSolverInfo().m_linearSlop = 0.0f; - world.GetSolverInfo().m_warmstartingFactor = 0.85f; - world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; - world.SetForceUpdateAllAabbs(true); - - - world.SetGravity(new IndexedVector3(0,0,p.gravity)); - - return world; - } - //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL - internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) - { - Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; - if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); - } - if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); - } - if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); - } - return true; - } - - internal static bool PushUpdate2(object pCollisionObject) - { - bool ret = false; - RigidBody rb = pCollisionObject as RigidBody; - if (rb != null) - { - SimMotionState sms = rb.GetMotionState() as SimMotionState; - if (sms != null) - { - IndexedMatrix wt = IndexedMatrix.Identity; - sms.GetWorldTransform(out wt); - sms.SetWorldTransform(ref wt, true); - ret = true; - } - } - return ret; - - } - - internal static bool IsCompound2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsCompound(); - } - internal static bool IsPloyhedral2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsPolyhedral(); - } - internal static bool IsConvex2d2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsConvex2d(); - } - internal static bool IsConvex2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsConvex(); - } - internal static bool IsNonMoving2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsNonMoving(); - } - internal static bool IsConcave2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsConcave(); - } - internal static bool IsInfinite2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - return shape.IsInfinite(); - } - internal static bool IsNativeShape2(object pShape) - { - CollisionShape shape = pShape as CollisionShape; - bool ret; - switch (shape.GetShapeType()) - { - case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: - ret = true; - break; - default: - ret = false; - break; - } - return ret; - } - //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation - internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - IndexedMatrix bodyTransform = new IndexedMatrix(); - bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); - GhostObject gObj = new PairCachingGhostObject(); - gObj.SetWorldTransform(bodyTransform); - CollisionShape shape = pShape as CollisionShape; - gObj.SetCollisionShape(shape); - gObj.SetUserPointer(pLocalID); - // TODO: Add to Special CollisionObjects! - return gObj; - } - - public static void SetCollisionShape2(object pWorld, object pObj, object pShape) - { - var world = pWorld as DiscreteDynamicsWorld; - var obj = pObj as CollisionObject; - var shape = pShape as CollisionShape; - obj.SetCollisionShape(shape); - - } - //(PhysicsScene.World.ptr, nativeShapeData) - internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData) - { - var world = pWorld as DiscreteDynamicsWorld; - CollisionShape shape = null; - switch (pShapeData.Type) - { - case BSPhysicsShapeType.SHAPE_BOX: - shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); - break; - case BSPhysicsShapeType.SHAPE_CONE: - shape = new ConeShapeZ(0.5f, 1.0f); - break; - case BSPhysicsShapeType.SHAPE_CYLINDER: - shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); - break; - case BSPhysicsShapeType.SHAPE_SPHERE: - shape = new SphereShape(0.5f); - break; - - } - if (shape != null) - { - IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); - shape.SetMargin(world.WorldSettings.Params.collisionMargin); - shape.SetLocalScaling(ref scaling); - - } - return shape; - } - //PhysicsScene.World.ptr, false - internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree) - { - return new CompoundShape(enableDynamicAabbTree); - } - - internal static int GetNumberOfCompoundChildren2(object pCompoundShape) - { - var compoundshape = pCompoundShape as CompoundShape; - return compoundshape.GetNumChildShapes(); - } - //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot - internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot) - { - IndexedMatrix relativeTransform = new IndexedMatrix(); - var compoundshape = pCShape as CompoundShape; - var addshape = paddShape as CollisionShape; - - relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); - relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); - compoundshape.AddChildShape(ref relativeTransform, addshape); - - } - - internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii) - { - var compoundshape = pCShape as CompoundShape; - CollisionShape ret = null; - ret = compoundshape.GetChildShape(pii); - compoundshape.RemoveChildShapeByIndex(pii); - return ret; - } - - internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) - { - StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); - m_planeshape.SetMargin(pcollisionMargin); - m_planeshape.SetUserPointer(pLocalId); - return m_planeshape; - } - - internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - HingeConstraint constrain = null; - var rb1 = pBody1 as RigidBody; - var rb2 = ppBody2 as RigidBody; - if (rb1 != null && rb2 != null) - { - IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); - IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); - IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); - IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); - var world = pWorld as DiscreteDynamicsWorld; - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - return constrain; - } - - internal static bool ReleaseHeightMapInfo2(object pMapInfo) - { - if (pMapInfo != null) - { - BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; - if (mapinfo.heightMap != null) - mapinfo.heightMap = null; - - - } - return true; - } - - internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) - { - CompoundShape compoundshape = new CompoundShape(false); - var world = pWorld as DiscreteDynamicsWorld; - - - compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); - int ii = 1; - - for (int i = 0; i < pHullCount; i++) - { - int vertexCount = (int) pConvHulls[ii]; - - IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); - IndexedMatrix childTrans = IndexedMatrix.Identity; - childTrans._origin = centroid; - - List virts = new List(); - int ender = ((ii + 4) + (vertexCount*3)); - for (int iii = ii + 4; iii < ender; iii+=3) - { - - virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); - } - ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); - convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); - compoundshape.AddChildShape(ref childTrans, convexShape); - ii += (vertexCount*3 + 4); - } - - - return compoundshape; - } - - internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) - { - //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); - - for (int iter = 0; iter < pVerticesCount; iter++) - { - if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; - if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; - } - - ObjectArray indicesarr = new ObjectArray(indices); - ObjectArray vertices = new ObjectArray(verticesAsFloats); - DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); - var world = pWorld as DiscreteDynamicsWorld; - IndexedMesh mesh = new IndexedMesh(); - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount/3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indicesarr; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); - meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); - // world.UpdateSingleAabb(meshShape); - return meshShape; - - } - public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) - { - - String fileName = "objTest3.raw"; - String completePath = System.IO.Path.Combine(Util.configDir(), fileName); - StreamWriter sw = new StreamWriter(completePath); - IndexedMesh mesh = new IndexedMesh(); - - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount / 3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indices; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - - - - for (int i = 0; i < pVerticesCount; i++) - { - - string s = vertices[indices[i * 3]].ToString("0.0000"); - s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); - s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - - sw.Write(s + "\n"); - } - - sw.Close(); - } - public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) - { - - String fileName = "objTest6.raw"; - String completePath = System.IO.Path.Combine(Util.configDir(), fileName); - StreamWriter sw = new StreamWriter(completePath); - IndexedMesh mesh = new IndexedMesh(); - - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount / 3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indices; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - - - sw.WriteLine("Indices"); - sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); - for (int iter = 0; iter < indices.Length; iter++) - { - sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); - } - sw.WriteLine("VerticesFloats"); - sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); - for (int iter = 0; iter < vertices.Length; iter++) - { - sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); - } - - // for (int i = 0; i < pVerticesCount; i++) - // { - // - // string s = vertices[indices[i * 3]].ToString("0.0000"); - // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); - // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - // - // sw.Write(s + "\n"); - //} - - sw.Close(); - } - //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin - internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin) - { - BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null); - mapInfo.heightMap = null; - mapInfo.minCoords = pminCoords; - mapInfo.maxCoords = pmaxCoords; - mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X); - mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y); - mapInfo.ID = pId; - mapInfo.minZ = pminCoords.Z; - mapInfo.maxZ = pmaxCoords.Z; - mapInfo.collisionMargin = pCollisionMargin; - if (mapInfo.minZ == mapInfo.maxZ) - mapInfo.minZ -= 0.2f; - mapInfo.heightMap = pheightMap; - - return mapInfo; - - } - - internal static object CreateTerrainShape2(object pMapInfo) - { - BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; - const int upAxis = 2; - const float scaleFactor = 1.0f; - HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY, - mapinfo.heightMap, scaleFactor, - mapinfo.minZ, mapinfo.maxZ, upAxis, - false); - terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f); - terrainShape.SetUseDiamondSubdivision(true); - terrainShape.SetUserPointer(mapinfo.ID); - return terrainShape; - } - - internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce) - { - TypedConstraint tconstrain = pConstraint as TypedConstraint; - bool onOff = ponOff != 0; - bool ret = false; - - switch (tconstrain.GetConstraintType()) - { - case TypedConstraintType.D6_CONSTRAINT_TYPE: - Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; - constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; - constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; - constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; - ret = true; - break; - } - - - return ret; - - } - - internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders) - { - int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, - out collidersCount, out colliders); - return epic; - } - - private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders) - { - int numSimSteps = 0; - - - //if (updatedEntities is null) - // updatedEntities = new List(); - - //if (colliders is null) - // colliders = new List(); - - - if (pWorld is DiscreteDynamicsWorld) - { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - - numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); - int updates = 0; - - updatedEntityCount = world.UpdatedObjects.Length; - updatedEntities = (world.UpdatedObjects); - updatedEntityCount = updatedEntities.Length; - //world.UpdatedObjects = ; - - - collidersCount = world.UpdatedCollisions.Length; - colliders = (world.UpdatedCollisions); - - world.UpdatedCollisions = new BulletXNA.CollisionDesc[0]; - m_collisionsThisFrame = 0; - int numManifolds = world.GetDispatcher().GetNumManifolds(); - for (int j = 0; j < numManifolds; j++) - { - PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); - int numContacts = contactManifold.GetNumContacts(); - if (numContacts == 0) - continue; - - CollisionObject objA = contactManifold.GetBody0() as CollisionObject; - CollisionObject objB = contactManifold.GetBody1() as CollisionObject; - - ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); - IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); - IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A - - RecordCollision(world, objA, objB, contactPoint, contactNormal); - m_collisionsThisFrame ++; - if (m_collisionsThisFrame >= 9999999) - break; - - - } - - - } - else - { - //if (updatedEntities is null) - updatedEntities = new BulletXNA.EntityProperties[0]; - updatedEntityCount = 0; - //if (colliders is null) - colliders = new BulletXNA.CollisionDesc[0]; - collidersCount = 0; - } - return numSimSteps; - } - - private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) - { - - IndexedVector3 contactNormal = norm; - if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && - (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) - { - return; - } - uint idA = (uint)objA.GetUserPointer(); - uint idB = (uint)objB.GetUserPointer(); - if (idA > idB) - { - uint temp = idA; - idA = idB; - idB = temp; - contactNormal = -contactNormal; - } - - ulong collisionID = ((ulong) idA << 32) | idB; - - BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() - { - aID = idA, - bID = idB, - point = contact, - normal = contactNormal - }; - if (world.LastCollisionDesc < world.UpdatedCollisions.Length) - world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); - m_collisionsThisFrame++; - - - } - private static EntityProperties GetDebugProperties(object pWorld, object pBody) - { - EntityProperties ent = new EntityProperties(); - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body = pBody as RigidBody; - IndexedMatrix transform = body.GetWorldTransform(); - IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); - IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); - IndexedQuaternion rotation = transform.GetRotation(); - ent.Acceleration = Vector3.Zero; - ent.ID = (uint)body.GetUserPointer(); - ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); - ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); - ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); - ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); - return ent; - - - } - - - internal static Vector3 GetLocalScaling2(object pBody) - { - CollisionShape shape = pBody as CollisionShape; - IndexedVector3 scale = shape.GetLocalScaling(); - return new Vector3(scale.X,scale.Y,scale.Z); - } - - internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe) - { - DynamicsWorld world = pWorld as DynamicsWorld; - if (world != null) - { - if (NotMe is CollisionObject || NotMe is RigidBody) - { - CollisionObject AvoidBody = NotMe as CollisionObject; - - IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); - IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); - using ( - ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, - rEnd, AvoidBody) - ) - { - world.RayTest(ref rOrigin, ref rEnd, rayCallback); - if (rayCallback.HasHit()) - { - IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; - - } - return rayCallback.HasHit(); - } - } - } - return false; - } -} -} -- cgit v1.1