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authorRobert Adams2013-01-01 09:30:49 -0800
committerRobert Adams2013-01-01 17:27:32 -0800
commit04132d3af4c8f44639ea842091f86274513e2dfd (patch)
tree8afd4aa11cb7bcf15ffd7156204f73859e762f31 /OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
parentFixed bugs when getting the root folder. (diff)
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BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged
to have pointers and managed to have objects. Initial paste of XNA code. Commented out.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs1278
1 files changed, 1277 insertions, 1 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 8ed791e..f70ad30 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -29,11 +29,1287 @@ using System.Collections.Generic;
29using System.Linq; 29using System.Linq;
30using System.Text; 30using System.Text;
31 31
32using BulletXNA;
33using BulletXNA.LinearMath;
34using BulletXNA.BulletCollision;
35using BulletXNA.BulletDynamics;
36using BulletXNA.BulletCollision.CollisionDispatch;
37
38using OpenMetaverse;
39
32namespace OpenSim.Region.Physics.BulletSPlugin 40namespace OpenSim.Region.Physics.BulletSPlugin
33{ 41{
34 /* 42 /*
35public sealed class BSAPIXNA : BSAPITemplate 43public sealed class BSAPIXNA : BSAPITemplate
36{ 44{
45 private static int m_collisionsThisFrame;
46 private BSScene PhysicsScene { get; set; }
47
48 public override string BulletEngineName { get { return "BulletXNA"; } }
49 public override string BulletEngineVersion { get; protected set; }
50
51 public BSAPIXNA(string paramName, BSScene physScene)
52 {
53 PhysicsScene = physScene;
54 }
55
56 /// <summary>
57 ///
58 /// </summary>
59 /// <param name="p"></param>
60 /// <param name="p_2"></param>
61 public override bool RemoveObjectFromWorld2(object pWorld, object pBody)
62 {
63 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
64 RigidBody body = pBody as RigidBody;
65 world.RemoveRigidBody(body);
66 return true;
67 }
68
69 public override void SetRestitution2(object pBody, float pRestitution)
70 {
71 RigidBody body = pBody as RigidBody;
72 body.SetRestitution(pRestitution);
73 }
74
75 public override void SetMargin2(object pShape, float pMargin)
76 {
77 CollisionShape shape = pShape as CollisionShape;
78 shape.SetMargin(pMargin);
79 }
80
81 public override void SetLocalScaling2(object pShape, Vector3 pScale)
82 {
83 CollisionShape shape = pShape as CollisionShape;
84 IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
85 shape.SetLocalScaling(ref vec);
86
87 }
88
89 public override void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
90 {
91 RigidBody body = pBody as RigidBody;
92 body.SetContactProcessingThreshold(contactprocessingthreshold);
93 }
94
95 public override void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
96 {
97 RigidBody body = pBody as RigidBody;
98 body.SetCcdMotionThreshold(pccdMotionThreashold);
99 }
100
101 public override void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
102 {
103 RigidBody body = pBody as RigidBody;
104 body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
105 }
106
107 public override void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
108 {
109 RigidBody body = pBody as RigidBody;
110 body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
111 }
112
113 public override CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
114 {
115 CollisionObject body = pBody as CollisionObject;
116 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
117 existingcollisionFlags |= pcollisionFlags;
118 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
119 return (CollisionFlags) (uint) existingcollisionFlags;
120 }
121
122 public override void AddObjectToWorld2(object pWorld, object pBody)
123 {
124 RigidBody body = pBody as RigidBody;
125 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
126 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
127
128 world.AddRigidBody(body);
129
130 //if (body.GetBroadphaseHandle() != null)
131 // world.UpdateSingleAabb(body);
132 }
133
134 public override void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation)
135 {
136 RigidBody body = pBody as RigidBody;
137 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
138 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
139
140 world.AddRigidBody(body);
141 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
142 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
143 _orientation.W);
144 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
145 mat._origin = vposition;
146 body.SetWorldTransform(mat);
147 //if (body.GetBroadphaseHandle() != null)
148 // world.UpdateSingleAabb(body);
149 }
150
151 public override void ForceActivationState2(object pBody, ActivationState pActivationState)
152 {
153 CollisionObject body = pBody as CollisionObject;
154 body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
155 }
156
157 public override void UpdateSingleAabb2(object pWorld, object pBody)
158 {
159 CollisionObject body = pBody as CollisionObject;
160 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
161 world.UpdateSingleAabb(body);
162 }
163
164 public override bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
165 {
166 RigidBody body = pBody as RigidBody;
167 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
168 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
169 if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
170 return false;
171 return true;
172 }
173
174 public override void ClearAllForces2(object pBody)
175 {
176 CollisionObject body = pBody as CollisionObject;
177 IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
178 body.SetInterpolationLinearVelocity(ref zeroVector);
179 body.SetInterpolationAngularVelocity(ref zeroVector);
180 IndexedMatrix bodytransform = body.GetWorldTransform();
181
182 body.SetInterpolationWorldTransform(ref bodytransform);
183
184 if (body is RigidBody)
185 {
186 RigidBody rigidbody = body as RigidBody;
187 rigidbody.SetLinearVelocity(zeroVector);
188 rigidbody.SetAngularVelocity(zeroVector);
189 rigidbody.ClearForces();
190 }
191 }
192
193 public override void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
194 {
195 RigidBody body = pBody as RigidBody;
196 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
197 body.SetInterpolationAngularVelocity(ref vec);
198 }
199
200 public override void SetAngularVelocity2(object pBody, Vector3 pVector3)
201 {
202 RigidBody body = pBody as RigidBody;
203 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
204 body.SetAngularVelocity(ref vec);
205 }
206
207 public override void ClearForces2(object pBody)
208 {
209 RigidBody body = pBody as RigidBody;
210 body.ClearForces();
211 }
212
213 public override void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
214 {
215 RigidBody body = pBody as RigidBody;
216 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
217 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
218 _orientation.W);
219 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
220 mat._origin = vposition;
221 body.SetWorldTransform(mat);
222
223 }
224
225 public override Vector3 GetPosition2(object pBody)
226 {
227 RigidBody body = pBody as RigidBody;
228 IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
229 return new Vector3(pos.X, pos.Y, pos.Z);
230 }
231
232 public override Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
233 {
234 CollisionShape shape = pShape as CollisionShape;
235 IndexedVector3 inertia = IndexedVector3.Zero;
236 shape.CalculateLocalInertia(pphysMass, out inertia);
237 return new Vector3(inertia.X, inertia.Y, inertia.Z);
238 }
239
240 public override void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
241 {
242 RigidBody body = pBody as RigidBody;
243 IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
244 body.SetMassProps(pphysMass, inertia);
245 }
246
247
248 public override void SetObjectForce2(object pBody, Vector3 _force)
249 {
250 RigidBody body = pBody as RigidBody;
251 IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
252 body.SetTotalForce(ref force);
253 }
254
255 public override void SetFriction2(object pBody, float _currentFriction)
256 {
257 RigidBody body = pBody as RigidBody;
258 body.SetFriction(_currentFriction);
259 }
260
261 public override void SetLinearVelocity2(object pBody, Vector3 _velocity)
262 {
263 RigidBody body = pBody as RigidBody;
264 IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
265 body.SetLinearVelocity(velocity);
266 }
267
268 public override void Activate2(object pBody, bool pforceactivation)
269 {
270 RigidBody body = pBody as RigidBody;
271 body.Activate(pforceactivation);
272
273 }
274
275 public override Quaternion GetOrientation2(object pBody)
276 {
277 RigidBody body = pBody as RigidBody;
278 IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
279 return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
280 }
281
282 public override CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
283 {
284 RigidBody body = pBody as RigidBody;
285 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
286 existingcollisionFlags &= ~pcollisionFlags;
287 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
288 return (CollisionFlags)(uint)existingcollisionFlags;
289 }
290
291 public override void SetGravity2(object pBody, Vector3 pGravity)
292 {
293 RigidBody body = pBody as RigidBody;
294 IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
295 body.SetGravity(gravity);
296 }
297
298 public override bool DestroyConstraint2(object pBody, object pConstraint)
299 {
300 RigidBody body = pBody as RigidBody;
301 TypedConstraint constraint = pConstraint as TypedConstraint;
302 body.RemoveConstraintRef(constraint);
303 return true;
304 }
305
306 public override bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
307 {
308 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
309 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
310 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
311 constraint.SetLinearLowerLimit(lowlimit);
312 constraint.SetLinearUpperLimit(highlimit);
313 return true;
314 }
315
316 public override bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
317 {
318 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
319 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
320 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
321 constraint.SetAngularLowerLimit(lowlimit);
322 constraint.SetAngularUpperLimit(highlimit);
323 return true;
324 }
325
326 public override void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
327 {
328 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
329 constraint.SetOverrideNumSolverIterations((int)cnt);
330 }
331
332 public override void CalculateTransforms2(object pConstraint)
333 {
334 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
335 constraint.CalculateTransforms();
336 }
337
338 public override void SetConstraintEnable2(object pConstraint, float p_2)
339 {
340 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
341 constraint.SetEnabled((p_2 == 0) ? false : true);
342 }
343
344
345 //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
346 public override object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
347
348 {
349 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
350 RigidBody body1 = pBody1 as RigidBody;
351 RigidBody body2 = pBody2 as RigidBody;
352 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
353 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
354 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
355 frame1._origin = frame1v;
356
357 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
358 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
359 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
360 frame2._origin = frame1v;
361
362 Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
363 puseLinearReferenceFrameA);
364 consttr.CalculateTransforms();
365 world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
366
367 return consttr;
368 }
369
370
371 /// <summary>
372 ///
373 /// </summary>
374 /// <param name="pWorld"></param>
375 /// <param name="pBody1"></param>
376 /// <param name="pBody2"></param>
377 /// <param name="pjoinPoint"></param>
378 /// <param name="puseLinearReferenceFrameA"></param>
379 /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
380 /// <returns></returns>
381 public override object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
382 {
383 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
384 RigidBody body1 = pBody1 as RigidBody;
385 RigidBody body2 = pBody2 as RigidBody;
386 IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
387 IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
388
389 IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
390 IndexedMatrix mat = IndexedMatrix.Identity;
391 mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
392 frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
393 frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
394
395 Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
396 consttr.CalculateTransforms();
397 world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
398
399 return consttr;
400 }
401 //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
402 public override void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
403 {
404 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
405 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
406 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
407 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
408 frame1._origin = frame1v;
409
410 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
411 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
412 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
413 frame2._origin = frame1v;
414 constraint.SetFrames(ref frame1, ref frame2);
415 }
416
417
418
419
420 public override bool IsInWorld2(object pWorld, object pShapeObj)
421 {
422 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
423 CollisionObject shape = pShapeObj as CollisionObject;
424 return world.IsInWorld(shape);
425 }
426
427 public override void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
428 {
429 RigidBody body = pBody as RigidBody;
430 IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
431 body.SetInterpolationLinearVelocity(ref velocity);
432 }
433
434 public override bool UseFrameOffset2(object pConstraint, float onOff)
435 {
436 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
437 constraint.SetUseFrameOffset((onOff == 0) ? false : true);
438 return true;
439 }
440 //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
441 public override bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
442 {
443 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
444 constraint.SetBreakingImpulseThreshold(threshold);
445 return true;
446 }
447 //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
448 public override void SetAngularDamping2(object pBody, float angularDamping)
449 {
450 RigidBody body = pBody as RigidBody;
451 float lineardamping = body.GetLinearDamping();
452 body.SetDamping(lineardamping, angularDamping);
453
454 }
455
456 public override void UpdateInertiaTensor2(object pBody)
457 {
458 RigidBody body = pBody as RigidBody;
459 body.UpdateInertiaTensor();
460 }
461
462 public override void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
463 {
464
465 CompoundShape shape = pCompoundShape as CompoundShape;
466 shape.RecalculateLocalAabb();
467 }
468
469 //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
470 public override CollisionFlags GetCollisionFlags2(object pBody)
471 {
472 RigidBody body = pBody as RigidBody;
473 uint flags = (uint)body.GetCollisionFlags();
474 return (CollisionFlags) flags;
475 }
476
477 public override void SetDamping2(object pBody, float pLinear, float pAngular)
478 {
479 RigidBody body = pBody as RigidBody;
480 body.SetDamping(pLinear, pAngular);
481 }
482 //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
483 public override void SetDeactivationTime2(object pBody, float pDeactivationTime)
484 {
485 RigidBody body = pBody as RigidBody;
486 body.SetDeactivationTime(pDeactivationTime);
487 }
488 //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
489 public override void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
490 {
491 RigidBody body = pBody as RigidBody;
492 body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
493 }
494
495 public override CollisionObjectTypes GetBodyType2(object pBody)
496 {
497 RigidBody body = pBody as RigidBody;
498 return (CollisionObjectTypes)(int) body.GetInternalType();
499 }
500
501 //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
502 public override void ApplyCentralForce2(object pBody, Vector3 pfSum)
503 {
504 RigidBody body = pBody as RigidBody;
505 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
506 body.ApplyCentralForce(ref fSum);
507 }
508 public override void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
509 {
510 RigidBody body = pBody as RigidBody;
511 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
512 body.ApplyCentralImpulse(ref fSum);
513 }
514 public override void ApplyTorque2(object pBody, Vector3 pfSum)
515 {
516 RigidBody body = pBody as RigidBody;
517 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
518 body.ApplyTorque(ref fSum);
519 }
520 public override void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
521 {
522 RigidBody body = pBody as RigidBody;
523 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
524 body.ApplyTorqueImpulse(ref fSum);
525 }
526
527 public override void DumpRigidBody2(object p, object p_2)
528 {
529 //TODO:
530 }
531
532 public override void DumpCollisionShape2(object p, object p_2)
533 {
534 //TODO:
535 }
536
537 public override void DestroyObject2(object p, object p_2)
538 {
539 //TODO:
540 }
541
542 public override void Shutdown2(object pWorld)
543 {
544 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
545 world.Cleanup();
546 }
547
548 public override void DeleteCollisionShape2(object p, object p_2)
549 {
550 //TODO:
551 }
552 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
553
554 public override object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
555 {
556 CollisionWorld world = pWorld as CollisionWorld;
557 IndexedMatrix mat =
558 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
559 pRawOrientation.Z, pRawOrientation.W));
560 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
561 CollisionShape shape = pShape as CollisionShape;
562 //UpdateSingleAabb2(world, shape);
563 // TODO: Feed Update array into null
564 RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
565
566 body.SetUserPointer(pLocalID);
567 return body;
568 }
569
570
571 public override object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
572 {
573
574 IndexedMatrix mat =
575 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
576 pRawOrientation.Z, pRawOrientation.W));
577 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
578
579 CollisionShape shape = pShape as CollisionShape;
580
581 // TODO: Feed Update array into null
582 RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
583 body.SetWorldTransform(mat);
584 body.SetUserPointer(pLocalID);
585 return body;
586 }
587 //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
588 public override void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
589 {
590 RigidBody body = pBody as RigidBody;
591 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
592 }
593 //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
594 public override void SetHitFraction2(object pBody, float pHitFraction)
595 {
596 RigidBody body = pBody as RigidBody;
597 body.SetHitFraction(pHitFraction);
598 }
599 //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
600 public override object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
601 {
602 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
603 IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
604 CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
605 capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
606 capsuleShapeZ.SetLocalScaling(ref scale);
607
608 return capsuleShapeZ;
609 }
610
611 public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle)
612 {
613 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
614
615 p.angularDamping = o[0].XangularDamping;
616 p.defaultFriction = o[0].defaultFriction;
617 p.defaultFriction = o[0].defaultFriction;
618 p.defaultDensity = o[0].defaultDensity;
619 p.defaultRestitution = o[0].defaultRestitution;
620 p.collisionMargin = o[0].collisionMargin;
621 p.gravity = o[0].gravity;
622
623 p.linearDamping = o[0].XlinearDamping;
624 p.angularDamping = o[0].XangularDamping;
625 p.deactivationTime = o[0].XdeactivationTime;
626 p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
627 p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
628 p.ccdMotionThreshold = o[0].XccdMotionThreshold;
629 p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
630 p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
631
632 p.terrainImplementation = o[0].XterrainImplementation;
633 p.terrainFriction = o[0].XterrainFriction;
634
635 p.terrainHitFraction = o[0].XterrainHitFraction;
636 p.terrainRestitution = o[0].XterrainRestitution;
637 p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
638
639 p.avatarFriction = o[0].XavatarFriction;
640 p.avatarStandingFriction = o[0].XavatarStandingFriction;
641 p.avatarDensity = o[0].XavatarDensity;
642 p.avatarRestitution = o[0].XavatarRestitution;
643 p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
644 p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
645 p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
646 p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
647
648 p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
649
650 p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
651 p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
652 p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
653 p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
654 p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
655 p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
656 p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
657 p.numberOfSolverIterations = o[0].numberOfSolverIterations;
658
659 p.linksetImplementation = o[0].XlinksetImplementation;
660 p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
661 p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
662 p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
663 p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
664 p.linkConstraintERP = o[0].XlinkConstraintERP;
665 p.linkConstraintCFM = o[0].XlinkConstraintCFM;
666 p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
667 p.physicsLoggingFrames = o[0].physicsLoggingFrames;
668 DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
669
670 DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
671 CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
672
673
674 if (p.maxPersistantManifoldPoolSize > 0)
675 cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
676 if (p.shouldDisableContactPoolDynamicAllocation !=0)
677 m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
678 //if (p.maxCollisionAlgorithmPoolSize >0 )
679
680 DbvtBroadphase m_broadphase = new DbvtBroadphase();
681 //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
682 //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
683
684 //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
685 m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
686
687 SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
688
689 DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
690 world.UpdatedObjects = updateArray;
691 world.UpdatedCollisions = collisionArray;
692 world.WorldSettings.Params = p;
693 world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
694 world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
695 if (p.shouldRandomizeSolverOrder != 0)
696 world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
697
698 world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
699 //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
700
701 if (p.shouldEnableFrictionCaching != 0)
702 world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
703
704 if (p.numberOfSolverIterations > 0)
705 world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
706
707
708 world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
709 world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
710 world.GetSolverInfo().m_globalCfm = 0.0f;
711 world.GetSolverInfo().m_tau = 0.6f;
712 world.GetSolverInfo().m_friction = 0.3f;
713 world.GetSolverInfo().m_maxErrorReduction = 20f;
714 world.GetSolverInfo().m_numIterations = 10;
715 world.GetSolverInfo().m_erp = 0.2f;
716 world.GetSolverInfo().m_erp2 = 0.1f;
717 world.GetSolverInfo().m_sor = 1.0f;
718 world.GetSolverInfo().m_splitImpulse = false;
719 world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
720 world.GetSolverInfo().m_linearSlop = 0.0f;
721 world.GetSolverInfo().m_warmstartingFactor = 0.85f;
722 world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
723 world.SetForceUpdateAllAabbs(true);
724
725
726 world.SetGravity(new IndexedVector3(0,0,p.gravity));
727
728 return world;
729 }
730 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
731 public override bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
732 {
733 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
734 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
735 {
736 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
737 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
738 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
739 }
740 if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
741 {
742 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
743 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
744 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
745 }
746 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
747 {
748 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
749 }
750 return true;
751 }
752
753 public override bool PushUpdate2(object pCollisionObject)
754 {
755 bool ret = false;
756 RigidBody rb = pCollisionObject as RigidBody;
757 if (rb != null)
758 {
759 SimMotionState sms = rb.GetMotionState() as SimMotionState;
760 if (sms != null)
761 {
762 IndexedMatrix wt = IndexedMatrix.Identity;
763 sms.GetWorldTransform(out wt);
764 sms.SetWorldTransform(ref wt, true);
765 ret = true;
766 }
767 }
768 return ret;
769
770 }
771
772 public override bool IsCompound2(object pShape)
773 {
774 CollisionShape shape = pShape as CollisionShape;
775 return shape.IsCompound();
776 }
777 public override bool IsPloyhedral2(object pShape)
778 {
779 CollisionShape shape = pShape as CollisionShape;
780 return shape.IsPolyhedral();
781 }
782 public override bool IsConvex2d2(object pShape)
783 {
784 CollisionShape shape = pShape as CollisionShape;
785 return shape.IsConvex2d();
786 }
787 public override bool IsConvex2(object pShape)
788 {
789 CollisionShape shape = pShape as CollisionShape;
790 return shape.IsConvex();
791 }
792 public override bool IsNonMoving2(object pShape)
793 {
794 CollisionShape shape = pShape as CollisionShape;
795 return shape.IsNonMoving();
796 }
797 public override bool IsConcave2(object pShape)
798 {
799 CollisionShape shape = pShape as CollisionShape;
800 return shape.IsConcave();
801 }
802 public override bool IsInfinite2(object pShape)
803 {
804 CollisionShape shape = pShape as CollisionShape;
805 return shape.IsInfinite();
806 }
807 public override bool IsNativeShape2(object pShape)
808 {
809 CollisionShape shape = pShape as CollisionShape;
810 bool ret;
811 switch (shape.GetShapeType())
812 {
813 case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
814 case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
815 case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
816 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
817 ret = true;
818 break;
819 default:
820 ret = false;
821 break;
822 }
823 return ret;
824 }
825 //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
826 public override object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
827 {
828 IndexedMatrix bodyTransform = new IndexedMatrix();
829 bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
830 bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
831 GhostObject gObj = new PairCachingGhostObject();
832 gObj.SetWorldTransform(bodyTransform);
833 CollisionShape shape = pShape as CollisionShape;
834 gObj.SetCollisionShape(shape);
835 gObj.SetUserPointer(pLocalID);
836 // TODO: Add to Special CollisionObjects!
837 return gObj;
838 }
839
840 public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
841 {
842 var world = pWorld as DiscreteDynamicsWorld;
843 var obj = pObj as CollisionObject;
844 var shape = pShape as CollisionShape;
845 obj.SetCollisionShape(shape);
846
847 }
848 //(PhysicsScene.World.ptr, nativeShapeData)
849 public override object BuildNativeShape2(object pWorld, ShapeData pShapeData)
850 {
851 var world = pWorld as DiscreteDynamicsWorld;
852 CollisionShape shape = null;
853 switch (pShapeData.Type)
854 {
855 case BSPhysicsShapeType.SHAPE_BOX:
856 shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
857 break;
858 case BSPhysicsShapeType.SHAPE_CONE:
859 shape = new ConeShapeZ(0.5f, 1.0f);
860 break;
861 case BSPhysicsShapeType.SHAPE_CYLINDER:
862 shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
863 break;
864 case BSPhysicsShapeType.SHAPE_SPHERE:
865 shape = new SphereShape(0.5f);
866 break;
867
868 }
869 if (shape != null)
870 {
871 IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
872 shape.SetMargin(world.WorldSettings.Params.collisionMargin);
873 shape.SetLocalScaling(ref scaling);
874
875 }
876 return shape;
877 }
878 //PhysicsScene.World.ptr, false
879 public override object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
880 {
881 return new CompoundShape(enableDynamicAabbTree);
882 }
883
884 public override int GetNumberOfCompoundChildren2(object pCompoundShape)
885 {
886 var compoundshape = pCompoundShape as CompoundShape;
887 return compoundshape.GetNumChildShapes();
888 }
889 //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
890 public override void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
891 {
892 IndexedMatrix relativeTransform = new IndexedMatrix();
893 var compoundshape = pCShape as CompoundShape;
894 var addshape = paddShape as CollisionShape;
895
896 relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
897 relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
898 compoundshape.AddChildShape(ref relativeTransform, addshape);
899
900 }
901
902 public override object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
903 {
904 var compoundshape = pCShape as CompoundShape;
905 CollisionShape ret = null;
906 ret = compoundshape.GetChildShape(pii);
907 compoundshape.RemoveChildShapeByIndex(pii);
908 return ret;
909 }
910
911 public override object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
912 {
913 StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
914 m_planeshape.SetMargin(pcollisionMargin);
915 m_planeshape.SetUserPointer(pLocalId);
916 return m_planeshape;
917 }
918
919 public override object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
920 {
921 HingeConstraint constrain = null;
922 var rb1 = pBody1 as RigidBody;
923 var rb2 = ppBody2 as RigidBody;
924 if (rb1 != null && rb2 != null)
925 {
926 IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
927 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
928 IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
929 IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
930 var world = pWorld as DiscreteDynamicsWorld;
931 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
932 }
933 return constrain;
934 }
935
936 public override bool ReleaseHeightMapInfo2(object pMapInfo)
937 {
938 if (pMapInfo != null)
939 {
940 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
941 if (mapinfo.heightMap != null)
942 mapinfo.heightMap = null;
943
944
945 }
946 return true;
947 }
948
949 public override object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
950 {
951 CompoundShape compoundshape = new CompoundShape(false);
952 var world = pWorld as DiscreteDynamicsWorld;
953
954
955 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
956 int ii = 1;
957
958 for (int i = 0; i < pHullCount; i++)
959 {
960 int vertexCount = (int) pConvHulls[ii];
961
962 IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
963 IndexedMatrix childTrans = IndexedMatrix.Identity;
964 childTrans._origin = centroid;
965
966 List<IndexedVector3> virts = new List<IndexedVector3>();
967 int ender = ((ii + 4) + (vertexCount*3));
968 for (int iii = ii + 4; iii < ender; iii+=3)
969 {
970
971 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
972 }
973 ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
974 convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
975 compoundshape.AddChildShape(ref childTrans, convexShape);
976 ii += (vertexCount*3 + 4);
977 }
978
979
980 return compoundshape;
981 }
982
983 public override object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
984 {
985 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
986
987 for (int iter = 0; iter < pVerticesCount; iter++)
988 {
989 if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
990 if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
991 }
992
993 ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
994 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
995 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
996 var world = pWorld as DiscreteDynamicsWorld;
997 IndexedMesh mesh = new IndexedMesh();
998 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
999 mesh.m_numTriangles = pIndicesCount/3;
1000 mesh.m_numVertices = pVerticesCount;
1001 mesh.m_triangleIndexBase = indicesarr;
1002 mesh.m_vertexBase = vertices;
1003 mesh.m_vertexStride = 3;
1004 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1005 mesh.m_triangleIndexStride = 3;
1006
1007 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1008 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1009 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
1010 meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
1011 // world.UpdateSingleAabb(meshShape);
1012 return meshShape;
1013
1014 }
1015 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
1016 {
1017
1018 String fileName = "objTest3.raw";
1019 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1020 StreamWriter sw = new StreamWriter(completePath);
1021 IndexedMesh mesh = new IndexedMesh();
1022
1023 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1024 mesh.m_numTriangles = pIndicesCount / 3;
1025 mesh.m_numVertices = pVerticesCount;
1026 mesh.m_triangleIndexBase = indices;
1027 mesh.m_vertexBase = vertices;
1028 mesh.m_vertexStride = 3;
1029 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1030 mesh.m_triangleIndexStride = 3;
1031
1032 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1033 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1034
1035
1036
1037 for (int i = 0; i < pVerticesCount; i++)
1038 {
1039
1040 string s = vertices[indices[i * 3]].ToString("0.0000");
1041 s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1042 s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1043
1044 sw.Write(s + "\n");
1045 }
1046
1047 sw.Close();
1048 }
1049 public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
1050 {
1051
1052 String fileName = "objTest6.raw";
1053 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1054 StreamWriter sw = new StreamWriter(completePath);
1055 IndexedMesh mesh = new IndexedMesh();
1056
1057 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1058 mesh.m_numTriangles = pIndicesCount / 3;
1059 mesh.m_numVertices = pVerticesCount;
1060 mesh.m_triangleIndexBase = indices;
1061 mesh.m_vertexBase = vertices;
1062 mesh.m_vertexStride = 3;
1063 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1064 mesh.m_triangleIndexStride = 3;
1065
1066 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1067 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1068
1069
1070 sw.WriteLine("Indices");
1071 sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
1072 for (int iter = 0; iter < indices.Length; iter++)
1073 {
1074 sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
1075 }
1076 sw.WriteLine("VerticesFloats");
1077 sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
1078 for (int iter = 0; iter < vertices.Length; iter++)
1079 {
1080 sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
1081 }
1082
1083 // for (int i = 0; i < pVerticesCount; i++)
1084 // {
1085 //
1086 // string s = vertices[indices[i * 3]].ToString("0.0000");
1087 // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1088 // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1089 //
1090 // sw.Write(s + "\n");
1091 //}
1092
1093 sw.Close();
1094 }
1095 //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
1096 public override object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
1097 {
1098 BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
1099 mapInfo.heightMap = null;
1100 mapInfo.minCoords = pminCoords;
1101 mapInfo.maxCoords = pmaxCoords;
1102 mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
1103 mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
1104 mapInfo.ID = pId;
1105 mapInfo.minZ = pminCoords.Z;
1106 mapInfo.maxZ = pmaxCoords.Z;
1107 mapInfo.collisionMargin = pCollisionMargin;
1108 if (mapInfo.minZ == mapInfo.maxZ)
1109 mapInfo.minZ -= 0.2f;
1110 mapInfo.heightMap = pheightMap;
1111
1112 return mapInfo;
1113
1114 }
1115
1116 public override object CreateTerrainShape2(object pMapInfo)
1117 {
1118 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
1119 const int upAxis = 2;
1120 const float scaleFactor = 1.0f;
1121 HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
1122 mapinfo.heightMap, scaleFactor,
1123 mapinfo.minZ, mapinfo.maxZ, upAxis,
1124 false);
1125 terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
1126 terrainShape.SetUseDiamondSubdivision(true);
1127 terrainShape.SetUserPointer(mapinfo.ID);
1128 return terrainShape;
1129 }
1130
1131 public override bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
1132 {
1133 TypedConstraint tconstrain = pConstraint as TypedConstraint;
1134 bool onOff = ponOff != 0;
1135 bool ret = false;
1136
1137 switch (tconstrain.GetConstraintType())
1138 {
1139 case TypedConstraintType.D6_CONSTRAINT_TYPE:
1140 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
1141 constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
1142 constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
1143 constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
1144 ret = true;
1145 break;
1146 }
1147
1148
1149 return ret;
1150
1151 }
1152
1153 public override int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
1154 {
1155 int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
1156 out collidersCount, out colliders);
1157 return epic;
1158 }
1159
1160 private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
1161 {
1162 int numSimSteps = 0;
1163
1164
1165 //if (updatedEntities is null)
1166 // updatedEntities = new List<BulletXNA.EntityProperties>();
1167
1168 //if (colliders is null)
1169 // colliders = new List<BulletXNA.CollisionDesc>();
1170
1171
1172 if (pWorld is DiscreteDynamicsWorld)
1173 {
1174 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
1175
1176 numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
1177 int updates = 0;
1178
1179 updatedEntityCount = world.UpdatedObjects.Count;
1180 updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
1181 updatedEntityCount = updatedEntities.Count;
1182 world.UpdatedObjects.Clear();
1183
1184
1185 collidersCount = world.UpdatedCollisions.Count;
1186 colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
1187
1188 world.UpdatedCollisions.Clear();
1189 m_collisionsThisFrame = 0;
1190 int numManifolds = world.GetDispatcher().GetNumManifolds();
1191 for (int j = 0; j < numManifolds; j++)
1192 {
1193 PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
1194 int numContacts = contactManifold.GetNumContacts();
1195 if (numContacts == 0)
1196 continue;
1197
1198 CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
1199 CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
1200
1201 ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
1202 IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
1203 IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
1204
1205 RecordCollision(world, objA, objB, contactPoint, contactNormal);
1206 m_collisionsThisFrame ++;
1207 if (m_collisionsThisFrame >= 9999999)
1208 break;
1209
1210
1211 }
1212
1213
1214 }
1215 else
1216 {
1217 //if (updatedEntities is null)
1218 updatedEntities = new List<BulletXNA.EntityProperties>();
1219 updatedEntityCount = 0;
1220 //if (colliders is null)
1221 colliders = new List<BulletXNA.CollisionDesc>();
1222 collidersCount = 0;
1223 }
1224 return numSimSteps;
1225 }
1226
1227 private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
1228 {
1229
1230 IndexedVector3 contactNormal = norm;
1231 if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
1232 (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
1233 {
1234 return;
1235 }
1236 uint idA = (uint)objA.GetUserPointer();
1237 uint idB = (uint)objB.GetUserPointer();
1238 if (idA > idB)
1239 {
1240 uint temp = idA;
1241 idA = idB;
1242 idB = temp;
1243 contactNormal = -contactNormal;
1244 }
1245
1246 ulong collisionID = ((ulong) idA << 32) | idB;
1247
1248 BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
1249 {
1250 aID = idA,
1251 bID = idB,
1252 point = contact,
1253 normal = contactNormal
1254 };
1255 world.UpdatedCollisions.Add(cDesc);
1256 m_collisionsThisFrame++;
1257
1258
1259 }
1260 private static EntityProperties GetDebugProperties(object pWorld, object pBody)
1261 {
1262 EntityProperties ent = new EntityProperties();
1263 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
1264 RigidBody body = pBody as RigidBody;
1265 IndexedMatrix transform = body.GetWorldTransform();
1266 IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
1267 IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
1268 IndexedQuaternion rotation = transform.GetRotation();
1269 ent.Acceleration = Vector3.Zero;
1270 ent.ID = (uint)body.GetUserPointer();
1271 ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
1272 ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
1273 ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
1274 ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
1275 return ent;
1276 }
1277
1278 public override Vector3 GetLocalScaling2(object pBody)
1279 {
1280 CollisionShape shape = pBody as CollisionShape;
1281 IndexedVector3 scale = shape.GetLocalScaling();
1282 return new Vector3(scale.X,scale.Y,scale.Z);
1283 }
1284
1285 public override bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
1286 {
1287 DynamicsWorld world = pWorld as DynamicsWorld;
1288 if (world != null)
1289 {
1290 if (NotMe is CollisionObject || NotMe is RigidBody)
1291 {
1292 CollisionObject AvoidBody = NotMe as CollisionObject;
1293
1294 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
1295 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
1296 using (
1297 ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin,
1298 rEnd, AvoidBody)
1299 )
1300 {
1301 world.RayTest(ref rOrigin, ref rEnd, rayCallback);
1302 if (rayCallback.HasHit())
1303 {
1304 IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
1305
1306 }
1307 return rayCallback.HasHit();
1308 }
1309 }
1310 }
1311 return false;
1312 }
37} 1313}
38 */ 1314*/
39} 1315}