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author | Melanie | 2013-01-02 11:52:37 +0000 |
---|---|---|
committer | Melanie | 2013-01-02 11:52:37 +0000 |
commit | 7943c8d11cbcac3ab16fb347d0c4116adc6437a5 (patch) | |
tree | a8f099569905001bdedf144a77fd7b9191aa6427 /OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | |
parent | Merge branch 'master' into careminster (diff) | |
parent | BulletSim: add parameter to have Bullet output performance statistics (diff) | |
download | opensim-SC_OLD-7943c8d11cbcac3ab16fb347d0c4116adc6437a5.zip opensim-SC_OLD-7943c8d11cbcac3ab16fb347d0c4116adc6437a5.tar.gz opensim-SC_OLD-7943c8d11cbcac3ab16fb347d0c4116adc6437a5.tar.bz2 opensim-SC_OLD-7943c8d11cbcac3ab16fb347d0c4116adc6437a5.tar.xz |
Merge branch 'master' into careminster
Conflicts:
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1622 |
1 files changed, 1622 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs new file mode 100755 index 0000000..30a7bee --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | |||
@@ -0,0 +1,1622 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.IO; | ||
30 | using System.Text; | ||
31 | |||
32 | using OpenSim.Framework; | ||
33 | |||
34 | using OpenMetaverse; | ||
35 | |||
36 | using BulletXNA; | ||
37 | using BulletXNA.LinearMath; | ||
38 | using BulletXNA.BulletCollision; | ||
39 | using BulletXNA.BulletDynamics; | ||
40 | using BulletXNA.BulletCollision.CollisionDispatch; | ||
41 | |||
42 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
43 | { | ||
44 | public sealed class BSAPIXNA : BSAPITemplate | ||
45 | { | ||
46 | private sealed class BulletWorldXNA : BulletWorld | ||
47 | { | ||
48 | public DiscreteDynamicsWorld world; | ||
49 | public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx) | ||
50 | : base(id, physScene) | ||
51 | { | ||
52 | world = xx; | ||
53 | } | ||
54 | } | ||
55 | |||
56 | private sealed class BulletBodyXNA : BulletBody | ||
57 | { | ||
58 | public CollisionObject body; | ||
59 | public RigidBody rigidBody { get { return RigidBody.Upcast(body); } } | ||
60 | |||
61 | public BulletBodyXNA(uint id, CollisionObject xx) | ||
62 | : base(id) | ||
63 | { | ||
64 | body = xx; | ||
65 | } | ||
66 | public override bool HasPhysicalBody | ||
67 | { | ||
68 | get { return body != null; } | ||
69 | } | ||
70 | public override void Clear() | ||
71 | { | ||
72 | body = null; | ||
73 | } | ||
74 | public override string AddrString | ||
75 | { | ||
76 | get { return "XNARigidBody"; } | ||
77 | } | ||
78 | } | ||
79 | |||
80 | private sealed class BulletShapeXNA : BulletShape | ||
81 | { | ||
82 | public CollisionShape shape; | ||
83 | public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) | ||
84 | : base() | ||
85 | { | ||
86 | shape = xx; | ||
87 | type = typ; | ||
88 | } | ||
89 | public override bool HasPhysicalShape | ||
90 | { | ||
91 | get { return shape != null; } | ||
92 | } | ||
93 | public override void Clear() | ||
94 | { | ||
95 | shape = null; | ||
96 | } | ||
97 | public override BulletShape Clone() | ||
98 | { | ||
99 | return new BulletShapeXNA(shape, type); | ||
100 | } | ||
101 | public override bool ReferenceSame(BulletShape other) | ||
102 | { | ||
103 | BulletShapeXNA otheru = other as BulletShapeXNA; | ||
104 | return (otheru != null) && (this.shape == otheru.shape); | ||
105 | |||
106 | } | ||
107 | public override string AddrString | ||
108 | { | ||
109 | get { return "XNACollisionShape"; } | ||
110 | } | ||
111 | } | ||
112 | private sealed class BulletConstraintXNA : BulletConstraint | ||
113 | { | ||
114 | public TypedConstraint constrain; | ||
115 | public BulletConstraintXNA(TypedConstraint xx) : base() | ||
116 | { | ||
117 | constrain = xx; | ||
118 | } | ||
119 | |||
120 | public override void Clear() | ||
121 | { | ||
122 | constrain = null; | ||
123 | } | ||
124 | public override bool HasPhysicalConstraint { get { return constrain != null; } } | ||
125 | |||
126 | // Used for log messages for a unique display of the memory/object allocated to this instance | ||
127 | public override string AddrString | ||
128 | { | ||
129 | get { return "XNAConstraint"; } | ||
130 | } | ||
131 | } | ||
132 | |||
133 | private static int m_collisionsThisFrame; | ||
134 | private BSScene PhysicsScene { get; set; } | ||
135 | |||
136 | public override string BulletEngineName { get { return "BulletXNA"; } } | ||
137 | public override string BulletEngineVersion { get; protected set; } | ||
138 | |||
139 | public BSAPIXNA(string paramName, BSScene physScene) | ||
140 | { | ||
141 | PhysicsScene = physScene; | ||
142 | } | ||
143 | |||
144 | /// <summary> | ||
145 | /// | ||
146 | /// </summary> | ||
147 | /// <param name="p"></param> | ||
148 | /// <param name="p_2"></param> | ||
149 | public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) | ||
150 | { | ||
151 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
152 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
153 | world.RemoveRigidBody(body); | ||
154 | return true; | ||
155 | } | ||
156 | |||
157 | public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) | ||
158 | { | ||
159 | /* TODO */ | ||
160 | return false; | ||
161 | } | ||
162 | |||
163 | public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) | ||
164 | { | ||
165 | /* TODO */ | ||
166 | return false; | ||
167 | } | ||
168 | |||
169 | public override void SetRestitution(BulletBody pBody, float pRestitution) | ||
170 | { | ||
171 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
172 | body.SetRestitution(pRestitution); | ||
173 | } | ||
174 | |||
175 | public override int GetShapeType(BulletShape pShape) | ||
176 | { | ||
177 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
178 | return (int)shape.GetShapeType(); | ||
179 | } | ||
180 | public override void SetMargin(BulletShape pShape, float pMargin) | ||
181 | { | ||
182 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
183 | shape.SetMargin(pMargin); | ||
184 | } | ||
185 | |||
186 | public override float GetMargin(BulletShape pShape) | ||
187 | { | ||
188 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
189 | return shape.GetMargin(); | ||
190 | } | ||
191 | |||
192 | public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) | ||
193 | { | ||
194 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
195 | IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | ||
196 | shape.SetLocalScaling(ref vec); | ||
197 | |||
198 | } | ||
199 | |||
200 | public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold) | ||
201 | { | ||
202 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
203 | body.SetContactProcessingThreshold(contactprocessingthreshold); | ||
204 | } | ||
205 | |||
206 | public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold) | ||
207 | { | ||
208 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
209 | body.SetCcdMotionThreshold(pccdMotionThreashold); | ||
210 | } | ||
211 | |||
212 | public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius) | ||
213 | { | ||
214 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
215 | body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); | ||
216 | } | ||
217 | |||
218 | public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) | ||
219 | { | ||
220 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
221 | body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); | ||
222 | } | ||
223 | |||
224 | public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) | ||
225 | { | ||
226 | CollisionObject body = ((BulletBodyXNA)pBody).body; | ||
227 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | ||
228 | existingcollisionFlags |= pcollisionFlags; | ||
229 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | ||
230 | return (CollisionFlags) (uint) existingcollisionFlags; | ||
231 | } | ||
232 | |||
233 | public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) | ||
234 | { | ||
235 | // Bullet resets several variables when an object is added to the world. In particular, | ||
236 | // BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic | ||
237 | // type. Of course, the collision flags in the broadphase proxy are initialized to default. | ||
238 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
239 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
240 | |||
241 | IndexedMatrix origPos = body.GetWorldTransform(); | ||
242 | IndexedVector3 origGrav = body.GetGravity(); | ||
243 | |||
244 | //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) | ||
245 | |||
246 | world.AddRigidBody(body); | ||
247 | |||
248 | body.SetWorldTransform(origPos); | ||
249 | body.SetGravity(origGrav); | ||
250 | |||
251 | pBody.ApplyCollisionMask(pWorld.physicsScene); | ||
252 | |||
253 | //if (body.GetBroadphaseHandle() != null) | ||
254 | // world.UpdateSingleAabb(body); | ||
255 | return true; | ||
256 | } | ||
257 | |||
258 | public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState) | ||
259 | { | ||
260 | CollisionObject body = ((BulletBodyXNA)pBody).body; | ||
261 | body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); | ||
262 | } | ||
263 | |||
264 | public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody) | ||
265 | { | ||
266 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
267 | CollisionObject body = ((BulletBodyXNA)pBody).body; | ||
268 | world.UpdateSingleAabb(body); | ||
269 | } | ||
270 | |||
271 | public override void UpdateAabbs(BulletWorld world) { /* TODO */ } | ||
272 | public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false; } | ||
273 | public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ } | ||
274 | |||
275 | public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask) | ||
276 | { | ||
277 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
278 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
279 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
280 | if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) | ||
281 | return false; | ||
282 | return true; | ||
283 | } | ||
284 | |||
285 | public override void ClearAllForces(BulletBody pBody) | ||
286 | { | ||
287 | CollisionObject body = ((BulletBodyXNA)pBody).body; | ||
288 | IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); | ||
289 | body.SetInterpolationLinearVelocity(ref zeroVector); | ||
290 | body.SetInterpolationAngularVelocity(ref zeroVector); | ||
291 | IndexedMatrix bodytransform = body.GetWorldTransform(); | ||
292 | |||
293 | body.SetInterpolationWorldTransform(ref bodytransform); | ||
294 | |||
295 | if (body is RigidBody) | ||
296 | { | ||
297 | RigidBody rigidbody = body as RigidBody; | ||
298 | rigidbody.SetLinearVelocity(zeroVector); | ||
299 | rigidbody.SetAngularVelocity(zeroVector); | ||
300 | rigidbody.ClearForces(); | ||
301 | } | ||
302 | } | ||
303 | |||
304 | public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3) | ||
305 | { | ||
306 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
307 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | ||
308 | body.SetInterpolationAngularVelocity(ref vec); | ||
309 | } | ||
310 | |||
311 | public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) | ||
312 | { | ||
313 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
314 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | ||
315 | body.SetAngularVelocity(ref vec); | ||
316 | } | ||
317 | public override Vector3 GetTotalForce(BulletBody pBody) | ||
318 | { | ||
319 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
320 | IndexedVector3 iv3 = body.GetTotalForce(); | ||
321 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
322 | } | ||
323 | public override Vector3 GetTotalTorque(BulletBody pBody) | ||
324 | { | ||
325 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
326 | IndexedVector3 iv3 = body.GetTotalTorque(); | ||
327 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
328 | } | ||
329 | public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) | ||
330 | { | ||
331 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
332 | IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); | ||
333 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
334 | } | ||
335 | public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) | ||
336 | { | ||
337 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
338 | IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); | ||
339 | body.SetInvInertiaDiagLocal(ref iv3); | ||
340 | } | ||
341 | public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) | ||
342 | { | ||
343 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
344 | IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); | ||
345 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
346 | body.ApplyForce(ref forceiv3, ref posiv3); | ||
347 | } | ||
348 | public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) | ||
349 | { | ||
350 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
351 | IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); | ||
352 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
353 | body.ApplyImpulse(ref impiv3, ref posiv3); | ||
354 | } | ||
355 | |||
356 | public override void ClearForces(BulletBody pBody) | ||
357 | { | ||
358 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
359 | body.ClearForces(); | ||
360 | } | ||
361 | |||
362 | public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation) | ||
363 | { | ||
364 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
365 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); | ||
366 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, | ||
367 | _orientation.W); | ||
368 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); | ||
369 | mat._origin = vposition; | ||
370 | body.SetWorldTransform(mat); | ||
371 | |||
372 | } | ||
373 | |||
374 | public override Vector3 GetPosition(BulletBody pBody) | ||
375 | { | ||
376 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
377 | IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; | ||
378 | return new Vector3(pos.X, pos.Y, pos.Z); | ||
379 | } | ||
380 | |||
381 | public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) | ||
382 | { | ||
383 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
384 | IndexedVector3 inertia = IndexedVector3.Zero; | ||
385 | shape.CalculateLocalInertia(pphysMass, out inertia); | ||
386 | return new Vector3(inertia.X, inertia.Y, inertia.Z); | ||
387 | } | ||
388 | |||
389 | public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) | ||
390 | { | ||
391 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
392 | IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); | ||
393 | body.SetMassProps(pphysMass, inertia); | ||
394 | } | ||
395 | |||
396 | |||
397 | public override void SetObjectForce(BulletBody pBody, Vector3 _force) | ||
398 | { | ||
399 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
400 | IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); | ||
401 | body.SetTotalForce(ref force); | ||
402 | } | ||
403 | |||
404 | public override void SetFriction(BulletBody pBody, float _currentFriction) | ||
405 | { | ||
406 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
407 | body.SetFriction(_currentFriction); | ||
408 | } | ||
409 | |||
410 | public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) | ||
411 | { | ||
412 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
413 | IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); | ||
414 | body.SetLinearVelocity(velocity); | ||
415 | } | ||
416 | |||
417 | public override void Activate(BulletBody pBody, bool pforceactivation) | ||
418 | { | ||
419 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
420 | body.Activate(pforceactivation); | ||
421 | |||
422 | } | ||
423 | |||
424 | public override Quaternion GetOrientation(BulletBody pBody) | ||
425 | { | ||
426 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
427 | IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); | ||
428 | return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); | ||
429 | } | ||
430 | |||
431 | public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) | ||
432 | { | ||
433 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
434 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | ||
435 | existingcollisionFlags &= ~pcollisionFlags; | ||
436 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | ||
437 | return (CollisionFlags)(uint)existingcollisionFlags; | ||
438 | } | ||
439 | |||
440 | public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f; } | ||
441 | |||
442 | public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f; } | ||
443 | |||
444 | public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero; } | ||
445 | |||
446 | public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ } | ||
447 | |||
448 | public override void SetGravity(BulletBody pBody, Vector3 pGravity) | ||
449 | { | ||
450 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
451 | IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); | ||
452 | body.SetGravity(gravity); | ||
453 | } | ||
454 | |||
455 | public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) | ||
456 | { | ||
457 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
458 | TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain; | ||
459 | world.RemoveConstraint(constraint); | ||
460 | return true; | ||
461 | } | ||
462 | |||
463 | public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | ||
464 | { | ||
465 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
466 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | ||
467 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | ||
468 | constraint.SetLinearLowerLimit(lowlimit); | ||
469 | constraint.SetLinearUpperLimit(highlimit); | ||
470 | return true; | ||
471 | } | ||
472 | |||
473 | public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | ||
474 | { | ||
475 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
476 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | ||
477 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | ||
478 | constraint.SetAngularLowerLimit(lowlimit); | ||
479 | constraint.SetAngularUpperLimit(highlimit); | ||
480 | return true; | ||
481 | } | ||
482 | |||
483 | public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) | ||
484 | { | ||
485 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
486 | constraint.SetOverrideNumSolverIterations((int)cnt); | ||
487 | } | ||
488 | |||
489 | public override bool CalculateTransforms(BulletConstraint pConstraint) | ||
490 | { | ||
491 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
492 | constraint.CalculateTransforms(); | ||
493 | return true; | ||
494 | } | ||
495 | |||
496 | public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) | ||
497 | { | ||
498 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
499 | constraint.SetEnabled((p_2 == 0) ? false : true); | ||
500 | } | ||
501 | |||
502 | |||
503 | //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | ||
504 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
505 | |||
506 | { | ||
507 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
508 | RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; | ||
509 | RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; | ||
510 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
511 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
512 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
513 | frame1._origin = frame1v; | ||
514 | |||
515 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
516 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
517 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
518 | frame2._origin = frame1v; | ||
519 | |||
520 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, | ||
521 | puseLinearReferenceFrameA); | ||
522 | consttr.CalculateTransforms(); | ||
523 | world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); | ||
524 | |||
525 | return new BulletConstraintXNA(consttr); | ||
526 | } | ||
527 | |||
528 | |||
529 | /// <summary> | ||
530 | /// | ||
531 | /// </summary> | ||
532 | /// <param name="pWorld"></param> | ||
533 | /// <param name="pBody1"></param> | ||
534 | /// <param name="pBody2"></param> | ||
535 | /// <param name="pjoinPoint"></param> | ||
536 | /// <param name="puseLinearReferenceFrameA"></param> | ||
537 | /// <param name="pdisableCollisionsBetweenLinkedBodies"></param> | ||
538 | /// <returns></returns> | ||
539 | public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
540 | { | ||
541 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
542 | RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; | ||
543 | RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; | ||
544 | IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | ||
545 | IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | ||
546 | |||
547 | IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); | ||
548 | IndexedMatrix mat = IndexedMatrix.Identity; | ||
549 | mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); | ||
550 | frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; | ||
551 | frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; | ||
552 | |||
553 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); | ||
554 | consttr.CalculateTransforms(); | ||
555 | world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); | ||
556 | |||
557 | return new BulletConstraintXNA(consttr); | ||
558 | } | ||
559 | //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); | ||
560 | public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) | ||
561 | { | ||
562 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
563 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
564 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
565 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
566 | frame1._origin = frame1v; | ||
567 | |||
568 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
569 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
570 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
571 | frame2._origin = frame1v; | ||
572 | constraint.SetFrames(ref frame1, ref frame2); | ||
573 | return true; | ||
574 | } | ||
575 | |||
576 | public override Vector3 GetLinearVelocity(BulletBody pBody) | ||
577 | { | ||
578 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
579 | IndexedVector3 iv3 = body.GetLinearVelocity(); | ||
580 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
581 | } | ||
582 | public override Vector3 GetAngularVelocity(BulletBody pBody) | ||
583 | { | ||
584 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
585 | IndexedVector3 iv3 = body.GetAngularVelocity(); | ||
586 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
587 | } | ||
588 | public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) | ||
589 | { | ||
590 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
591 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
592 | IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); | ||
593 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
594 | } | ||
595 | public override void Translate(BulletBody pBody, Vector3 trans) | ||
596 | { | ||
597 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
598 | } | ||
599 | public override void UpdateDeactivation(BulletBody pBody, float timeStep) | ||
600 | { | ||
601 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
602 | body.UpdateDeactivation(timeStep); | ||
603 | } | ||
604 | |||
605 | public override bool WantsSleeping(BulletBody pBody) | ||
606 | { | ||
607 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
608 | return body.WantsSleeping(); | ||
609 | } | ||
610 | |||
611 | public override void SetAngularFactor(BulletBody pBody, float factor) | ||
612 | { | ||
613 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
614 | body.SetAngularFactor(factor); | ||
615 | } | ||
616 | |||
617 | public override Vector3 GetAngularFactor(BulletBody pBody) | ||
618 | { | ||
619 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
620 | IndexedVector3 iv3 = body.GetAngularFactor(); | ||
621 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | ||
622 | } | ||
623 | |||
624 | public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody) | ||
625 | { | ||
626 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
627 | CollisionObject body = ((BulletBodyXNA)pBody).body; | ||
628 | return world.IsInWorld(body); | ||
629 | } | ||
630 | |||
631 | public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain) | ||
632 | { | ||
633 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
634 | TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; | ||
635 | body.AddConstraintRef(constrain); | ||
636 | } | ||
637 | |||
638 | public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain) | ||
639 | { | ||
640 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
641 | TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; | ||
642 | body.RemoveConstraintRef(constrain); | ||
643 | } | ||
644 | |||
645 | public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) | ||
646 | { | ||
647 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
648 | return new BulletConstraintXNA(body.GetConstraintRef(index)); | ||
649 | } | ||
650 | |||
651 | public override int GetNumConstraintRefs(BulletBody pBody) | ||
652 | { | ||
653 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
654 | return body.GetNumConstraintRefs(); | ||
655 | } | ||
656 | |||
657 | public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity) | ||
658 | { | ||
659 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
660 | IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); | ||
661 | body.SetInterpolationLinearVelocity(ref velocity); | ||
662 | } | ||
663 | |||
664 | public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) | ||
665 | { | ||
666 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
667 | constraint.SetUseFrameOffset((onOff == 0) ? false : true); | ||
668 | return true; | ||
669 | } | ||
670 | //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); | ||
671 | public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) | ||
672 | { | ||
673 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
674 | constraint.SetBreakingImpulseThreshold(threshold); | ||
675 | return true; | ||
676 | } | ||
677 | //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); | ||
678 | public override void SetAngularDamping(BulletBody pBody, float angularDamping) | ||
679 | { | ||
680 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
681 | float lineardamping = body.GetLinearDamping(); | ||
682 | body.SetDamping(lineardamping, angularDamping); | ||
683 | |||
684 | } | ||
685 | |||
686 | public override void UpdateInertiaTensor(BulletBody pBody) | ||
687 | { | ||
688 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
689 | body.UpdateInertiaTensor(); | ||
690 | } | ||
691 | |||
692 | public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) | ||
693 | { | ||
694 | CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; | ||
695 | shape.RecalculateLocalAabb(); | ||
696 | } | ||
697 | |||
698 | //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) | ||
699 | public override CollisionFlags GetCollisionFlags(BulletBody pBody) | ||
700 | { | ||
701 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
702 | uint flags = (uint)body.GetCollisionFlags(); | ||
703 | return (CollisionFlags) flags; | ||
704 | } | ||
705 | |||
706 | public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) | ||
707 | { | ||
708 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
709 | body.SetDamping(pLinear, pAngular); | ||
710 | } | ||
711 | //PhysBody.ptr, PhysicsScene.Params.deactivationTime); | ||
712 | public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime) | ||
713 | { | ||
714 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
715 | body.SetDeactivationTime(pDeactivationTime); | ||
716 | } | ||
717 | //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); | ||
718 | public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) | ||
719 | { | ||
720 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
721 | body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); | ||
722 | } | ||
723 | |||
724 | public override CollisionObjectTypes GetBodyType(BulletBody pBody) | ||
725 | { | ||
726 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
727 | return (CollisionObjectTypes)(int) body.GetInternalType(); | ||
728 | } | ||
729 | |||
730 | public override void ApplyGravity(BulletBody obj) { /* TODO */ } | ||
731 | |||
732 | public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero; } | ||
733 | |||
734 | public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ } | ||
735 | |||
736 | public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f; } | ||
737 | |||
738 | public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f; } | ||
739 | |||
740 | public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f; } | ||
741 | |||
742 | public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ } | ||
743 | |||
744 | public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; } | ||
745 | |||
746 | public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ } | ||
747 | |||
748 | public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ } | ||
749 | |||
750 | //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); | ||
751 | public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) | ||
752 | { | ||
753 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
754 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
755 | body.ApplyCentralForce(ref fSum); | ||
756 | } | ||
757 | public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) | ||
758 | { | ||
759 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
760 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
761 | body.ApplyCentralImpulse(ref fSum); | ||
762 | } | ||
763 | public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) | ||
764 | { | ||
765 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
766 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
767 | body.ApplyTorque(ref fSum); | ||
768 | } | ||
769 | public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) | ||
770 | { | ||
771 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
772 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | ||
773 | body.ApplyTorqueImpulse(ref fSum); | ||
774 | } | ||
775 | |||
776 | public override void DumpRigidBody(BulletWorld p, BulletBody p_2) | ||
777 | { | ||
778 | //TODO: | ||
779 | } | ||
780 | |||
781 | public override void DumpCollisionShape(BulletWorld p, BulletShape p_2) | ||
782 | { | ||
783 | //TODO: | ||
784 | } | ||
785 | public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) | ||
786 | { | ||
787 | //TODO: | ||
788 | } | ||
789 | |||
790 | public override void DumpActivationInfo(BulletWorld world) | ||
791 | { | ||
792 | //TODO: | ||
793 | } | ||
794 | |||
795 | public override void DumpAllInfo(BulletWorld world) | ||
796 | { | ||
797 | //TODO: | ||
798 | } | ||
799 | |||
800 | public override void DumpPhysicsStatistics(BulletWorld world) | ||
801 | { | ||
802 | //TODO: | ||
803 | } | ||
804 | |||
805 | public override void DestroyObject(BulletWorld p, BulletBody p_2) | ||
806 | { | ||
807 | //TODO: | ||
808 | } | ||
809 | |||
810 | public override void Shutdown(BulletWorld pWorld) | ||
811 | { | ||
812 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
813 | world.Cleanup(); | ||
814 | } | ||
815 | |||
816 | public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) | ||
817 | { | ||
818 | return null; | ||
819 | } | ||
820 | |||
821 | public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2) | ||
822 | { | ||
823 | //TODO: | ||
824 | return false; | ||
825 | } | ||
826 | //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); | ||
827 | |||
828 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
829 | { | ||
830 | CollisionWorld world = ((BulletWorldXNA)pWorld).world; | ||
831 | IndexedMatrix mat = | ||
832 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | ||
833 | pRawOrientation.Z, pRawOrientation.W)); | ||
834 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
835 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
836 | //UpdateSingleAabb(world, shape); | ||
837 | // TODO: Feed Update array into null | ||
838 | RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); | ||
839 | |||
840 | body.SetUserPointer(pLocalID); | ||
841 | return new BulletBodyXNA(pLocalID, body); | ||
842 | } | ||
843 | |||
844 | |||
845 | public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
846 | { | ||
847 | |||
848 | IndexedMatrix mat = | ||
849 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | ||
850 | pRawOrientation.Z, pRawOrientation.W)); | ||
851 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
852 | |||
853 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
854 | |||
855 | // TODO: Feed Update array into null | ||
856 | RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); | ||
857 | body.SetWorldTransform(mat); | ||
858 | body.SetUserPointer(pLocalID); | ||
859 | return new BulletBodyXNA(pLocalID, body); | ||
860 | } | ||
861 | //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
862 | public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags) | ||
863 | { | ||
864 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
865 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); | ||
866 | return (CollisionFlags)body.GetCollisionFlags(); | ||
867 | } | ||
868 | |||
869 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; } | ||
870 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } | ||
871 | public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } | ||
872 | public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } | ||
873 | public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; } | ||
874 | public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; } | ||
875 | public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; } | ||
876 | public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; } | ||
877 | public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } | ||
878 | public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } | ||
879 | public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } | ||
880 | public override bool IsActive(BulletBody pBody) { /* TODO */ return false; } | ||
881 | public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; } | ||
882 | public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; } | ||
883 | public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ } | ||
884 | public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } | ||
885 | |||
886 | //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); | ||
887 | public override void SetHitFraction(BulletBody pBody, float pHitFraction) | ||
888 | { | ||
889 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
890 | body.SetHitFraction(pHitFraction); | ||
891 | } | ||
892 | //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); | ||
893 | public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) | ||
894 | { | ||
895 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
896 | IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | ||
897 | CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); | ||
898 | capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
899 | capsuleShapeZ.SetLocalScaling(ref scale); | ||
900 | |||
901 | return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ; | ||
902 | } | ||
903 | |||
904 | public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, | ||
905 | int maxCollisions, ref CollisionDesc[] collisionArray, | ||
906 | int maxUpdates, ref EntityProperties[] updateArray | ||
907 | ) | ||
908 | { | ||
909 | /* TODO */ | ||
910 | return new BulletWorldXNA(1, null, null); | ||
911 | } | ||
912 | |||
913 | private static object Initialize2(Vector3 worldExtent, | ||
914 | ConfigurationParameters[] o, | ||
915 | int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, | ||
916 | int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, | ||
917 | object mDebugLogCallbackHandle) | ||
918 | { | ||
919 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); | ||
920 | |||
921 | p.angularDamping = o[0].XangularDamping; | ||
922 | p.defaultFriction = o[0].defaultFriction; | ||
923 | p.defaultFriction = o[0].defaultFriction; | ||
924 | p.defaultDensity = o[0].defaultDensity; | ||
925 | p.defaultRestitution = o[0].defaultRestitution; | ||
926 | p.collisionMargin = o[0].collisionMargin; | ||
927 | p.gravity = o[0].gravity; | ||
928 | |||
929 | p.linearDamping = o[0].XlinearDamping; | ||
930 | p.angularDamping = o[0].XangularDamping; | ||
931 | p.deactivationTime = o[0].XdeactivationTime; | ||
932 | p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; | ||
933 | p.angularSleepingThreshold = o[0].XangularSleepingThreshold; | ||
934 | p.ccdMotionThreshold = o[0].XccdMotionThreshold; | ||
935 | p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; | ||
936 | p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; | ||
937 | |||
938 | p.terrainImplementation = o[0].XterrainImplementation; | ||
939 | p.terrainFriction = o[0].XterrainFriction; | ||
940 | |||
941 | p.terrainHitFraction = o[0].XterrainHitFraction; | ||
942 | p.terrainRestitution = o[0].XterrainRestitution; | ||
943 | p.terrainCollisionMargin = o[0].XterrainCollisionMargin; | ||
944 | |||
945 | p.avatarFriction = o[0].XavatarFriction; | ||
946 | p.avatarStandingFriction = o[0].XavatarStandingFriction; | ||
947 | p.avatarDensity = o[0].XavatarDensity; | ||
948 | p.avatarRestitution = o[0].XavatarRestitution; | ||
949 | p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; | ||
950 | p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; | ||
951 | p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; | ||
952 | p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; | ||
953 | |||
954 | p.vehicleAngularDamping = o[0].XvehicleAngularDamping; | ||
955 | |||
956 | p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; | ||
957 | p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; | ||
958 | p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; | ||
959 | p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; | ||
960 | p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; | ||
961 | p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; | ||
962 | p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; | ||
963 | p.numberOfSolverIterations = o[0].numberOfSolverIterations; | ||
964 | |||
965 | p.linksetImplementation = o[0].XlinksetImplementation; | ||
966 | p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; | ||
967 | p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; | ||
968 | p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; | ||
969 | p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; | ||
970 | p.linkConstraintERP = o[0].XlinkConstraintERP; | ||
971 | p.linkConstraintCFM = o[0].XlinkConstraintCFM; | ||
972 | p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; | ||
973 | p.physicsLoggingFrames = o[0].XphysicsLoggingFrames; | ||
974 | DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); | ||
975 | |||
976 | DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); | ||
977 | CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); | ||
978 | |||
979 | |||
980 | if (p.maxPersistantManifoldPoolSize > 0) | ||
981 | cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; | ||
982 | if (p.shouldDisableContactPoolDynamicAllocation !=0) | ||
983 | m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); | ||
984 | //if (p.maxCollisionAlgorithmPoolSize >0 ) | ||
985 | |||
986 | DbvtBroadphase m_broadphase = new DbvtBroadphase(); | ||
987 | //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); | ||
988 | //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); | ||
989 | |||
990 | //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); | ||
991 | m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); | ||
992 | |||
993 | SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); | ||
994 | |||
995 | DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); | ||
996 | world.UpdatedObjects = updateArray; | ||
997 | world.UpdatedCollisions = collisionArray; | ||
998 | world.WorldSettings.Params = p; | ||
999 | world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); | ||
1000 | world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; | ||
1001 | if (p.shouldRandomizeSolverOrder != 0) | ||
1002 | world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; | ||
1003 | |||
1004 | world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); | ||
1005 | //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port | ||
1006 | |||
1007 | if (p.shouldEnableFrictionCaching != 0) | ||
1008 | world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; | ||
1009 | |||
1010 | if (p.numberOfSolverIterations > 0) | ||
1011 | world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; | ||
1012 | |||
1013 | |||
1014 | world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; | ||
1015 | world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; | ||
1016 | world.GetSolverInfo().m_globalCfm = 0.0f; | ||
1017 | world.GetSolverInfo().m_tau = 0.6f; | ||
1018 | world.GetSolverInfo().m_friction = 0.3f; | ||
1019 | world.GetSolverInfo().m_maxErrorReduction = 20f; | ||
1020 | world.GetSolverInfo().m_numIterations = 10; | ||
1021 | world.GetSolverInfo().m_erp = 0.2f; | ||
1022 | world.GetSolverInfo().m_erp2 = 0.1f; | ||
1023 | world.GetSolverInfo().m_sor = 1.0f; | ||
1024 | world.GetSolverInfo().m_splitImpulse = false; | ||
1025 | world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; | ||
1026 | world.GetSolverInfo().m_linearSlop = 0.0f; | ||
1027 | world.GetSolverInfo().m_warmstartingFactor = 0.85f; | ||
1028 | world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; | ||
1029 | world.SetForceUpdateAllAabbs(true); | ||
1030 | |||
1031 | |||
1032 | world.SetGravity(new IndexedVector3(0,0,p.gravity)); | ||
1033 | |||
1034 | return world; | ||
1035 | } | ||
1036 | //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL | ||
1037 | public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) | ||
1038 | { | ||
1039 | Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | ||
1040 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | ||
1041 | { | ||
1042 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); | ||
1043 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); | ||
1044 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); | ||
1045 | } | ||
1046 | if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | ||
1047 | { | ||
1048 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); | ||
1049 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); | ||
1050 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); | ||
1051 | } | ||
1052 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) | ||
1053 | { | ||
1054 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); | ||
1055 | } | ||
1056 | return true; | ||
1057 | } | ||
1058 | |||
1059 | public override bool PushUpdate(BulletBody pCollisionObject) | ||
1060 | { | ||
1061 | bool ret = false; | ||
1062 | RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody; | ||
1063 | if (rb != null) | ||
1064 | { | ||
1065 | SimMotionState sms = rb.GetMotionState() as SimMotionState; | ||
1066 | if (sms != null) | ||
1067 | { | ||
1068 | IndexedMatrix wt = IndexedMatrix.Identity; | ||
1069 | sms.GetWorldTransform(out wt); | ||
1070 | sms.SetWorldTransform(ref wt, true); | ||
1071 | ret = true; | ||
1072 | } | ||
1073 | } | ||
1074 | return ret; | ||
1075 | |||
1076 | } | ||
1077 | |||
1078 | public override float GetAngularMotionDisc(BulletShape pShape) | ||
1079 | { | ||
1080 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1081 | return shape.GetAngularMotionDisc(); | ||
1082 | } | ||
1083 | public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) | ||
1084 | { | ||
1085 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1086 | return shape.GetContactBreakingThreshold(defaultFactor); | ||
1087 | } | ||
1088 | public override bool IsCompound(BulletShape pShape) | ||
1089 | { | ||
1090 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1091 | return shape.IsCompound(); | ||
1092 | } | ||
1093 | public override bool IsSoftBody(BulletShape pShape) | ||
1094 | { | ||
1095 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1096 | return shape.IsSoftBody(); | ||
1097 | } | ||
1098 | public override bool IsPolyhedral(BulletShape pShape) | ||
1099 | { | ||
1100 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1101 | return shape.IsPolyhedral(); | ||
1102 | } | ||
1103 | public override bool IsConvex2d(BulletShape pShape) | ||
1104 | { | ||
1105 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1106 | return shape.IsConvex2d(); | ||
1107 | } | ||
1108 | public override bool IsConvex(BulletShape pShape) | ||
1109 | { | ||
1110 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1111 | return shape.IsConvex(); | ||
1112 | } | ||
1113 | public override bool IsNonMoving(BulletShape pShape) | ||
1114 | { | ||
1115 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1116 | return shape.IsNonMoving(); | ||
1117 | } | ||
1118 | public override bool IsConcave(BulletShape pShape) | ||
1119 | { | ||
1120 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1121 | return shape.IsConcave(); | ||
1122 | } | ||
1123 | public override bool IsInfinite(BulletShape pShape) | ||
1124 | { | ||
1125 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1126 | return shape.IsInfinite(); | ||
1127 | } | ||
1128 | public override bool IsNativeShape(BulletShape pShape) | ||
1129 | { | ||
1130 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1131 | bool ret; | ||
1132 | switch (shape.GetShapeType()) | ||
1133 | { | ||
1134 | case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: | ||
1135 | case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: | ||
1136 | case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: | ||
1137 | case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: | ||
1138 | ret = true; | ||
1139 | break; | ||
1140 | default: | ||
1141 | ret = false; | ||
1142 | break; | ||
1143 | } | ||
1144 | return ret; | ||
1145 | } | ||
1146 | |||
1147 | public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ } | ||
1148 | |||
1149 | //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation | ||
1150 | public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | ||
1151 | { | ||
1152 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1153 | IndexedMatrix bodyTransform = new IndexedMatrix(); | ||
1154 | bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | ||
1155 | bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); | ||
1156 | GhostObject gObj = new PairCachingGhostObject(); | ||
1157 | gObj.SetWorldTransform(bodyTransform); | ||
1158 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1159 | gObj.SetCollisionShape(shape); | ||
1160 | gObj.SetUserPointer(pLocalID); | ||
1161 | // TODO: Add to Special CollisionObjects! | ||
1162 | return new BulletBodyXNA(pLocalID, gObj); | ||
1163 | } | ||
1164 | |||
1165 | public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape) | ||
1166 | { | ||
1167 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1168 | CollisionObject obj = ((BulletBodyXNA)pObj).body; | ||
1169 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1170 | obj.SetCollisionShape(shape); | ||
1171 | |||
1172 | } | ||
1173 | public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; } | ||
1174 | |||
1175 | //(PhysicsScene.World.ptr, nativeShapeData) | ||
1176 | public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) | ||
1177 | { | ||
1178 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1179 | CollisionShape shape = null; | ||
1180 | switch (pShapeData.Type) | ||
1181 | { | ||
1182 | case BSPhysicsShapeType.SHAPE_BOX: | ||
1183 | shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); | ||
1184 | break; | ||
1185 | case BSPhysicsShapeType.SHAPE_CONE: | ||
1186 | shape = new ConeShapeZ(0.5f, 1.0f); | ||
1187 | break; | ||
1188 | case BSPhysicsShapeType.SHAPE_CYLINDER: | ||
1189 | shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); | ||
1190 | break; | ||
1191 | case BSPhysicsShapeType.SHAPE_SPHERE: | ||
1192 | shape = new SphereShape(0.5f); | ||
1193 | break; | ||
1194 | |||
1195 | } | ||
1196 | if (shape != null) | ||
1197 | { | ||
1198 | IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); | ||
1199 | shape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
1200 | shape.SetLocalScaling(ref scaling); | ||
1201 | |||
1202 | } | ||
1203 | return new BulletShapeXNA(shape, pShapeData.Type); | ||
1204 | } | ||
1205 | //PhysicsScene.World.ptr, false | ||
1206 | public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree) | ||
1207 | { | ||
1208 | return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); | ||
1209 | } | ||
1210 | |||
1211 | public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) | ||
1212 | { | ||
1213 | CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; | ||
1214 | return compoundshape.GetNumChildShapes(); | ||
1215 | } | ||
1216 | //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot | ||
1217 | public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) | ||
1218 | { | ||
1219 | IndexedMatrix relativeTransform = new IndexedMatrix(); | ||
1220 | CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; | ||
1221 | CollisionShape addshape = ((BulletShapeXNA)paddShape).shape; | ||
1222 | |||
1223 | relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); | ||
1224 | relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); | ||
1225 | compoundshape.AddChildShape(ref relativeTransform, addshape); | ||
1226 | |||
1227 | } | ||
1228 | |||
1229 | public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) | ||
1230 | { | ||
1231 | CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; | ||
1232 | CollisionShape ret = null; | ||
1233 | ret = compoundshape.GetChildShape(pii); | ||
1234 | compoundshape.RemoveChildShapeByIndex(pii); | ||
1235 | return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN); | ||
1236 | } | ||
1237 | |||
1238 | public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; } | ||
1239 | public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } | ||
1240 | |||
1241 | public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) | ||
1242 | { | ||
1243 | StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); | ||
1244 | m_planeshape.SetMargin(pcollisionMargin); | ||
1245 | m_planeshape.SetUserPointer(pLocalId); | ||
1246 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); | ||
1247 | } | ||
1248 | |||
1249 | public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
1250 | { | ||
1251 | HingeConstraint constrain = null; | ||
1252 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1253 | RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody; | ||
1254 | RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody; | ||
1255 | if (rb1 != null && rb2 != null) | ||
1256 | { | ||
1257 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); | ||
1258 | IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); | ||
1259 | IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); | ||
1260 | IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); | ||
1261 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1262 | } | ||
1263 | return new BulletConstraintXNA(constrain); | ||
1264 | } | ||
1265 | |||
1266 | public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) | ||
1267 | { | ||
1268 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1269 | CompoundShape compoundshape = new CompoundShape(false); | ||
1270 | |||
1271 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
1272 | int ii = 1; | ||
1273 | |||
1274 | for (int i = 0; i < pHullCount; i++) | ||
1275 | { | ||
1276 | int vertexCount = (int) pConvHulls[ii]; | ||
1277 | |||
1278 | IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); | ||
1279 | IndexedMatrix childTrans = IndexedMatrix.Identity; | ||
1280 | childTrans._origin = centroid; | ||
1281 | |||
1282 | List<IndexedVector3> virts = new List<IndexedVector3>(); | ||
1283 | int ender = ((ii + 4) + (vertexCount*3)); | ||
1284 | for (int iii = ii + 4; iii < ender; iii+=3) | ||
1285 | { | ||
1286 | |||
1287 | virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); | ||
1288 | } | ||
1289 | ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); | ||
1290 | convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
1291 | compoundshape.AddChildShape(ref childTrans, convexShape); | ||
1292 | ii += (vertexCount*3 + 4); | ||
1293 | } | ||
1294 | |||
1295 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); | ||
1296 | } | ||
1297 | |||
1298 | public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; } | ||
1299 | |||
1300 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | ||
1301 | { | ||
1302 | //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); | ||
1303 | |||
1304 | for (int iter = 0; iter < pVerticesCount; iter++) | ||
1305 | { | ||
1306 | if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; | ||
1307 | if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; | ||
1308 | } | ||
1309 | |||
1310 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); | ||
1311 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); | ||
1312 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); | ||
1313 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1314 | IndexedMesh mesh = new IndexedMesh(); | ||
1315 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
1316 | mesh.m_numTriangles = pIndicesCount/3; | ||
1317 | mesh.m_numVertices = pVerticesCount; | ||
1318 | mesh.m_triangleIndexBase = indicesarr; | ||
1319 | mesh.m_vertexBase = vertices; | ||
1320 | mesh.m_vertexStride = 3; | ||
1321 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
1322 | mesh.m_triangleIndexStride = 3; | ||
1323 | |||
1324 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
1325 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
1326 | BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); | ||
1327 | meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); | ||
1328 | // world.UpdateSingleAabb(meshShape); | ||
1329 | return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); | ||
1330 | |||
1331 | } | ||
1332 | public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) | ||
1333 | { | ||
1334 | |||
1335 | String fileName = "objTest3.raw"; | ||
1336 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | ||
1337 | StreamWriter sw = new StreamWriter(completePath); | ||
1338 | IndexedMesh mesh = new IndexedMesh(); | ||
1339 | |||
1340 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
1341 | mesh.m_numTriangles = pIndicesCount / 3; | ||
1342 | mesh.m_numVertices = pVerticesCount; | ||
1343 | mesh.m_triangleIndexBase = indices; | ||
1344 | mesh.m_vertexBase = vertices; | ||
1345 | mesh.m_vertexStride = 3; | ||
1346 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
1347 | mesh.m_triangleIndexStride = 3; | ||
1348 | |||
1349 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
1350 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
1351 | |||
1352 | |||
1353 | |||
1354 | for (int i = 0; i < pVerticesCount; i++) | ||
1355 | { | ||
1356 | |||
1357 | string s = vertices[indices[i * 3]].ToString("0.0000"); | ||
1358 | s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | ||
1359 | s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | ||
1360 | |||
1361 | sw.Write(s + "\n"); | ||
1362 | } | ||
1363 | |||
1364 | sw.Close(); | ||
1365 | } | ||
1366 | public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) | ||
1367 | { | ||
1368 | |||
1369 | String fileName = "objTest6.raw"; | ||
1370 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | ||
1371 | StreamWriter sw = new StreamWriter(completePath); | ||
1372 | IndexedMesh mesh = new IndexedMesh(); | ||
1373 | |||
1374 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | ||
1375 | mesh.m_numTriangles = pIndicesCount / 3; | ||
1376 | mesh.m_numVertices = pVerticesCount; | ||
1377 | mesh.m_triangleIndexBase = indices; | ||
1378 | mesh.m_vertexBase = vertices; | ||
1379 | mesh.m_vertexStride = 3; | ||
1380 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | ||
1381 | mesh.m_triangleIndexStride = 3; | ||
1382 | |||
1383 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | ||
1384 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | ||
1385 | |||
1386 | |||
1387 | sw.WriteLine("Indices"); | ||
1388 | sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); | ||
1389 | for (int iter = 0; iter < indices.Length; iter++) | ||
1390 | { | ||
1391 | sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); | ||
1392 | } | ||
1393 | sw.WriteLine("VerticesFloats"); | ||
1394 | sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); | ||
1395 | for (int iter = 0; iter < vertices.Length; iter++) | ||
1396 | { | ||
1397 | sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); | ||
1398 | } | ||
1399 | |||
1400 | // for (int i = 0; i < pVerticesCount; i++) | ||
1401 | // { | ||
1402 | // | ||
1403 | // string s = vertices[indices[i * 3]].ToString("0.0000"); | ||
1404 | // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | ||
1405 | // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | ||
1406 | // | ||
1407 | // sw.Write(s + "\n"); | ||
1408 | //} | ||
1409 | |||
1410 | sw.Close(); | ||
1411 | } | ||
1412 | |||
1413 | public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, | ||
1414 | float scaleFactor, float collisionMargin) | ||
1415 | { | ||
1416 | const int upAxis = 2; | ||
1417 | HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y, | ||
1418 | heightMap, scaleFactor, | ||
1419 | minHeight, maxHeight, upAxis, | ||
1420 | false); | ||
1421 | terrainShape.SetMargin(collisionMargin + 0.5f); | ||
1422 | terrainShape.SetUseDiamondSubdivision(true); | ||
1423 | terrainShape.SetUserPointer(id); | ||
1424 | return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); | ||
1425 | } | ||
1426 | |||
1427 | public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) | ||
1428 | { | ||
1429 | TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain; | ||
1430 | bool onOff = ponOff != 0; | ||
1431 | bool ret = false; | ||
1432 | |||
1433 | switch (tconstrain.GetConstraintType()) | ||
1434 | { | ||
1435 | case TypedConstraintType.D6_CONSTRAINT_TYPE: | ||
1436 | Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint; | ||
1437 | constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; | ||
1438 | constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; | ||
1439 | constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; | ||
1440 | ret = true; | ||
1441 | break; | ||
1442 | } | ||
1443 | |||
1444 | |||
1445 | return ret; | ||
1446 | |||
1447 | } | ||
1448 | |||
1449 | public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, | ||
1450 | out int updatedEntityCount, out int collidersCount) | ||
1451 | { | ||
1452 | /* TODO */ | ||
1453 | updatedEntityCount = 0; | ||
1454 | collidersCount = 0; | ||
1455 | return 1; | ||
1456 | } | ||
1457 | |||
1458 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, | ||
1459 | out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, | ||
1460 | out int collidersCount, out List<BulletXNA.CollisionDesc>colliders) | ||
1461 | { | ||
1462 | int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, | ||
1463 | out collidersCount, out colliders); | ||
1464 | return epic; | ||
1465 | } | ||
1466 | |||
1467 | private static int PhysicsStepint(BulletWorld 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) | ||
1468 | { | ||
1469 | int numSimSteps = 0; | ||
1470 | |||
1471 | |||
1472 | //if (updatedEntities is null) | ||
1473 | // updatedEntities = new List<BulletXNA.EntityProperties>(); | ||
1474 | |||
1475 | //if (colliders is null) | ||
1476 | // colliders = new List<BulletXNA.CollisionDesc>(); | ||
1477 | |||
1478 | |||
1479 | if (pWorld is BulletWorldXNA) | ||
1480 | { | ||
1481 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1482 | |||
1483 | numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); | ||
1484 | int updates = 0; | ||
1485 | |||
1486 | updatedEntityCount = world.UpdatedObjects.Count; | ||
1487 | updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects); | ||
1488 | updatedEntityCount = updatedEntities.Count; | ||
1489 | world.UpdatedObjects.Clear(); | ||
1490 | |||
1491 | |||
1492 | collidersCount = world.UpdatedCollisions.Count; | ||
1493 | colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions); | ||
1494 | |||
1495 | world.UpdatedCollisions.Clear(); | ||
1496 | m_collisionsThisFrame = 0; | ||
1497 | int numManifolds = world.GetDispatcher().GetNumManifolds(); | ||
1498 | for (int j = 0; j < numManifolds; j++) | ||
1499 | { | ||
1500 | PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); | ||
1501 | int numContacts = contactManifold.GetNumContacts(); | ||
1502 | if (numContacts == 0) | ||
1503 | continue; | ||
1504 | |||
1505 | CollisionObject objA = contactManifold.GetBody0() as CollisionObject; | ||
1506 | CollisionObject objB = contactManifold.GetBody1() as CollisionObject; | ||
1507 | |||
1508 | ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); | ||
1509 | IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); | ||
1510 | IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A | ||
1511 | |||
1512 | RecordCollision(world, objA, objB, contactPoint, contactNormal); | ||
1513 | m_collisionsThisFrame ++; | ||
1514 | if (m_collisionsThisFrame >= 9999999) | ||
1515 | break; | ||
1516 | |||
1517 | |||
1518 | } | ||
1519 | |||
1520 | |||
1521 | } | ||
1522 | else | ||
1523 | { | ||
1524 | //if (updatedEntities is null) | ||
1525 | updatedEntities = new List<BulletXNA.EntityProperties>(); | ||
1526 | updatedEntityCount = 0; | ||
1527 | //if (colliders is null) | ||
1528 | colliders = new List<BulletXNA.CollisionDesc>(); | ||
1529 | collidersCount = 0; | ||
1530 | } | ||
1531 | return numSimSteps; | ||
1532 | } | ||
1533 | |||
1534 | private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) | ||
1535 | { | ||
1536 | |||
1537 | IndexedVector3 contactNormal = norm; | ||
1538 | if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && | ||
1539 | (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) | ||
1540 | { | ||
1541 | return; | ||
1542 | } | ||
1543 | uint idA = (uint)objA.GetUserPointer(); | ||
1544 | uint idB = (uint)objB.GetUserPointer(); | ||
1545 | if (idA > idB) | ||
1546 | { | ||
1547 | uint temp = idA; | ||
1548 | idA = idB; | ||
1549 | idB = temp; | ||
1550 | contactNormal = -contactNormal; | ||
1551 | } | ||
1552 | |||
1553 | ulong collisionID = ((ulong) idA << 32) | idB; | ||
1554 | |||
1555 | BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() | ||
1556 | { | ||
1557 | aID = idA, | ||
1558 | bID = idB, | ||
1559 | point = contact, | ||
1560 | normal = contactNormal | ||
1561 | }; | ||
1562 | world.UpdatedCollisions.Add(cDesc); | ||
1563 | m_collisionsThisFrame++; | ||
1564 | |||
1565 | |||
1566 | } | ||
1567 | private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody) | ||
1568 | { | ||
1569 | EntityProperties ent = new EntityProperties(); | ||
1570 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1571 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | ||
1572 | IndexedMatrix transform = body.GetWorldTransform(); | ||
1573 | IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); | ||
1574 | IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); | ||
1575 | IndexedQuaternion rotation = transform.GetRotation(); | ||
1576 | ent.Acceleration = Vector3.Zero; | ||
1577 | ent.ID = (uint)body.GetUserPointer(); | ||
1578 | ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); | ||
1579 | ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); | ||
1580 | ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); | ||
1581 | ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); | ||
1582 | return ent; | ||
1583 | } | ||
1584 | |||
1585 | public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; } | ||
1586 | |||
1587 | public override Vector3 GetLocalScaling(BulletShape pShape) | ||
1588 | { | ||
1589 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | ||
1590 | IndexedVector3 scale = shape.GetLocalScaling(); | ||
1591 | return new Vector3(scale.X,scale.Y,scale.Z); | ||
1592 | } | ||
1593 | |||
1594 | public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) | ||
1595 | { | ||
1596 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | ||
1597 | if (world != null) | ||
1598 | { | ||
1599 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) | ||
1600 | { | ||
1601 | CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body; | ||
1602 | |||
1603 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); | ||
1604 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); | ||
1605 | using ( | ||
1606 | ClosestNotMeRayResultCallback rayCallback = | ||
1607 | new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) | ||
1608 | ) | ||
1609 | { | ||
1610 | world.RayTest(ref rOrigin, ref rEnd, rayCallback); | ||
1611 | if (rayCallback.HasHit()) | ||
1612 | { | ||
1613 | IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; | ||
1614 | } | ||
1615 | return rayCallback.HasHit(); | ||
1616 | } | ||
1617 | } | ||
1618 | } | ||
1619 | return false; | ||
1620 | } | ||
1621 | } | ||
1622 | } | ||