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author | Sean Dague | 2007-07-16 15:40:11 +0000 |
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committer | Sean Dague | 2007-07-16 15:40:11 +0000 |
commit | 2a3c79df83e800d5dfe75a1a3b140ed81da2b1d6 (patch) | |
tree | e3f80ad51736cf17e856547b1bcf956010927434 /OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs | |
parent | *Trunk compiles now (diff) | |
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changed to native line ending encoding
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs | 1068 |
1 files changed, 534 insertions, 534 deletions
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs index 1ca5efe..383dbc0 100644 --- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs +++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs | |||
@@ -1,534 +1,534 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://www.openmetaverse.org/ | 2 | * Copyright (c) Contributors, http://www.openmetaverse.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyright | 9 | * * Redistributions in binary form must reproduce the above copyright |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSim Project nor the | 12 | * * Neither the name of the OpenSim Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 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 | 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 | 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 | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | * | 26 | * |
27 | */ | 27 | */ |
28 | #region References | 28 | #region References |
29 | using System; | 29 | using System; |
30 | using System.Collections.Generic; | 30 | using System.Collections.Generic; |
31 | using OpenSim.Physics.Manager; | 31 | using OpenSim.Physics.Manager; |
32 | using Axiom.Math; | 32 | using Axiom.Math; |
33 | //Specific References for BulletXPlugin | 33 | //Specific References for BulletXPlugin |
34 | using MonoXnaCompactMaths; | 34 | using MonoXnaCompactMaths; |
35 | using XnaDevRu.BulletX; | 35 | using XnaDevRu.BulletX; |
36 | using XnaDevRu.BulletX.Dynamics; | 36 | using XnaDevRu.BulletX.Dynamics; |
37 | #endregion | 37 | #endregion |
38 | 38 | ||
39 | namespace OpenSim.Region.Physics.BulletXPlugin | 39 | namespace OpenSim.Region.Physics.BulletXPlugin |
40 | { | 40 | { |
41 | /// <summary> | 41 | /// <summary> |
42 | /// This Class converts objects and types for BulletX | 42 | /// This Class converts objects and types for BulletX |
43 | /// </summary> | 43 | /// </summary> |
44 | public class BulletXConversions | 44 | public class BulletXConversions |
45 | { | 45 | { |
46 | public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) | 46 | public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector) |
47 | { | 47 | { |
48 | return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); | 48 | return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z); |
49 | } | 49 | } |
50 | public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3) | 50 | public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3) |
51 | { | 51 | { |
52 | XnaVector3.X = physicsVector.X; | 52 | XnaVector3.X = physicsVector.X; |
53 | XnaVector3.Y = physicsVector.Y; | 53 | XnaVector3.Y = physicsVector.Y; |
54 | XnaVector3.Z = physicsVector.Z; | 54 | XnaVector3.Z = physicsVector.Z; |
55 | } | 55 | } |
56 | public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3) | 56 | public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3) |
57 | { | 57 | { |
58 | return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); | 58 | return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z); |
59 | } | 59 | } |
60 | /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector) | 60 | /*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector) |
61 | { | 61 | { |
62 | xnaVector3.X = physicsVector.X; | 62 | xnaVector3.X = physicsVector.X; |
63 | xnaVector3.Y = physicsVector.Y; | 63 | xnaVector3.Y = physicsVector.Y; |
64 | xnaVector3.Z = physicsVector.Z; | 64 | xnaVector3.Z = physicsVector.Z; |
65 | }*/ | 65 | }*/ |
66 | #region Axiom and Xna | 66 | #region Axiom and Xna |
67 | ///// <summary> | 67 | ///// <summary> |
68 | ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know | 68 | ///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know |
69 | ///// </summary> | 69 | ///// </summary> |
70 | ///// <param name="AxiomVector3"></param> | 70 | ///// <param name="AxiomVector3"></param> |
71 | ///// <returns></returns> | 71 | ///// <returns></returns> |
72 | //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3) | 72 | //public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3) |
73 | //{ | 73 | //{ |
74 | // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z); | 74 | // return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z); |
75 | //} | 75 | //} |
76 | #endregion | 76 | #endregion |
77 | } | 77 | } |
78 | /// <summary> | 78 | /// <summary> |
79 | /// PhysicsPlugin Class for BulletX | 79 | /// PhysicsPlugin Class for BulletX |
80 | /// </summary> | 80 | /// </summary> |
81 | public class BulletXPlugin : IPhysicsPlugin | 81 | public class BulletXPlugin : IPhysicsPlugin |
82 | { | 82 | { |
83 | private BulletXScene _mScene; | 83 | private BulletXScene _mScene; |
84 | 84 | ||
85 | public BulletXPlugin() | 85 | public BulletXPlugin() |
86 | { | 86 | { |
87 | } | 87 | } |
88 | public bool Init() | 88 | public bool Init() |
89 | { | 89 | { |
90 | return true; | 90 | return true; |
91 | } | 91 | } |
92 | public PhysicsScene GetScene() | 92 | public PhysicsScene GetScene() |
93 | { | 93 | { |
94 | if (_mScene == null) | 94 | if (_mScene == null) |
95 | { | 95 | { |
96 | _mScene = new BulletXScene(); | 96 | _mScene = new BulletXScene(); |
97 | } | 97 | } |
98 | return (_mScene); | 98 | return (_mScene); |
99 | } | 99 | } |
100 | public string GetName() | 100 | public string GetName() |
101 | { | 101 | { |
102 | return ("BulletXEngine"); | 102 | return ("BulletXEngine"); |
103 | } | 103 | } |
104 | public void Dispose() | 104 | public void Dispose() |
105 | { | 105 | { |
106 | } | 106 | } |
107 | } | 107 | } |
108 | /// <summary> | 108 | /// <summary> |
109 | /// PhysicsScene Class for BulletX | 109 | /// PhysicsScene Class for BulletX |
110 | /// </summary> | 110 | /// </summary> |
111 | public class BulletXScene : PhysicsScene | 111 | public class BulletXScene : PhysicsScene |
112 | { | 112 | { |
113 | public DiscreteDynamicsWorld ddWorld; | 113 | public DiscreteDynamicsWorld ddWorld; |
114 | private CollisionDispatcher cDispatcher; | 114 | private CollisionDispatcher cDispatcher; |
115 | private OverlappingPairCache opCache; | 115 | private OverlappingPairCache opCache; |
116 | private SequentialImpulseConstraintSolver sicSolver; | 116 | private SequentialImpulseConstraintSolver sicSolver; |
117 | 117 | ||
118 | private const int minXY = 0; | 118 | private const int minXY = 0; |
119 | private const int minZ = 0; | 119 | private const int minZ = 0; |
120 | private const int maxXY = 256; | 120 | private const int maxXY = 256; |
121 | private const int maxZ = 4096; | 121 | private const int maxZ = 4096; |
122 | private const int maxHandles = 32766; //Why? I don't know | 122 | private const int maxHandles = 32766; //Why? I don't know |
123 | private static float gravity = 9.8f; | 123 | private static float gravity = 9.8f; |
124 | private static float heightLevel0 = 77.0f; | 124 | private static float heightLevel0 = 77.0f; |
125 | private static float heightLevel1 = 200.0f; | 125 | private static float heightLevel1 = 200.0f; |
126 | private static float lowGravityFactor = 0.2f; | 126 | private static float lowGravityFactor = 0.2f; |
127 | 127 | ||
128 | private float[] _heightmap; | 128 | private float[] _heightmap; |
129 | private List<BulletXCharacter> _characters = new List<BulletXCharacter>(); | 129 | private List<BulletXCharacter> _characters = new List<BulletXCharacter>(); |
130 | 130 | ||
131 | public static float Gravity { get { return gravity; } } | 131 | public static float Gravity { get { return gravity; } } |
132 | public static float HeightLevel0 { get { return heightLevel0; } } | 132 | public static float HeightLevel0 { get { return heightLevel0; } } |
133 | public static float HeightLevel1 { get { return heightLevel1; } } | 133 | public static float HeightLevel1 { get { return heightLevel1; } } |
134 | public static float LowGravityFactor { get { return lowGravityFactor; } } | 134 | public static float LowGravityFactor { get { return lowGravityFactor; } } |
135 | 135 | ||
136 | public BulletXScene() | 136 | public BulletXScene() |
137 | { | 137 | { |
138 | cDispatcher = new CollisionDispatcher(); | 138 | cDispatcher = new CollisionDispatcher(); |
139 | MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ); | 139 | MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ); |
140 | MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ); | 140 | MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ); |
141 | opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); | 141 | opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles); |
142 | sicSolver = new SequentialImpulseConstraintSolver(); | 142 | sicSolver = new SequentialImpulseConstraintSolver(); |
143 | 143 | ||
144 | ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); | 144 | ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver); |
145 | ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); | 145 | ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity); |
146 | 146 | ||
147 | this._heightmap = new float[65536]; | 147 | this._heightmap = new float[65536]; |
148 | } | 148 | } |
149 | 149 | ||
150 | public override PhysicsActor AddAvatar(PhysicsVector position) | 150 | public override PhysicsActor AddAvatar(PhysicsVector position) |
151 | { | 151 | { |
152 | PhysicsVector pos = new PhysicsVector(); | 152 | PhysicsVector pos = new PhysicsVector(); |
153 | pos.X = position.X; | 153 | pos.X = position.X; |
154 | pos.Y = position.Y; | 154 | pos.Y = position.Y; |
155 | pos.Z = position.Z + 20; | 155 | pos.Z = position.Z + 20; |
156 | BulletXCharacter newAv = new BulletXCharacter(this, pos); | 156 | BulletXCharacter newAv = new BulletXCharacter(this, pos); |
157 | this._characters.Add(newAv); | 157 | this._characters.Add(newAv); |
158 | return newAv; | 158 | return newAv; |
159 | } | 159 | } |
160 | 160 | ||
161 | public override void RemoveAvatar(PhysicsActor actor) | 161 | public override void RemoveAvatar(PhysicsActor actor) |
162 | { | 162 | { |
163 | 163 | ||
164 | } | 164 | } |
165 | 165 | ||
166 | public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) | 166 | public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size) |
167 | { | 167 | { |
168 | PhysicsVector pos = new PhysicsVector(); | 168 | PhysicsVector pos = new PhysicsVector(); |
169 | pos.X = position.X; | 169 | pos.X = position.X; |
170 | pos.Y = position.Y; | 170 | pos.Y = position.Y; |
171 | pos.Z = position.Z; | 171 | pos.Z = position.Z; |
172 | PhysicsVector siz = new PhysicsVector(); | 172 | PhysicsVector siz = new PhysicsVector(); |
173 | siz.X = size.X; | 173 | siz.X = size.X; |
174 | siz.Y = size.Y; | 174 | siz.Y = size.Y; |
175 | siz.Z = size.Z; | 175 | siz.Z = size.Z; |
176 | return new BulletXPrim(); | 176 | return new BulletXPrim(); |
177 | } | 177 | } |
178 | 178 | ||
179 | public override void Simulate(float timeStep) | 179 | public override void Simulate(float timeStep) |
180 | { | 180 | { |
181 | foreach (BulletXCharacter actor in _characters) | 181 | foreach (BulletXCharacter actor in _characters) |
182 | { | 182 | { |
183 | actor.Move(timeStep); | 183 | actor.Move(timeStep); |
184 | 184 | ||
185 | } | 185 | } |
186 | ddWorld.StepSimulation(timeStep, 0, timeStep); | 186 | ddWorld.StepSimulation(timeStep, 0, timeStep); |
187 | foreach (BulletXCharacter actor in _characters) | 187 | foreach (BulletXCharacter actor in _characters) |
188 | { | 188 | { |
189 | actor.ValidateHeight(this._heightmap[ | 189 | actor.ValidateHeight(this._heightmap[ |
190 | (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 | 190 | (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256 |
191 | + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]); | 191 | + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]); |
192 | } | 192 | } |
193 | foreach (BulletXCharacter actor in _characters) | 193 | foreach (BulletXCharacter actor in _characters) |
194 | { | 194 | { |
195 | actor.UpdatePosition(); | 195 | actor.UpdatePosition(); |
196 | } | 196 | } |
197 | 197 | ||
198 | } | 198 | } |
199 | 199 | ||
200 | public override void GetResults() | 200 | public override void GetResults() |
201 | { | 201 | { |
202 | 202 | ||
203 | } | 203 | } |
204 | 204 | ||
205 | public override bool IsThreaded | 205 | public override bool IsThreaded |
206 | { | 206 | { |
207 | get | 207 | get |
208 | { | 208 | { |
209 | return (false); // for now we won't be multithreaded | 209 | return (false); // for now we won't be multithreaded |
210 | } | 210 | } |
211 | } | 211 | } |
212 | 212 | ||
213 | public override void SetTerrain(float[] heightMap) | 213 | public override void SetTerrain(float[] heightMap) |
214 | { | 214 | { |
215 | //As the same as ODE, heightmap (x,y) must be swapped for BulletX | 215 | //As the same as ODE, heightmap (x,y) must be swapped for BulletX |
216 | for (int i = 0; i < 65536; i++) | 216 | for (int i = 0; i < 65536; i++) |
217 | { | 217 | { |
218 | // this._heightmap[i] = (double)heightMap[i]; | 218 | // this._heightmap[i] = (double)heightMap[i]; |
219 | // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...) | 219 | // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...) |
220 | int x = i & 0xff; | 220 | int x = i & 0xff; |
221 | int y = i >> 8; | 221 | int y = i >> 8; |
222 | this._heightmap[i] = heightMap[x * 256 + y]; | 222 | this._heightmap[i] = heightMap[x * 256 + y]; |
223 | } | 223 | } |
224 | } | 224 | } |
225 | 225 | ||
226 | public override void DeleteTerrain() | 226 | public override void DeleteTerrain() |
227 | { | 227 | { |
228 | 228 | ||
229 | } | 229 | } |
230 | } | 230 | } |
231 | /// <summary> | 231 | /// <summary> |
232 | /// PhysicsActor Character Class for BulletX | 232 | /// PhysicsActor Character Class for BulletX |
233 | /// </summary> | 233 | /// </summary> |
234 | public class BulletXCharacter : PhysicsActor | 234 | public class BulletXCharacter : PhysicsActor |
235 | { | 235 | { |
236 | private PhysicsVector _position; | 236 | private PhysicsVector _position; |
237 | private PhysicsVector _velocity; | 237 | private PhysicsVector _velocity; |
238 | private PhysicsVector _acceleration; | 238 | private PhysicsVector _acceleration; |
239 | private bool flying; | 239 | private bool flying; |
240 | private RigidBody rigidBody; | 240 | private RigidBody rigidBody; |
241 | public Axiom.Math.Vector2 RigidBodyHorizontalPosition | 241 | public Axiom.Math.Vector2 RigidBodyHorizontalPosition |
242 | { | 242 | { |
243 | get | 243 | get |
244 | { | 244 | { |
245 | return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y); | 245 | return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y); |
246 | } | 246 | } |
247 | } | 247 | } |
248 | public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) | 248 | public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos) |
249 | { | 249 | { |
250 | _velocity = new PhysicsVector(); | 250 | _velocity = new PhysicsVector(); |
251 | _position = pos; | 251 | _position = pos; |
252 | _acceleration = new PhysicsVector(); | 252 | _acceleration = new PhysicsVector(); |
253 | float _mass = 50.0f; //This depends of avatar's dimensions | 253 | float _mass = 50.0f; //This depends of avatar's dimensions |
254 | Matrix _startTransform = Matrix.Identity; | 254 | Matrix _startTransform = Matrix.Identity; |
255 | _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos); | 255 | _startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos); |
256 | Matrix _centerOfMassOffset = Matrix.Identity; | 256 | Matrix _centerOfMassOffset = Matrix.Identity; |
257 | CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f)); | 257 | CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f)); |
258 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); | 258 | DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset); |
259 | MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); | 259 | MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3(); |
260 | _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 | 260 | _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0 |
261 | 261 | ||
262 | //The next values might change | 262 | //The next values might change |
263 | float _linearDamping = 0.0f; | 263 | float _linearDamping = 0.0f; |
264 | float _angularDamping = 0.0f; | 264 | float _angularDamping = 0.0f; |
265 | float _friction = 0.5f; | 265 | float _friction = 0.5f; |
266 | float _restitution = 0.0f; | 266 | float _restitution = 0.0f; |
267 | 267 | ||
268 | rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); | 268 | rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution); |
269 | rigidBody.ActivationState = ActivationState.DisableDeactivation; | 269 | rigidBody.ActivationState = ActivationState.DisableDeactivation; |
270 | 270 | ||
271 | parent_scene.ddWorld.AddRigidBody(rigidBody); | 271 | parent_scene.ddWorld.AddRigidBody(rigidBody); |
272 | } | 272 | } |
273 | 273 | ||
274 | public override bool Flying | 274 | public override bool Flying |
275 | { | 275 | { |
276 | get | 276 | get |
277 | { | 277 | { |
278 | return flying; | 278 | return flying; |
279 | } | 279 | } |
280 | set | 280 | set |
281 | { | 281 | { |
282 | flying = value; | 282 | flying = value; |
283 | } | 283 | } |
284 | } | 284 | } |
285 | 285 | ||
286 | public override PhysicsVector Position | 286 | public override PhysicsVector Position |
287 | { | 287 | { |
288 | get | 288 | get |
289 | { | 289 | { |
290 | return _position; | 290 | return _position; |
291 | } | 291 | } |
292 | set | 292 | set |
293 | { | 293 | { |
294 | _position = value; | 294 | _position = value; |
295 | } | 295 | } |
296 | } | 296 | } |
297 | 297 | ||
298 | public override PhysicsVector Velocity | 298 | public override PhysicsVector Velocity |
299 | { | 299 | { |
300 | get | 300 | get |
301 | { | 301 | { |
302 | return _velocity; | 302 | return _velocity; |
303 | } | 303 | } |
304 | set | 304 | set |
305 | { | 305 | { |
306 | _velocity = value; | 306 | _velocity = value; |
307 | } | 307 | } |
308 | } | 308 | } |
309 | 309 | ||
310 | public override bool Kinematic | 310 | public override bool Kinematic |
311 | { | 311 | { |
312 | get | 312 | get |
313 | { | 313 | { |
314 | return false; | 314 | return false; |
315 | } | 315 | } |
316 | set | 316 | set |
317 | { | 317 | { |
318 | 318 | ||
319 | } | 319 | } |
320 | } | 320 | } |
321 | 321 | ||
322 | public override Axiom.Math.Quaternion Orientation | 322 | public override Axiom.Math.Quaternion Orientation |
323 | { | 323 | { |
324 | get | 324 | get |
325 | { | 325 | { |
326 | return Axiom.Math.Quaternion.Identity; | 326 | return Axiom.Math.Quaternion.Identity; |
327 | } | 327 | } |
328 | set | 328 | set |
329 | { | 329 | { |
330 | 330 | ||
331 | } | 331 | } |
332 | } | 332 | } |
333 | 333 | ||
334 | public override PhysicsVector Acceleration | 334 | public override PhysicsVector Acceleration |
335 | { | 335 | { |
336 | get | 336 | get |
337 | { | 337 | { |
338 | return _acceleration; | 338 | return _acceleration; |
339 | } | 339 | } |
340 | 340 | ||
341 | } | 341 | } |
342 | public void SetAcceleration(PhysicsVector accel) | 342 | public void SetAcceleration(PhysicsVector accel) |
343 | { | 343 | { |
344 | this._acceleration = accel; | 344 | this._acceleration = accel; |
345 | } | 345 | } |
346 | 346 | ||
347 | public override void AddForce(PhysicsVector force) | 347 | public override void AddForce(PhysicsVector force) |
348 | { | 348 | { |
349 | 349 | ||
350 | } | 350 | } |
351 | 351 | ||
352 | public override void SetMomentum(PhysicsVector momentum) | 352 | public override void SetMomentum(PhysicsVector momentum) |
353 | { | 353 | { |
354 | 354 | ||
355 | } | 355 | } |
356 | 356 | ||
357 | public void Move(float timeStep) | 357 | public void Move(float timeStep) |
358 | { | 358 | { |
359 | MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3(); | 359 | MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3(); |
360 | //if (this._velocity.X == 0.0f) | 360 | //if (this._velocity.X == 0.0f) |
361 | // vec.X = this.rigidBody.LinearVelocity.X; //current velocity | 361 | // vec.X = this.rigidBody.LinearVelocity.X; //current velocity |
362 | //else | 362 | //else |
363 | vec.X = this._velocity.X; //overrides current velocity | 363 | vec.X = this._velocity.X; //overrides current velocity |
364 | 364 | ||
365 | //if (this._velocity.Y == 0.0f) | 365 | //if (this._velocity.Y == 0.0f) |
366 | // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity | 366 | // vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity |
367 | //else | 367 | //else |
368 | vec.Y = this._velocity.Y; //overrides current velocity | 368 | vec.Y = this._velocity.Y; //overrides current velocity |
369 | 369 | ||
370 | float nextZVelocity; | 370 | float nextZVelocity; |
371 | //if (this._velocity.Z == 0.0f) | 371 | //if (this._velocity.Z == 0.0f) |
372 | // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity | 372 | // nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity |
373 | //else | 373 | //else |
374 | nextZVelocity = this._velocity.Z; //overrides current velocity | 374 | nextZVelocity = this._velocity.Z; //overrides current velocity |
375 | 375 | ||
376 | if (flying) | 376 | if (flying) |
377 | { | 377 | { |
378 | //Antigravity with movement | 378 | //Antigravity with movement |
379 | if (this._position.Z <= BulletXScene.HeightLevel0) | 379 | if (this._position.Z <= BulletXScene.HeightLevel0) |
380 | { | 380 | { |
381 | vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep; | 381 | vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep; |
382 | } | 382 | } |
383 | //Lowgravity with movement | 383 | //Lowgravity with movement |
384 | else if((this._position.Z > BulletXScene.HeightLevel0) | 384 | else if((this._position.Z > BulletXScene.HeightLevel0) |
385 | && (this._position.Z <= BulletXScene.HeightLevel1)) | 385 | && (this._position.Z <= BulletXScene.HeightLevel1)) |
386 | { | 386 | { |
387 | vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); | 387 | vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); |
388 | } | 388 | } |
389 | //Lowgravity with... | 389 | //Lowgravity with... |
390 | else if (this._position.Z > BulletXScene.HeightLevel1) | 390 | else if (this._position.Z > BulletXScene.HeightLevel1) |
391 | { | 391 | { |
392 | if(nextZVelocity > 0) //no movement | 392 | if(nextZVelocity > 0) //no movement |
393 | vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); | 393 | vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); |
394 | else | 394 | else |
395 | vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); | 395 | vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor); |
396 | 396 | ||
397 | } | 397 | } |
398 | } | 398 | } |
399 | else | 399 | else |
400 | { | 400 | { |
401 | vec.Z = nextZVelocity; | 401 | vec.Z = nextZVelocity; |
402 | } | 402 | } |
403 | rigidBody.LinearVelocity = vec; | 403 | rigidBody.LinearVelocity = vec; |
404 | } | 404 | } |
405 | 405 | ||
406 | public void UpdatePosition() | 406 | public void UpdatePosition() |
407 | { | 407 | { |
408 | this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); | 408 | this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition); |
409 | } | 409 | } |
410 | 410 | ||
411 | //This validation is very basic | 411 | //This validation is very basic |
412 | internal void ValidateHeight(float heighmapPositionValue) | 412 | internal void ValidateHeight(float heighmapPositionValue) |
413 | { | 413 | { |
414 | if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue) | 414 | if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue) |
415 | { | 415 | { |
416 | Matrix m = rigidBody.WorldTransform; | 416 | Matrix m = rigidBody.WorldTransform; |
417 | MonoXnaCompactMaths.Vector3 v3 = m.Translation; | 417 | MonoXnaCompactMaths.Vector3 v3 = m.Translation; |
418 | v3.Z = heighmapPositionValue; | 418 | v3.Z = heighmapPositionValue; |
419 | m.Translation = v3; | 419 | m.Translation = v3; |
420 | rigidBody.WorldTransform = m; | 420 | rigidBody.WorldTransform = m; |
421 | } | 421 | } |
422 | } | 422 | } |
423 | } | 423 | } |
424 | /// <summary> | 424 | /// <summary> |
425 | /// PhysicsActor Prim Class for BulletX | 425 | /// PhysicsActor Prim Class for BulletX |
426 | /// </summary> | 426 | /// </summary> |
427 | public class BulletXPrim : PhysicsActor | 427 | public class BulletXPrim : PhysicsActor |
428 | { | 428 | { |
429 | private PhysicsVector _position; | 429 | private PhysicsVector _position; |
430 | private PhysicsVector _velocity; | 430 | private PhysicsVector _velocity; |
431 | private PhysicsVector _acceleration; | 431 | private PhysicsVector _acceleration; |
432 | 432 | ||
433 | public BulletXPrim() | 433 | public BulletXPrim() |
434 | { | 434 | { |
435 | _velocity = new PhysicsVector(); | 435 | _velocity = new PhysicsVector(); |
436 | _position = new PhysicsVector(); | 436 | _position = new PhysicsVector(); |
437 | _acceleration = new PhysicsVector(); | 437 | _acceleration = new PhysicsVector(); |
438 | } | 438 | } |
439 | public override bool Flying | 439 | public override bool Flying |
440 | { | 440 | { |
441 | get | 441 | get |
442 | { | 442 | { |
443 | return false; //no flying prims for you | 443 | return false; //no flying prims for you |
444 | } | 444 | } |
445 | set | 445 | set |
446 | { | 446 | { |
447 | 447 | ||
448 | } | 448 | } |
449 | } | 449 | } |
450 | public override PhysicsVector Position | 450 | public override PhysicsVector Position |
451 | { | 451 | { |
452 | get | 452 | get |
453 | { | 453 | { |
454 | PhysicsVector pos = new PhysicsVector(); | 454 | PhysicsVector pos = new PhysicsVector(); |
455 | // PhysicsVector vec = this._prim.Position; | 455 | // PhysicsVector vec = this._prim.Position; |
456 | //pos.X = vec.X; | 456 | //pos.X = vec.X; |
457 | //pos.Y = vec.Y; | 457 | //pos.Y = vec.Y; |
458 | //pos.Z = vec.Z; | 458 | //pos.Z = vec.Z; |
459 | return pos; | 459 | return pos; |
460 | 460 | ||
461 | } | 461 | } |
462 | set | 462 | set |
463 | { | 463 | { |
464 | /*PhysicsVector vec = value; | 464 | /*PhysicsVector vec = value; |
465 | PhysicsVector pos = new PhysicsVector(); | 465 | PhysicsVector pos = new PhysicsVector(); |
466 | pos.X = vec.X; | 466 | pos.X = vec.X; |
467 | pos.Y = vec.Y; | 467 | pos.Y = vec.Y; |
468 | pos.Z = vec.Z; | 468 | pos.Z = vec.Z; |
469 | this._prim.Position = pos;*/ | 469 | this._prim.Position = pos;*/ |
470 | } | 470 | } |
471 | } | 471 | } |
472 | 472 | ||
473 | public override PhysicsVector Velocity | 473 | public override PhysicsVector Velocity |
474 | { | 474 | { |
475 | get | 475 | get |
476 | { | 476 | { |
477 | return _velocity; | 477 | return _velocity; |
478 | } | 478 | } |
479 | set | 479 | set |
480 | { | 480 | { |
481 | _velocity = value; | 481 | _velocity = value; |
482 | } | 482 | } |
483 | } | 483 | } |
484 | 484 | ||
485 | public override bool Kinematic | 485 | public override bool Kinematic |
486 | { | 486 | { |
487 | get | 487 | get |
488 | { | 488 | { |
489 | return false; | 489 | return false; |
490 | //return this._prim.Kinematic; | 490 | //return this._prim.Kinematic; |
491 | } | 491 | } |
492 | set | 492 | set |
493 | { | 493 | { |
494 | //this._prim.Kinematic = value; | 494 | //this._prim.Kinematic = value; |
495 | } | 495 | } |
496 | } | 496 | } |
497 | 497 | ||
498 | public override Axiom.Math.Quaternion Orientation | 498 | public override Axiom.Math.Quaternion Orientation |
499 | { | 499 | { |
500 | get | 500 | get |
501 | { | 501 | { |
502 | Axiom.Math.Quaternion res = new Axiom.Math.Quaternion(); | 502 | Axiom.Math.Quaternion res = new Axiom.Math.Quaternion(); |
503 | return res; | 503 | return res; |
504 | } | 504 | } |
505 | set | 505 | set |
506 | { | 506 | { |
507 | 507 | ||
508 | } | 508 | } |
509 | } | 509 | } |
510 | 510 | ||
511 | public override PhysicsVector Acceleration | 511 | public override PhysicsVector Acceleration |
512 | { | 512 | { |
513 | get | 513 | get |
514 | { | 514 | { |
515 | return _acceleration; | 515 | return _acceleration; |
516 | } | 516 | } |
517 | 517 | ||
518 | } | 518 | } |
519 | public void SetAcceleration(PhysicsVector accel) | 519 | public void SetAcceleration(PhysicsVector accel) |
520 | { | 520 | { |
521 | this._acceleration = accel; | 521 | this._acceleration = accel; |
522 | } | 522 | } |
523 | 523 | ||
524 | public override void AddForce(PhysicsVector force) | 524 | public override void AddForce(PhysicsVector force) |
525 | { | 525 | { |
526 | 526 | ||
527 | } | 527 | } |
528 | 528 | ||
529 | public override void SetMomentum(PhysicsVector momentum) | 529 | public override void SetMomentum(PhysicsVector momentum) |
530 | { | 530 | { |
531 | 531 | ||
532 | } | 532 | } |
533 | } | 533 | } |
534 | } | 534 | } |