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authorAdam Frisby2008-05-09 17:17:54 +0000
committerAdam Frisby2008-05-09 17:17:54 +0000
commit93ec7f0c3c40773bf9c5c057b0ac747419440a80 (patch)
treed5d7a644a45428baa837b688627aaa212cbd8617 /OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
parentUpdate svn properties. (diff)
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* Patch from Jed (DeepThink) - More optimisations for BulletX renderer. Trimesh collisions should now work relatively efficiently. BulletX plugin should now be functional - feedback would be appreciated as to how it performs vs ODE.
Diffstat (limited to 'OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs')
-rw-r--r--OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs49
1 files changed, 29 insertions, 20 deletions
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
index 69db337..67de7f8 100644
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
@@ -279,30 +279,42 @@ namespace OpenSim.Region.Physics.BulletXPlugin
279// else 279// else
280 // nameB = "null"; 280 // nameB = "null";
281 bool needsCollision; 281 bool needsCollision;
282 int c1 = 3;
283 int c2 = 3;
284
282 //////////////////////////////////////////////////////// 285 ////////////////////////////////////////////////////////
283 //BulletX Mesh Collisions 286 //BulletX Mesh Collisions
284 //added by Jed zhu 287 //added by Jed zhu
285 //data: May 07,2005 288 //data: May 07,2005
286 //////////////////////////////////////////////////////// 289 ////////////////////////////////////////////////////////
287 #region BulletXMeshCollisions Fields 290 #region BulletXMeshCollisions Fields
291
292
288 if (bxcA != null && bxpB != null) 293 if (bxcA != null && bxpB != null)
289 needsCollision = Collision(bxcA, bxpB); 294 c1 = Collision(bxcA, bxpB);
290 else if (bxpA != null && bxcB != null) 295 if (bxpA != null && bxcB != null)
291 needsCollision = Collision(bxcB, bxpA); 296 c2 = Collision(bxcB, bxpA);
297 if (c1 < 2)
298 needsCollision = (c1 > 0) ? true : false;
299 else if (c2 < 2)
300 needsCollision = (c2 > 0) ? true : false;
292 else 301 else
293 needsCollision = base.NeedsCollision(bodyA, bodyB); 302 needsCollision = NeedsCollision(bodyA, bodyB);
294 303
304
295 #endregion 305 #endregion
296 306
297 307
298 //m_log.DebugFormat("[BulletX]: A collision was detected between {0} and {1} --> {2}", nameA, nameB, 308 //m_log.DebugFormat("[BulletX]: A collision was detected between {0} and {1} --> {2}", nameA, nameB,
299 //needsCollision); 309 //needsCollision);
300 310
311
301 return needsCollision; 312 return needsCollision;
302 } 313 }
303 //added by jed zhu 314 //added by jed zhu
304 //calculas the collision between the Prim and Actor 315 //calculas the collision between the Prim and Actor
305 private bool Collision(BulletXCharacter actorA, BulletXPrim primB) 316 //
317 private int Collision(BulletXCharacter actorA, BulletXPrim primB)
306 { 318 {
307 int[] indexBase; 319 int[] indexBase;
308 Vector3[] vertexBase; 320 Vector3[] vertexBase;
@@ -311,18 +323,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
311 323
312 float fdistance; 324 float fdistance;
313 if (primB == null) 325 if (primB == null)
314 return false; 326 return 3;
315 if (mesh == null) 327 if (mesh == null)
316 return false; 328 return 2;
317 if (actorA == null) 329 if (actorA == null)
318 return false; 330 return 3;
319 331
320 int iVertexCount = mesh.getVertexList().Count; 332 int iVertexCount = mesh.getVertexList().Count;
321 int iIndexCount = mesh.getIndexListAsInt().Length; 333 int iIndexCount = mesh.getIndexListAsInt().Length;
322 if (iVertexCount == 0) 334 if (iVertexCount == 0)
323 return false; 335 return 3;
324 if (iIndexCount == 0) 336 if (iIndexCount == 0)
325 return false; 337 return 3;
326 lock (BulletXScene.BulletXLock) 338 lock (BulletXScene.BulletXLock)
327 { 339 {
328 indexBase = mesh.getIndexListAsInt(); 340 indexBase = mesh.getIndexListAsInt();
@@ -352,21 +364,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
352 { 364 {
353 if (CheckCollision(actorA, ia, ib, ic, vNormal, vertexBase) == 1) 365 if (CheckCollision(actorA, ia, ib, ic, vNormal, vertexBase) == 1)
354 { 366 {
355 PhysicsVector v = actorA.Position; 367 //PhysicsVector v = actorA.Position;
356 Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v); 368 //Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
357 Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.2f); 369 //Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.0f);
358 actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp); 370 //actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp);
359 return false; 371 return 1;
360
361 } 372 }
362 } 373 }
363
364
365 } 374 }
366 } 375 }
367 376
368 377
369 return true; 378 return 0;
370 } 379 }
371 //added by jed zhu 380 //added by jed zhu
372 //return value 1: need second check 381 //return value 1: need second check
@@ -379,7 +388,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
379 Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v); 388 Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
380 389
381 fstartSide = Vector3.Dot(vNormal, v3) - fDist; 390 fstartSide = Vector3.Dot(vNormal, v3) - fDist;
382 if (fstartSide <= 0) return 0; 391 if (fstartSide > 0) return 0;
383 else return 1; 392 else return 1;
384 } 393 }
385 //added by jed zhu 394 //added by jed zhu