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authorRobert Adams2013-01-01 16:49:38 -0800
committerRobert Adams2013-01-01 17:27:33 -0800
commit9d840fd2ee5c3e6c6f788e8145f06701e9ea2724 (patch)
tree063fd046a04a125671edf147161b34ed95c59329 /OpenSim/Region/Physics
parentBulletSim: fix line endings. (diff)
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BulletSim: move over and port the interface for BulletXNA.
Copied BulletSNPlugin.BulletSimAPI to a new BulletSPlugin.BSAPIXNA.cs and then modifyed the latter to comply with the BSAPITemplate definition. Not totally debugged but the code is all there for an INI variable to select either unmanaged C++ Bullet or the C# version of Bullet.
Diffstat (limited to 'OpenSim/Region/Physics')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs22
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs889
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs6
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs11
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs4
7 files changed, 623 insertions, 315 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
index 9d8f60d..83e12ba 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
@@ -339,10 +339,10 @@ public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
339 return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); 339 return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
340} 340}
341 341
342public override int GetBodyType(BulletBody obj) 342public override CollisionObjectTypes GetBodyType(BulletBody obj)
343{ 343{
344 BulletBodyUnman bodyu = obj as BulletBodyUnman; 344 BulletBodyUnman bodyu = obj as BulletBodyUnman;
345 return BSAPICPP.GetBodyType2(bodyu.ptr); 345 return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
346} 346}
347 347
348public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) 348public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
@@ -522,9 +522,22 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
522// btDynamicsWorld entries 522// btDynamicsWorld entries
523public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) 523public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
524{ 524{
525 // Bullet resets several variables when an object is added to the world.
526 // Gravity is reset to world default depending on the static/dynamic
527 // type. Of course, the collision flags in the broadphase proxy are initialized to default.
525 BulletWorldUnman worldu = world as BulletWorldUnman; 528 BulletWorldUnman worldu = world as BulletWorldUnman;
526 BulletBodyUnman bodyu = obj as BulletBodyUnman; 529 BulletBodyUnman bodyu = obj as BulletBodyUnman;
527 return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); 530
531 Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
532
533 bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
534
535 if (ret)
536 {
537 BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
538 obj.ApplyCollisionMask(world.physicsScene);
539 }
540 return ret;
528} 541}
529 542
530public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) 543public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
@@ -1061,7 +1074,7 @@ public override Vector3 GetAngularFactor(BulletBody obj)
1061 return BSAPICPP.GetAngularFactor2(bodyu.ptr); 1074 return BSAPICPP.GetAngularFactor2(bodyu.ptr);
1062} 1075}
1063 1076
1064public override bool IsInWorld(BulletBody obj) 1077public override bool IsInWorld(BulletWorld world, BulletBody obj)
1065{ 1078{
1066 BulletBodyUnman bodyu = obj as BulletBodyUnman; 1079 BulletBodyUnman bodyu = obj as BulletBodyUnman;
1067 return BSAPICPP.IsInWorld2(bodyu.ptr); 1080 return BSAPICPP.IsInWorld2(bodyu.ptr);
@@ -1239,7 +1252,6 @@ public override void DumpPhysicsStatistics(BulletWorld world)
1239 BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); 1252 BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
1240} 1253}
1241 1254
1242
1243// ===================================================================================== 1255// =====================================================================================
1244// ===================================================================================== 1256// =====================================================================================
1245// ===================================================================================== 1257// =====================================================================================
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index f70ad30..aea10ee 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -26,22 +26,110 @@
26 */ 26 */
27using System; 27using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Linq; 29using System.IO;
30using System.Text; 30using System.Text;
31 31
32using OpenSim.Framework;
33
34using OpenMetaverse;
35
32using BulletXNA; 36using BulletXNA;
33using BulletXNA.LinearMath; 37using BulletXNA.LinearMath;
34using BulletXNA.BulletCollision; 38using BulletXNA.BulletCollision;
35using BulletXNA.BulletDynamics; 39using BulletXNA.BulletDynamics;
36using BulletXNA.BulletCollision.CollisionDispatch; 40using BulletXNA.BulletCollision.CollisionDispatch;
37 41
38using OpenMetaverse;
39
40namespace OpenSim.Region.Physics.BulletSPlugin 42namespace OpenSim.Region.Physics.BulletSPlugin
41{ 43{
42 /*
43public sealed class BSAPIXNA : BSAPITemplate 44public sealed class BSAPIXNA : BSAPITemplate
44{ 45{
46private 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
56private 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
80private 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}
112private 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
45 private static int m_collisionsThisFrame; 133 private static int m_collisionsThisFrame;
46 private BSScene PhysicsScene { get; set; } 134 private BSScene PhysicsScene { get; set; }
47 135
@@ -58,112 +146,135 @@ public sealed class BSAPIXNA : BSAPITemplate
58 /// </summary> 146 /// </summary>
59 /// <param name="p"></param> 147 /// <param name="p"></param>
60 /// <param name="p_2"></param> 148 /// <param name="p_2"></param>
61 public override bool RemoveObjectFromWorld2(object pWorld, object pBody) 149 public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
62 { 150 {
63 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 151 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
64 RigidBody body = pBody as RigidBody; 152 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
65 world.RemoveRigidBody(body); 153 world.RemoveRigidBody(body);
66 return true; 154 return true;
67 } 155 }
68 156
69 public override void SetRestitution2(object pBody, float pRestitution) 157 public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
70 { 158 {
71 RigidBody body = pBody as RigidBody; 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;
72 body.SetRestitution(pRestitution); 172 body.SetRestitution(pRestitution);
73 } 173 }
74 174
75 public override void SetMargin2(object pShape, float pMargin) 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)
76 { 181 {
77 CollisionShape shape = pShape as CollisionShape; 182 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
78 shape.SetMargin(pMargin); 183 shape.SetMargin(pMargin);
79 } 184 }
80 185
81 public override void SetLocalScaling2(object pShape, Vector3 pScale) 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)
82 { 193 {
83 CollisionShape shape = pShape as CollisionShape; 194 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
84 IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); 195 IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
85 shape.SetLocalScaling(ref vec); 196 shape.SetLocalScaling(ref vec);
86 197
87 } 198 }
88 199
89 public override void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold) 200 public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold)
90 { 201 {
91 RigidBody body = pBody as RigidBody; 202 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
92 body.SetContactProcessingThreshold(contactprocessingthreshold); 203 body.SetContactProcessingThreshold(contactprocessingthreshold);
93 } 204 }
94 205
95 public override void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold) 206 public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold)
96 { 207 {
97 RigidBody body = pBody as RigidBody; 208 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
98 body.SetCcdMotionThreshold(pccdMotionThreashold); 209 body.SetCcdMotionThreshold(pccdMotionThreashold);
99 } 210 }
100 211
101 public override void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius) 212 public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius)
102 { 213 {
103 RigidBody body = pBody as RigidBody; 214 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
104 body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); 215 body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
105 } 216 }
106 217
107 public override void SetAngularFactorV2(object pBody, Vector3 pAngularFactor) 218 public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
108 { 219 {
109 RigidBody body = pBody as RigidBody; 220 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
110 body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); 221 body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
111 } 222 }
112 223
113 public override CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) 224 public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
114 { 225 {
115 CollisionObject body = pBody as CollisionObject; 226 CollisionObject body = ((BulletBodyXNA)pBody).body;
116 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); 227 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
117 existingcollisionFlags |= pcollisionFlags; 228 existingcollisionFlags |= pcollisionFlags;
118 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); 229 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
119 return (CollisionFlags) (uint) existingcollisionFlags; 230 return (CollisionFlags) (uint) existingcollisionFlags;
120 } 231 }
121 232
122 public override void AddObjectToWorld2(object pWorld, object pBody) 233 public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
123 { 234 {
124 RigidBody body = pBody as RigidBody; 235 // Bullet resets several variables when an object is added to the world. In particular,
125 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 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
126 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) 244 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
127 245
128 world.AddRigidBody(body); 246 world.AddRigidBody(body);
129 247
130 //if (body.GetBroadphaseHandle() != null) 248 body.SetWorldTransform(origPos);
131 // world.UpdateSingleAabb(body); 249 body.SetGravity(origGrav);
132 }
133 250
134 public override void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation) 251 pBody.ApplyCollisionMask(pWorld.physicsScene);
135 {
136 RigidBody body = pBody as RigidBody;
137 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
138 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
139 252
140 world.AddRigidBody(body);
141 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
142 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
143 _orientation.W);
144 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
145 mat._origin = vposition;
146 body.SetWorldTransform(mat);
147 //if (body.GetBroadphaseHandle() != null) 253 //if (body.GetBroadphaseHandle() != null)
148 // world.UpdateSingleAabb(body); 254 // world.UpdateSingleAabb(body);
255 return true;
149 } 256 }
150 257
151 public override void ForceActivationState2(object pBody, ActivationState pActivationState) 258 public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState)
152 { 259 {
153 CollisionObject body = pBody as CollisionObject; 260 CollisionObject body = ((BulletBodyXNA)pBody).body;
154 body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); 261 body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
155 } 262 }
156 263
157 public override void UpdateSingleAabb2(object pWorld, object pBody) 264 public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody)
158 { 265 {
159 CollisionObject body = pBody as CollisionObject; 266 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
160 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 267 CollisionObject body = ((BulletBodyXNA)pBody).body;
161 world.UpdateSingleAabb(body); 268 world.UpdateSingleAabb(body);
162 } 269 }
163 270
164 public override bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask) 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)
165 { 276 {
166 RigidBody body = pBody as RigidBody; 277 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
167 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; 278 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
168 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; 279 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
169 if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) 280 if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
@@ -171,9 +282,9 @@ public sealed class BSAPIXNA : BSAPITemplate
171 return true; 282 return true;
172 } 283 }
173 284
174 public override void ClearAllForces2(object pBody) 285 public override void ClearAllForces(BulletBody pBody)
175 { 286 {
176 CollisionObject body = pBody as CollisionObject; 287 CollisionObject body = ((BulletBodyXNA)pBody).body;
177 IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); 288 IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
178 body.SetInterpolationLinearVelocity(ref zeroVector); 289 body.SetInterpolationLinearVelocity(ref zeroVector);
179 body.SetInterpolationAngularVelocity(ref zeroVector); 290 body.SetInterpolationAngularVelocity(ref zeroVector);
@@ -190,29 +301,67 @@ public sealed class BSAPIXNA : BSAPITemplate
190 } 301 }
191 } 302 }
192 303
193 public override void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3) 304 public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3)
194 { 305 {
195 RigidBody body = pBody as RigidBody; 306 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
196 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); 307 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
197 body.SetInterpolationAngularVelocity(ref vec); 308 body.SetInterpolationAngularVelocity(ref vec);
198 } 309 }
199 310
200 public override void SetAngularVelocity2(object pBody, Vector3 pVector3) 311 public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
201 { 312 {
202 RigidBody body = pBody as RigidBody; 313 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
203 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); 314 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
204 body.SetAngularVelocity(ref vec); 315 body.SetAngularVelocity(ref vec);
205 } 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 }
206 355
207 public override void ClearForces2(object pBody) 356 public override void ClearForces(BulletBody pBody)
208 { 357 {
209 RigidBody body = pBody as RigidBody; 358 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
210 body.ClearForces(); 359 body.ClearForces();
211 } 360 }
212 361
213 public override void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation) 362 public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation)
214 { 363 {
215 RigidBody body = pBody as RigidBody; 364 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
216 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); 365 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
217 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, 366 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
218 _orientation.W); 367 _orientation.W);
@@ -222,90 +371,98 @@ public sealed class BSAPIXNA : BSAPITemplate
222 371
223 } 372 }
224 373
225 public override Vector3 GetPosition2(object pBody) 374 public override Vector3 GetPosition(BulletBody pBody)
226 { 375 {
227 RigidBody body = pBody as RigidBody; 376 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
228 IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; 377 IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
229 return new Vector3(pos.X, pos.Y, pos.Z); 378 return new Vector3(pos.X, pos.Y, pos.Z);
230 } 379 }
231 380
232 public override Vector3 CalculateLocalInertia2(object pShape, float pphysMass) 381 public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
233 { 382 {
234 CollisionShape shape = pShape as CollisionShape; 383 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
235 IndexedVector3 inertia = IndexedVector3.Zero; 384 IndexedVector3 inertia = IndexedVector3.Zero;
236 shape.CalculateLocalInertia(pphysMass, out inertia); 385 shape.CalculateLocalInertia(pphysMass, out inertia);
237 return new Vector3(inertia.X, inertia.Y, inertia.Z); 386 return new Vector3(inertia.X, inertia.Y, inertia.Z);
238 } 387 }
239 388
240 public override void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia) 389 public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
241 { 390 {
242 RigidBody body = pBody as RigidBody; 391 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
243 IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); 392 IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
244 body.SetMassProps(pphysMass, inertia); 393 body.SetMassProps(pphysMass, inertia);
245 } 394 }
246 395
247 396
248 public override void SetObjectForce2(object pBody, Vector3 _force) 397 public override void SetObjectForce(BulletBody pBody, Vector3 _force)
249 { 398 {
250 RigidBody body = pBody as RigidBody; 399 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
251 IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); 400 IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
252 body.SetTotalForce(ref force); 401 body.SetTotalForce(ref force);
253 } 402 }
254 403
255 public override void SetFriction2(object pBody, float _currentFriction) 404 public override void SetFriction(BulletBody pBody, float _currentFriction)
256 { 405 {
257 RigidBody body = pBody as RigidBody; 406 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
258 body.SetFriction(_currentFriction); 407 body.SetFriction(_currentFriction);
259 } 408 }
260 409
261 public override void SetLinearVelocity2(object pBody, Vector3 _velocity) 410 public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
262 { 411 {
263 RigidBody body = pBody as RigidBody; 412 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
264 IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); 413 IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
265 body.SetLinearVelocity(velocity); 414 body.SetLinearVelocity(velocity);
266 } 415 }
267 416
268 public override void Activate2(object pBody, bool pforceactivation) 417 public override void Activate(BulletBody pBody, bool pforceactivation)
269 { 418 {
270 RigidBody body = pBody as RigidBody; 419 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
271 body.Activate(pforceactivation); 420 body.Activate(pforceactivation);
272 421
273 } 422 }
274 423
275 public override Quaternion GetOrientation2(object pBody) 424 public override Quaternion GetOrientation(BulletBody pBody)
276 { 425 {
277 RigidBody body = pBody as RigidBody; 426 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
278 IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); 427 IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
279 return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); 428 return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
280 } 429 }
281 430
282 public override CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) 431 public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
283 { 432 {
284 RigidBody body = pBody as RigidBody; 433 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
285 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); 434 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
286 existingcollisionFlags &= ~pcollisionFlags; 435 existingcollisionFlags &= ~pcollisionFlags;
287 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); 436 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
288 return (CollisionFlags)(uint)existingcollisionFlags; 437 return (CollisionFlags)(uint)existingcollisionFlags;
289 } 438 }
290 439
291 public override void SetGravity2(object pBody, Vector3 pGravity) 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)
292 { 449 {
293 RigidBody body = pBody as RigidBody; 450 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
294 IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); 451 IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
295 body.SetGravity(gravity); 452 body.SetGravity(gravity);
296 } 453 }
297 454
298 public override bool DestroyConstraint2(object pBody, object pConstraint) 455 public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
299 { 456 {
300 RigidBody body = pBody as RigidBody; 457 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
301 TypedConstraint constraint = pConstraint as TypedConstraint; 458 TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain;
302 body.RemoveConstraintRef(constraint); 459 world.RemoveConstraint(constraint);
303 return true; 460 return true;
304 } 461 }
305 462
306 public override bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high) 463 public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
307 { 464 {
308 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 465 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
309 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); 466 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
310 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); 467 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
311 constraint.SetLinearLowerLimit(lowlimit); 468 constraint.SetLinearLowerLimit(lowlimit);
@@ -313,9 +470,9 @@ public sealed class BSAPIXNA : BSAPITemplate
313 return true; 470 return true;
314 } 471 }
315 472
316 public override bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high) 473 public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
317 { 474 {
318 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 475 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
319 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); 476 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
320 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); 477 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
321 constraint.SetAngularLowerLimit(lowlimit); 478 constraint.SetAngularLowerLimit(lowlimit);
@@ -323,32 +480,33 @@ public sealed class BSAPIXNA : BSAPITemplate
323 return true; 480 return true;
324 } 481 }
325 482
326 public override void SetConstraintNumSolverIterations2(object pConstraint, float cnt) 483 public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
327 { 484 {
328 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 485 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
329 constraint.SetOverrideNumSolverIterations((int)cnt); 486 constraint.SetOverrideNumSolverIterations((int)cnt);
330 } 487 }
331 488
332 public override void CalculateTransforms2(object pConstraint) 489 public override bool CalculateTransforms(BulletConstraint pConstraint)
333 { 490 {
334 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 491 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
335 constraint.CalculateTransforms(); 492 constraint.CalculateTransforms();
493 return true;
336 } 494 }
337 495
338 public override void SetConstraintEnable2(object pConstraint, float p_2) 496 public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
339 { 497 {
340 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 498 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
341 constraint.SetEnabled((p_2 == 0) ? false : true); 499 constraint.SetEnabled((p_2 == 0) ? false : true);
342 } 500 }
343 501
344 502
345 //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); 503 //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
346 public override object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 504 public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
347 505
348 { 506 {
349 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 507 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
350 RigidBody body1 = pBody1 as RigidBody; 508 RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
351 RigidBody body2 = pBody2 as RigidBody; 509 RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
352 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); 510 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
353 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); 511 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
354 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); 512 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
@@ -364,7 +522,7 @@ public sealed class BSAPIXNA : BSAPITemplate
364 consttr.CalculateTransforms(); 522 consttr.CalculateTransforms();
365 world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); 523 world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
366 524
367 return consttr; 525 return new BulletConstraintXNA(consttr);
368 } 526 }
369 527
370 528
@@ -378,11 +536,11 @@ public sealed class BSAPIXNA : BSAPITemplate
378 /// <param name="puseLinearReferenceFrameA"></param> 536 /// <param name="puseLinearReferenceFrameA"></param>
379 /// <param name="pdisableCollisionsBetweenLinkedBodies"></param> 537 /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
380 /// <returns></returns> 538 /// <returns></returns>
381 public override object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 539 public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
382 { 540 {
383 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 541 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
384 RigidBody body1 = pBody1 as RigidBody; 542 RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
385 RigidBody body2 = pBody2 as RigidBody; 543 RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
386 IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); 544 IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
387 IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); 545 IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
388 546
@@ -396,12 +554,12 @@ public sealed class BSAPIXNA : BSAPITemplate
396 consttr.CalculateTransforms(); 554 consttr.CalculateTransforms();
397 world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); 555 world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
398 556
399 return consttr; 557 return new BulletConstraintXNA(consttr);
400 } 558 }
401 //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); 559 //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
402 public override void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) 560 public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
403 { 561 {
404 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 562 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
405 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); 563 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
406 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); 564 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
407 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); 565 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
@@ -412,163 +570,279 @@ public sealed class BSAPIXNA : BSAPITemplate
412 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); 570 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
413 frame2._origin = frame1v; 571 frame2._origin = frame1v;
414 constraint.SetFrames(ref frame1, ref frame2); 572 constraint.SetFrames(ref frame1, ref frame2);
573 return true;
415 } 574 }
416 575
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 }
417 604
418 605 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 }
419 650
420 public override bool IsInWorld2(object pWorld, object pShapeObj) 651 public override int GetNumConstraintRefs(BulletBody pBody)
421 { 652 {
422 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 653 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
423 CollisionObject shape = pShapeObj as CollisionObject; 654 return body.GetNumConstraintRefs();
424 return world.IsInWorld(shape);
425 } 655 }
426 656
427 public override void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity) 657 public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity)
428 { 658 {
429 RigidBody body = pBody as RigidBody; 659 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
430 IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); 660 IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
431 body.SetInterpolationLinearVelocity(ref velocity); 661 body.SetInterpolationLinearVelocity(ref velocity);
432 } 662 }
433 663
434 public override bool UseFrameOffset2(object pConstraint, float onOff) 664 public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
435 { 665 {
436 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 666 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
437 constraint.SetUseFrameOffset((onOff == 0) ? false : true); 667 constraint.SetUseFrameOffset((onOff == 0) ? false : true);
438 return true; 668 return true;
439 } 669 }
440 //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); 670 //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
441 public override bool SetBreakingImpulseThreshold2(object pConstraint, float threshold) 671 public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
442 { 672 {
443 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; 673 Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
444 constraint.SetBreakingImpulseThreshold(threshold); 674 constraint.SetBreakingImpulseThreshold(threshold);
445 return true; 675 return true;
446 } 676 }
447 //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); 677 //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
448 public override void SetAngularDamping2(object pBody, float angularDamping) 678 public override void SetAngularDamping(BulletBody pBody, float angularDamping)
449 { 679 {
450 RigidBody body = pBody as RigidBody; 680 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
451 float lineardamping = body.GetLinearDamping(); 681 float lineardamping = body.GetLinearDamping();
452 body.SetDamping(lineardamping, angularDamping); 682 body.SetDamping(lineardamping, angularDamping);
453 683
454 } 684 }
455 685
456 public override void UpdateInertiaTensor2(object pBody) 686 public override void UpdateInertiaTensor(BulletBody pBody)
457 { 687 {
458 RigidBody body = pBody as RigidBody; 688 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
459 body.UpdateInertiaTensor(); 689 body.UpdateInertiaTensor();
460 } 690 }
461 691
462 public override void RecalculateCompoundShapeLocalAabb2( object pCompoundShape) 692 public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
463 { 693 {
464 694 CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
465 CompoundShape shape = pCompoundShape as CompoundShape;
466 shape.RecalculateLocalAabb(); 695 shape.RecalculateLocalAabb();
467 } 696 }
468 697
469 //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr) 698 //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
470 public override CollisionFlags GetCollisionFlags2(object pBody) 699 public override CollisionFlags GetCollisionFlags(BulletBody pBody)
471 { 700 {
472 RigidBody body = pBody as RigidBody; 701 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
473 uint flags = (uint)body.GetCollisionFlags(); 702 uint flags = (uint)body.GetCollisionFlags();
474 return (CollisionFlags) flags; 703 return (CollisionFlags) flags;
475 } 704 }
476 705
477 public override void SetDamping2(object pBody, float pLinear, float pAngular) 706 public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
478 { 707 {
479 RigidBody body = pBody as RigidBody; 708 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
480 body.SetDamping(pLinear, pAngular); 709 body.SetDamping(pLinear, pAngular);
481 } 710 }
482 //PhysBody.ptr, PhysicsScene.Params.deactivationTime); 711 //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
483 public override void SetDeactivationTime2(object pBody, float pDeactivationTime) 712 public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime)
484 { 713 {
485 RigidBody body = pBody as RigidBody; 714 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
486 body.SetDeactivationTime(pDeactivationTime); 715 body.SetDeactivationTime(pDeactivationTime);
487 } 716 }
488 //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); 717 //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
489 public override void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) 718 public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
490 { 719 {
491 RigidBody body = pBody as RigidBody; 720 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
492 body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); 721 body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
493 } 722 }
494 723
495 public override CollisionObjectTypes GetBodyType2(object pBody) 724 public override CollisionObjectTypes GetBodyType(BulletBody pBody)
496 { 725 {
497 RigidBody body = pBody as RigidBody; 726 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
498 return (CollisionObjectTypes)(int) body.GetInternalType(); 727 return (CollisionObjectTypes)(int) body.GetInternalType();
499 } 728 }
500 729
501 //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); 730 public override void ApplyGravity(BulletBody obj) { /* TODO */ }
502 public override void ApplyCentralForce2(object pBody, Vector3 pfSum) 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)
503 { 752 {
504 RigidBody body = pBody as RigidBody; 753 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
505 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); 754 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
506 body.ApplyCentralForce(ref fSum); 755 body.ApplyCentralForce(ref fSum);
507 } 756 }
508 public override void ApplyCentralImpulse2(object pBody, Vector3 pfSum) 757 public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
509 { 758 {
510 RigidBody body = pBody as RigidBody; 759 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
511 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); 760 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
512 body.ApplyCentralImpulse(ref fSum); 761 body.ApplyCentralImpulse(ref fSum);
513 } 762 }
514 public override void ApplyTorque2(object pBody, Vector3 pfSum) 763 public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
515 { 764 {
516 RigidBody body = pBody as RigidBody; 765 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
517 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); 766 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
518 body.ApplyTorque(ref fSum); 767 body.ApplyTorque(ref fSum);
519 } 768 }
520 public override void ApplyTorqueImpulse2(object pBody, Vector3 pfSum) 769 public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
521 { 770 {
522 RigidBody body = pBody as RigidBody; 771 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
523 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); 772 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
524 body.ApplyTorqueImpulse(ref fSum); 773 body.ApplyTorqueImpulse(ref fSum);
525 } 774 }
526 775
527 public override void DumpRigidBody2(object p, object p_2) 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)
528 { 796 {
529 //TODO: 797 //TODO:
530 } 798 }
531 799
532 public override void DumpCollisionShape2(object p, object p_2) 800 public override void DumpPhysicsStatistics(BulletWorld world)
533 { 801 {
534 //TODO: 802 //TODO:
535 } 803 }
536 804
537 public override void DestroyObject2(object p, object p_2) 805 public override void DestroyObject(BulletWorld p, BulletBody p_2)
538 { 806 {
539 //TODO: 807 //TODO:
540 } 808 }
541 809
542 public override void Shutdown2(object pWorld) 810 public override void Shutdown(BulletWorld pWorld)
543 { 811 {
544 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 812 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
545 world.Cleanup(); 813 world.Cleanup();
546 } 814 }
547 815
548 public override void DeleteCollisionShape2(object p, object p_2) 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)
549 { 822 {
550 //TODO: 823 //TODO:
824 return false;
551 } 825 }
552 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); 826 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
553 827
554 public override object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) 828 public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
555 { 829 {
556 CollisionWorld world = pWorld as CollisionWorld; 830 CollisionWorld world = ((BulletWorldXNA)pWorld).world;
557 IndexedMatrix mat = 831 IndexedMatrix mat =
558 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, 832 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
559 pRawOrientation.Z, pRawOrientation.W)); 833 pRawOrientation.Z, pRawOrientation.W));
560 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); 834 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
561 CollisionShape shape = pShape as CollisionShape; 835 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
562 //UpdateSingleAabb2(world, shape); 836 //UpdateSingleAabb(world, shape);
563 // TODO: Feed Update array into null 837 // TODO: Feed Update array into null
564 RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); 838 RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
565 839
566 body.SetUserPointer(pLocalID); 840 body.SetUserPointer(pLocalID);
567 return body; 841 return new BulletBodyXNA(pLocalID, body);
568 } 842 }
569 843
570 844
571 public override object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) 845 public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
572 { 846 {
573 847
574 IndexedMatrix mat = 848 IndexedMatrix mat =
@@ -576,39 +850,71 @@ public sealed class BSAPIXNA : BSAPITemplate
576 pRawOrientation.Z, pRawOrientation.W)); 850 pRawOrientation.Z, pRawOrientation.W));
577 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); 851 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
578 852
579 CollisionShape shape = pShape as CollisionShape; 853 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
580 854
581 // TODO: Feed Update array into null 855 // TODO: Feed Update array into null
582 RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); 856 RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
583 body.SetWorldTransform(mat); 857 body.SetWorldTransform(mat);
584 body.SetUserPointer(pLocalID); 858 body.SetUserPointer(pLocalID);
585 return body; 859 return new BulletBodyXNA(pLocalID, body);
586 } 860 }
587 //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); 861 //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
588 public override void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags) 862 public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags)
589 { 863 {
590 RigidBody body = pBody as RigidBody; 864 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
591 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); 865 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
592 } 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
593 //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); 886 //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
594 public override void SetHitFraction2(object pBody, float pHitFraction) 887 public override void SetHitFraction(BulletBody pBody, float pHitFraction)
595 { 888 {
596 RigidBody body = pBody as RigidBody; 889 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
597 body.SetHitFraction(pHitFraction); 890 body.SetHitFraction(pHitFraction);
598 } 891 }
599 //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); 892 //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
600 public override object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale) 893 public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
601 { 894 {
602 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 895 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
603 IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); 896 IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
604 CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); 897 CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
605 capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); 898 capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
606 capsuleShapeZ.SetLocalScaling(ref scale); 899 capsuleShapeZ.SetLocalScaling(ref scale);
607 900
608 return capsuleShapeZ; 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);
609 } 911 }
610 912
611 public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle) 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)
612 { 918 {
613 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); 919 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
614 920
@@ -728,9 +1034,9 @@ public sealed class BSAPIXNA : BSAPITemplate
728 return world; 1034 return world;
729 } 1035 }
730 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL 1036 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
731 public override bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) 1037 public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
732 { 1038 {
733 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; 1039 Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
734 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) 1040 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
735 { 1041 {
736 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); 1042 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
@@ -750,10 +1056,10 @@ public sealed class BSAPIXNA : BSAPITemplate
750 return true; 1056 return true;
751 } 1057 }
752 1058
753 public override bool PushUpdate2(object pCollisionObject) 1059 public override bool PushUpdate(BulletBody pCollisionObject)
754 { 1060 {
755 bool ret = false; 1061 bool ret = false;
756 RigidBody rb = pCollisionObject as RigidBody; 1062 RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody;
757 if (rb != null) 1063 if (rb != null)
758 { 1064 {
759 SimMotionState sms = rb.GetMotionState() as SimMotionState; 1065 SimMotionState sms = rb.GetMotionState() as SimMotionState;
@@ -769,44 +1075,59 @@ public sealed class BSAPIXNA : BSAPITemplate
769 1075
770 } 1076 }
771 1077
772 public override bool IsCompound2(object pShape) 1078 public override float GetAngularMotionDisc(BulletShape pShape)
773 { 1079 {
774 CollisionShape shape = pShape as CollisionShape; 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;
775 return shape.IsCompound(); 1091 return shape.IsCompound();
776 } 1092 }
777 public override bool IsPloyhedral2(object pShape) 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)
778 { 1099 {
779 CollisionShape shape = pShape as CollisionShape; 1100 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
780 return shape.IsPolyhedral(); 1101 return shape.IsPolyhedral();
781 } 1102 }
782 public override bool IsConvex2d2(object pShape) 1103 public override bool IsConvex2d(BulletShape pShape)
783 { 1104 {
784 CollisionShape shape = pShape as CollisionShape; 1105 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
785 return shape.IsConvex2d(); 1106 return shape.IsConvex2d();
786 } 1107 }
787 public override bool IsConvex2(object pShape) 1108 public override bool IsConvex(BulletShape pShape)
788 { 1109 {
789 CollisionShape shape = pShape as CollisionShape; 1110 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
790 return shape.IsConvex(); 1111 return shape.IsConvex();
791 } 1112 }
792 public override bool IsNonMoving2(object pShape) 1113 public override bool IsNonMoving(BulletShape pShape)
793 { 1114 {
794 CollisionShape shape = pShape as CollisionShape; 1115 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
795 return shape.IsNonMoving(); 1116 return shape.IsNonMoving();
796 } 1117 }
797 public override bool IsConcave2(object pShape) 1118 public override bool IsConcave(BulletShape pShape)
798 { 1119 {
799 CollisionShape shape = pShape as CollisionShape; 1120 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
800 return shape.IsConcave(); 1121 return shape.IsConcave();
801 } 1122 }
802 public override bool IsInfinite2(object pShape) 1123 public override bool IsInfinite(BulletShape pShape)
803 { 1124 {
804 CollisionShape shape = pShape as CollisionShape; 1125 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
805 return shape.IsInfinite(); 1126 return shape.IsInfinite();
806 } 1127 }
807 public override bool IsNativeShape2(object pShape) 1128 public override bool IsNativeShape(BulletShape pShape)
808 { 1129 {
809 CollisionShape shape = pShape as CollisionShape; 1130 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
810 bool ret; 1131 bool ret;
811 switch (shape.GetShapeType()) 1132 switch (shape.GetShapeType())
812 { 1133 {
@@ -822,33 +1143,39 @@ public sealed class BSAPIXNA : BSAPITemplate
822 } 1143 }
823 return ret; 1144 return ret;
824 } 1145 }
1146
1147 public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ }
1148
825 //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation 1149 //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
826 public override object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) 1150 public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
827 { 1151 {
1152 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
828 IndexedMatrix bodyTransform = new IndexedMatrix(); 1153 IndexedMatrix bodyTransform = new IndexedMatrix();
829 bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); 1154 bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
830 bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); 1155 bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
831 GhostObject gObj = new PairCachingGhostObject(); 1156 GhostObject gObj = new PairCachingGhostObject();
832 gObj.SetWorldTransform(bodyTransform); 1157 gObj.SetWorldTransform(bodyTransform);
833 CollisionShape shape = pShape as CollisionShape; 1158 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
834 gObj.SetCollisionShape(shape); 1159 gObj.SetCollisionShape(shape);
835 gObj.SetUserPointer(pLocalID); 1160 gObj.SetUserPointer(pLocalID);
836 // TODO: Add to Special CollisionObjects! 1161 // TODO: Add to Special CollisionObjects!
837 return gObj; 1162 return new BulletBodyXNA(pLocalID, gObj);
838 } 1163 }
839 1164
840 public static void SetCollisionShape2(object pWorld, object pObj, object pShape) 1165 public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape)
841 { 1166 {
842 var world = pWorld as DiscreteDynamicsWorld; 1167 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
843 var obj = pObj as CollisionObject; 1168 CollisionObject obj = ((BulletBodyXNA)pObj).body;
844 var shape = pShape as CollisionShape; 1169 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
845 obj.SetCollisionShape(shape); 1170 obj.SetCollisionShape(shape);
846 1171
847 } 1172 }
1173 public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; }
1174
848 //(PhysicsScene.World.ptr, nativeShapeData) 1175 //(PhysicsScene.World.ptr, nativeShapeData)
849 public override object BuildNativeShape2(object pWorld, ShapeData pShapeData) 1176 public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
850 { 1177 {
851 var world = pWorld as DiscreteDynamicsWorld; 1178 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
852 CollisionShape shape = null; 1179 CollisionShape shape = null;
853 switch (pShapeData.Type) 1180 switch (pShapeData.Type)
854 { 1181 {
@@ -873,25 +1200,25 @@ public sealed class BSAPIXNA : BSAPITemplate
873 shape.SetLocalScaling(ref scaling); 1200 shape.SetLocalScaling(ref scaling);
874 1201
875 } 1202 }
876 return shape; 1203 return new BulletShapeXNA(shape, pShapeData.Type);
877 } 1204 }
878 //PhysicsScene.World.ptr, false 1205 //PhysicsScene.World.ptr, false
879 public override object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree) 1206 public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
880 { 1207 {
881 return new CompoundShape(enableDynamicAabbTree); 1208 return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
882 } 1209 }
883 1210
884 public override int GetNumberOfCompoundChildren2(object pCompoundShape) 1211 public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
885 { 1212 {
886 var compoundshape = pCompoundShape as CompoundShape; 1213 CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
887 return compoundshape.GetNumChildShapes(); 1214 return compoundshape.GetNumChildShapes();
888 } 1215 }
889 //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot 1216 //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
890 public override void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot) 1217 public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
891 { 1218 {
892 IndexedMatrix relativeTransform = new IndexedMatrix(); 1219 IndexedMatrix relativeTransform = new IndexedMatrix();
893 var compoundshape = pCShape as CompoundShape; 1220 CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
894 var addshape = paddShape as CollisionShape; 1221 CollisionShape addshape = ((BulletShapeXNA)paddShape).shape;
895 1222
896 relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); 1223 relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
897 relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); 1224 relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
@@ -899,58 +1226,47 @@ public sealed class BSAPIXNA : BSAPITemplate
899 1226
900 } 1227 }
901 1228
902 public override object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii) 1229 public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
903 { 1230 {
904 var compoundshape = pCShape as CompoundShape; 1231 CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
905 CollisionShape ret = null; 1232 CollisionShape ret = null;
906 ret = compoundshape.GetChildShape(pii); 1233 ret = compoundshape.GetChildShape(pii);
907 compoundshape.RemoveChildShapeByIndex(pii); 1234 compoundshape.RemoveChildShapeByIndex(pii);
908 return ret; 1235 return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN);
909 } 1236 }
910 1237
911 public override object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) 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)
912 { 1242 {
913 StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); 1243 StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
914 m_planeshape.SetMargin(pcollisionMargin); 1244 m_planeshape.SetMargin(pcollisionMargin);
915 m_planeshape.SetUserPointer(pLocalId); 1245 m_planeshape.SetUserPointer(pLocalId);
916 return m_planeshape; 1246 return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
917 } 1247 }
918 1248
919 public override object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 1249 public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
920 { 1250 {
921 HingeConstraint constrain = null; 1251 HingeConstraint constrain = null;
922 var rb1 = pBody1 as RigidBody; 1252 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
923 var rb2 = ppBody2 as RigidBody; 1253 RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody;
1254 RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody;
924 if (rb1 != null && rb2 != null) 1255 if (rb1 != null && rb2 != null)
925 { 1256 {
926 IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); 1257 IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
927 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); 1258 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
928 IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); 1259 IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
929 IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); 1260 IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
930 var world = pWorld as DiscreteDynamicsWorld;
931 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); 1261 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
932 } 1262 }
933 return constrain; 1263 return new BulletConstraintXNA(constrain);
934 }
935
936 public override bool ReleaseHeightMapInfo2(object pMapInfo)
937 {
938 if (pMapInfo != null)
939 {
940 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
941 if (mapinfo.heightMap != null)
942 mapinfo.heightMap = null;
943
944
945 }
946 return true;
947 } 1264 }
948 1265
949 public override object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) 1266 public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
950 { 1267 {
1268 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
951 CompoundShape compoundshape = new CompoundShape(false); 1269 CompoundShape compoundshape = new CompoundShape(false);
952 var world = pWorld as DiscreteDynamicsWorld;
953
954 1270
955 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); 1271 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
956 int ii = 1; 1272 int ii = 1;
@@ -975,12 +1291,13 @@ public sealed class BSAPIXNA : BSAPITemplate
975 compoundshape.AddChildShape(ref childTrans, convexShape); 1291 compoundshape.AddChildShape(ref childTrans, convexShape);
976 ii += (vertexCount*3 + 4); 1292 ii += (vertexCount*3 + 4);
977 } 1293 }
978
979 1294
980 return compoundshape; 1295 return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
981 } 1296 }
982 1297
983 public override object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) 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)
984 { 1301 {
985 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); 1302 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
986 1303
@@ -993,7 +1310,7 @@ public sealed class BSAPIXNA : BSAPITemplate
993 ObjectArray<int> indicesarr = new ObjectArray<int>(indices); 1310 ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
994 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); 1311 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
995 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); 1312 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
996 var world = pWorld as DiscreteDynamicsWorld; 1313 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
997 IndexedMesh mesh = new IndexedMesh(); 1314 IndexedMesh mesh = new IndexedMesh();
998 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; 1315 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
999 mesh.m_numTriangles = pIndicesCount/3; 1316 mesh.m_numTriangles = pIndicesCount/3;
@@ -1009,7 +1326,7 @@ public sealed class BSAPIXNA : BSAPITemplate
1009 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); 1326 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
1010 meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); 1327 meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
1011 // world.UpdateSingleAabb(meshShape); 1328 // world.UpdateSingleAabb(meshShape);
1012 return meshShape; 1329 return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
1013 1330
1014 } 1331 }
1015 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) 1332 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
@@ -1092,52 +1409,31 @@ public sealed class BSAPIXNA : BSAPITemplate
1092 1409
1093 sw.Close(); 1410 sw.Close();
1094 } 1411 }
1095 //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
1096 public override object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
1097 {
1098 BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
1099 mapInfo.heightMap = null;
1100 mapInfo.minCoords = pminCoords;
1101 mapInfo.maxCoords = pmaxCoords;
1102 mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
1103 mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
1104 mapInfo.ID = pId;
1105 mapInfo.minZ = pminCoords.Z;
1106 mapInfo.maxZ = pmaxCoords.Z;
1107 mapInfo.collisionMargin = pCollisionMargin;
1108 if (mapInfo.minZ == mapInfo.maxZ)
1109 mapInfo.minZ -= 0.2f;
1110 mapInfo.heightMap = pheightMap;
1111
1112 return mapInfo;
1113
1114 }
1115 1412
1116 public override object CreateTerrainShape2(object pMapInfo) 1413 public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
1414 float scaleFactor, float collisionMargin)
1117 { 1415 {
1118 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
1119 const int upAxis = 2; 1416 const int upAxis = 2;
1120 const float scaleFactor = 1.0f; 1417 HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
1121 HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY, 1418 heightMap, scaleFactor,
1122 mapinfo.heightMap, scaleFactor, 1419 minHeight, maxHeight, upAxis,
1123 mapinfo.minZ, mapinfo.maxZ, upAxis,
1124 false); 1420 false);
1125 terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f); 1421 terrainShape.SetMargin(collisionMargin + 0.5f);
1126 terrainShape.SetUseDiamondSubdivision(true); 1422 terrainShape.SetUseDiamondSubdivision(true);
1127 terrainShape.SetUserPointer(mapinfo.ID); 1423 terrainShape.SetUserPointer(id);
1128 return terrainShape; 1424 return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
1129 } 1425 }
1130 1426
1131 public override bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce) 1427 public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
1132 { 1428 {
1133 TypedConstraint tconstrain = pConstraint as TypedConstraint; 1429 TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain;
1134 bool onOff = ponOff != 0; 1430 bool onOff = ponOff != 0;
1135 bool ret = false; 1431 bool ret = false;
1136 1432
1137 switch (tconstrain.GetConstraintType()) 1433 switch (tconstrain.GetConstraintType())
1138 { 1434 {
1139 case TypedConstraintType.D6_CONSTRAINT_TYPE: 1435 case TypedConstraintType.D6_CONSTRAINT_TYPE:
1140 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; 1436 Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
1141 constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; 1437 constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
1142 constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; 1438 constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
1143 constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; 1439 constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
@@ -1150,14 +1446,25 @@ public sealed class BSAPIXNA : BSAPITemplate
1150 1446
1151 } 1447 }
1152 1448
1153 public override int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders) 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)
1154 { 1461 {
1155 int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, 1462 int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
1156 out collidersCount, out colliders); 1463 out collidersCount, out colliders);
1157 return epic; 1464 return epic;
1158 } 1465 }
1159 1466
1160 private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders) 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)
1161 { 1468 {
1162 int numSimSteps = 0; 1469 int numSimSteps = 0;
1163 1470
@@ -1169,9 +1476,9 @@ public sealed class BSAPIXNA : BSAPITemplate
1169 // colliders = new List<BulletXNA.CollisionDesc>(); 1476 // colliders = new List<BulletXNA.CollisionDesc>();
1170 1477
1171 1478
1172 if (pWorld is DiscreteDynamicsWorld) 1479 if (pWorld is BulletWorldXNA)
1173 { 1480 {
1174 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 1481 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
1175 1482
1176 numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); 1483 numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
1177 int updates = 0; 1484 int updates = 0;
@@ -1224,7 +1531,7 @@ public sealed class BSAPIXNA : BSAPITemplate
1224 return numSimSteps; 1531 return numSimSteps;
1225 } 1532 }
1226 1533
1227 private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) 1534 private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
1228 { 1535 {
1229 1536
1230 IndexedVector3 contactNormal = norm; 1537 IndexedVector3 contactNormal = norm;
@@ -1257,11 +1564,11 @@ public sealed class BSAPIXNA : BSAPITemplate
1257 1564
1258 1565
1259 } 1566 }
1260 private static EntityProperties GetDebugProperties(object pWorld, object pBody) 1567 private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody)
1261 { 1568 {
1262 EntityProperties ent = new EntityProperties(); 1569 EntityProperties ent = new EntityProperties();
1263 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; 1570 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
1264 RigidBody body = pBody as RigidBody; 1571 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
1265 IndexedMatrix transform = body.GetWorldTransform(); 1572 IndexedMatrix transform = body.GetWorldTransform();
1266 IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); 1573 IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
1267 IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); 1574 IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
@@ -1275,34 +1582,35 @@ public sealed class BSAPIXNA : BSAPITemplate
1275 return ent; 1582 return ent;
1276 } 1583 }
1277 1584
1278 public override Vector3 GetLocalScaling2(object pBody) 1585 public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; }
1586
1587 public override Vector3 GetLocalScaling(BulletShape pShape)
1279 { 1588 {
1280 CollisionShape shape = pBody as CollisionShape; 1589 CollisionShape shape = ((BulletShapeXNA)pShape).shape;
1281 IndexedVector3 scale = shape.GetLocalScaling(); 1590 IndexedVector3 scale = shape.GetLocalScaling();
1282 return new Vector3(scale.X,scale.Y,scale.Z); 1591 return new Vector3(scale.X,scale.Y,scale.Z);
1283 } 1592 }
1284 1593
1285 public override bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe) 1594 public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
1286 { 1595 {
1287 DynamicsWorld world = pWorld as DynamicsWorld; 1596 DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
1288 if (world != null) 1597 if (world != null)
1289 { 1598 {
1290 if (NotMe is CollisionObject || NotMe is RigidBody) 1599 if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
1291 { 1600 {
1292 CollisionObject AvoidBody = NotMe as CollisionObject; 1601 CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body;
1293 1602
1294 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); 1603 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
1295 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); 1604 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
1296 using ( 1605 using (
1297 ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, 1606 ClosestNotMeRayResultCallback rayCallback =
1298 rEnd, AvoidBody) 1607 new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
1299 ) 1608 )
1300 { 1609 {
1301 world.RayTest(ref rOrigin, ref rEnd, rayCallback); 1610 world.RayTest(ref rOrigin, ref rEnd, rayCallback);
1302 if (rayCallback.HasHit()) 1611 if (rayCallback.HasHit())
1303 { 1612 {
1304 IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; 1613 IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
1305
1306 } 1614 }
1307 return rayCallback.HasHit(); 1615 return rayCallback.HasHit();
1308 } 1616 }
@@ -1311,5 +1619,4 @@ public sealed class BSAPIXNA : BSAPITemplate
1311 return false; 1619 return false;
1312 } 1620 }
1313} 1621}
1314*/
1315} 1622}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index 2350f59..1735be2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -346,10 +346,9 @@ public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
346 346
347public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id); 347public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id);
348 348
349
350public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape); 349public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
351 350
352public abstract int GetBodyType(BulletBody obj); 351public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
353 352
354public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); 353public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot);
355 354
@@ -416,6 +415,7 @@ public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
416 415
417// ===================================================================================== 416// =====================================================================================
418// btDynamicsWorld entries 417// btDynamicsWorld entries
418// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
419public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); 419public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
420 420
421public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); 421public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
@@ -597,7 +597,7 @@ public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
597 597
598public abstract Vector3 GetAngularFactor(BulletBody obj); 598public abstract Vector3 GetAngularFactor(BulletBody obj);
599 599
600public abstract bool IsInWorld(BulletBody obj); 600public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
601 601
602public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain); 602public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
603 603
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index d4e2e87..826261c 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -898,17 +898,6 @@ public sealed class BSPrim : BSPhysObject
898 if (PhysBody.HasPhysicalBody) 898 if (PhysBody.HasPhysicalBody)
899 { 899 {
900 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); 900 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
901
902 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
903 // Replace this when the new AddObjectToWorld function is complete.
904 PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity());
905
906 // Collision filter can be set only when the object is in the world
907 if (!PhysBody.ApplyCollisionMask(PhysicsScene))
908 {
909 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
910 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
911 }
912 } 901 }
913 else 902 else
914 { 903 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 258b72f..3340cda 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -309,7 +309,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
309 ret = new BSAPIUnman(engineName, this); 309 ret = new BSAPIUnman(engineName, this);
310 break; 310 break;
311 case "bulletxna": 311 case "bulletxna":
312 // ret = new BSAPIXNA(engineName, this); 312 ret = new BSAPIXNA(engineName, this);
313 break; 313 break;
314 } 314 }
315 315
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 2b652f5..d361f18 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -141,7 +141,7 @@ public sealed class BSShapeCollection : IDisposable
141 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); 141 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
142 PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() 142 PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
143 { 143 {
144 if (!PhysicsScene.PE.IsInWorld(body)) 144 if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
145 { 145 {
146 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); 146 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
147 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); 147 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
@@ -166,7 +166,7 @@ public sealed class BSShapeCollection : IDisposable
166 // If the caller needs to know the old body is going away, pass the event up. 166 // If the caller needs to know the old body is going away, pass the event up.
167 if (bodyCallback != null) bodyCallback(body); 167 if (bodyCallback != null) bodyCallback(body);
168 168
169 if (PhysicsScene.PE.IsInWorld(body)) 169 if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
170 { 170 {
171 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); 171 PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
172 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); 172 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
index 114c0aa..e4fecc3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
@@ -92,8 +92,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
92 private void BuildHeightmapTerrain() 92 private void BuildHeightmapTerrain()
93 { 93 {
94 // Create the terrain shape from the mapInfo 94 // Create the terrain shape from the mapInfo
95 m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, 95 m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID,
96 new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, 96 new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ,
97 m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin); 97 m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin);
98 98
99 99