diff options
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1470 |
1 files changed, 1084 insertions, 386 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 30a7bee..59780ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | |||
@@ -27,6 +27,7 @@ | |||
27 | using System; | 27 | using System; |
28 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
29 | using System.IO; | 29 | using System.IO; |
30 | using System.Runtime.InteropServices; | ||
30 | using System.Text; | 31 | using System.Text; |
31 | 32 | ||
32 | using OpenSim.Framework; | 33 | using OpenSim.Framework; |
@@ -80,11 +81,11 @@ private sealed class BulletBodyXNA : BulletBody | |||
80 | private sealed class BulletShapeXNA : BulletShape | 81 | private sealed class BulletShapeXNA : BulletShape |
81 | { | 82 | { |
82 | public CollisionShape shape; | 83 | public CollisionShape shape; |
83 | public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) | 84 | public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) |
84 | : base() | 85 | : base() |
85 | { | 86 | { |
86 | shape = xx; | 87 | shape = xx; |
87 | type = typ; | 88 | shapeType = typ; |
88 | } | 89 | } |
89 | public override bool HasPhysicalShape | 90 | public override bool HasPhysicalShape |
90 | { | 91 | { |
@@ -96,7 +97,7 @@ private sealed class BulletShapeXNA : BulletShape | |||
96 | } | 97 | } |
97 | public override BulletShape Clone() | 98 | public override BulletShape Clone() |
98 | { | 99 | { |
99 | return new BulletShapeXNA(shape, type); | 100 | return new BulletShapeXNA(shape, shapeType); |
100 | } | 101 | } |
101 | public override bool ReferenceSame(BulletShape other) | 102 | public override bool ReferenceSame(BulletShape other) |
102 | { | 103 | { |
@@ -129,6 +130,14 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
129 | get { return "XNAConstraint"; } | 130 | get { return "XNAConstraint"; } |
130 | } | 131 | } |
131 | } | 132 | } |
133 | internal int m_maxCollisions; | ||
134 | internal CollisionDesc[] UpdatedCollisions; | ||
135 | internal int LastCollisionDesc = 0; | ||
136 | internal int m_maxUpdatesPerFrame; | ||
137 | internal int LastEntityProperty = 0; | ||
138 | |||
139 | internal EntityProperties[] UpdatedObjects; | ||
140 | internal Dictionary<uint, GhostObject> specialCollisionObjects; | ||
132 | 141 | ||
133 | private static int m_collisionsThisFrame; | 142 | private static int m_collisionsThisFrame; |
134 | private BSScene PhysicsScene { get; set; } | 143 | private BSScene PhysicsScene { get; set; } |
@@ -142,111 +151,127 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
142 | } | 151 | } |
143 | 152 | ||
144 | /// <summary> | 153 | /// <summary> |
145 | /// | 154 | /// |
146 | /// </summary> | 155 | /// </summary> |
147 | /// <param name="p"></param> | 156 | /// <param name="p"></param> |
148 | /// <param name="p_2"></param> | 157 | /// <param name="p_2"></param> |
149 | public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) | 158 | public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) |
150 | { | 159 | { |
151 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 160 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
152 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 161 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; |
153 | world.RemoveRigidBody(body); | 162 | CollisionObject collisionObject = ((BulletBodyXNA)pBody).body; |
163 | if (body != null) | ||
164 | world.RemoveRigidBody(body); | ||
165 | else if (collisionObject != null) | ||
166 | world.RemoveCollisionObject(collisionObject); | ||
167 | else | ||
168 | return false; | ||
154 | return true; | 169 | return true; |
155 | } | 170 | } |
156 | 171 | ||
157 | public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) | 172 | public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) |
158 | { | 173 | { |
159 | /* TODO */ | 174 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
160 | return false; | 175 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; |
176 | world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); | ||
177 | |||
178 | return true; | ||
179 | |||
161 | } | 180 | } |
162 | 181 | ||
163 | public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) | 182 | public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint) |
164 | { | 183 | { |
165 | /* TODO */ | 184 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
166 | return false; | 185 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; |
186 | world.RemoveConstraint(constraint); | ||
187 | return true; | ||
167 | } | 188 | } |
168 | 189 | ||
169 | public override void SetRestitution(BulletBody pBody, float pRestitution) | 190 | public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) |
170 | { | 191 | { |
171 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 192 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
172 | body.SetRestitution(pRestitution); | 193 | collisionObject.SetRestitution(pRestitution); |
173 | } | 194 | } |
174 | 195 | ||
175 | public override int GetShapeType(BulletShape pShape) | 196 | public override int GetShapeType(BulletShape pShape) |
176 | { | 197 | { |
177 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 198 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
178 | return (int)shape.GetShapeType(); | 199 | return (int)shape.GetShapeType(); |
179 | } | 200 | } |
180 | public override void SetMargin(BulletShape pShape, float pMargin) | 201 | public override void SetMargin(BulletShape pShape, float pMargin) |
181 | { | 202 | { |
182 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 203 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
183 | shape.SetMargin(pMargin); | 204 | shape.SetMargin(pMargin); |
184 | } | 205 | } |
185 | 206 | ||
186 | public override float GetMargin(BulletShape pShape) | 207 | public override float GetMargin(BulletShape pShape) |
187 | { | 208 | { |
188 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 209 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
189 | return shape.GetMargin(); | 210 | return shape.GetMargin(); |
190 | } | 211 | } |
191 | 212 | ||
192 | public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) | 213 | public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) |
193 | { | 214 | { |
194 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 215 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
195 | IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | 216 | IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); |
196 | shape.SetLocalScaling(ref vec); | 217 | shape.SetLocalScaling(ref vec); |
197 | 218 | ||
198 | } | 219 | } |
199 | 220 | ||
200 | public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold) | 221 | public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold) |
201 | { | 222 | { |
202 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 223 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
203 | body.SetContactProcessingThreshold(contactprocessingthreshold); | 224 | collisionObject.SetContactProcessingThreshold(contactprocessingthreshold); |
204 | } | 225 | } |
205 | 226 | ||
206 | public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold) | 227 | public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) |
207 | { | 228 | { |
208 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 229 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
209 | body.SetCcdMotionThreshold(pccdMotionThreashold); | 230 | collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); |
210 | } | 231 | } |
211 | 232 | ||
212 | public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius) | 233 | public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) |
213 | { | 234 | { |
214 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 235 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
215 | body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); | 236 | collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); |
216 | } | 237 | } |
217 | 238 | ||
218 | public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) | 239 | public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) |
219 | { | 240 | { |
220 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 241 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
221 | body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); | 242 | body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); |
222 | } | 243 | } |
223 | 244 | ||
224 | public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) | 245 | public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) |
225 | { | 246 | { |
226 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 247 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
227 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | 248 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); |
228 | existingcollisionFlags |= pcollisionFlags; | 249 | existingcollisionFlags |= pcollisionFlags; |
229 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | 250 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); |
230 | return (CollisionFlags) (uint) existingcollisionFlags; | 251 | return (CollisionFlags) (uint) existingcollisionFlags; |
231 | } | 252 | } |
232 | 253 | ||
233 | public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) | 254 | public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) |
234 | { | 255 | { |
256 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
257 | CollisionObject cbody = (pBody as BulletBodyXNA).body; | ||
258 | RigidBody rbody = cbody as RigidBody; | ||
259 | |||
235 | // Bullet resets several variables when an object is added to the world. In particular, | 260 | // Bullet resets several variables when an object is added to the world. In particular, |
236 | // BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic | 261 | // 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. | 262 | // type. Of course, the collision flags in the broadphase proxy are initialized to default. |
238 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 263 | IndexedMatrix origPos = cbody.GetWorldTransform(); |
239 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 264 | if (rbody != null) |
240 | 265 | { | |
241 | IndexedMatrix origPos = body.GetWorldTransform(); | 266 | IndexedVector3 origGrav = rbody.GetGravity(); |
242 | IndexedVector3 origGrav = body.GetGravity(); | 267 | world.AddRigidBody(rbody); |
243 | 268 | rbody.SetGravity(origGrav); | |
244 | //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) | 269 | } |
245 | 270 | else | |
246 | world.AddRigidBody(body); | 271 | { |
247 | 272 | world.AddCollisionObject(cbody); | |
248 | body.SetWorldTransform(origPos); | 273 | } |
249 | body.SetGravity(origGrav); | 274 | cbody.SetWorldTransform(origPos); |
250 | 275 | ||
251 | pBody.ApplyCollisionMask(pWorld.physicsScene); | 276 | pBody.ApplyCollisionMask(pWorld.physicsScene); |
252 | 277 | ||
@@ -255,99 +280,110 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
255 | return true; | 280 | return true; |
256 | } | 281 | } |
257 | 282 | ||
258 | public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState) | 283 | public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState) |
259 | { | 284 | { |
260 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 285 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
261 | body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); | 286 | collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); |
262 | } | 287 | } |
263 | 288 | ||
264 | public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody) | 289 | public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject) |
265 | { | 290 | { |
266 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 291 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
267 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 292 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
268 | world.UpdateSingleAabb(body); | 293 | world.UpdateSingleAabb(collisionObject); |
269 | } | 294 | } |
270 | 295 | ||
271 | public override void UpdateAabbs(BulletWorld world) { /* TODO */ } | 296 | public override void UpdateAabbs(BulletWorld pWorld) { |
272 | public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false; } | 297 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
273 | public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ } | 298 | world.UpdateAabbs(); |
299 | } | ||
300 | public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { | ||
301 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
302 | return world.GetForceUpdateAllAabbs(); | ||
274 | 303 | ||
275 | public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask) | 304 | } |
305 | public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) | ||
276 | { | 306 | { |
277 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 307 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
278 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | 308 | world.SetForceUpdateAllAabbs(pForce); |
279 | body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | 309 | } |
280 | if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) | 310 | |
311 | public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) | ||
312 | { | ||
313 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; | ||
314 | collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
315 | collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; | ||
316 | if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) | ||
281 | return false; | 317 | return false; |
282 | return true; | 318 | return true; |
283 | } | 319 | } |
284 | 320 | ||
285 | public override void ClearAllForces(BulletBody pBody) | 321 | public override void ClearAllForces(BulletBody pCollisionObject) |
286 | { | 322 | { |
287 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 323 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
288 | IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); | 324 | IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); |
289 | body.SetInterpolationLinearVelocity(ref zeroVector); | 325 | collisionObject.SetInterpolationLinearVelocity(ref zeroVector); |
290 | body.SetInterpolationAngularVelocity(ref zeroVector); | 326 | collisionObject.SetInterpolationAngularVelocity(ref zeroVector); |
291 | IndexedMatrix bodytransform = body.GetWorldTransform(); | 327 | IndexedMatrix bodytransform = collisionObject.GetWorldTransform(); |
292 | 328 | ||
293 | body.SetInterpolationWorldTransform(ref bodytransform); | 329 | collisionObject.SetInterpolationWorldTransform(ref bodytransform); |
294 | 330 | ||
295 | if (body is RigidBody) | 331 | if (collisionObject is RigidBody) |
296 | { | 332 | { |
297 | RigidBody rigidbody = body as RigidBody; | 333 | RigidBody rigidbody = collisionObject as RigidBody; |
298 | rigidbody.SetLinearVelocity(zeroVector); | 334 | rigidbody.SetLinearVelocity(zeroVector); |
299 | rigidbody.SetAngularVelocity(zeroVector); | 335 | rigidbody.SetAngularVelocity(zeroVector); |
300 | rigidbody.ClearForces(); | 336 | rigidbody.ClearForces(); |
301 | } | 337 | } |
302 | } | 338 | } |
303 | 339 | ||
304 | public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3) | 340 | public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3) |
305 | { | 341 | { |
306 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 342 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
307 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | 343 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); |
308 | body.SetInterpolationAngularVelocity(ref vec); | 344 | collisionObject.SetInterpolationAngularVelocity(ref vec); |
309 | } | 345 | } |
310 | 346 | ||
311 | public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) | 347 | public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) |
312 | { | 348 | { |
313 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 349 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
314 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); | 350 | IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); |
315 | body.SetAngularVelocity(ref vec); | 351 | body.SetAngularVelocity(ref vec); |
316 | } | 352 | } |
317 | public override Vector3 GetTotalForce(BulletBody pBody) | 353 | public override Vector3 GetTotalForce(BulletBody pBody) |
318 | { | 354 | { |
319 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 355 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
320 | IndexedVector3 iv3 = body.GetTotalForce(); | 356 | IndexedVector3 iv3 = body.GetTotalForce(); |
321 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 357 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
322 | } | 358 | } |
323 | public override Vector3 GetTotalTorque(BulletBody pBody) | 359 | public override Vector3 GetTotalTorque(BulletBody pBody) |
324 | { | 360 | { |
325 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 361 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
326 | IndexedVector3 iv3 = body.GetTotalTorque(); | 362 | IndexedVector3 iv3 = body.GetTotalTorque(); |
327 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 363 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
328 | } | 364 | } |
329 | public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) | 365 | public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) |
330 | { | 366 | { |
331 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 367 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
332 | IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); | 368 | IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); |
333 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 369 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
334 | } | 370 | } |
335 | public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) | 371 | public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) |
336 | { | 372 | { |
337 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 373 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
338 | IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); | 374 | IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); |
339 | body.SetInvInertiaDiagLocal(ref iv3); | 375 | body.SetInvInertiaDiagLocal(ref iv3); |
340 | } | 376 | } |
341 | public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) | 377 | public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) |
342 | { | 378 | { |
343 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 379 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
344 | IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); | 380 | IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); |
345 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | 381 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); |
346 | body.ApplyForce(ref forceiv3, ref posiv3); | 382 | body.ApplyForce(ref forceiv3, ref posiv3); |
347 | } | 383 | } |
348 | public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) | 384 | public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) |
349 | { | 385 | { |
350 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 386 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
351 | IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); | 387 | IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); |
352 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | 388 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); |
353 | body.ApplyImpulse(ref impiv3, ref posiv3); | 389 | body.ApplyImpulse(ref impiv3, ref posiv3); |
@@ -355,32 +391,32 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
355 | 391 | ||
356 | public override void ClearForces(BulletBody pBody) | 392 | public override void ClearForces(BulletBody pBody) |
357 | { | 393 | { |
358 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 394 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
359 | body.ClearForces(); | 395 | body.ClearForces(); |
360 | } | 396 | } |
361 | 397 | ||
362 | public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation) | 398 | public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) |
363 | { | 399 | { |
364 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 400 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
365 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); | 401 | IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); |
366 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, | 402 | IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, |
367 | _orientation.W); | 403 | _orientation.W); |
368 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); | 404 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); |
369 | mat._origin = vposition; | 405 | mat._origin = vposition; |
370 | body.SetWorldTransform(mat); | 406 | collisionObject.SetWorldTransform(mat); |
371 | 407 | ||
372 | } | 408 | } |
373 | 409 | ||
374 | public override Vector3 GetPosition(BulletBody pBody) | 410 | public override Vector3 GetPosition(BulletBody pCollisionObject) |
375 | { | 411 | { |
376 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 412 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
377 | IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; | 413 | IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin; |
378 | return new Vector3(pos.X, pos.Y, pos.Z); | 414 | return new Vector3(pos.X, pos.Y, pos.Z); |
379 | } | 415 | } |
380 | 416 | ||
381 | public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) | 417 | public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) |
382 | { | 418 | { |
383 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 419 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
384 | IndexedVector3 inertia = IndexedVector3.Zero; | 420 | IndexedVector3 inertia = IndexedVector3.Zero; |
385 | shape.CalculateLocalInertia(pphysMass, out inertia); | 421 | shape.CalculateLocalInertia(pphysMass, out inertia); |
386 | return new Vector3(inertia.X, inertia.Y, inertia.Z); | 422 | return new Vector3(inertia.X, inertia.Y, inertia.Z); |
@@ -388,81 +424,104 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
388 | 424 | ||
389 | public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) | 425 | public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) |
390 | { | 426 | { |
391 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 427 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
392 | IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); | 428 | if (body != null) // Can't set mass props on collision object. |
393 | body.SetMassProps(pphysMass, inertia); | 429 | { |
430 | IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); | ||
431 | body.SetMassProps(pphysMass, inertia); | ||
432 | } | ||
394 | } | 433 | } |
395 | 434 | ||
396 | 435 | ||
397 | public override void SetObjectForce(BulletBody pBody, Vector3 _force) | 436 | public override void SetObjectForce(BulletBody pBody, Vector3 _force) |
398 | { | 437 | { |
399 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 438 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
400 | IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); | 439 | IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); |
401 | body.SetTotalForce(ref force); | 440 | body.SetTotalForce(ref force); |
402 | } | 441 | } |
403 | 442 | ||
404 | public override void SetFriction(BulletBody pBody, float _currentFriction) | 443 | public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) |
405 | { | 444 | { |
406 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 445 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
407 | body.SetFriction(_currentFriction); | 446 | collisionObject.SetFriction(_currentFriction); |
408 | } | 447 | } |
409 | 448 | ||
410 | public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) | 449 | public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) |
411 | { | 450 | { |
412 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 451 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
413 | IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); | 452 | IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); |
414 | body.SetLinearVelocity(velocity); | 453 | body.SetLinearVelocity(velocity); |
415 | } | 454 | } |
416 | 455 | ||
417 | public override void Activate(BulletBody pBody, bool pforceactivation) | 456 | public override void Activate(BulletBody pCollisionObject, bool pforceactivation) |
418 | { | 457 | { |
419 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 458 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
420 | body.Activate(pforceactivation); | 459 | collisionObject.Activate(pforceactivation); |
421 | 460 | ||
422 | } | 461 | } |
423 | 462 | ||
424 | public override Quaternion GetOrientation(BulletBody pBody) | 463 | public override Quaternion GetOrientation(BulletBody pCollisionObject) |
425 | { | 464 | { |
426 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 465 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
427 | IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); | 466 | IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation(); |
428 | return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); | 467 | return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); |
429 | } | 468 | } |
430 | 469 | ||
431 | public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) | 470 | public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) |
432 | { | 471 | { |
433 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 472 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
434 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); | 473 | CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); |
435 | existingcollisionFlags &= ~pcollisionFlags; | 474 | existingcollisionFlags &= ~pcollisionFlags; |
436 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); | 475 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); |
437 | return (CollisionFlags)(uint)existingcollisionFlags; | 476 | return (CollisionFlags)(uint)existingcollisionFlags; |
438 | } | 477 | } |
439 | 478 | ||
440 | public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f; } | 479 | public override float GetCcdMotionThreshold(BulletBody pCollisionObject) |
480 | { | ||
481 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
482 | return collisionObject.GetCcdSquareMotionThreshold(); | ||
483 | } | ||
441 | 484 | ||
442 | public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f; } | 485 | public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject) |
486 | { | ||
487 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
488 | return collisionObject.GetCcdSweptSphereRadius(); | ||
489 | |||
490 | } | ||
443 | 491 | ||
444 | public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero; } | 492 | public override IntPtr GetUserPointer(BulletBody pCollisionObject) |
493 | { | ||
494 | CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; | ||
495 | return (IntPtr)shape.GetUserPointer(); | ||
496 | } | ||
445 | 497 | ||
446 | public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ } | 498 | public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val) |
499 | { | ||
500 | CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; | ||
501 | shape.SetUserPointer(val); | ||
502 | } | ||
447 | 503 | ||
448 | public override void SetGravity(BulletBody pBody, Vector3 pGravity) | 504 | public override void SetGravity(BulletBody pBody, Vector3 pGravity) |
449 | { | 505 | { |
450 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 506 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
451 | IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); | 507 | if (body != null) // Can't set collisionobject.set gravity |
452 | body.SetGravity(gravity); | 508 | { |
509 | IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); | ||
510 | body.SetGravity(gravity); | ||
511 | } | ||
453 | } | 512 | } |
454 | 513 | ||
455 | public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) | 514 | public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) |
456 | { | 515 | { |
457 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 516 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
458 | TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain; | 517 | TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; |
459 | world.RemoveConstraint(constraint); | 518 | world.RemoveConstraint(constraint); |
460 | return true; | 519 | return true; |
461 | } | 520 | } |
462 | 521 | ||
463 | public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | 522 | public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) |
464 | { | 523 | { |
465 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 524 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
466 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | 525 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); |
467 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | 526 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); |
468 | constraint.SetLinearLowerLimit(lowlimit); | 527 | constraint.SetLinearLowerLimit(lowlimit); |
@@ -472,7 +531,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
472 | 531 | ||
473 | public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) | 532 | public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) |
474 | { | 533 | { |
475 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 534 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
476 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); | 535 | IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); |
477 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); | 536 | IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); |
478 | constraint.SetAngularLowerLimit(lowlimit); | 537 | constraint.SetAngularLowerLimit(lowlimit); |
@@ -482,31 +541,32 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
482 | 541 | ||
483 | public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) | 542 | public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) |
484 | { | 543 | { |
485 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 544 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
486 | constraint.SetOverrideNumSolverIterations((int)cnt); | 545 | constraint.SetOverrideNumSolverIterations((int)cnt); |
487 | } | 546 | } |
488 | 547 | ||
489 | public override bool CalculateTransforms(BulletConstraint pConstraint) | 548 | public override bool CalculateTransforms(BulletConstraint pConstraint) |
490 | { | 549 | { |
491 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 550 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
492 | constraint.CalculateTransforms(); | 551 | constraint.CalculateTransforms(); |
493 | return true; | 552 | return true; |
494 | } | 553 | } |
495 | 554 | ||
496 | public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) | 555 | public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) |
497 | { | 556 | { |
498 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 557 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
499 | constraint.SetEnabled((p_2 == 0) ? false : true); | 558 | constraint.SetEnabled((p_2 == 0) ? false : true); |
500 | } | 559 | } |
501 | 560 | ||
502 | 561 | ||
503 | //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | 562 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, |
504 | public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 563 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, |
564 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
505 | 565 | ||
506 | { | 566 | { |
507 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 567 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
508 | RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; | 568 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; |
509 | RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; | 569 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; |
510 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | 570 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); |
511 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | 571 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); |
512 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | 572 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); |
@@ -525,9 +585,26 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
525 | return new BulletConstraintXNA(consttr); | 585 | return new BulletConstraintXNA(consttr); |
526 | } | 586 | } |
527 | 587 | ||
528 | 588 | public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1, | |
589 | Vector3 pframe1, Quaternion pframe1rot, | ||
590 | bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies) | ||
591 | { | ||
592 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
593 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
594 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
595 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
596 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
597 | frame1._origin = frame1v; | ||
598 | |||
599 | Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB); | ||
600 | consttr.CalculateTransforms(); | ||
601 | world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); | ||
602 | |||
603 | return new BulletConstraintXNA(consttr); | ||
604 | } | ||
605 | |||
529 | /// <summary> | 606 | /// <summary> |
530 | /// | 607 | /// |
531 | /// </summary> | 608 | /// </summary> |
532 | /// <param name="pWorld"></param> | 609 | /// <param name="pWorld"></param> |
533 | /// <param name="pBody1"></param> | 610 | /// <param name="pBody1"></param> |
@@ -538,9 +615,9 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
538 | /// <returns></returns> | 615 | /// <returns></returns> |
539 | public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 616 | public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) |
540 | { | 617 | { |
541 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 618 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
542 | RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; | 619 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; |
543 | RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; | 620 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; |
544 | IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | 621 | IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); |
545 | IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); | 622 | IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); |
546 | 623 | ||
@@ -559,7 +636,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
559 | //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); | 636 | //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); |
560 | public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) | 637 | public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) |
561 | { | 638 | { |
562 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 639 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
563 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | 640 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); |
564 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | 641 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); |
565 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | 642 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); |
@@ -575,109 +652,110 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
575 | 652 | ||
576 | public override Vector3 GetLinearVelocity(BulletBody pBody) | 653 | public override Vector3 GetLinearVelocity(BulletBody pBody) |
577 | { | 654 | { |
578 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 655 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
579 | IndexedVector3 iv3 = body.GetLinearVelocity(); | 656 | IndexedVector3 iv3 = body.GetLinearVelocity(); |
580 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 657 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
581 | } | 658 | } |
582 | public override Vector3 GetAngularVelocity(BulletBody pBody) | 659 | public override Vector3 GetAngularVelocity(BulletBody pBody) |
583 | { | 660 | { |
584 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 661 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
585 | IndexedVector3 iv3 = body.GetAngularVelocity(); | 662 | IndexedVector3 iv3 = body.GetAngularVelocity(); |
586 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 663 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
587 | } | 664 | } |
588 | public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) | 665 | public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) |
589 | { | 666 | { |
590 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 667 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
591 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); | 668 | IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); |
592 | IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); | 669 | IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); |
593 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 670 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
594 | } | 671 | } |
595 | public override void Translate(BulletBody pBody, Vector3 trans) | 672 | public override void Translate(BulletBody pCollisionObject, Vector3 trans) |
596 | { | 673 | { |
597 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 674 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
675 | collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z)); | ||
598 | } | 676 | } |
599 | public override void UpdateDeactivation(BulletBody pBody, float timeStep) | 677 | public override void UpdateDeactivation(BulletBody pBody, float timeStep) |
600 | { | 678 | { |
601 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 679 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
602 | body.UpdateDeactivation(timeStep); | 680 | body.UpdateDeactivation(timeStep); |
603 | } | 681 | } |
604 | 682 | ||
605 | public override bool WantsSleeping(BulletBody pBody) | 683 | public override bool WantsSleeping(BulletBody pBody) |
606 | { | 684 | { |
607 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 685 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
608 | return body.WantsSleeping(); | 686 | return body.WantsSleeping(); |
609 | } | 687 | } |
610 | 688 | ||
611 | public override void SetAngularFactor(BulletBody pBody, float factor) | 689 | public override void SetAngularFactor(BulletBody pBody, float factor) |
612 | { | 690 | { |
613 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 691 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
614 | body.SetAngularFactor(factor); | 692 | body.SetAngularFactor(factor); |
615 | } | 693 | } |
616 | 694 | ||
617 | public override Vector3 GetAngularFactor(BulletBody pBody) | 695 | public override Vector3 GetAngularFactor(BulletBody pBody) |
618 | { | 696 | { |
619 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 697 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
620 | IndexedVector3 iv3 = body.GetAngularFactor(); | 698 | IndexedVector3 iv3 = body.GetAngularFactor(); |
621 | return new Vector3(iv3.X, iv3.Y, iv3.Z); | 699 | return new Vector3(iv3.X, iv3.Y, iv3.Z); |
622 | } | 700 | } |
623 | 701 | ||
624 | public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody) | 702 | public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject) |
625 | { | 703 | { |
626 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 704 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
627 | CollisionObject body = ((BulletBodyXNA)pBody).body; | 705 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
628 | return world.IsInWorld(body); | 706 | return world.IsInWorld(collisionObject); |
629 | } | 707 | } |
630 | 708 | ||
631 | public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain) | 709 | public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint) |
632 | { | 710 | { |
633 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 711 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
634 | TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; | 712 | TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; |
635 | body.AddConstraintRef(constrain); | 713 | body.AddConstraintRef(constrain); |
636 | } | 714 | } |
637 | 715 | ||
638 | public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain) | 716 | public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint) |
639 | { | 717 | { |
640 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 718 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
641 | TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; | 719 | TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; |
642 | body.RemoveConstraintRef(constrain); | 720 | body.RemoveConstraintRef(constrain); |
643 | } | 721 | } |
644 | 722 | ||
645 | public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) | 723 | public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) |
646 | { | 724 | { |
647 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 725 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
648 | return new BulletConstraintXNA(body.GetConstraintRef(index)); | 726 | return new BulletConstraintXNA(body.GetConstraintRef(index)); |
649 | } | 727 | } |
650 | 728 | ||
651 | public override int GetNumConstraintRefs(BulletBody pBody) | 729 | public override int GetNumConstraintRefs(BulletBody pBody) |
652 | { | 730 | { |
653 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 731 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
654 | return body.GetNumConstraintRefs(); | 732 | return body.GetNumConstraintRefs(); |
655 | } | 733 | } |
656 | 734 | ||
657 | public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity) | 735 | public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity) |
658 | { | 736 | { |
659 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 737 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
660 | IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); | 738 | IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); |
661 | body.SetInterpolationLinearVelocity(ref velocity); | 739 | collisionObject.SetInterpolationLinearVelocity(ref velocity); |
662 | } | 740 | } |
663 | 741 | ||
664 | public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) | 742 | public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) |
665 | { | 743 | { |
666 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 744 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
667 | constraint.SetUseFrameOffset((onOff == 0) ? false : true); | 745 | constraint.SetUseFrameOffset((onOff == 0) ? false : true); |
668 | return true; | 746 | return true; |
669 | } | 747 | } |
670 | //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); | 748 | //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); |
671 | public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) | 749 | public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) |
672 | { | 750 | { |
673 | Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 751 | Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
674 | constraint.SetBreakingImpulseThreshold(threshold); | 752 | constraint.SetBreakingImpulseThreshold(threshold); |
675 | return true; | 753 | return true; |
676 | } | 754 | } |
677 | //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); | 755 | //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); |
678 | public override void SetAngularDamping(BulletBody pBody, float angularDamping) | 756 | public override void SetAngularDamping(BulletBody pBody, float angularDamping) |
679 | { | 757 | { |
680 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 758 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
681 | float lineardamping = body.GetLinearDamping(); | 759 | float lineardamping = body.GetLinearDamping(); |
682 | body.SetDamping(lineardamping, angularDamping); | 760 | body.SetDamping(lineardamping, angularDamping); |
683 | 761 | ||
@@ -685,163 +763,241 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
685 | 763 | ||
686 | public override void UpdateInertiaTensor(BulletBody pBody) | 764 | public override void UpdateInertiaTensor(BulletBody pBody) |
687 | { | 765 | { |
688 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 766 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
689 | body.UpdateInertiaTensor(); | 767 | if (body != null) // can't update inertia tensor on CollisionObject |
768 | body.UpdateInertiaTensor(); | ||
690 | } | 769 | } |
691 | 770 | ||
692 | public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) | 771 | public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) |
693 | { | 772 | { |
694 | CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; | 773 | CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; |
695 | shape.RecalculateLocalAabb(); | 774 | shape.RecalculateLocalAabb(); |
696 | } | 775 | } |
697 | 776 | ||
698 | //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) | 777 | //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) |
699 | public override CollisionFlags GetCollisionFlags(BulletBody pBody) | 778 | public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject) |
700 | { | 779 | { |
701 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 780 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
702 | uint flags = (uint)body.GetCollisionFlags(); | 781 | uint flags = (uint)collisionObject.GetCollisionFlags(); |
703 | return (CollisionFlags) flags; | 782 | return (CollisionFlags) flags; |
704 | } | 783 | } |
705 | 784 | ||
706 | public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) | 785 | public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) |
707 | { | 786 | { |
708 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 787 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
709 | body.SetDamping(pLinear, pAngular); | 788 | body.SetDamping(pLinear, pAngular); |
710 | } | 789 | } |
711 | //PhysBody.ptr, PhysicsScene.Params.deactivationTime); | 790 | //PhysBody.ptr, PhysicsScene.Params.deactivationTime); |
712 | public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime) | 791 | public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime) |
713 | { | 792 | { |
714 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 793 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
715 | body.SetDeactivationTime(pDeactivationTime); | 794 | collisionObject.SetDeactivationTime(pDeactivationTime); |
716 | } | 795 | } |
717 | //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); | 796 | //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); |
718 | public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) | 797 | public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) |
719 | { | 798 | { |
720 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 799 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
721 | body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); | 800 | body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); |
722 | } | 801 | } |
723 | 802 | ||
724 | public override CollisionObjectTypes GetBodyType(BulletBody pBody) | 803 | public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) |
725 | { | 804 | { |
726 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 805 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
727 | return (CollisionObjectTypes)(int) body.GetInternalType(); | 806 | return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); |
728 | } | 807 | } |
729 | 808 | ||
730 | public override void ApplyGravity(BulletBody obj) { /* TODO */ } | 809 | public override void ApplyGravity(BulletBody pBody) |
810 | { | ||
811 | |||
812 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
813 | body.ApplyGravity(); | ||
814 | } | ||
731 | 815 | ||
732 | public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero; } | 816 | public override Vector3 GetGravity(BulletBody pBody) |
817 | { | ||
818 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
819 | IndexedVector3 gravity = body.GetGravity(); | ||
820 | return new Vector3(gravity.X, gravity.Y, gravity.Z); | ||
821 | } | ||
733 | 822 | ||
734 | public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ } | 823 | public override void SetLinearDamping(BulletBody pBody, float lin_damping) |
824 | { | ||
825 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
826 | float angularDamping = body.GetAngularDamping(); | ||
827 | body.SetDamping(lin_damping, angularDamping); | ||
828 | } | ||
735 | 829 | ||
736 | public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f; } | 830 | public override float GetLinearDamping(BulletBody pBody) |
831 | { | ||
832 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
833 | return body.GetLinearDamping(); | ||
834 | } | ||
737 | 835 | ||
738 | public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f; } | 836 | public override float GetAngularDamping(BulletBody pBody) |
837 | { | ||
838 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
839 | return body.GetAngularDamping(); | ||
840 | } | ||
739 | 841 | ||
740 | public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f; } | 842 | public override float GetLinearSleepingThreshold(BulletBody pBody) |
843 | { | ||
844 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
845 | return body.GetLinearSleepingThreshold(); | ||
846 | } | ||
741 | 847 | ||
742 | public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ } | 848 | public override void ApplyDamping(BulletBody pBody, float timeStep) |
849 | { | ||
850 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
851 | body.ApplyDamping(timeStep); | ||
852 | } | ||
743 | 853 | ||
744 | public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; } | 854 | public override Vector3 GetLinearFactor(BulletBody pBody) |
855 | { | ||
856 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
857 | IndexedVector3 linearFactor = body.GetLinearFactor(); | ||
858 | return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z); | ||
859 | } | ||
745 | 860 | ||
746 | public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ } | 861 | public override void SetLinearFactor(BulletBody pBody, Vector3 factor) |
862 | { | ||
863 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
864 | body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z)); | ||
865 | } | ||
747 | 866 | ||
748 | public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ } | 867 | public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot) |
868 | { | ||
869 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; | ||
870 | IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W); | ||
871 | IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat); | ||
872 | mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z); | ||
873 | body.SetCenterOfMassTransform( ref mat); | ||
874 | /* TODO: double check this */ | ||
875 | } | ||
749 | 876 | ||
750 | //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); | 877 | //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); |
751 | public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) | 878 | public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) |
752 | { | 879 | { |
753 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 880 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
754 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 881 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
755 | body.ApplyCentralForce(ref fSum); | 882 | body.ApplyCentralForce(ref fSum); |
756 | } | 883 | } |
757 | public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) | 884 | public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) |
758 | { | 885 | { |
759 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 886 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
760 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 887 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
761 | body.ApplyCentralImpulse(ref fSum); | 888 | body.ApplyCentralImpulse(ref fSum); |
762 | } | 889 | } |
763 | public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) | 890 | public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) |
764 | { | 891 | { |
765 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 892 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
766 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 893 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
767 | body.ApplyTorque(ref fSum); | 894 | body.ApplyTorque(ref fSum); |
768 | } | 895 | } |
769 | public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) | 896 | public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) |
770 | { | 897 | { |
771 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 898 | RigidBody body = (pBody as BulletBodyXNA).rigidBody; |
772 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); | 899 | IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); |
773 | body.ApplyTorqueImpulse(ref fSum); | 900 | body.ApplyTorqueImpulse(ref fSum); |
774 | } | 901 | } |
775 | 902 | ||
776 | public override void DumpRigidBody(BulletWorld p, BulletBody p_2) | 903 | public override void DestroyObject(BulletWorld pWorld, BulletBody pBody) |
777 | { | ||
778 | //TODO: | ||
779 | } | ||
780 | |||
781 | public override void DumpCollisionShape(BulletWorld p, BulletShape p_2) | ||
782 | { | 904 | { |
783 | //TODO: | 905 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
784 | } | 906 | CollisionObject co = (pBody as BulletBodyXNA).rigidBody; |
785 | public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) | 907 | RigidBody bo = co as RigidBody; |
786 | { | 908 | if (bo == null) |
787 | //TODO: | 909 | { |
788 | } | ||
789 | |||
790 | public override void DumpActivationInfo(BulletWorld world) | ||
791 | { | ||
792 | //TODO: | ||
793 | } | ||
794 | 910 | ||
795 | public override void DumpAllInfo(BulletWorld world) | 911 | if (world.IsInWorld(co)) |
796 | { | 912 | { |
797 | //TODO: | 913 | world.RemoveCollisionObject(co); |
798 | } | 914 | } |
915 | } | ||
916 | else | ||
917 | { | ||
799 | 918 | ||
800 | public override void DumpPhysicsStatistics(BulletWorld world) | 919 | if (world.IsInWorld(bo)) |
801 | { | 920 | { |
802 | //TODO: | 921 | world.RemoveRigidBody(bo); |
803 | } | 922 | } |
923 | } | ||
924 | if (co != null) | ||
925 | { | ||
926 | if (co.GetUserPointer() != null) | ||
927 | { | ||
928 | uint localId = (uint) co.GetUserPointer(); | ||
929 | if (specialCollisionObjects.ContainsKey(localId)) | ||
930 | { | ||
931 | specialCollisionObjects.Remove(localId); | ||
932 | } | ||
933 | } | ||
934 | } | ||
804 | 935 | ||
805 | public override void DestroyObject(BulletWorld p, BulletBody p_2) | ||
806 | { | ||
807 | //TODO: | ||
808 | } | 936 | } |
809 | 937 | ||
810 | public override void Shutdown(BulletWorld pWorld) | 938 | public override void Shutdown(BulletWorld pWorld) |
811 | { | 939 | { |
812 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 940 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
813 | world.Cleanup(); | 941 | world.Cleanup(); |
814 | } | 942 | } |
815 | 943 | ||
816 | public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) | 944 | public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id) |
817 | { | 945 | { |
818 | return null; | 946 | CollisionShape shape1 = (pShape as BulletShapeXNA).shape; |
947 | |||
948 | // TODO: Turn this from a reference copy to a Value Copy. | ||
949 | BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); | ||
950 | |||
951 | return shape2; | ||
819 | } | 952 | } |
820 | 953 | ||
821 | public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2) | 954 | public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape) |
822 | { | 955 | { |
823 | //TODO: | 956 | //TODO: |
824 | return false; | 957 | return false; |
825 | } | 958 | } |
826 | //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); | 959 | //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); |
827 | 960 | ||
828 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | 961 | public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) |
829 | { | 962 | { |
830 | CollisionWorld world = ((BulletWorldXNA)pWorld).world; | 963 | CollisionWorld world = (pWorld as BulletWorldXNA).world; |
831 | IndexedMatrix mat = | 964 | IndexedMatrix mat = |
832 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, | 965 | IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, |
833 | pRawOrientation.Z, pRawOrientation.W)); | 966 | pRawOrientation.Z, pRawOrientation.W)); |
834 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | 967 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); |
835 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 968 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
836 | //UpdateSingleAabb(world, shape); | 969 | //UpdateSingleAabb(world, shape); |
837 | // TODO: Feed Update array into null | 970 | // TODO: Feed Update array into null |
838 | RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); | 971 | SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null); |
839 | 972 | RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero); | |
973 | RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero) | ||
974 | { | ||
975 | m_mass = 0 | ||
976 | }; | ||
977 | /* | ||
978 | m_mass = mass; | ||
979 | m_motionState =motionState; | ||
980 | m_collisionShape = collisionShape; | ||
981 | m_localInertia = localInertia; | ||
982 | m_linearDamping = 0f; | ||
983 | m_angularDamping = 0f; | ||
984 | m_friction = 0.5f; | ||
985 | m_restitution = 0f; | ||
986 | m_linearSleepingThreshold = 0.8f; | ||
987 | m_angularSleepingThreshold = 1f; | ||
988 | m_additionalDamping = false; | ||
989 | m_additionalDampingFactor = 0.005f; | ||
990 | m_additionalLinearDampingThresholdSqr = 0.01f; | ||
991 | m_additionalAngularDampingThresholdSqr = 0.01f; | ||
992 | m_additionalAngularDampingFactor = 0.01f; | ||
993 | m_startWorldTransform = IndexedMatrix.Identity; | ||
994 | */ | ||
840 | body.SetUserPointer(pLocalID); | 995 | body.SetUserPointer(pLocalID); |
996 | |||
841 | return new BulletBodyXNA(pLocalID, body); | 997 | return new BulletBodyXNA(pLocalID, body); |
842 | } | 998 | } |
843 | 999 | ||
844 | 1000 | ||
845 | public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | 1001 | public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) |
846 | { | 1002 | { |
847 | 1003 | ||
@@ -850,7 +1006,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
850 | pRawOrientation.Z, pRawOrientation.W)); | 1006 | pRawOrientation.Z, pRawOrientation.W)); |
851 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | 1007 | mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); |
852 | 1008 | ||
853 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1009 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
854 | 1010 | ||
855 | // TODO: Feed Update array into null | 1011 | // TODO: Feed Update array into null |
856 | RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); | 1012 | RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); |
@@ -859,21 +1015,43 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
859 | return new BulletBodyXNA(pLocalID, body); | 1015 | return new BulletBodyXNA(pLocalID, body); |
860 | } | 1016 | } |
861 | //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | 1017 | //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); |
862 | public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags) | 1018 | public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags) |
863 | { | 1019 | { |
864 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 1020 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
865 | body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); | 1021 | collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); |
866 | return (CollisionFlags)body.GetCollisionFlags(); | 1022 | return (CollisionFlags)collisionObject.GetCollisionFlags(); |
867 | } | 1023 | } |
868 | 1024 | ||
869 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; } | 1025 | public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) |
1026 | { | ||
1027 | |||
1028 | /* TODO */ | ||
1029 | return Vector3.Zero; | ||
1030 | } | ||
870 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } | 1031 | public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } |
871 | public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } | 1032 | public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } |
872 | public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } | 1033 | public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } |
873 | public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; } | 1034 | public override bool IsStaticObject(BulletBody pCollisionObject) |
874 | public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; } | 1035 | { |
875 | public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; } | 1036 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
876 | public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; } | 1037 | return collisionObject.IsStaticObject(); |
1038 | |||
1039 | } | ||
1040 | public override bool IsKinematicObject(BulletBody pCollisionObject) | ||
1041 | { | ||
1042 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1043 | return collisionObject.IsKinematicObject(); | ||
1044 | } | ||
1045 | public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject) | ||
1046 | { | ||
1047 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1048 | return collisionObject.IsStaticOrKinematicObject(); | ||
1049 | } | ||
1050 | public override bool HasContactResponse(BulletBody pCollisionObject) | ||
1051 | { | ||
1052 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1053 | return collisionObject.HasContactResponse(); | ||
1054 | } | ||
877 | public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } | 1055 | public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } |
878 | public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } | 1056 | public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } |
879 | public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } | 1057 | public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } |
@@ -884,15 +1062,15 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
884 | public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } | 1062 | public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } |
885 | 1063 | ||
886 | //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); | 1064 | //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); |
887 | public override void SetHitFraction(BulletBody pBody, float pHitFraction) | 1065 | public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction) |
888 | { | 1066 | { |
889 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 1067 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
890 | body.SetHitFraction(pHitFraction); | 1068 | collisionObject.SetHitFraction(pHitFraction); |
891 | } | 1069 | } |
892 | //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); | 1070 | //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); |
893 | public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) | 1071 | public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) |
894 | { | 1072 | { |
895 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1073 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
896 | IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); | 1074 | IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); |
897 | CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); | 1075 | CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); |
898 | capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); | 1076 | capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); |
@@ -906,19 +1084,29 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
906 | int maxUpdates, ref EntityProperties[] updateArray | 1084 | int maxUpdates, ref EntityProperties[] updateArray |
907 | ) | 1085 | ) |
908 | { | 1086 | { |
1087 | |||
1088 | UpdatedObjects = updateArray; | ||
1089 | UpdatedCollisions = collisionArray; | ||
909 | /* TODO */ | 1090 | /* TODO */ |
910 | return new BulletWorldXNA(1, null, null); | 1091 | ConfigurationParameters[] configparms = new ConfigurationParameters[1]; |
1092 | configparms[0] = parms; | ||
1093 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); | ||
1094 | m_maxCollisions = maxCollisions; | ||
1095 | m_maxUpdatesPerFrame = maxUpdates; | ||
1096 | specialCollisionObjects = new Dictionary<uint, GhostObject>(); | ||
1097 | |||
1098 | return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); | ||
911 | } | 1099 | } |
912 | 1100 | ||
913 | private static object Initialize2(Vector3 worldExtent, | 1101 | private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, |
914 | ConfigurationParameters[] o, | 1102 | ConfigurationParameters[] o, |
915 | int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, | 1103 | int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, |
916 | int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, | 1104 | int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, |
917 | object mDebugLogCallbackHandle) | 1105 | object mDebugLogCallbackHandle) |
918 | { | 1106 | { |
919 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); | 1107 | CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); |
920 | 1108 | ||
921 | p.angularDamping = o[0].XangularDamping; | 1109 | p.angularDamping = BSParam.AngularDamping; |
922 | p.defaultFriction = o[0].defaultFriction; | 1110 | p.defaultFriction = o[0].defaultFriction; |
923 | p.defaultFriction = o[0].defaultFriction; | 1111 | p.defaultFriction = o[0].defaultFriction; |
924 | p.defaultDensity = o[0].defaultDensity; | 1112 | p.defaultDensity = o[0].defaultDensity; |
@@ -926,33 +1114,33 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
926 | p.collisionMargin = o[0].collisionMargin; | 1114 | p.collisionMargin = o[0].collisionMargin; |
927 | p.gravity = o[0].gravity; | 1115 | p.gravity = o[0].gravity; |
928 | 1116 | ||
929 | p.linearDamping = o[0].XlinearDamping; | 1117 | p.linearDamping = BSParam.LinearDamping; |
930 | p.angularDamping = o[0].XangularDamping; | 1118 | p.angularDamping = BSParam.AngularDamping; |
931 | p.deactivationTime = o[0].XdeactivationTime; | 1119 | p.deactivationTime = BSParam.DeactivationTime; |
932 | p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; | 1120 | p.linearSleepingThreshold = BSParam.LinearSleepingThreshold; |
933 | p.angularSleepingThreshold = o[0].XangularSleepingThreshold; | 1121 | p.angularSleepingThreshold = BSParam.AngularSleepingThreshold; |
934 | p.ccdMotionThreshold = o[0].XccdMotionThreshold; | 1122 | p.ccdMotionThreshold = BSParam.CcdMotionThreshold; |
935 | p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; | 1123 | p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius; |
936 | p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; | 1124 | p.contactProcessingThreshold = BSParam.ContactProcessingThreshold; |
937 | 1125 | ||
938 | p.terrainImplementation = o[0].XterrainImplementation; | 1126 | p.terrainImplementation = BSParam.TerrainImplementation; |
939 | p.terrainFriction = o[0].XterrainFriction; | 1127 | p.terrainFriction = BSParam.TerrainFriction; |
940 | 1128 | ||
941 | p.terrainHitFraction = o[0].XterrainHitFraction; | 1129 | p.terrainHitFraction = BSParam.TerrainHitFraction; |
942 | p.terrainRestitution = o[0].XterrainRestitution; | 1130 | p.terrainRestitution = BSParam.TerrainRestitution; |
943 | p.terrainCollisionMargin = o[0].XterrainCollisionMargin; | 1131 | p.terrainCollisionMargin = BSParam.TerrainCollisionMargin; |
944 | 1132 | ||
945 | p.avatarFriction = o[0].XavatarFriction; | 1133 | p.avatarFriction = BSParam.AvatarFriction; |
946 | p.avatarStandingFriction = o[0].XavatarStandingFriction; | 1134 | p.avatarStandingFriction = BSParam.AvatarStandingFriction; |
947 | p.avatarDensity = o[0].XavatarDensity; | 1135 | p.avatarDensity = BSParam.AvatarDensity; |
948 | p.avatarRestitution = o[0].XavatarRestitution; | 1136 | p.avatarRestitution = BSParam.AvatarRestitution; |
949 | p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; | 1137 | p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth; |
950 | p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; | 1138 | p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; |
951 | p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; | 1139 | p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; |
952 | p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; | 1140 | p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; |
953 | 1141 | ||
954 | p.vehicleAngularDamping = o[0].XvehicleAngularDamping; | 1142 | p.vehicleAngularDamping = BSParam.VehicleAngularDamping; |
955 | 1143 | ||
956 | p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; | 1144 | p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; |
957 | p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; | 1145 | p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; |
958 | p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; | 1146 | p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; |
@@ -962,17 +1150,17 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
962 | p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; | 1150 | p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; |
963 | p.numberOfSolverIterations = o[0].numberOfSolverIterations; | 1151 | p.numberOfSolverIterations = o[0].numberOfSolverIterations; |
964 | 1152 | ||
965 | p.linksetImplementation = o[0].XlinksetImplementation; | 1153 | p.linksetImplementation = BSParam.LinksetImplementation; |
966 | p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; | 1154 | p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset); |
967 | p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; | 1155 | p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor); |
968 | p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; | 1156 | p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; |
969 | p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; | 1157 | p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; |
970 | p.linkConstraintERP = o[0].XlinkConstraintERP; | 1158 | p.linkConstraintERP = BSParam.LinkConstraintERP; |
971 | p.linkConstraintCFM = o[0].XlinkConstraintCFM; | 1159 | p.linkConstraintCFM = BSParam.LinkConstraintCFM; |
972 | p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; | 1160 | p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; |
973 | p.physicsLoggingFrames = o[0].XphysicsLoggingFrames; | 1161 | p.physicsLoggingFrames = o[0].physicsLoggingFrames; |
974 | DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); | 1162 | DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); |
975 | 1163 | ||
976 | DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); | 1164 | DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); |
977 | CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); | 1165 | CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); |
978 | 1166 | ||
@@ -993,8 +1181,10 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
993 | SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); | 1181 | SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); |
994 | 1182 | ||
995 | DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); | 1183 | DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); |
996 | world.UpdatedObjects = updateArray; | 1184 | |
997 | world.UpdatedCollisions = collisionArray; | 1185 | world.LastCollisionDesc = 0; |
1186 | world.LastEntityProperty = 0; | ||
1187 | |||
998 | world.WorldSettings.Params = p; | 1188 | world.WorldSettings.Params = p; |
999 | world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); | 1189 | world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); |
1000 | world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; | 1190 | world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; |
@@ -1028,7 +1218,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1028 | world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; | 1218 | world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; |
1029 | world.SetForceUpdateAllAabbs(true); | 1219 | world.SetForceUpdateAllAabbs(true); |
1030 | 1220 | ||
1031 | 1221 | //BSParam.TerrainImplementation = 0; | |
1032 | world.SetGravity(new IndexedVector3(0,0,p.gravity)); | 1222 | world.SetGravity(new IndexedVector3(0,0,p.gravity)); |
1033 | 1223 | ||
1034 | return world; | 1224 | return world; |
@@ -1036,7 +1226,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1036 | //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL | 1226 | //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL |
1037 | public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) | 1227 | public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) |
1038 | { | 1228 | { |
1039 | Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; | 1229 | Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; |
1040 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) | 1230 | if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) |
1041 | { | 1231 | { |
1042 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); | 1232 | constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); |
@@ -1059,7 +1249,8 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1059 | public override bool PushUpdate(BulletBody pCollisionObject) | 1249 | public override bool PushUpdate(BulletBody pCollisionObject) |
1060 | { | 1250 | { |
1061 | bool ret = false; | 1251 | bool ret = false; |
1062 | RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody; | 1252 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
1253 | RigidBody rb = collisionObject as RigidBody; | ||
1063 | if (rb != null) | 1254 | if (rb != null) |
1064 | { | 1255 | { |
1065 | SimMotionState sms = rb.GetMotionState() as SimMotionState; | 1256 | SimMotionState sms = rb.GetMotionState() as SimMotionState; |
@@ -1072,62 +1263,62 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1072 | } | 1263 | } |
1073 | } | 1264 | } |
1074 | return ret; | 1265 | return ret; |
1075 | 1266 | ||
1076 | } | 1267 | } |
1077 | 1268 | ||
1078 | public override float GetAngularMotionDisc(BulletShape pShape) | 1269 | public override float GetAngularMotionDisc(BulletShape pShape) |
1079 | { | 1270 | { |
1080 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1271 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1081 | return shape.GetAngularMotionDisc(); | 1272 | return shape.GetAngularMotionDisc(); |
1082 | } | 1273 | } |
1083 | public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) | 1274 | public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) |
1084 | { | 1275 | { |
1085 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1276 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1086 | return shape.GetContactBreakingThreshold(defaultFactor); | 1277 | return shape.GetContactBreakingThreshold(defaultFactor); |
1087 | } | 1278 | } |
1088 | public override bool IsCompound(BulletShape pShape) | 1279 | public override bool IsCompound(BulletShape pShape) |
1089 | { | 1280 | { |
1090 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1281 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1091 | return shape.IsCompound(); | 1282 | return shape.IsCompound(); |
1092 | } | 1283 | } |
1093 | public override bool IsSoftBody(BulletShape pShape) | 1284 | public override bool IsSoftBody(BulletShape pShape) |
1094 | { | 1285 | { |
1095 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1286 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1096 | return shape.IsSoftBody(); | 1287 | return shape.IsSoftBody(); |
1097 | } | 1288 | } |
1098 | public override bool IsPolyhedral(BulletShape pShape) | 1289 | public override bool IsPolyhedral(BulletShape pShape) |
1099 | { | 1290 | { |
1100 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1291 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1101 | return shape.IsPolyhedral(); | 1292 | return shape.IsPolyhedral(); |
1102 | } | 1293 | } |
1103 | public override bool IsConvex2d(BulletShape pShape) | 1294 | public override bool IsConvex2d(BulletShape pShape) |
1104 | { | 1295 | { |
1105 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1296 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1106 | return shape.IsConvex2d(); | 1297 | return shape.IsConvex2d(); |
1107 | } | 1298 | } |
1108 | public override bool IsConvex(BulletShape pShape) | 1299 | public override bool IsConvex(BulletShape pShape) |
1109 | { | 1300 | { |
1110 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1301 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1111 | return shape.IsConvex(); | 1302 | return shape.IsConvex(); |
1112 | } | 1303 | } |
1113 | public override bool IsNonMoving(BulletShape pShape) | 1304 | public override bool IsNonMoving(BulletShape pShape) |
1114 | { | 1305 | { |
1115 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1306 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1116 | return shape.IsNonMoving(); | 1307 | return shape.IsNonMoving(); |
1117 | } | 1308 | } |
1118 | public override bool IsConcave(BulletShape pShape) | 1309 | public override bool IsConcave(BulletShape pShape) |
1119 | { | 1310 | { |
1120 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1311 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1121 | return shape.IsConcave(); | 1312 | return shape.IsConcave(); |
1122 | } | 1313 | } |
1123 | public override bool IsInfinite(BulletShape pShape) | 1314 | public override bool IsInfinite(BulletShape pShape) |
1124 | { | 1315 | { |
1125 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1316 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1126 | return shape.IsInfinite(); | 1317 | return shape.IsInfinite(); |
1127 | } | 1318 | } |
1128 | public override bool IsNativeShape(BulletShape pShape) | 1319 | public override bool IsNativeShape(BulletShape pShape) |
1129 | { | 1320 | { |
1130 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1321 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1131 | bool ret; | 1322 | bool ret; |
1132 | switch (shape.GetShapeType()) | 1323 | switch (shape.GetShapeType()) |
1133 | { | 1324 | { |
@@ -1144,38 +1335,59 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1144 | return ret; | 1335 | return ret; |
1145 | } | 1336 | } |
1146 | 1337 | ||
1147 | public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ } | 1338 | public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin) |
1339 | { | ||
1340 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1341 | shape.SetMargin(pMargin); | ||
1342 | } | ||
1148 | 1343 | ||
1149 | //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation | 1344 | //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation |
1150 | public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) | 1345 | public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) |
1151 | { | 1346 | { |
1152 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1347 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1153 | IndexedMatrix bodyTransform = new IndexedMatrix(); | 1348 | IndexedMatrix bodyTransform = new IndexedMatrix(); |
1154 | bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); | 1349 | bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); |
1155 | bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); | 1350 | bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); |
1156 | GhostObject gObj = new PairCachingGhostObject(); | 1351 | GhostObject gObj = new PairCachingGhostObject(); |
1157 | gObj.SetWorldTransform(bodyTransform); | 1352 | gObj.SetWorldTransform(bodyTransform); |
1158 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1353 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1159 | gObj.SetCollisionShape(shape); | 1354 | gObj.SetCollisionShape(shape); |
1160 | gObj.SetUserPointer(pLocalID); | 1355 | gObj.SetUserPointer(pLocalID); |
1356 | |||
1357 | if (specialCollisionObjects.ContainsKey(pLocalID)) | ||
1358 | specialCollisionObjects[pLocalID] = gObj; | ||
1359 | else | ||
1360 | specialCollisionObjects.Add(pLocalID, gObj); | ||
1361 | |||
1161 | // TODO: Add to Special CollisionObjects! | 1362 | // TODO: Add to Special CollisionObjects! |
1162 | return new BulletBodyXNA(pLocalID, gObj); | 1363 | return new BulletBodyXNA(pLocalID, gObj); |
1163 | } | 1364 | } |
1164 | 1365 | ||
1165 | public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape) | 1366 | public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape) |
1166 | { | 1367 | { |
1167 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1368 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1168 | CollisionObject obj = ((BulletBodyXNA)pObj).body; | 1369 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; |
1169 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 1370 | if (pShape == null) |
1170 | obj.SetCollisionShape(shape); | 1371 | { |
1171 | 1372 | collisionObject.SetCollisionShape(new EmptyShape()); | |
1373 | } | ||
1374 | else | ||
1375 | { | ||
1376 | CollisionShape shape = (pShape as BulletShapeXNA).shape; | ||
1377 | collisionObject.SetCollisionShape(shape); | ||
1378 | } | ||
1379 | } | ||
1380 | public override BulletShape GetCollisionShape(BulletBody pCollisionObject) | ||
1381 | { | ||
1382 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; | ||
1383 | CollisionShape shape = collisionObject.GetCollisionShape(); | ||
1384 | return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); | ||
1172 | } | 1385 | } |
1173 | public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; } | ||
1174 | 1386 | ||
1175 | //(PhysicsScene.World.ptr, nativeShapeData) | 1387 | //(PhysicsScene.World.ptr, nativeShapeData) |
1176 | public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) | 1388 | public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) |
1177 | { | 1389 | { |
1178 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1390 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1179 | CollisionShape shape = null; | 1391 | CollisionShape shape = null; |
1180 | switch (pShapeData.Type) | 1392 | switch (pShapeData.Type) |
1181 | { | 1393 | { |
@@ -1210,15 +1422,15 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1210 | 1422 | ||
1211 | public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) | 1423 | public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) |
1212 | { | 1424 | { |
1213 | CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; | 1425 | CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; |
1214 | return compoundshape.GetNumChildShapes(); | 1426 | return compoundshape.GetNumChildShapes(); |
1215 | } | 1427 | } |
1216 | //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot | 1428 | //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot |
1217 | public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) | 1429 | public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) |
1218 | { | 1430 | { |
1219 | IndexedMatrix relativeTransform = new IndexedMatrix(); | 1431 | IndexedMatrix relativeTransform = new IndexedMatrix(); |
1220 | CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; | 1432 | CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; |
1221 | CollisionShape addshape = ((BulletShapeXNA)paddShape).shape; | 1433 | CollisionShape addshape = (paddShape as BulletShapeXNA).shape; |
1222 | 1434 | ||
1223 | relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); | 1435 | relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); |
1224 | relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); | 1436 | relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); |
@@ -1228,15 +1440,155 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1228 | 1440 | ||
1229 | public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) | 1441 | public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) |
1230 | { | 1442 | { |
1231 | CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; | 1443 | CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; |
1232 | CollisionShape ret = null; | 1444 | CollisionShape ret = null; |
1233 | ret = compoundshape.GetChildShape(pii); | 1445 | ret = compoundshape.GetChildShape(pii); |
1234 | compoundshape.RemoveChildShapeByIndex(pii); | 1446 | compoundshape.RemoveChildShapeByIndex(pii); |
1235 | return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN); | 1447 | return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); |
1448 | } | ||
1449 | |||
1450 | public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { | ||
1451 | |||
1452 | if (cShape == null) | ||
1453 | return null; | ||
1454 | CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; | ||
1455 | CollisionShape shape = compoundShape.GetChildShape(indx); | ||
1456 | BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); | ||
1457 | |||
1458 | |||
1459 | return retShape; | ||
1460 | } | ||
1461 | |||
1462 | public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) | ||
1463 | { | ||
1464 | BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1465 | switch (pin) | ||
1466 | { | ||
1467 | case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: | ||
1468 | ret = BSPhysicsShapeType.SHAPE_BOX; | ||
1469 | break; | ||
1470 | case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE: | ||
1471 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1472 | break; | ||
1473 | |||
1474 | case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE: | ||
1475 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1476 | break; | ||
1477 | case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: | ||
1478 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1479 | break; | ||
1480 | case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: | ||
1481 | ret = BSPhysicsShapeType.SHAPE_HULL; | ||
1482 | break; | ||
1483 | case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: | ||
1484 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1485 | break; | ||
1486 | case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE: | ||
1487 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1488 | break; | ||
1489 | //implicit convex shapes | ||
1490 | case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE: | ||
1491 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1492 | break; | ||
1493 | case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: | ||
1494 | ret = BSPhysicsShapeType.SHAPE_SPHERE; | ||
1495 | break; | ||
1496 | case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE: | ||
1497 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1498 | break; | ||
1499 | case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE: | ||
1500 | ret = BSPhysicsShapeType.SHAPE_CAPSULE; | ||
1501 | break; | ||
1502 | case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: | ||
1503 | ret = BSPhysicsShapeType.SHAPE_CONE; | ||
1504 | break; | ||
1505 | case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: | ||
1506 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1507 | break; | ||
1508 | case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: | ||
1509 | ret = BSPhysicsShapeType.SHAPE_CYLINDER; | ||
1510 | break; | ||
1511 | case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE: | ||
1512 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1513 | break; | ||
1514 | case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE: | ||
1515 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1516 | break; | ||
1517 | case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE: | ||
1518 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1519 | break; | ||
1520 | case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE: | ||
1521 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1522 | break; | ||
1523 | case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE: | ||
1524 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1525 | break; | ||
1526 | case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE: | ||
1527 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1528 | break; | ||
1529 | //concave shape | ||
1530 | case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE: | ||
1531 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1532 | break; | ||
1533 | //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! | ||
1534 | case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE: | ||
1535 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1536 | break; | ||
1537 | case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: | ||
1538 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1539 | break; | ||
1540 | ///used for demo integration FAST/Swift collision library and Bullet | ||
1541 | case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE: | ||
1542 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1543 | break; | ||
1544 | //terrain | ||
1545 | case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE: | ||
1546 | ret = BSPhysicsShapeType.SHAPE_HEIGHTMAP; | ||
1547 | break; | ||
1548 | ///Used for GIMPACT Trimesh integration | ||
1549 | case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: | ||
1550 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1551 | break; | ||
1552 | ///Multimaterial mesh | ||
1553 | case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: | ||
1554 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1555 | break; | ||
1556 | |||
1557 | case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE: | ||
1558 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1559 | break; | ||
1560 | case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE: | ||
1561 | ret = BSPhysicsShapeType.SHAPE_GROUNDPLANE; | ||
1562 | break; | ||
1563 | case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE: | ||
1564 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1565 | break; | ||
1566 | case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE: | ||
1567 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1568 | break; | ||
1569 | |||
1570 | case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE: | ||
1571 | ret = BSPhysicsShapeType.SHAPE_COMPOUND; | ||
1572 | break; | ||
1573 | |||
1574 | case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE: | ||
1575 | ret = BSPhysicsShapeType.SHAPE_MESH; | ||
1576 | break; | ||
1577 | case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE: | ||
1578 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1579 | break; | ||
1580 | case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE: | ||
1581 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1582 | break; | ||
1583 | case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE: | ||
1584 | ret = BSPhysicsShapeType.SHAPE_UNKNOWN; | ||
1585 | break; | ||
1586 | } | ||
1587 | return ret; | ||
1236 | } | 1588 | } |
1237 | 1589 | ||
1238 | public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; } | ||
1239 | public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } | 1590 | public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } |
1591 | public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ } | ||
1240 | 1592 | ||
1241 | public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) | 1593 | public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) |
1242 | { | 1594 | { |
@@ -1246,18 +1598,144 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1246 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); | 1598 | return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); |
1247 | } | 1599 | } |
1248 | 1600 | ||
1249 | public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | 1601 | public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, |
1602 | Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, | ||
1603 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
1604 | |||
1605 | { | ||
1606 | Generic6DofSpringConstraint constrain = null; | ||
1607 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1608 | RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1609 | RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1610 | if (body1 != null && body2 != null) | ||
1611 | { | ||
1612 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
1613 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
1614 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
1615 | frame1._origin = frame1v; | ||
1616 | |||
1617 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
1618 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
1619 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
1620 | frame2._origin = frame1v; | ||
1621 | |||
1622 | constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); | ||
1623 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1624 | |||
1625 | constrain.CalculateTransforms(); | ||
1626 | } | ||
1627 | |||
1628 | return new BulletConstraintXNA(constrain); | ||
1629 | } | ||
1630 | |||
1631 | public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1632 | Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, | ||
1633 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
1250 | { | 1634 | { |
1251 | HingeConstraint constrain = null; | 1635 | HingeConstraint constrain = null; |
1252 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1636 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1253 | RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody; | 1637 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; |
1254 | RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody; | 1638 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; |
1255 | if (rb1 != null && rb2 != null) | 1639 | if (rb1 != null && rb2 != null) |
1256 | { | 1640 | { |
1257 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); | 1641 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); |
1258 | IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); | 1642 | IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); |
1259 | IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); | 1643 | IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); |
1260 | IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); | 1644 | IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); |
1645 | constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA); | ||
1646 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1647 | } | ||
1648 | return new BulletConstraintXNA(constrain); | ||
1649 | } | ||
1650 | |||
1651 | public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1652 | Vector3 pframe1, Quaternion pframe1rot, | ||
1653 | Vector3 pframe2, Quaternion pframe2rot, | ||
1654 | bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) | ||
1655 | { | ||
1656 | SliderConstraint constrain = null; | ||
1657 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1658 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1659 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1660 | if (rb1 != null && rb2 != null) | ||
1661 | { | ||
1662 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
1663 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
1664 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
1665 | frame1._origin = frame1v; | ||
1666 | |||
1667 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
1668 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
1669 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
1670 | frame2._origin = frame1v; | ||
1671 | |||
1672 | constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA); | ||
1673 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1674 | } | ||
1675 | return new BulletConstraintXNA(constrain); | ||
1676 | } | ||
1677 | |||
1678 | public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1679 | Vector3 pframe1, Quaternion pframe1rot, | ||
1680 | Vector3 pframe2, Quaternion pframe2rot, | ||
1681 | bool pdisableCollisionsBetweenLinkedBodies) | ||
1682 | { | ||
1683 | ConeTwistConstraint constrain = null; | ||
1684 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1685 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1686 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1687 | if (rb1 != null && rb2 != null) | ||
1688 | { | ||
1689 | IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); | ||
1690 | IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); | ||
1691 | IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); | ||
1692 | frame1._origin = frame1v; | ||
1693 | |||
1694 | IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); | ||
1695 | IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); | ||
1696 | IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); | ||
1697 | frame2._origin = frame1v; | ||
1698 | |||
1699 | constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2); | ||
1700 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1701 | } | ||
1702 | return new BulletConstraintXNA(constrain); | ||
1703 | } | ||
1704 | |||
1705 | public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1706 | Vector3 paxisInA, Vector3 paxisInB, | ||
1707 | float pratio, bool pdisableCollisionsBetweenLinkedBodies) | ||
1708 | { | ||
1709 | Generic6DofConstraint constrain = null; | ||
1710 | /* BulletXNA does not have a gear constraint | ||
1711 | GearConstraint constrain = null; | ||
1712 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1713 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1714 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1715 | if (rb1 != null && rb2 != null) | ||
1716 | { | ||
1717 | IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); | ||
1718 | IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); | ||
1719 | constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio); | ||
1720 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | ||
1721 | } | ||
1722 | */ | ||
1723 | return new BulletConstraintXNA(constrain); | ||
1724 | } | ||
1725 | |||
1726 | public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, | ||
1727 | Vector3 ppivotInA, Vector3 ppivotInB, | ||
1728 | bool pdisableCollisionsBetweenLinkedBodies) | ||
1729 | { | ||
1730 | Point2PointConstraint constrain = null; | ||
1731 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; | ||
1732 | RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; | ||
1733 | RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; | ||
1734 | if (rb1 != null && rb2 != null) | ||
1735 | { | ||
1736 | IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); | ||
1737 | IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); | ||
1738 | constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB); | ||
1261 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); | 1739 | world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); |
1262 | } | 1740 | } |
1263 | return new BulletConstraintXNA(constrain); | 1741 | return new BulletConstraintXNA(constrain); |
@@ -1265,9 +1743,9 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1265 | 1743 | ||
1266 | public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) | 1744 | public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) |
1267 | { | 1745 | { |
1268 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1746 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1269 | CompoundShape compoundshape = new CompoundShape(false); | 1747 | CompoundShape compoundshape = new CompoundShape(false); |
1270 | 1748 | ||
1271 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); | 1749 | compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); |
1272 | int ii = 1; | 1750 | int ii = 1; |
1273 | 1751 | ||
@@ -1283,7 +1761,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1283 | int ender = ((ii + 4) + (vertexCount*3)); | 1761 | int ender = ((ii + 4) + (vertexCount*3)); |
1284 | for (int iii = ii + 4; iii < ender; iii+=3) | 1762 | for (int iii = ii + 4; iii < ender; iii+=3) |
1285 | { | 1763 | { |
1286 | 1764 | ||
1287 | virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); | 1765 | virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); |
1288 | } | 1766 | } |
1289 | ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); | 1767 | ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); |
@@ -1291,26 +1769,39 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1291 | compoundshape.AddChildShape(ref childTrans, convexShape); | 1769 | compoundshape.AddChildShape(ref childTrans, convexShape); |
1292 | ii += (vertexCount*3 + 4); | 1770 | ii += (vertexCount*3 + 4); |
1293 | } | 1771 | } |
1294 | 1772 | ||
1295 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); | 1773 | return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); |
1296 | } | 1774 | } |
1297 | 1775 | ||
1298 | public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; } | 1776 | public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) |
1777 | { | ||
1778 | /* TODO */ return null; | ||
1779 | } | ||
1780 | |||
1781 | public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape) | ||
1782 | { | ||
1783 | /* TODO */ return null; | ||
1784 | } | ||
1785 | |||
1786 | public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | ||
1787 | { | ||
1788 | /* TODO */ return null; | ||
1789 | } | ||
1299 | 1790 | ||
1300 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) | 1791 | public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) |
1301 | { | 1792 | { |
1302 | //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); | 1793 | //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); |
1303 | 1794 | ||
1304 | for (int iter = 0; iter < pVerticesCount; iter++) | 1795 | for (int iter = 0; iter < pVerticesCount; iter++) |
1305 | { | 1796 | { |
1306 | if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; | 1797 | if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; |
1307 | if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; | 1798 | if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; |
1308 | } | 1799 | } |
1309 | 1800 | ||
1310 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); | 1801 | ObjectArray<int> indicesarr = new ObjectArray<int>(indices); |
1311 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); | 1802 | ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); |
1312 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); | 1803 | DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); |
1313 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1804 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1314 | IndexedMesh mesh = new IndexedMesh(); | 1805 | IndexedMesh mesh = new IndexedMesh(); |
1315 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; | 1806 | mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; |
1316 | mesh.m_numTriangles = pIndicesCount/3; | 1807 | mesh.m_numTriangles = pIndicesCount/3; |
@@ -1320,7 +1811,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1320 | mesh.m_vertexStride = 3; | 1811 | mesh.m_vertexStride = 3; |
1321 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | 1812 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; |
1322 | mesh.m_triangleIndexStride = 3; | 1813 | mesh.m_triangleIndexStride = 3; |
1323 | 1814 | ||
1324 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | 1815 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); |
1325 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | 1816 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); |
1326 | BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); | 1817 | BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); |
@@ -1331,7 +1822,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1331 | } | 1822 | } |
1332 | public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) | 1823 | public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) |
1333 | { | 1824 | { |
1334 | 1825 | ||
1335 | String fileName = "objTest3.raw"; | 1826 | String fileName = "objTest3.raw"; |
1336 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); | 1827 | String completePath = System.IO.Path.Combine(Util.configDir(), fileName); |
1337 | StreamWriter sw = new StreamWriter(completePath); | 1828 | StreamWriter sw = new StreamWriter(completePath); |
@@ -1357,7 +1848,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1357 | string s = vertices[indices[i * 3]].ToString("0.0000"); | 1848 | string s = vertices[indices[i * 3]].ToString("0.0000"); |
1358 | s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); | 1849 | s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); |
1359 | s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); | 1850 | s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); |
1360 | 1851 | ||
1361 | sw.Write(s + "\n"); | 1852 | sw.Write(s + "\n"); |
1362 | } | 1853 | } |
1363 | 1854 | ||
@@ -1379,7 +1870,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1379 | mesh.m_vertexStride = 3; | 1870 | mesh.m_vertexStride = 3; |
1380 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; | 1871 | mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; |
1381 | mesh.m_triangleIndexStride = 3; | 1872 | mesh.m_triangleIndexStride = 3; |
1382 | 1873 | ||
1383 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); | 1874 | TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); |
1384 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); | 1875 | tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); |
1385 | 1876 | ||
@@ -1410,7 +1901,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1410 | sw.Close(); | 1901 | sw.Close(); |
1411 | } | 1902 | } |
1412 | 1903 | ||
1413 | public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, | 1904 | public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, |
1414 | float scaleFactor, float collisionMargin) | 1905 | float scaleFactor, float collisionMargin) |
1415 | { | 1906 | { |
1416 | const int upAxis = 2; | 1907 | const int upAxis = 2; |
@@ -1426,7 +1917,7 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1426 | 1917 | ||
1427 | public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) | 1918 | public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) |
1428 | { | 1919 | { |
1429 | TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain; | 1920 | TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain; |
1430 | bool onOff = ponOff != 0; | 1921 | bool onOff = ponOff != 0; |
1431 | bool ret = false; | 1922 | bool ret = false; |
1432 | 1923 | ||
@@ -1452,64 +1943,73 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1452 | /* TODO */ | 1943 | /* TODO */ |
1453 | updatedEntityCount = 0; | 1944 | updatedEntityCount = 0; |
1454 | collidersCount = 0; | 1945 | collidersCount = 0; |
1455 | return 1; | 1946 | |
1947 | |||
1948 | int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); | ||
1949 | |||
1950 | return ret; | ||
1456 | } | 1951 | } |
1457 | 1952 | ||
1458 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, | 1953 | private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, |
1459 | out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, | 1954 | out int updatedEntityCount, out EntityProperties[] updatedEntities, |
1460 | out int collidersCount, out List<BulletXNA.CollisionDesc>colliders) | 1955 | out int collidersCount, out CollisionDesc[] colliders) |
1461 | { | 1956 | { |
1462 | int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, | 1957 | int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, |
1463 | out collidersCount, out colliders); | 1958 | out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame); |
1464 | return epic; | 1959 | return epic; |
1465 | } | 1960 | } |
1466 | 1961 | ||
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) | 1962 | private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, |
1963 | out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) | ||
1468 | { | 1964 | { |
1469 | int numSimSteps = 0; | 1965 | int numSimSteps = 0; |
1470 | 1966 | Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); | |
1967 | Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); | ||
1968 | LastEntityProperty=0; | ||
1969 | |||
1970 | |||
1471 | 1971 | ||
1472 | //if (updatedEntities is null) | ||
1473 | // updatedEntities = new List<BulletXNA.EntityProperties>(); | ||
1474 | 1972 | ||
1475 | //if (colliders is null) | 1973 | |
1476 | // colliders = new List<BulletXNA.CollisionDesc>(); | 1974 | |
1477 | 1975 | LastCollisionDesc=0; | |
1976 | |||
1977 | updatedEntityCount = 0; | ||
1978 | collidersCount = 0; | ||
1979 | |||
1478 | 1980 | ||
1479 | if (pWorld is BulletWorldXNA) | 1981 | if (pWorld is BulletWorldXNA) |
1480 | { | 1982 | { |
1481 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 1983 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1482 | 1984 | ||
1985 | world.LastCollisionDesc = 0; | ||
1986 | world.LastEntityProperty = 0; | ||
1483 | numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); | 1987 | numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); |
1484 | int updates = 0; | 1988 | int updates = 0; |
1485 | 1989 | ||
1486 | updatedEntityCount = world.UpdatedObjects.Count; | 1990 | PersistentManifold contactManifold; |
1487 | updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects); | 1991 | CollisionObject objA; |
1488 | updatedEntityCount = updatedEntities.Count; | 1992 | CollisionObject objB; |
1489 | world.UpdatedObjects.Clear(); | 1993 | ManifoldPoint manifoldPoint; |
1490 | 1994 | PairCachingGhostObject pairCachingGhostObject; | |
1491 | 1995 | ||
1492 | collidersCount = world.UpdatedCollisions.Count; | ||
1493 | colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions); | ||
1494 | |||
1495 | world.UpdatedCollisions.Clear(); | ||
1496 | m_collisionsThisFrame = 0; | 1996 | m_collisionsThisFrame = 0; |
1497 | int numManifolds = world.GetDispatcher().GetNumManifolds(); | 1997 | int numManifolds = world.GetDispatcher().GetNumManifolds(); |
1498 | for (int j = 0; j < numManifolds; j++) | 1998 | for (int j = 0; j < numManifolds; j++) |
1499 | { | 1999 | { |
1500 | PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); | 2000 | contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); |
1501 | int numContacts = contactManifold.GetNumContacts(); | 2001 | int numContacts = contactManifold.GetNumContacts(); |
1502 | if (numContacts == 0) | 2002 | if (numContacts == 0) |
1503 | continue; | 2003 | continue; |
1504 | 2004 | ||
1505 | CollisionObject objA = contactManifold.GetBody0() as CollisionObject; | 2005 | objA = contactManifold.GetBody0() as CollisionObject; |
1506 | CollisionObject objB = contactManifold.GetBody1() as CollisionObject; | 2006 | objB = contactManifold.GetBody1() as CollisionObject; |
1507 | 2007 | ||
1508 | ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); | 2008 | manifoldPoint = contactManifold.GetContactPoint(0); |
1509 | IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); | 2009 | //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); |
1510 | IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A | 2010 | // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A |
1511 | 2011 | ||
1512 | RecordCollision(world, objA, objB, contactPoint, contactNormal); | 2012 | RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance()); |
1513 | m_collisionsThisFrame ++; | 2013 | m_collisionsThisFrame ++; |
1514 | if (m_collisionsThisFrame >= 9999999) | 2014 | if (m_collisionsThisFrame >= 9999999) |
1515 | break; | 2015 | break; |
@@ -1517,23 +2017,91 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1517 | 2017 | ||
1518 | } | 2018 | } |
1519 | 2019 | ||
2020 | foreach (GhostObject ghostObject in specialCollisionObjects.Values) | ||
2021 | { | ||
2022 | pairCachingGhostObject = ghostObject as PairCachingGhostObject; | ||
2023 | if (pairCachingGhostObject != null) | ||
2024 | { | ||
2025 | RecordGhostCollisions(pairCachingGhostObject); | ||
2026 | } | ||
2027 | |||
2028 | } | ||
2029 | |||
2030 | |||
2031 | updatedEntityCount = LastEntityProperty; | ||
2032 | updatedEntities = UpdatedObjects; | ||
2033 | |||
2034 | collidersCount = LastCollisionDesc; | ||
2035 | colliders = UpdatedCollisions; | ||
2036 | |||
1520 | 2037 | ||
1521 | } | 2038 | } |
1522 | else | 2039 | else |
1523 | { | 2040 | { |
1524 | //if (updatedEntities is null) | 2041 | //if (updatedEntities is null) |
1525 | updatedEntities = new List<BulletXNA.EntityProperties>(); | 2042 | //updatedEntities = new List<BulletXNA.EntityProperties>(); |
1526 | updatedEntityCount = 0; | 2043 | //updatedEntityCount = 0; |
1527 | //if (colliders is null) | 2044 | |
1528 | colliders = new List<BulletXNA.CollisionDesc>(); | 2045 | |
1529 | collidersCount = 0; | 2046 | //collidersCount = 0; |
2047 | |||
2048 | updatedEntities = new EntityProperties[0]; | ||
2049 | |||
2050 | |||
2051 | colliders = new CollisionDesc[0]; | ||
2052 | |||
1530 | } | 2053 | } |
1531 | return numSimSteps; | 2054 | return numSimSteps; |
1532 | } | 2055 | } |
2056 | public void RecordGhostCollisions(PairCachingGhostObject obj) | ||
2057 | { | ||
2058 | IOverlappingPairCache cache = obj.GetOverlappingPairCache(); | ||
2059 | ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray(); | ||
2060 | |||
2061 | DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; | ||
2062 | PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); | ||
2063 | BroadphasePair collisionPair; | ||
2064 | PersistentManifold contactManifold; | ||
2065 | |||
2066 | CollisionObject objA; | ||
2067 | CollisionObject objB; | ||
2068 | |||
2069 | ManifoldPoint pt; | ||
1533 | 2070 | ||
1534 | private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) | 2071 | int numPairs = pairs.Count; |
2072 | |||
2073 | for (int i = 0; i < numPairs; i++) | ||
2074 | { | ||
2075 | manifoldArray.Clear(); | ||
2076 | if (LastCollisionDesc < UpdatedCollisions.Length) | ||
2077 | break; | ||
2078 | collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); | ||
2079 | if (collisionPair == null) | ||
2080 | continue; | ||
2081 | |||
2082 | collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); | ||
2083 | for (int j = 0; j < manifoldArray.Count; j++) | ||
2084 | { | ||
2085 | contactManifold = manifoldArray[j]; | ||
2086 | int numContacts = contactManifold.GetNumContacts(); | ||
2087 | objA = contactManifold.GetBody0() as CollisionObject; | ||
2088 | objB = contactManifold.GetBody1() as CollisionObject; | ||
2089 | for (int p = 0; p < numContacts; p++) | ||
2090 | { | ||
2091 | pt = contactManifold.GetContactPoint(p); | ||
2092 | if (pt.GetDistance() < 0.0f) | ||
2093 | { | ||
2094 | RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance()); | ||
2095 | break; | ||
2096 | } | ||
2097 | } | ||
2098 | } | ||
2099 | } | ||
2100 | |||
2101 | } | ||
2102 | private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) | ||
1535 | { | 2103 | { |
1536 | 2104 | ||
1537 | IndexedVector3 contactNormal = norm; | 2105 | IndexedVector3 contactNormal = norm; |
1538 | if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && | 2106 | if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && |
1539 | (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) | 2107 | (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) |
@@ -1550,31 +2118,34 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1550 | contactNormal = -contactNormal; | 2118 | contactNormal = -contactNormal; |
1551 | } | 2119 | } |
1552 | 2120 | ||
1553 | ulong collisionID = ((ulong) idA << 32) | idB; | 2121 | //ulong collisionID = ((ulong) idA << 32) | idB; |
1554 | 2122 | ||
1555 | BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() | 2123 | CollisionDesc cDesc = new CollisionDesc() |
1556 | { | 2124 | { |
1557 | aID = idA, | 2125 | aID = idA, |
1558 | bID = idB, | 2126 | bID = idB, |
1559 | point = contact, | 2127 | point = new Vector3(contact.X,contact.Y,contact.Z), |
1560 | normal = contactNormal | 2128 | normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z), |
2129 | penetration = penetration | ||
2130 | |||
1561 | }; | 2131 | }; |
1562 | world.UpdatedCollisions.Add(cDesc); | 2132 | if (world.LastCollisionDesc < world.UpdatedCollisions.Length) |
2133 | world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); | ||
1563 | m_collisionsThisFrame++; | 2134 | m_collisionsThisFrame++; |
1564 | 2135 | ||
1565 | 2136 | ||
1566 | } | 2137 | } |
1567 | private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody) | 2138 | private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject) |
1568 | { | 2139 | { |
1569 | EntityProperties ent = new EntityProperties(); | 2140 | EntityProperties ent = new EntityProperties(); |
1570 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 2141 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1571 | RigidBody body = ((BulletBodyXNA)pBody).rigidBody; | 2142 | CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; |
1572 | IndexedMatrix transform = body.GetWorldTransform(); | 2143 | IndexedMatrix transform = collisionObject.GetWorldTransform(); |
1573 | IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); | 2144 | IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity(); |
1574 | IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); | 2145 | IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity(); |
1575 | IndexedQuaternion rotation = transform.GetRotation(); | 2146 | IndexedQuaternion rotation = transform.GetRotation(); |
1576 | ent.Acceleration = Vector3.Zero; | 2147 | ent.Acceleration = Vector3.Zero; |
1577 | ent.ID = (uint)body.GetUserPointer(); | 2148 | ent.ID = (uint)collisionObject.GetUserPointer(); |
1578 | ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); | 2149 | ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); |
1579 | ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); | 2150 | ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); |
1580 | ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); | 2151 | ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); |
@@ -1582,28 +2153,29 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1582 | return ent; | 2153 | return ent; |
1583 | } | 2154 | } |
1584 | 2155 | ||
1585 | public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; } | 2156 | public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ |
2157 | return false; } | ||
1586 | 2158 | ||
1587 | public override Vector3 GetLocalScaling(BulletShape pShape) | 2159 | public override Vector3 GetLocalScaling(BulletShape pShape) |
1588 | { | 2160 | { |
1589 | CollisionShape shape = ((BulletShapeXNA)pShape).shape; | 2161 | CollisionShape shape = (pShape as BulletShapeXNA).shape; |
1590 | IndexedVector3 scale = shape.GetLocalScaling(); | 2162 | IndexedVector3 scale = shape.GetLocalScaling(); |
1591 | return new Vector3(scale.X,scale.Y,scale.Z); | 2163 | return new Vector3(scale.X,scale.Y,scale.Z); |
1592 | } | 2164 | } |
1593 | 2165 | ||
1594 | public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) | 2166 | public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) |
1595 | { | 2167 | { |
1596 | DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; | 2168 | DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; |
1597 | if (world != null) | 2169 | if (world != null) |
1598 | { | 2170 | { |
1599 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) | 2171 | if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) |
1600 | { | 2172 | { |
1601 | CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body; | 2173 | CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; |
1602 | 2174 | ||
1603 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); | 2175 | IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); |
1604 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); | 2176 | IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); |
1605 | using ( | 2177 | using ( |
1606 | ClosestNotMeRayResultCallback rayCallback = | 2178 | ClosestNotMeRayResultCallback rayCallback = |
1607 | new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) | 2179 | new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) |
1608 | ) | 2180 | ) |
1609 | { | 2181 | { |
@@ -1619,4 +2191,130 @@ private sealed class BulletConstraintXNA : BulletConstraint | |||
1619 | return false; | 2191 | return false; |
1620 | } | 2192 | } |
1621 | } | 2193 | } |
2194 | |||
2195 | |||
2196 | |||
2197 | |||
2198 | public class SimMotionState : DefaultMotionState | ||
2199 | { | ||
2200 | public RigidBody Rigidbody; | ||
2201 | public Vector3 ZeroVect; | ||
2202 | |||
2203 | private IndexedMatrix m_xform; | ||
2204 | |||
2205 | private EntityProperties m_properties; | ||
2206 | private EntityProperties m_lastProperties; | ||
2207 | private BSAPIXNA m_world; | ||
2208 | |||
2209 | const float POSITION_TOLERANCE = 0.05f; | ||
2210 | const float VELOCITY_TOLERANCE = 0.001f; | ||
2211 | const float ROTATION_TOLERANCE = 0.01f; | ||
2212 | const float ANGULARVELOCITY_TOLERANCE = 0.01f; | ||
2213 | |||
2214 | public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates) | ||
2215 | { | ||
2216 | IndexedQuaternion OrientationQuaterion = starTransform.GetRotation(); | ||
2217 | m_properties = new EntityProperties() | ||
2218 | { | ||
2219 | ID = id, | ||
2220 | Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z), | ||
2221 | Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W) | ||
2222 | }; | ||
2223 | m_lastProperties = new EntityProperties() | ||
2224 | { | ||
2225 | ID = id, | ||
2226 | Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z), | ||
2227 | Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W) | ||
2228 | }; | ||
2229 | m_world = pWorld; | ||
2230 | m_xform = starTransform; | ||
2231 | } | ||
2232 | |||
2233 | public override void GetWorldTransform(out IndexedMatrix worldTrans) | ||
2234 | { | ||
2235 | worldTrans = m_xform; | ||
2236 | } | ||
2237 | |||
2238 | public override void SetWorldTransform(IndexedMatrix worldTrans) | ||
2239 | { | ||
2240 | SetWorldTransform(ref worldTrans); | ||
2241 | } | ||
2242 | |||
2243 | public override void SetWorldTransform(ref IndexedMatrix worldTrans) | ||
2244 | { | ||
2245 | SetWorldTransform(ref worldTrans, false); | ||
2246 | } | ||
2247 | public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force) | ||
2248 | { | ||
2249 | m_xform = worldTrans; | ||
2250 | // Put the new transform into m_properties | ||
2251 | IndexedQuaternion OrientationQuaternion = m_xform.GetRotation(); | ||
2252 | IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity(); | ||
2253 | IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity(); | ||
2254 | m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z); | ||
2255 | m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y, | ||
2256 | OrientationQuaternion.Z, OrientationQuaternion.W); | ||
2257 | // A problem with stock Bullet is that we don't get an event when an object is deactivated. | ||
2258 | // This means that the last non-zero values for linear and angular velocity | ||
2259 | // are left in the viewer who does dead reconning and the objects look like | ||
2260 | // they float off. | ||
2261 | // BulletSim ships with a patch to Bullet which creates such an event. | ||
2262 | m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z); | ||
2263 | m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z); | ||
2264 | |||
2265 | if (force | ||
2266 | |||
2267 | || !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE) | ||
2268 | || !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE) | ||
2269 | // If the Velocity and AngularVelocity are zero, most likely the object has | ||
2270 | // been deactivated. If they both are zero and they have become zero recently, | ||
2271 | // make sure a property update is sent so the zeros make it to the viewer. | ||
2272 | || ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect) | ||
2273 | && | ||
2274 | (m_properties.Velocity != m_lastProperties.Velocity || | ||
2275 | m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity)) | ||
2276 | // If Velocity and AngularVelocity are non-zero but have changed, send an update. | ||
2277 | || !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE) | ||
2278 | || | ||
2279 | !AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity, | ||
2280 | ANGULARVELOCITY_TOLERANCE) | ||
2281 | ) | ||
2282 | |||
2283 | |||
2284 | { | ||
2285 | // Add this update to the list of updates for this frame. | ||
2286 | m_lastProperties = m_properties; | ||
2287 | if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) | ||
2288 | m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); | ||
2289 | |||
2290 | //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; | ||
2291 | } | ||
2292 | |||
2293 | |||
2294 | |||
2295 | |||
2296 | } | ||
2297 | public override void SetRigidBody(RigidBody body) | ||
2298 | { | ||
2299 | Rigidbody = body; | ||
2300 | } | ||
2301 | internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon) | ||
2302 | { | ||
2303 | return | ||
2304 | (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && | ||
2305 | (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && | ||
2306 | (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))); | ||
2307 | } | ||
2308 | |||
2309 | internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon) | ||
2310 | { | ||
2311 | return | ||
2312 | (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && | ||
2313 | (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && | ||
2314 | (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && | ||
2315 | (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); | ||
2316 | } | ||
2317 | |||
2318 | } | ||
1622 | } | 2319 | } |
2320 | |||