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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs430
1 files changed, 355 insertions, 75 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index f6b4359..17ebed2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -81,11 +81,11 @@ private sealed class BulletBodyXNA : BulletBody
81private sealed class BulletShapeXNA : BulletShape 81private sealed class BulletShapeXNA : BulletShape
82{ 82{
83 public CollisionShape shape; 83 public CollisionShape shape;
84 public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) 84 public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ)
85 : base() 85 : base()
86 { 86 {
87 shape = xx; 87 shape = xx;
88 type = typ; 88 shapeType = typ;
89 } 89 }
90 public override bool HasPhysicalShape 90 public override bool HasPhysicalShape
91 { 91 {
@@ -97,7 +97,7 @@ private sealed class BulletShapeXNA : BulletShape
97 } 97 }
98 public override BulletShape Clone() 98 public override BulletShape Clone()
99 { 99 {
100 return new BulletShapeXNA(shape, type); 100 return new BulletShapeXNA(shape, shapeType);
101 } 101 }
102 public override bool ReferenceSame(BulletShape other) 102 public override bool ReferenceSame(BulletShape other)
103 { 103 {
@@ -137,8 +137,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
137 internal int LastEntityProperty = 0; 137 internal int LastEntityProperty = 0;
138 138
139 internal EntityProperties[] UpdatedObjects; 139 internal EntityProperties[] UpdatedObjects;
140 internal Dictionary<uint, GhostObject> specialCollisionObjects; 140 internal Dictionary<uint, GhostObject> specialCollisionObjects;
141 141
142 private static int m_collisionsThisFrame; 142 private static int m_collisionsThisFrame;
143 private BSScene PhysicsScene { get; set; } 143 private BSScene PhysicsScene { get; set; }
144 144
@@ -151,7 +151,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
151 } 151 }
152 152
153 /// <summary> 153 /// <summary>
154 /// 154 ///
155 /// </summary> 155 /// </summary>
156 /// <param name="p"></param> 156 /// <param name="p"></param>
157 /// <param name="p_2"></param> 157 /// <param name="p_2"></param>
@@ -169,12 +169,25 @@ private sealed class BulletConstraintXNA : BulletConstraint
169 return true; 169 return true;
170 } 170 }
171 171
172 public override bool ClearCollisionProxyCache(BulletWorld pWorld, BulletBody pBody)
173 {
174 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
175 RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
176 CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
177 if (body != null && collisionObject != null && collisionObject.GetBroadphaseHandle() != null)
178 {
179 world.RemoveCollisionObject(collisionObject);
180 world.AddCollisionObject(collisionObject);
181 }
182 return true;
183 }
184
172 public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) 185 public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
173 { 186 {
174 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 187 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
175 TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; 188 TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
176 world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); 189 world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
177 190
178 return true; 191 return true;
179 192
180 } 193 }
@@ -300,7 +313,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
300 public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { 313 public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
301 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 314 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
302 return world.GetForceUpdateAllAabbs(); 315 return world.GetForceUpdateAllAabbs();
303 316
304 } 317 }
305 public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) 318 public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
306 { 319 {
@@ -404,7 +417,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
404 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); 417 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
405 mat._origin = vposition; 418 mat._origin = vposition;
406 collisionObject.SetWorldTransform(mat); 419 collisionObject.SetWorldTransform(mat);
407 420
408 } 421 }
409 422
410 public override Vector3 GetPosition(BulletBody pCollisionObject) 423 public override Vector3 GetPosition(BulletBody pCollisionObject)
@@ -457,7 +470,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
457 { 470 {
458 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; 471 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
459 collisionObject.Activate(pforceactivation); 472 collisionObject.Activate(pforceactivation);
460 473
461 } 474 }
462 475
463 public override Quaternion GetOrientation(BulletBody pCollisionObject) 476 public override Quaternion GetOrientation(BulletBody pCollisionObject)
@@ -486,7 +499,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
486 { 499 {
487 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; 500 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
488 return collisionObject.GetCcdSweptSphereRadius(); 501 return collisionObject.GetCcdSweptSphereRadius();
489 502
490 } 503 }
491 504
492 public override IntPtr GetUserPointer(BulletBody pCollisionObject) 505 public override IntPtr GetUserPointer(BulletBody pCollisionObject)
@@ -559,8 +572,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
559 } 572 }
560 573
561 574
562 public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 575 public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
563 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 576 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
564 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 577 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
565 578
566 { 579 {
@@ -604,7 +617,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
604 } 617 }
605 618
606 /// <summary> 619 /// <summary>
607 /// 620 ///
608 /// </summary> 621 /// </summary>
609 /// <param name="pWorld"></param> 622 /// <param name="pWorld"></param>
610 /// <param name="pBody1"></param> 623 /// <param name="pBody1"></param>
@@ -752,6 +765,214 @@ private sealed class BulletConstraintXNA : BulletConstraint
752 constraint.SetBreakingImpulseThreshold(threshold); 765 constraint.SetBreakingImpulseThreshold(threshold);
753 return true; 766 return true;
754 } 767 }
768 public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
769 {
770 HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
771 if (softness == HINGE_NOT_SPECIFIED)
772 constraint.SetLimit(low, high);
773 else
774 constraint.SetLimit(low, high, softness, bias, relaxation);
775 return true;
776 }
777 public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
778 {
779 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
780 constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true));
781 return true;
782 }
783
784 public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
785 {
786 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
787 if (index == SPRING_NOT_SPECIFIED)
788 {
789 constraint.SetEquilibriumPoint();
790 }
791 else
792 {
793 if (equilibriumPoint == SPRING_NOT_SPECIFIED)
794 constraint.SetEquilibriumPoint(index);
795 else
796 constraint.SetEquilibriumPoint(index, equilibriumPoint);
797 }
798 return true;
799 }
800
801 public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness)
802 {
803 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
804 constraint.SetStiffness(index, stiffness);
805 return true;
806 }
807
808 public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping)
809 {
810 Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
811 constraint.SetDamping(index, damping);
812 return true;
813 }
814
815 public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
816 {
817 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
818 switch (lowerUpper)
819 {
820 case SLIDER_LOWER_LIMIT:
821 switch (linAng)
822 {
823 case SLIDER_LINEAR:
824 constraint.SetLowerLinLimit(val);
825 break;
826 case SLIDER_ANGULAR:
827 constraint.SetLowerAngLimit(val);
828 break;
829 }
830 break;
831 case SLIDER_UPPER_LIMIT:
832 switch (linAng)
833 {
834 case SLIDER_LINEAR:
835 constraint.SetUpperLinLimit(val);
836 break;
837 case SLIDER_ANGULAR:
838 constraint.SetUpperAngLimit(val);
839 break;
840 }
841 break;
842 }
843 return true;
844 }
845 public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
846 {
847 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
848 switch (softRestDamp)
849 {
850 case SLIDER_SET_SOFTNESS:
851 switch (dirLimOrtho)
852 {
853 case SLIDER_SET_DIRECTION:
854 switch (linAng)
855 {
856 case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
857 case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
858 }
859 break;
860 case SLIDER_SET_LIMIT:
861 switch (linAng)
862 {
863 case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
864 case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
865 }
866 break;
867 case SLIDER_SET_ORTHO:
868 switch (linAng)
869 {
870 case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
871 case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
872 }
873 break;
874 }
875 break;
876 case SLIDER_SET_RESTITUTION:
877 switch (dirLimOrtho)
878 {
879 case SLIDER_SET_DIRECTION:
880 switch (linAng)
881 {
882 case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
883 case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
884 }
885 break;
886 case SLIDER_SET_LIMIT:
887 switch (linAng)
888 {
889 case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
890 case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
891 }
892 break;
893 case SLIDER_SET_ORTHO:
894 switch (linAng)
895 {
896 case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
897 case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
898 }
899 break;
900 }
901 break;
902 case SLIDER_SET_DAMPING:
903 switch (dirLimOrtho)
904 {
905 case SLIDER_SET_DIRECTION:
906 switch (linAng)
907 {
908 case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
909 case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
910 }
911 break;
912 case SLIDER_SET_LIMIT:
913 switch (linAng)
914 {
915 case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
916 case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
917 }
918 break;
919 case SLIDER_SET_ORTHO:
920 switch (linAng)
921 {
922 case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
923 case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
924 }
925 break;
926 }
927 break;
928 }
929 return true;
930 }
931 public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
932 {
933 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
934 switch (linAng)
935 {
936 case SLIDER_LINEAR:
937 constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
938 break;
939 case SLIDER_ANGULAR:
940 constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
941 break;
942 }
943 return true;
944 }
945 public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
946 {
947 SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
948 switch (forceVel)
949 {
950 case SLIDER_MOTOR_VELOCITY:
951 switch (linAng)
952 {
953 case SLIDER_LINEAR:
954 constraint.SetTargetLinMotorVelocity(val);
955 break;
956 case SLIDER_ANGULAR:
957 constraint.SetTargetAngMotorVelocity(val);
958 break;
959 }
960 break;
961 case SLIDER_MAX_MOTOR_FORCE:
962 switch (linAng)
963 {
964 case SLIDER_LINEAR:
965 constraint.SetMaxLinMotorForce(val);
966 break;
967 case SLIDER_ANGULAR:
968 constraint.SetMaxAngMotorForce(val);
969 break;
970 }
971 break;
972 }
973 return true;
974 }
975
755 //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); 976 //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
756 public override void SetAngularDamping(BulletBody pBody, float angularDamping) 977 public override void SetAngularDamping(BulletBody pBody, float angularDamping)
757 { 978 {
@@ -824,7 +1045,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
824 { 1045 {
825 RigidBody body = (pBody as BulletBodyXNA).rigidBody; 1046 RigidBody body = (pBody as BulletBodyXNA).rigidBody;
826 float angularDamping = body.GetAngularDamping(); 1047 float angularDamping = body.GetAngularDamping();
827 body.SetDamping(lin_damping, angularDamping); 1048 body.SetDamping(lin_damping, angularDamping);
828 } 1049 }
829 1050
830 public override float GetLinearDamping(BulletBody pBody) 1051 public override float GetLinearDamping(BulletBody pBody)
@@ -907,7 +1128,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
907 RigidBody bo = co as RigidBody; 1128 RigidBody bo = co as RigidBody;
908 if (bo == null) 1129 if (bo == null)
909 { 1130 {
910 1131
911 if (world.IsInWorld(co)) 1132 if (world.IsInWorld(co))
912 { 1133 {
913 world.RemoveCollisionObject(co); 1134 world.RemoveCollisionObject(co);
@@ -915,7 +1136,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
915 } 1136 }
916 else 1137 else
917 { 1138 {
918 1139
919 if (world.IsInWorld(bo)) 1140 if (world.IsInWorld(bo))
920 { 1141 {
921 world.RemoveRigidBody(bo); 1142 world.RemoveRigidBody(bo);
@@ -947,7 +1168,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
947 1168
948 // TODO: Turn this from a reference copy to a Value Copy. 1169 // TODO: Turn this from a reference copy to a Value Copy.
949 BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); 1170 BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
950 1171
951 return shape2; 1172 return shape2;
952 } 1173 }
953 1174
@@ -957,7 +1178,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
957 return false; 1178 return false;
958 } 1179 }
959 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); 1180 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
960 1181
961 public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) 1182 public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
962 { 1183 {
963 CollisionWorld world = (pWorld as BulletWorldXNA).world; 1184 CollisionWorld world = (pWorld as BulletWorldXNA).world;
@@ -993,11 +1214,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
993 m_startWorldTransform = IndexedMatrix.Identity; 1214 m_startWorldTransform = IndexedMatrix.Identity;
994 */ 1215 */
995 body.SetUserPointer(pLocalID); 1216 body.SetUserPointer(pLocalID);
996 1217
997 return new BulletBodyXNA(pLocalID, body); 1218 return new BulletBodyXNA(pLocalID, body);
998 } 1219 }
999 1220
1000 1221
1001 public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) 1222 public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
1002 { 1223 {
1003 1224
@@ -1025,7 +1246,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1025 public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) 1246 public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
1026 { 1247 {
1027 1248
1028 /* TODO */ 1249 /* TODO */
1029 return Vector3.Zero; 1250 return Vector3.Zero;
1030 } 1251 }
1031 public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } 1252 public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
@@ -1035,7 +1256,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1035 { 1256 {
1036 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; 1257 CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
1037 return collisionObject.IsStaticObject(); 1258 return collisionObject.IsStaticObject();
1038 1259
1039 } 1260 }
1040 public override bool IsKinematicObject(BulletBody pCollisionObject) 1261 public override bool IsKinematicObject(BulletBody pCollisionObject)
1041 { 1262 {
@@ -1098,10 +1319,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
1098 return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); 1319 return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
1099 } 1320 }
1100 1321
1101 private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, 1322 private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
1102 ConfigurationParameters[] o, 1323 ConfigurationParameters[] o,
1103 int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, 1324 int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
1104 int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, 1325 int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
1105 object mDebugLogCallbackHandle) 1326 object mDebugLogCallbackHandle)
1106 { 1327 {
1107 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); 1328 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
@@ -1138,9 +1359,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
1138 p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; 1359 p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
1139 p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; 1360 p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
1140 p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; 1361 p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
1141 1362
1142 p.vehicleAngularDamping = BSParam.VehicleAngularDamping; 1363 p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
1143 1364
1144 p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; 1365 p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
1145 p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; 1366 p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
1146 p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; 1367 p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
@@ -1160,7 +1381,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1160 p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; 1381 p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
1161 p.physicsLoggingFrames = o[0].physicsLoggingFrames; 1382 p.physicsLoggingFrames = o[0].physicsLoggingFrames;
1162 DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); 1383 DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
1163 1384
1164 DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); 1385 DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
1165 CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); 1386 CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
1166 1387
@@ -1221,6 +1442,50 @@ private sealed class BulletConstraintXNA : BulletConstraint
1221 //BSParam.TerrainImplementation = 0; 1442 //BSParam.TerrainImplementation = 0;
1222 world.SetGravity(new IndexedVector3(0,0,p.gravity)); 1443 world.SetGravity(new IndexedVector3(0,0,p.gravity));
1223 1444
1445 // Turn off Pooling since globals and pooling are bad for threading.
1446 BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
1447 BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
1448 BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
1449 BulletGlobals.CastResultPool.SetPoolingEnabled(false);
1450 BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
1451 BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
1452 BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
1453 BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
1454 BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
1455 BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
1456 BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
1457 BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
1458 BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
1459 BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
1460 BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
1461 BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);
1462
1463 BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
1464 BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
1465 BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
1466 BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
1467 BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
1468 BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
1469 BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
1470 BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
1471 BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
1472 BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
1473 BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
1474 BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
1475 BulletGlobals.GJKPool.SetPoolingEnabled(false);
1476 BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
1477 BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
1478 BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
1479 BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
1480 BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
1481 BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
1482 BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
1483 BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
1484 BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
1485 BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
1486 BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
1487 BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);
1488
1224 return world; 1489 return world;
1225 } 1490 }
1226 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL 1491 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
@@ -1263,7 +1528,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1263 } 1528 }
1264 } 1529 }
1265 return ret; 1530 return ret;
1266 1531
1267 } 1532 }
1268 1533
1269 public override float GetAngularMotionDisc(BulletShape pShape) 1534 public override float GetAngularMotionDisc(BulletShape pShape)
@@ -1353,10 +1618,10 @@ private sealed class BulletConstraintXNA : BulletConstraint
1353 CollisionShape shape = (pShape as BulletShapeXNA).shape; 1618 CollisionShape shape = (pShape as BulletShapeXNA).shape;
1354 gObj.SetCollisionShape(shape); 1619 gObj.SetCollisionShape(shape);
1355 gObj.SetUserPointer(pLocalID); 1620 gObj.SetUserPointer(pLocalID);
1356 1621
1357 if (specialCollisionObjects.ContainsKey(pLocalID)) 1622 if (specialCollisionObjects.ContainsKey(pLocalID))
1358 specialCollisionObjects[pLocalID] = gObj; 1623 specialCollisionObjects[pLocalID] = gObj;
1359 else 1624 else
1360 specialCollisionObjects.Add(pLocalID, gObj); 1625 specialCollisionObjects.Add(pLocalID, gObj);
1361 1626
1362 // TODO: Add to Special CollisionObjects! 1627 // TODO: Add to Special CollisionObjects!
@@ -1447,8 +1712,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
1447 return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); 1712 return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
1448 } 1713 }
1449 1714
1450 public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { 1715 public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
1451 1716
1452 if (cShape == null) 1717 if (cShape == null)
1453 return null; 1718 return null;
1454 CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; 1719 CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
@@ -1456,7 +1721,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1456 BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); 1721 BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
1457 1722
1458 1723
1459 return retShape; 1724 return retShape;
1460 } 1725 }
1461 1726
1462 public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) 1727 public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
@@ -1475,7 +1740,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1475 ret = BSPhysicsShapeType.SHAPE_UNKNOWN; 1740 ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
1476 break; 1741 break;
1477 case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: 1742 case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
1478 ret = BSPhysicsShapeType.SHAPE_MESH; 1743 ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
1479 break; 1744 break;
1480 case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: 1745 case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
1481 ret = BSPhysicsShapeType.SHAPE_HULL; 1746 ret = BSPhysicsShapeType.SHAPE_HULL;
@@ -1503,7 +1768,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1503 ret = BSPhysicsShapeType.SHAPE_CONE; 1768 ret = BSPhysicsShapeType.SHAPE_CONE;
1504 break; 1769 break;
1505 case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: 1770 case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
1506 ret = BSPhysicsShapeType.SHAPE_UNKNOWN; 1771 ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
1507 break; 1772 break;
1508 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: 1773 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
1509 ret = BSPhysicsShapeType.SHAPE_CYLINDER; 1774 ret = BSPhysicsShapeType.SHAPE_CYLINDER;
@@ -1547,7 +1812,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1547 break; 1812 break;
1548 ///Used for GIMPACT Trimesh integration 1813 ///Used for GIMPACT Trimesh integration
1549 case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: 1814 case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
1550 ret = BSPhysicsShapeType.SHAPE_MESH; 1815 ret = BSPhysicsShapeType.SHAPE_GIMPACT;
1551 break; 1816 break;
1552 ///Multimaterial mesh 1817 ///Multimaterial mesh
1553 case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: 1818 case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
@@ -1598,8 +1863,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
1598 return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); 1863 return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
1599 } 1864 }
1600 1865
1601 public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, 1866 public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
1602 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, 1867 Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
1603 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) 1868 bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
1604 1869
1605 { 1870 {
@@ -1745,7 +2010,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1745 { 2010 {
1746 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; 2011 DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
1747 CompoundShape compoundshape = new CompoundShape(false); 2012 CompoundShape compoundshape = new CompoundShape(false);
1748 2013
1749 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); 2014 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
1750 int ii = 1; 2015 int ii = 1;
1751 2016
@@ -1761,7 +2026,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1761 int ender = ((ii + 4) + (vertexCount*3)); 2026 int ender = ((ii + 4) + (vertexCount*3));
1762 for (int iii = ii + 4; iii < ender; iii+=3) 2027 for (int iii = ii + 4; iii < ender; iii+=3)
1763 { 2028 {
1764 2029
1765 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); 2030 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
1766 } 2031 }
1767 ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); 2032 ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
@@ -1769,7 +2034,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1769 compoundshape.AddChildShape(ref childTrans, convexShape); 2034 compoundshape.AddChildShape(ref childTrans, convexShape);
1770 ii += (vertexCount*3 + 4); 2035 ii += (vertexCount*3 + 4);
1771 } 2036 }
1772 2037
1773 return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); 2038 return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
1774 } 2039 }
1775 2040
@@ -1778,16 +2043,26 @@ private sealed class BulletConstraintXNA : BulletConstraint
1778 /* TODO */ return null; 2043 /* TODO */ return null;
1779 } 2044 }
1780 2045
2046 public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
2047 {
2048 /* TODO */ return null;
2049 }
2050
2051 public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
2052 {
2053 /* TODO */ return null;
2054 }
2055
1781 public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) 2056 public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
1782 { 2057 {
1783 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); 2058 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
1784 2059
1785 for (int iter = 0; iter < pVerticesCount; iter++) 2060 for (int iter = 0; iter < pVerticesCount; iter++)
1786 { 2061 {
1787 if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; 2062 if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
1788 if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; 2063 if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
1789 } 2064 }
1790 2065
1791 ObjectArray<int> indicesarr = new ObjectArray<int>(indices); 2066 ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
1792 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats); 2067 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
1793 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); 2068 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
@@ -1801,7 +2076,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1801 mesh.m_vertexStride = 3; 2076 mesh.m_vertexStride = 3;
1802 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; 2077 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1803 mesh.m_triangleIndexStride = 3; 2078 mesh.m_triangleIndexStride = 3;
1804 2079
1805 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); 2080 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1806 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); 2081 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1807 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); 2082 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
@@ -1810,9 +2085,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
1810 return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); 2085 return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
1811 2086
1812 } 2087 }
2088 public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
2089 {
2090 // TODO:
2091 return null;
2092 }
1813 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount ) 2093 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
1814 { 2094 {
1815 2095
1816 String fileName = "objTest3.raw"; 2096 String fileName = "objTest3.raw";
1817 String completePath = System.IO.Path.Combine(Util.configDir(), fileName); 2097 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1818 StreamWriter sw = new StreamWriter(completePath); 2098 StreamWriter sw = new StreamWriter(completePath);
@@ -1838,7 +2118,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1838 string s = vertices[indices[i * 3]].ToString("0.0000"); 2118 string s = vertices[indices[i * 3]].ToString("0.0000");
1839 s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); 2119 s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1840 s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); 2120 s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1841 2121
1842 sw.Write(s + "\n"); 2122 sw.Write(s + "\n");
1843 } 2123 }
1844 2124
@@ -1860,7 +2140,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1860 mesh.m_vertexStride = 3; 2140 mesh.m_vertexStride = 3;
1861 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; 2141 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1862 mesh.m_triangleIndexStride = 3; 2142 mesh.m_triangleIndexStride = 3;
1863 2143
1864 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); 2144 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1865 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); 2145 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1866 2146
@@ -1891,7 +2171,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1891 sw.Close(); 2171 sw.Close();
1892 } 2172 }
1893 2173
1894 public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, 2174 public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
1895 float scaleFactor, float collisionMargin) 2175 float scaleFactor, float collisionMargin)
1896 { 2176 {
1897 const int upAxis = 2; 2177 const int upAxis = 2;
@@ -1899,7 +2179,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
1899 heightMap, scaleFactor, 2179 heightMap, scaleFactor,
1900 minHeight, maxHeight, upAxis, 2180 minHeight, maxHeight, upAxis,
1901 false); 2181 false);
1902 terrainShape.SetMargin(collisionMargin + 0.5f); 2182 terrainShape.SetMargin(collisionMargin);
1903 terrainShape.SetUseDiamondSubdivision(true); 2183 terrainShape.SetUseDiamondSubdivision(true);
1904 terrainShape.SetUserPointer(id); 2184 terrainShape.SetUserPointer(id);
1905 return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); 2185 return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
@@ -1933,14 +2213,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
1933 /* TODO */ 2213 /* TODO */
1934 updatedEntityCount = 0; 2214 updatedEntityCount = 0;
1935 collidersCount = 0; 2215 collidersCount = 0;
1936 2216
1937 2217
1938 int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); 2218 int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
1939 2219
1940 return ret; 2220 return ret;
1941 } 2221 }
1942 2222
1943 private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, 2223 private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
1944 out int updatedEntityCount, out EntityProperties[] updatedEntities, 2224 out int updatedEntityCount, out EntityProperties[] updatedEntities,
1945 out int collidersCount, out CollisionDesc[] colliders) 2225 out int collidersCount, out CollisionDesc[] colliders)
1946 { 2226 {
@@ -1949,24 +2229,24 @@ private sealed class BulletConstraintXNA : BulletConstraint
1949 return epic; 2229 return epic;
1950 } 2230 }
1951 2231
1952 private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, 2232 private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
1953 out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) 2233 out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
1954 { 2234 {
1955 int numSimSteps = 0; 2235 int numSimSteps = 0;
1956 Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); 2236 Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
1957 Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); 2237 Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
1958 LastEntityProperty=0; 2238 LastEntityProperty=0;
1959 2239
1960 2240
1961 2241
1962 2242
1963 2243
1964 2244
1965 LastCollisionDesc=0; 2245 LastCollisionDesc=0;
1966 2246
1967 updatedEntityCount = 0; 2247 updatedEntityCount = 0;
1968 collidersCount = 0; 2248 collidersCount = 0;
1969 2249
1970 2250
1971 if (pWorld is BulletWorldXNA) 2251 if (pWorld is BulletWorldXNA)
1972 { 2252 {
@@ -2023,7 +2303,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2023 2303
2024 collidersCount = LastCollisionDesc; 2304 collidersCount = LastCollisionDesc;
2025 colliders = UpdatedCollisions; 2305 colliders = UpdatedCollisions;
2026 2306
2027 2307
2028 } 2308 }
2029 else 2309 else
@@ -2031,15 +2311,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
2031 //if (updatedEntities is null) 2311 //if (updatedEntities is null)
2032 //updatedEntities = new List<BulletXNA.EntityProperties>(); 2312 //updatedEntities = new List<BulletXNA.EntityProperties>();
2033 //updatedEntityCount = 0; 2313 //updatedEntityCount = 0;
2034 2314
2035 2315
2036 //collidersCount = 0; 2316 //collidersCount = 0;
2037 2317
2038 updatedEntities = new EntityProperties[0]; 2318 updatedEntities = new EntityProperties[0];
2039 2319
2040 2320
2041 colliders = new CollisionDesc[0]; 2321 colliders = new CollisionDesc[0];
2042 2322
2043 } 2323 }
2044 return numSimSteps; 2324 return numSimSteps;
2045 } 2325 }
@@ -2047,7 +2327,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2047 { 2327 {
2048 IOverlappingPairCache cache = obj.GetOverlappingPairCache(); 2328 IOverlappingPairCache cache = obj.GetOverlappingPairCache();
2049 ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray(); 2329 ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
2050 2330
2051 DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; 2331 DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
2052 PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); 2332 PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
2053 BroadphasePair collisionPair; 2333 BroadphasePair collisionPair;
@@ -2059,7 +2339,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2059 ManifoldPoint pt; 2339 ManifoldPoint pt;
2060 2340
2061 int numPairs = pairs.Count; 2341 int numPairs = pairs.Count;
2062 2342
2063 for (int i = 0; i < numPairs; i++) 2343 for (int i = 0; i < numPairs; i++)
2064 { 2344 {
2065 manifoldArray.Clear(); 2345 manifoldArray.Clear();
@@ -2068,7 +2348,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2068 collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); 2348 collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
2069 if (collisionPair == null) 2349 if (collisionPair == null)
2070 continue; 2350 continue;
2071 2351
2072 collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); 2352 collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
2073 for (int j = 0; j < manifoldArray.Count; j++) 2353 for (int j = 0; j < manifoldArray.Count; j++)
2074 { 2354 {
@@ -2091,7 +2371,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2091 } 2371 }
2092 private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) 2372 private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
2093 { 2373 {
2094 2374
2095 IndexedVector3 contactNormal = norm; 2375 IndexedVector3 contactNormal = norm;
2096 if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && 2376 if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
2097 (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) 2377 (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
@@ -2161,11 +2441,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
2161 if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) 2441 if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
2162 { 2442 {
2163 CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; 2443 CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
2164 2444
2165 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); 2445 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
2166 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); 2446 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
2167 using ( 2447 using (
2168 ClosestNotMeRayResultCallback rayCallback = 2448 ClosestNotMeRayResultCallback rayCallback =
2169 new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) 2449 new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
2170 ) 2450 )
2171 { 2451 {
@@ -2181,9 +2461,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
2181 return false; 2461 return false;
2182 } 2462 }
2183} 2463}
2184
2185 2464
2186 2465
2466
2187 2467
2188 public class SimMotionState : DefaultMotionState 2468 public class SimMotionState : DefaultMotionState
2189 { 2469 {
@@ -2276,12 +2556,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
2276 m_lastProperties = m_properties; 2556 m_lastProperties = m_properties;
2277 if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) 2557 if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
2278 m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); 2558 m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);
2279 2559
2280 //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; 2560 //(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
2281 } 2561 }
2282 2562
2283 2563
2284 2564
2285 2565
2286 } 2566 }
2287 public override void SetRigidBody(RigidBody body) 2567 public override void SetRigidBody(RigidBody body)
@@ -2304,7 +2584,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
2304 (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && 2584 (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) &&
2305 (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); 2585 (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon)));
2306 } 2586 }
2307 2587
2308 } 2588 }
2309} 2589}
2310 2590
generated by cgit v1.1 at 2024-07-16 13:05:51 +0000