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-rw-r--r--libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/BoxShape.cs632
1 files changed, 316 insertions, 316 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/BoxShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/BoxShape.cs
index ba6f3b7..7fab5c7 100644
--- a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/BoxShape.cs
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/BoxShape.cs
@@ -1,316 +1,316 @@
1/* 1/*
2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru 2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com 3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
4 4
5 This software is provided 'as-is', without any express or implied 5 This software is provided 'as-is', without any express or implied
6 warranty. In no event will the authors be held liable for any damages 6 warranty. In no event will the authors be held liable for any damages
7 arising from the use of this software. 7 arising from the use of this software.
8 8
9 Permission is granted to anyone to use this software for any purpose, 9 Permission is granted to anyone to use this software for any purpose,
10 including commercial applications, and to alter it and redistribute it 10 including commercial applications, and to alter it and redistribute it
11 freely, subject to the following restrictions: 11 freely, subject to the following restrictions:
12 12
13 1. The origin of this software must not be misrepresented; you must not 13 1. The origin of this software must not be misrepresented; you must not
14 claim that you wrote the original software. If you use this software 14 claim that you wrote the original software. If you use this software
15 in a product, an acknowledgment in the product documentation would be 15 in a product, an acknowledgment in the product documentation would be
16 appreciated but is not required. 16 appreciated but is not required.
17 2. Altered source versions must be plainly marked as such, and must not be 17 2. Altered source versions must be plainly marked as such, and must not be
18 misrepresented as being the original software. 18 misrepresented as being the original software.
19 3. This notice may not be removed or altered from any source distribution. 19 3. This notice may not be removed or altered from any source distribution.
20*/ 20*/
21 21
22using System; 22using System;
23using System.Collections.Generic; 23using System.Collections.Generic;
24using System.Text; 24using System.Text;
25using MonoXnaCompactMaths; 25using MonoXnaCompactMaths;
26 26
27namespace XnaDevRu.BulletX 27namespace XnaDevRu.BulletX
28{ 28{
29 public class BoxShape : PolyhedralConvexShape 29 public class BoxShape : PolyhedralConvexShape
30 { 30 {
31 public BoxShape(Vector3 boxHalfExtents) 31 public BoxShape(Vector3 boxHalfExtents)
32 { 32 {
33 ImplicitShapeDimensions = boxHalfExtents; 33 ImplicitShapeDimensions = boxHalfExtents;
34 } 34 }
35 35
36 public override int VertexCount 36 public override int VertexCount
37 { 37 {
38 get 38 get
39 { 39 {
40 return 8; 40 return 8;
41 } 41 }
42 } 42 }
43 43
44 public override int EdgeCount 44 public override int EdgeCount
45 { 45 {
46 get 46 get
47 { 47 {
48 return 12; 48 return 12;
49 } 49 }
50 } 50 }
51 51
52 public override BroadphaseNativeTypes ShapeType 52 public override BroadphaseNativeTypes ShapeType
53 { 53 {
54 get 54 get
55 { 55 {
56 return BroadphaseNativeTypes.Box; 56 return BroadphaseNativeTypes.Box;
57 } 57 }
58 } 58 }
59 59
60 public override string Name 60 public override string Name
61 { 61 {
62 get 62 get
63 { 63 {
64 return "Box"; 64 return "Box";
65 } 65 }
66 } 66 }
67 67
68 public override int PreferredPenetrationDirectionsCount 68 public override int PreferredPenetrationDirectionsCount
69 { 69 {
70 get 70 get
71 { 71 {
72 return 6; 72 return 6;
73 } 73 }
74 } 74 }
75 75
76 public override int PlaneCount 76 public override int PlaneCount
77 { 77 {
78 get 78 get
79 { 79 {
80 return 6; 80 return 6;
81 } 81 }
82 } 82 }
83 83
84 public Vector3 HalfExtents { get { return ImplicitShapeDimensions * LocalScaling; } } 84 public Vector3 HalfExtents { get { return ImplicitShapeDimensions * LocalScaling; } }
85 85
86 public override void GetEdge(int i, out Vector3 pa, out Vector3 pb) 86 public override void GetEdge(int i, out Vector3 pa, out Vector3 pb)
87 { 87 {
88 int edgeVert0 = 0; 88 int edgeVert0 = 0;
89 int edgeVert1 = 0; 89 int edgeVert1 = 0;
90 90
91 switch (i) 91 switch (i)
92 { 92 {
93 case 0: 93 case 0:
94 edgeVert0 = 0; 94 edgeVert0 = 0;
95 edgeVert1 = 1; 95 edgeVert1 = 1;
96 break; 96 break;
97 case 1: 97 case 1:
98 edgeVert0 = 0; 98 edgeVert0 = 0;
99 edgeVert1 = 2; 99 edgeVert1 = 2;
100 break; 100 break;
101 case 2: 101 case 2:
102 edgeVert0 = 1; 102 edgeVert0 = 1;
103 edgeVert1 = 3; 103 edgeVert1 = 3;
104 104
105 break; 105 break;
106 case 3: 106 case 3:
107 edgeVert0 = 2; 107 edgeVert0 = 2;
108 edgeVert1 = 3; 108 edgeVert1 = 3;
109 break; 109 break;
110 case 4: 110 case 4:
111 edgeVert0 = 0; 111 edgeVert0 = 0;
112 edgeVert1 = 4; 112 edgeVert1 = 4;
113 break; 113 break;
114 case 5: 114 case 5:
115 edgeVert0 = 1; 115 edgeVert0 = 1;
116 edgeVert1 = 5; 116 edgeVert1 = 5;
117 117
118 break; 118 break;
119 case 6: 119 case 6:
120 edgeVert0 = 2; 120 edgeVert0 = 2;
121 edgeVert1 = 6; 121 edgeVert1 = 6;
122 break; 122 break;
123 case 7: 123 case 7:
124 edgeVert0 = 3; 124 edgeVert0 = 3;
125 edgeVert1 = 7; 125 edgeVert1 = 7;
126 break; 126 break;
127 case 8: 127 case 8:
128 edgeVert0 = 4; 128 edgeVert0 = 4;
129 edgeVert1 = 5; 129 edgeVert1 = 5;
130 break; 130 break;
131 case 9: 131 case 9:
132 edgeVert0 = 4; 132 edgeVert0 = 4;
133 edgeVert1 = 6; 133 edgeVert1 = 6;
134 break; 134 break;
135 case 10: 135 case 10:
136 edgeVert0 = 5; 136 edgeVert0 = 5;
137 edgeVert1 = 7; 137 edgeVert1 = 7;
138 break; 138 break;
139 case 11: 139 case 11:
140 edgeVert0 = 6; 140 edgeVert0 = 6;
141 edgeVert1 = 7; 141 edgeVert1 = 7;
142 break; 142 break;
143 default: 143 default:
144 throw new BulletException(); 144 throw new BulletException();
145 145
146 } 146 }
147 147
148 GetVertex(edgeVert0, out pa); 148 GetVertex(edgeVert0, out pa);
149 GetVertex(edgeVert1, out pb); 149 GetVertex(edgeVert1, out pb);
150 } 150 }
151 151
152 public override void GetVertex(int i, out Vector3 vtx) 152 public override void GetVertex(int i, out Vector3 vtx)
153 { 153 {
154 Vector3 halfExtents = HalfExtents; 154 Vector3 halfExtents = HalfExtents;
155 155
156 vtx = new Vector3( 156 vtx = new Vector3(
157 halfExtents.X * (1 - (i & 1)) - halfExtents.X * (i & 1), 157 halfExtents.X * (1 - (i & 1)) - halfExtents.X * (i & 1),
158 halfExtents.Y * (1 - ((i & 2) >> 1)) - halfExtents.Y * ((i & 2) >> 1), 158 halfExtents.Y * (1 - ((i & 2) >> 1)) - halfExtents.Y * ((i & 2) >> 1),
159 halfExtents.Z * (1 - ((i & 4) >> 2)) - halfExtents.Z * ((i & 4) >> 2)); 159 halfExtents.Z * (1 - ((i & 4) >> 2)) - halfExtents.Z * ((i & 4) >> 2));
160 } 160 }
161 161
162 public override void GetPlane(out Vector3 planeNormal, out Vector3 planeSupport, int i) 162 public override void GetPlane(out Vector3 planeNormal, out Vector3 planeSupport, int i)
163 { 163 {
164 //this plane might not be aligned... 164 //this plane might not be aligned...
165 Vector4 plane; 165 Vector4 plane;
166 GetPlaneEquation(out plane, i); 166 GetPlaneEquation(out plane, i);
167 planeNormal = new Vector3(plane.X, plane.Y, plane.Z); 167 planeNormal = new Vector3(plane.X, plane.Y, plane.Z);
168 planeSupport = LocalGetSupportingVertex(-planeNormal); 168 planeSupport = LocalGetSupportingVertex(-planeNormal);
169 } 169 }
170 170
171 public override bool IsInside(Vector3 pt, float tolerance) 171 public override bool IsInside(Vector3 pt, float tolerance)
172 { 172 {
173 Vector3 halfExtents = HalfExtents; 173 Vector3 halfExtents = HalfExtents;
174 174
175 //btScalar minDist = 2*tolerance; 175 //btScalar minDist = 2*tolerance;
176 176
177 bool result = (pt.X <= ( halfExtents.X + tolerance)) && 177 bool result = (pt.X <= ( halfExtents.X + tolerance)) &&
178 (pt.X >= (-halfExtents.X - tolerance)) && 178 (pt.X >= (-halfExtents.X - tolerance)) &&
179 (pt.Y <= ( halfExtents.Y + tolerance)) && 179 (pt.Y <= ( halfExtents.Y + tolerance)) &&
180 (pt.Y >= (-halfExtents.Y - tolerance)) && 180 (pt.Y >= (-halfExtents.Y - tolerance)) &&
181 (pt.Z <= ( halfExtents.Z + tolerance)) && 181 (pt.Z <= ( halfExtents.Z + tolerance)) &&
182 (pt.Z >= (-halfExtents.Z - tolerance)); 182 (pt.Z >= (-halfExtents.Z - tolerance));
183 183
184 return result; 184 return result;
185 } 185 }
186 186
187 public override Vector3 LocalGetSupportingVertex(Vector3 vec) 187 public override Vector3 LocalGetSupportingVertex(Vector3 vec)
188 { 188 {
189 Vector3 halfExtents = HalfExtents; 189 Vector3 halfExtents = HalfExtents;
190 190
191 return new Vector3( vec.X < 0.0f ? -halfExtents.X : halfExtents.X, 191 return new Vector3( vec.X < 0.0f ? -halfExtents.X : halfExtents.X,
192 vec.Y < 0.0f ? -halfExtents.Y : halfExtents.Y, 192 vec.Y < 0.0f ? -halfExtents.Y : halfExtents.Y,
193 vec.Z < 0.0f ? -halfExtents.Z : halfExtents.Z); 193 vec.Z < 0.0f ? -halfExtents.Z : halfExtents.Z);
194 } 194 }
195 195
196 public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) 196 public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
197 { 197 {
198 Vector3 halfExtents = HalfExtents; 198 Vector3 halfExtents = HalfExtents;
199 Vector3 margin = new Vector3(Margin, Margin, Margin); 199 Vector3 margin = new Vector3(Margin, Margin, Margin);
200 halfExtents -= margin; 200 halfExtents -= margin;
201 201
202 return new Vector3( vec.X < 0.0f ? -halfExtents.X : halfExtents.X, 202 return new Vector3( vec.X < 0.0f ? -halfExtents.X : halfExtents.X,
203 vec.Y < 0.0f ? -halfExtents.Y : halfExtents.Y, 203 vec.Y < 0.0f ? -halfExtents.Y : halfExtents.Y,
204 vec.Z < 0.0f ? -halfExtents.Z : halfExtents.Z); 204 vec.Z < 0.0f ? -halfExtents.Z : halfExtents.Z);
205 } 205 }
206 206
207 public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) 207 public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
208 { 208 {
209 Vector3 halfExtents = HalfExtents; 209 Vector3 halfExtents = HalfExtents;
210 Vector3 margin = new Vector3(Margin, Margin, Margin); 210 Vector3 margin = new Vector3(Margin, Margin, Margin);
211 halfExtents -= margin; 211 halfExtents -= margin;
212 212
213 for (int i = 0; i < vectors.Length; i++) 213 for (int i = 0; i < vectors.Length; i++)
214 { 214 {
215 Vector3 vec = vectors[i]; 215 Vector3 vec = vectors[i];
216 supportVerticesOut[i] = new Vector3(vec.X < 0.0f ? -halfExtents.X : halfExtents.X, 216 supportVerticesOut[i] = new Vector3(vec.X < 0.0f ? -halfExtents.X : halfExtents.X,
217 vec.Y < 0.0f ? -halfExtents.Y : halfExtents.Y, 217 vec.Y < 0.0f ? -halfExtents.Y : halfExtents.Y,
218 vec.Z < 0.0f ? -halfExtents.Z : halfExtents.Z); 218 vec.Z < 0.0f ? -halfExtents.Z : halfExtents.Z);
219 } 219 }
220 } 220 }
221 221
222 public virtual void GetPlaneEquation(out Vector4 plane, int i) 222 public virtual void GetPlaneEquation(out Vector4 plane, int i)
223 { 223 {
224 Vector3 halfExtents = HalfExtents; 224 Vector3 halfExtents = HalfExtents;
225 225
226 switch (i) 226 switch (i)
227 { 227 {
228 case 0: 228 case 0:
229 plane = new Vector4(1, 0, 0, 0); 229 plane = new Vector4(1, 0, 0, 0);
230 plane.W = -halfExtents.X; 230 plane.W = -halfExtents.X;
231 break; 231 break;
232 case 1: 232 case 1:
233 plane = new Vector4(-1, 0, 0, 0); 233 plane = new Vector4(-1, 0, 0, 0);
234 plane.W = -halfExtents.X; 234 plane.W = -halfExtents.X;
235 break; 235 break;
236 case 2: 236 case 2:
237 plane = new Vector4(0, 1, 0, 0); 237 plane = new Vector4(0, 1, 0, 0);
238 plane.W = -halfExtents.Y; 238 plane.W = -halfExtents.Y;
239 break; 239 break;
240 case 3: 240 case 3:
241 plane = new Vector4(0, -1, 0, 0); 241 plane = new Vector4(0, -1, 0, 0);
242 plane.W = -halfExtents.Y; 242 plane.W = -halfExtents.Y;
243 break; 243 break;
244 case 4: 244 case 4:
245 plane = new Vector4(0, 0, 1, 0); 245 plane = new Vector4(0, 0, 1, 0);
246 plane.W = -halfExtents.Z; 246 plane.W = -halfExtents.Z;
247 break; 247 break;
248 case 5: 248 case 5:
249 plane = new Vector4(0, 0, -1, 0); 249 plane = new Vector4(0, 0, -1, 0);
250 plane.W = -halfExtents.Z; 250 plane.W = -halfExtents.Z;
251 break; 251 break;
252 default: 252 default:
253 throw new BulletException(); 253 throw new BulletException();
254 } 254 }
255 } 255 }
256 256
257 public override void GetPreferredPenetrationDirection(int index, out Vector3 penetrationVector) 257 public override void GetPreferredPenetrationDirection(int index, out Vector3 penetrationVector)
258 { 258 {
259 switch (index) 259 switch (index)
260 { 260 {
261 case 0: 261 case 0:
262 penetrationVector = new Vector3(1, 0, 0); 262 penetrationVector = new Vector3(1, 0, 0);
263 break; 263 break;
264 case 1: 264 case 1:
265 penetrationVector = new Vector3(-1, 0, 0); 265 penetrationVector = new Vector3(-1, 0, 0);
266 break; 266 break;
267 case 2: 267 case 2:
268 penetrationVector = new Vector3(0, 1, 0); 268 penetrationVector = new Vector3(0, 1, 0);
269 break; 269 break;
270 case 3: 270 case 3:
271 penetrationVector = new Vector3(0, -1, 0); 271 penetrationVector = new Vector3(0, -1, 0);
272 break; 272 break;
273 case 4: 273 case 4:
274 penetrationVector = new Vector3(0, 0, 1); 274 penetrationVector = new Vector3(0, 0, 1);
275 break; 275 break;
276 case 5: 276 case 5:
277 penetrationVector = new Vector3(0, 0, -1); 277 penetrationVector = new Vector3(0, 0, -1);
278 break; 278 break;
279 default: 279 default:
280 throw new BulletException(); 280 throw new BulletException();
281 } 281 }
282 } 282 }
283 283
284 public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax) 284 public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
285 { 285 {
286 Vector3 halfExtents = HalfExtents; 286 Vector3 halfExtents = HalfExtents;
287 287
288 Matrix abs_b = MathHelper.Absolute(t); 288 Matrix abs_b = MathHelper.Absolute(t);
289 Vector3 center = t.Translation; 289 Vector3 center = t.Translation;
290 Vector3 row1 = new Vector3(abs_b.M11, abs_b.M12, abs_b.M13); 290 Vector3 row1 = new Vector3(abs_b.M11, abs_b.M12, abs_b.M13);
291 Vector3 row2 = new Vector3(abs_b.M21, abs_b.M22, abs_b.M23); 291 Vector3 row2 = new Vector3(abs_b.M21, abs_b.M22, abs_b.M23);
292 Vector3 row3 = new Vector3(abs_b.M31, abs_b.M32, abs_b.M33); 292 Vector3 row3 = new Vector3(abs_b.M31, abs_b.M32, abs_b.M33);
293 Vector3 extent = new Vector3(Vector3.Dot(row1, halfExtents), 293 Vector3 extent = new Vector3(Vector3.Dot(row1, halfExtents),
294 Vector3.Dot(row2, halfExtents), 294 Vector3.Dot(row2, halfExtents),
295 Vector3.Dot(row3, halfExtents)); 295 Vector3.Dot(row3, halfExtents));
296 extent += new Vector3(Margin, Margin, Margin); 296 extent += new Vector3(Margin, Margin, Margin);
297 297
298 aabbMin = center - extent; 298 aabbMin = center - extent;
299 aabbMax = center + extent; 299 aabbMax = center + extent;
300 } 300 }
301 301
302 public override void CalculateLocalInertia(float mass, out Vector3 inertia) 302 public override void CalculateLocalInertia(float mass, out Vector3 inertia)
303 { 303 {
304 Vector3 halfExtents = HalfExtents; 304 Vector3 halfExtents = HalfExtents;
305 305
306 float lx = 2f * (halfExtents.X); 306 float lx = 2f * (halfExtents.X);
307 float ly = 2f * (halfExtents.Y); 307 float ly = 2f * (halfExtents.Y);
308 float lz = 2f * (halfExtents.Z); 308 float lz = 2f * (halfExtents.Z);
309 309
310 inertia = new Vector3(); 310 inertia = new Vector3();
311 inertia.X = mass / (12.0f) * (ly * ly + lz * lz); 311 inertia.X = mass / (12.0f) * (ly * ly + lz * lz);
312 inertia.Y = mass / (12.0f) * (lx * lx + lz * lz); 312 inertia.Y = mass / (12.0f) * (lx * lx + lz * lz);
313 inertia.Z = mass / (12.0f) * (lx * lx + ly * ly); 313 inertia.Z = mass / (12.0f) * (lx * lx + ly * ly);
314 } 314 }
315 } 315 }
316} 316}
generated by cgit v1.1 at 2024-08-24 08:09:29 +0000