1 files changed, 148 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CollisionShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CollisionShape.cs
new file mode 100644
index 0000000..a9ce3be
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CollisionShape.cs
@@ -0,0 +1,148 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        /// <summary>
+        /// CollisionShape provides generic interface for collidable objects
+        /// </summary>
+        public abstract class CollisionShape
+        {
+                //debugging support
+                private string _tempDebug;
+                public abstract string Name { get; }
+                public string ExtraDebugInfo { get { return _tempDebug; } set { _tempDebug = value; } }
+                public bool IsPolyhedral
+                {
+                        get
+                        {
+                                return BroadphaseProxy.IsPolyhedral(ShapeType);
+                        }
+                }
+                public bool IsConvex
+                {
+                        get
+                        {
+                                return BroadphaseProxy.IsConvex(ShapeType);
+                        }
+                }
+                public bool IsConcave
+                {
+                        get
+                        {
+                                return BroadphaseProxy.IsConcave(ShapeType);
+                        }
+                }
+                public bool IsCompound
+                {
+                        get
+                        {
+                                return BroadphaseProxy.IsCompound(ShapeType);
+                        }
+                }
+                //isInfinite is used to catch simulation error (aabb check)
+                public bool IsInfinite
+                {
+                        get
+                        {
+                                return BroadphaseProxy.IsInfinite(ShapeType);
+                        }
+                }
+                public abstract float Margin { get; set; }
+                public abstract Vector3 LocalScaling { get; set; }
+                public abstract BroadphaseNativeTypes ShapeType { get; }
+                
+                public virtual void GetBoundingSphere(out Vector3 center, out float radius)
+                {
+                        Matrix tr = Matrix.Identity;
+                        Vector3 aabbMin, aabbMax;
+                        GetAabb(tr, out aabbMin, out aabbMax);
+                        radius = (aabbMax - aabbMin).Length() * 0.5f;
+                        center = (aabbMin + aabbMax) * 0.5f;
+                }
+                public virtual float GetAngularMotionDisc()
+                {
+                        Vector3 center;
+                        float disc;
+                        GetBoundingSphere(out center, out disc);
+                        disc += center.Length();
+                        return disc;
+                }
+                //calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
+                //result is conservative
+                public void CalculateTemporalAabb(Matrix currentTransform, Vector3 linearVelocity, Vector3 angularVelocity, float timeStep, out Vector3 temporalAabbMin, out Vector3 temporalAabbMax)
+                {
+                        //start with static aabb
+                        GetAabb(currentTransform, out temporalAabbMin, out temporalAabbMax);
+                        float temporalAabbMaxx = temporalAabbMax.X;
+                        float temporalAabbMaxy = temporalAabbMax.Y;
+                        float temporalAabbMaxz = temporalAabbMax.Z;
+                        float temporalAabbMinx = temporalAabbMin.X;
+                        float temporalAabbMiny = temporalAabbMin.Y;
+                        float temporalAabbMinz = temporalAabbMin.Z;
+                        // add linear motion
+                        Vector3 linMotion = linearVelocity * timeStep;
+                        //todo: simd would have a vector max/min operation, instead of per-element access
+                        if (linMotion.X > 0)
+                                temporalAabbMaxx += linMotion.X;
+                        else
+                                temporalAabbMinx += linMotion.X;
+                        if (linMotion.Y > 0)
+                                temporalAabbMaxy += linMotion.Y;
+                        else
+                                temporalAabbMiny += linMotion.Y;
+                        if (linMotion.Z > 0)
+                                temporalAabbMaxz += linMotion.Z;
+                        else
+                                temporalAabbMinz += linMotion.Z;
+                        //add conservative angular motion
+                        float angularMotion = angularVelocity.Length() * GetAngularMotionDisc() * timeStep;
+                        Vector3 angularMotion3d = new Vector3(angularMotion, angularMotion, angularMotion);
+                        temporalAabbMin = new Vector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
+                        temporalAabbMax = new Vector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
+                        temporalAabbMin -= angularMotion3d;
+                        temporalAabbMax += angularMotion3d;
+                }
+                public abstract void GetAabb(Matrix transform, out Vector3 aabbMin, out Vector3 aabbMax);
+                public abstract void CalculateLocalInertia(float mass, out Vector3 inertia);
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CollisionShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CollisionShape.cs new file mode 100644 index 0000000..a9ce3be --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CollisionShape.cs
@@ -0,0 +1,148 @@
	1	/*
	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
	4
	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
	7	arising from the use of this software.
	8
	9	Permission is granted to anyone to use this software for any purpose,
	10	including commercial applications, and to alter it and redistribute it
	11	freely, subject to the following restrictions:
	12
	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
	15	in a product, an acknowledgment in the product documentation would be
	16	appreciated but is not required.
	17	2. Altered source versions must be plainly marked as such, and must not be
	18	misrepresented as being the original software.
	19	3. This notice may not be removed or altered from any source distribution.
	20	*/
	21
	22	using System;
	23	using System.Collections.Generic;
	24	using System.Text;
	25	using MonoXnaCompactMaths;
	26
	27	namespace XnaDevRu.BulletX
	28	{
	29	/// <summary>
	30	/// CollisionShape provides generic interface for collidable objects
	31	/// </summary>
	32	public abstract class CollisionShape
	33	{
	34	//debugging support
	35	private string _tempDebug;
	36
	37	public abstract string Name { get; }
	38	public string ExtraDebugInfo { get { return _tempDebug; } set { _tempDebug = value; } }
	39
	40	public bool IsPolyhedral
	41	{
	42	get
	43	{
	44	return BroadphaseProxy.IsPolyhedral(ShapeType);
	45	}
	46	}
	47
	48	public bool IsConvex
	49	{
	50	get
	51	{
	52	return BroadphaseProxy.IsConvex(ShapeType);
	53	}
	54	}
	55	public bool IsConcave
	56	{
	57	get
	58	{
	59	return BroadphaseProxy.IsConcave(ShapeType);
	60	}
	61	}
	62	public bool IsCompound
	63	{
	64	get
	65	{
	66	return BroadphaseProxy.IsCompound(ShapeType);
	67	}
	68	}
	69
	70	//isInfinite is used to catch simulation error (aabb check)
	71	public bool IsInfinite
	72	{
	73	get
	74	{
	75	return BroadphaseProxy.IsInfinite(ShapeType);
	76	}
	77	}
	78
	79	public abstract float Margin { get; set; }
	80	public abstract Vector3 LocalScaling { get; set; }
	81	public abstract BroadphaseNativeTypes ShapeType { get; }
	82
	83
	84	public virtual void GetBoundingSphere(out Vector3 center, out float radius)
	85	{
	86	Matrix tr = Matrix.Identity;
	87	Vector3 aabbMin, aabbMax;
	88
	89	GetAabb(tr, out aabbMin, out aabbMax);
	90
	91	radius = (aabbMax - aabbMin).Length() * 0.5f;
	92	center = (aabbMin + aabbMax) * 0.5f;
	93	}
	94
	95	public virtual float GetAngularMotionDisc()
	96	{
	97	Vector3 center;
	98	float disc;
	99	GetBoundingSphere(out center, out disc);
	100	disc += center.Length();
	101	return disc;
	102	}
	103
	104	//calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
	105	//result is conservative
	106	public void CalculateTemporalAabb(Matrix currentTransform, Vector3 linearVelocity, Vector3 angularVelocity, float timeStep, out Vector3 temporalAabbMin, out Vector3 temporalAabbMax)
	107	{
	108	//start with static aabb
	109	GetAabb(currentTransform, out temporalAabbMin, out temporalAabbMax);
	110
	111	float temporalAabbMaxx = temporalAabbMax.X;
	112	float temporalAabbMaxy = temporalAabbMax.Y;
	113	float temporalAabbMaxz = temporalAabbMax.Z;
	114	float temporalAabbMinx = temporalAabbMin.X;
	115	float temporalAabbMiny = temporalAabbMin.Y;
	116	float temporalAabbMinz = temporalAabbMin.Z;
	117
	118	// add linear motion
	119	Vector3 linMotion = linearVelocity * timeStep;
	120	//todo: simd would have a vector max/min operation, instead of per-element access
	121	if (linMotion.X > 0)
	122	temporalAabbMaxx += linMotion.X;
	123	else
	124	temporalAabbMinx += linMotion.X;
	125	if (linMotion.Y > 0)
	126	temporalAabbMaxy += linMotion.Y;
	127	else
	128	temporalAabbMiny += linMotion.Y;
	129	if (linMotion.Z > 0)
	130	temporalAabbMaxz += linMotion.Z;
	131	else
	132	temporalAabbMinz += linMotion.Z;
	133
	134	//add conservative angular motion
	135	float angularMotion = angularVelocity.Length() * GetAngularMotionDisc() * timeStep;
	136	Vector3 angularMotion3d = new Vector3(angularMotion, angularMotion, angularMotion);
	137	temporalAabbMin = new Vector3(temporalAabbMinx, temporalAabbMiny, temporalAabbMinz);
	138	temporalAabbMax = new Vector3(temporalAabbMaxx, temporalAabbMaxy, temporalAabbMaxz);
	139
	140	temporalAabbMin -= angularMotion3d;
	141	temporalAabbMax += angularMotion3d;
	142	}
	143
	144	public abstract void GetAabb(Matrix transform, out Vector3 aabbMin, out Vector3 aabbMax);
	145
	146	public abstract void CalculateLocalInertia(float mass, out Vector3 inertia);
	147	}
	148	}