1 files changed, 133 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs
new file mode 100644
index 0000000..f61371a
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs
@@ -0,0 +1,133 @@
+/*
+  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
+{
+        public abstract class PolyhedralConvexShape : ConvexShape
+        {
+                public PolyhedralConvexShape()
+                {
+                        //m_optionalHull = null;
+                }
+                public abstract int VertexCount { get; }
+                public abstract int EdgeCount { get; }
+                public abstract int PlaneCount { get; }
+                public abstract void GetEdge(int i, out Vector3 pointA, out Vector3 pointB);
+                public abstract void GetVertex(int i, out Vector3 vertex);
+                public abstract void GetPlane(out Vector3 planeNormal, out Vector3 planeSupport, int i);
+                //      abstract int getIndex(int i); 
+                public abstract bool IsInside(Vector3 point, float tolerance);
+                // optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
+                //public class Hull m_optionalHull;
+                public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
+                {
+                        Vector3 supVec = new Vector3();
+                        float maxDot = -1e30f;
+                        float lenSqr = vec.LengthSquared();
+                        if (lenSqr < 0.0001f)
+                        {
+                                vec = new Vector3(1, 0, 0);
+                        }
+                        else
+                        {
+                                float rlen = 1f / (float)Math.Sqrt(lenSqr);
+                                vec *= rlen;
+                        }
+                        Vector3 vtx;
+                        float newDot;
+                        for (int i = 0; i < VertexCount; i++)
+                        {
+                                GetVertex(i, out vtx);
+                                newDot = Vector3.Dot(vec, vtx);
+                                if (newDot > maxDot)
+                                {
+                                        maxDot = newDot;
+                                        supVec = vtx;
+                                }
+                        }
+                        return supVec;
+                }
+                public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
+                {
+                        #warning Think about this
+                        /*Vector3 vtx;
+                        float newDot;
+                        for (int i = 0; i < vectors.Length; i++)
+                        {
+                                supportVerticesOut[i][3] = -1e30f;
+                        }
+                        for (int j = 0; j < vectors.Length; j++)
+                        {
+                                Vector3 vec = vectors[j];
+                                for (int i = 0; i < getNumVertices(); i++)
+                                {
+                                        getVertex(i, out vtx);
+                                        newDot = Vector3.Dot(vec,vtx);
+                                        if (newDot > supportVerticesOut[j][3])
+                                        {
+                                                //WARNING: don't swap next lines, the w component would get overwritten!
+                                                supportVerticesOut[j] = vtx;
+                                                supportVerticesOut[j][3] = newDot;
+                                        }
+                                }
+                        }*/
+                }
+                public override void CalculateLocalInertia(float mass, out Vector3 inertia)
+                {
+                        //not yet, return box inertia
+                        float margin = Margin;
+                        Matrix ident = Matrix.Identity;
+                        Vector3 aabbMin, aabbMax;
+                        GetAabb(ident, out aabbMin, out aabbMax);
+                        Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
+                        float lx = 2f * (halfExtents.X + margin);
+                        float ly = 2f * (halfExtents.Y + margin);
+                        float lz = 2f * (halfExtents.Z + margin);
+                        float x2 = lx * lx;
+                        float y2 = ly * ly;
+                        float z2 = lz * lz;
+                        float scaledmass = mass * 0.08333333f;
+                        inertia = scaledmass * (new Vector3(y2 + z2, x2 + z2, x2 + y2));
+                }
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs new file mode 100644 index 0000000..f61371a --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/PolyhedralConvexShape.cs
@@ -0,0 +1,133 @@
	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	public abstract class PolyhedralConvexShape : ConvexShape
	30	{
	31	public PolyhedralConvexShape()
	32	{
	33	//m_optionalHull = null;
	34	}
	35
	36	public abstract int VertexCount { get; }
	37	public abstract int EdgeCount { get; }
	38	public abstract int PlaneCount { get; }
	39
	40	public abstract void GetEdge(int i, out Vector3 pointA, out Vector3 pointB);
	41	public abstract void GetVertex(int i, out Vector3 vertex);
	42	public abstract void GetPlane(out Vector3 planeNormal, out Vector3 planeSupport, int i);
	43	// abstract int getIndex(int i);
	44
	45	public abstract bool IsInside(Vector3 point, float tolerance);
	46
	47	// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
	48	//public class Hull m_optionalHull;
	49
	50	public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
	51	{
	52	Vector3 supVec = new Vector3();
	53
	54	float maxDot = -1e30f;
	55
	56	float lenSqr = vec.LengthSquared();
	57	if (lenSqr < 0.0001f)
	58	{
	59	vec = new Vector3(1, 0, 0);
	60	}
	61	else
	62	{
	63	float rlen = 1f / (float)Math.Sqrt(lenSqr);
	64	vec *= rlen;
	65	}
	66
	67	Vector3 vtx;
	68	float newDot;
	69
	70	for (int i = 0; i < VertexCount; i++)
	71	{
	72	GetVertex(i, out vtx);
	73	newDot = Vector3.Dot(vec, vtx);
	74	if (newDot > maxDot)
	75	{
	76	maxDot = newDot;
	77	supVec = vtx;
	78	}
	79	}
	80	return supVec;
	81	}
	82
	83	public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
	84	{
	85	#warning Think about this
	86	/*Vector3 vtx;
	87	float newDot;
	88
	89	for (int i = 0; i < vectors.Length; i++)
	90	{
	91	supportVerticesOut[i][3] = -1e30f;
	92	}
	93
	94	for (int j = 0; j < vectors.Length; j++)
	95	{
	96	Vector3 vec = vectors[j];
	97
	98	for (int i = 0; i < getNumVertices(); i++)
	99	{
	100	getVertex(i, out vtx);
	101	newDot = Vector3.Dot(vec,vtx);
	102	if (newDot > supportVerticesOut[j][3])
	103	{
	104	//WARNING: don't swap next lines, the w component would get overwritten!
	105	supportVerticesOut[j] = vtx;
	106	supportVerticesOut[j][3] = newDot;
	107	}
	108	}
	109	}*/
	110	}
	111
	112	public override void CalculateLocalInertia(float mass, out Vector3 inertia)
	113	{
	114	//not yet, return box inertia
	115	float margin = Margin;
	116
	117	Matrix ident = Matrix.Identity;
	118	Vector3 aabbMin, aabbMax;
	119	GetAabb(ident, out aabbMin, out aabbMax);
	120	Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
	121
	122	float lx = 2f * (halfExtents.X + margin);
	123	float ly = 2f * (halfExtents.Y + margin);
	124	float lz = 2f * (halfExtents.Z + margin);
	125	float x2 = lx * lx;
	126	float y2 = ly * ly;
	127	float z2 = lz * lz;
	128	float scaledmass = mass * 0.08333333f;
	129
	130	inertia = scaledmass * (new Vector3(y2 + z2, x2 + z2, x2 + y2));
	131	}
	132	}
	133	}