1 files changed, 124 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/StaticPlaneShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/StaticPlaneShape.cs
new file mode 100644
index 0000000..49604a0
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/StaticPlaneShape.cs
@@ -0,0 +1,124 @@
+/*
+  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 class StaticPlaneShape : ConcaveShape
+        {
+                private Vector3 _localAabbMin;
+                private Vector3 _localAabbMax;
+                private Vector3 _planeNormal;
+                private float _planeConstant;
+                private Vector3 _localScaling;
+                public StaticPlaneShape(Vector3 planeNormal, float planeConstant)
+                {
+                        _planeNormal = planeNormal;
+                        _planeConstant = planeConstant;
+                        _localScaling = new Vector3();
+                }
+                protected Vector3 LocalAabbMin { get { return _localAabbMin; } set { _localAabbMin = value; } }
+                protected Vector3 LocalAabbMax { get { return _localAabbMax; } set { _localAabbMax = value; } }
+                protected Vector3 PlaneNormal { get { return _planeNormal; } set { _planeNormal = value; } }
+                protected float PlaneConstant { get { return _planeConstant; } set { _planeConstant = value; } }
+                public override BroadphaseNativeTypes ShapeType
+                {
+                        get
+                        {
+                                return BroadphaseNativeTypes.StaticPlane;
+                        }
+                }
+                public override Vector3 LocalScaling
+                {
+                        get
+                        {
+                                return _localScaling;
+                        }
+                        set
+                        {
+                                _localScaling = value;
+                        }
+                }
+                public override string Name
+                {
+                        get
+                        {
+                                return "StaticPlane";
+                        }
+                }
+                public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
+                {
+                        Vector3 infvec = new Vector3(1e30f, 1e30f, 1e30f);
+                        Vector3 center = _planeNormal * _planeConstant;
+                        aabbMin = center + infvec * _planeNormal;
+                        aabbMax = aabbMin;
+                        MathHelper.SetMin(ref aabbMin, center - infvec * _planeNormal);
+                        MathHelper.SetMax(ref aabbMax, center - infvec * _planeNormal);
+                        aabbMin = new Vector3(-1e30f, -1e30f, -1e30f);
+                        aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
+                }
+                public override void CalculateLocalInertia(float mass, out Vector3 inertia)
+                {
+                        //moving concave objects not supported
+                        inertia = new Vector3();
+                }
+        public override void ProcessAllTriangles(ITriangleCallback callback, Vector3 aabbMin, Vector3 aabbMax) {
+            Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
+            float radius = halfExtents.Length();
+            Vector3 center = (aabbMax + aabbMin) * 0.5f;
+            //this is where the triangles are generated, given AABB and plane equation (normal/constant)
+            Vector3 tangentDir0 = new Vector3(), tangentDir1 = new Vector3();
+            //tangentDir0/tangentDir1 can be precalculated
+            MathHelper.PlaneSpace1(_planeNormal, ref tangentDir0, ref tangentDir1);
+            Vector3 projectedCenter = center - (Vector3.Dot(_planeNormal, center) - _planeConstant) * _planeNormal;
+            Vector3[] triangle = new Vector3[3];
+            triangle[0] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
+            triangle[1] = projectedCenter + tangentDir0 * radius - tangentDir1 * radius;
+            triangle[2] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
+            callback.ProcessTriangle(triangle, 0, 0);
+            triangle[0] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
+            triangle[1] = projectedCenter - tangentDir0 * radius + tangentDir1 * radius;
+            triangle[2] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
+            callback.ProcessTriangle(triangle, 0, 1);
+        }
+    }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/StaticPlaneShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/StaticPlaneShape.cs new file mode 100644 index 0000000..49604a0 --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/StaticPlaneShape.cs
@@ -0,0 +1,124 @@
	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 class StaticPlaneShape : ConcaveShape
	30	{
	31	private Vector3 _localAabbMin;
	32	private Vector3 _localAabbMax;
	33
	34	private Vector3 _planeNormal;
	35	private float _planeConstant;
	36	private Vector3 _localScaling;
	37
	38	public StaticPlaneShape(Vector3 planeNormal, float planeConstant)
	39	{
	40	_planeNormal = planeNormal;
	41	_planeConstant = planeConstant;
	42	_localScaling = new Vector3();
	43	}
	44
	45	protected Vector3 LocalAabbMin { get { return _localAabbMin; } set { _localAabbMin = value; } }
	46	protected Vector3 LocalAabbMax { get { return _localAabbMax; } set { _localAabbMax = value; } }
	47
	48	protected Vector3 PlaneNormal { get { return _planeNormal; } set { _planeNormal = value; } }
	49	protected float PlaneConstant { get { return _planeConstant; } set { _planeConstant = value; } }
	50
	51	public override BroadphaseNativeTypes ShapeType
	52	{
	53	get
	54	{
	55	return BroadphaseNativeTypes.StaticPlane;
	56	}
	57	}
	58
	59	public override Vector3 LocalScaling
	60	{
	61	get
	62	{
	63	return _localScaling;
	64	}
	65	set
	66	{
	67	_localScaling = value;
	68	}
	69	}
	70
	71	public override string Name
	72	{
	73	get
	74	{
	75	return "StaticPlane";
	76	}
	77	}
	78
	79	public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
	80	{
	81	Vector3 infvec = new Vector3(1e30f, 1e30f, 1e30f);
	82
	83	Vector3 center = _planeNormal * _planeConstant;
	84	aabbMin = center + infvec * _planeNormal;
	85	aabbMax = aabbMin;
	86	MathHelper.SetMin(ref aabbMin, center - infvec * _planeNormal);
	87	MathHelper.SetMax(ref aabbMax, center - infvec * _planeNormal);
	88
	89	aabbMin = new Vector3(-1e30f, -1e30f, -1e30f);
	90	aabbMax = new Vector3(1e30f, 1e30f, 1e30f);
	91	}
	92
	93	public override void CalculateLocalInertia(float mass, out Vector3 inertia)
	94	{
	95	//moving concave objects not supported
	96	inertia = new Vector3();
	97	}
	98
	99	public override void ProcessAllTriangles(ITriangleCallback callback, Vector3 aabbMin, Vector3 aabbMax) {
	100	Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
	101	float radius = halfExtents.Length();
	102	Vector3 center = (aabbMax + aabbMin) * 0.5f;
	103
	104	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
	105	Vector3 tangentDir0 = new Vector3(), tangentDir1 = new Vector3();
	106
	107	//tangentDir0/tangentDir1 can be precalculated
	108	MathHelper.PlaneSpace1(_planeNormal, ref tangentDir0, ref tangentDir1);
	109
	110	Vector3 projectedCenter = center - (Vector3.Dot(_planeNormal, center) - _planeConstant) * _planeNormal;
	111
	112	Vector3[] triangle = new Vector3[3];
	113	triangle[0] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
	114	triangle[1] = projectedCenter + tangentDir0 * radius - tangentDir1 * radius;
	115	triangle[2] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
	116	callback.ProcessTriangle(triangle, 0, 0);
	117
	118	triangle[0] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
	119	triangle[1] = projectedCenter - tangentDir0 * radius + tangentDir1 * radius;
	120	triangle[2] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
	121	callback.ProcessTriangle(triangle, 0, 1);
	122	}
	123	}
	124	}