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Diffstat (limited to '')
-rw-r--r-- | libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/StaticPlaneShape.cs | 124 |
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 @@ | |||
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 | } | ||