From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001
From: David Walter Seikel
Date: Thu, 3 Nov 2016 21:44:39 +1000
Subject: Initial update to OpenSim 0.8.2.1 source code.
---
.../Region/Physics/BulletSNPlugin/BulletSimAPI.cs | 1603 --------------------
1 file changed, 1603 deletions(-)
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
(limited to 'OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs')
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
deleted file mode 100644
index 93643c9..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
+++ /dev/null
@@ -1,1603 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyrightD
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the OpenSimulator Project nor the
- * names of its contributors may be used to endorse or promote products
- * derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-using System;
-using System.Collections.Generic;
-using System.IO;
-using System.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-using BulletXNA;
-using OpenMetaverse;
-using BulletXNA.LinearMath;
-using BulletXNA.BulletCollision;
-using BulletXNA.BulletDynamics;
-using BulletXNA.BulletCollision.CollisionDispatch;
-using OpenSim.Framework;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin {
-
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-
-
- // Constraint type values as defined by Bullet
-public enum ConstraintType : int
-{
- POINT2POINT_CONSTRAINT_TYPE = 3,
- HINGE_CONSTRAINT_TYPE,
- CONETWIST_CONSTRAINT_TYPE,
- D6_CONSTRAINT_TYPE,
- SLIDER_CONSTRAINT_TYPE,
- CONTACT_CONSTRAINT_TYPE,
- D6_SPRING_CONSTRAINT_TYPE,
- MAX_CONSTRAINT_TYPE
-}
-
-// ===============================================================================
-[StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull
-{
- Vector3 Offset;
- int VertexCount;
- Vector3[] Vertices;
-}
-public enum BSPhysicsShapeType
-{
- SHAPE_UNKNOWN = 0,
- SHAPE_CAPSULE = 1,
- SHAPE_BOX = 2,
- SHAPE_CONE = 3,
- SHAPE_CYLINDER = 4,
- SHAPE_SPHERE = 5,
- SHAPE_MESH = 6,
- SHAPE_HULL = 7,
- // following defined by BulletSim
- SHAPE_GROUNDPLANE = 20,
- SHAPE_TERRAIN = 21,
- SHAPE_COMPOUND = 22,
- SHAPE_HEIGHTMAP = 23,
-};
-
-// The native shapes have predefined shape hash keys
-public enum FixedShapeKey : ulong
-{
- KEY_NONE = 0,
- KEY_BOX = 1,
- KEY_SPHERE = 2,
- KEY_CONE = 3,
- KEY_CYLINDER = 4,
- KEY_CAPSULE = 5,
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public struct ShapeData
-{
- public uint ID;
- public BSPhysicsShapeType Type;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Scale;
- public float Mass;
- public float Buoyancy;
- public System.UInt64 HullKey;
- public System.UInt64 MeshKey;
- public float Friction;
- public float Restitution;
- public float Collidable; // true of things bump into this
- public float Static; // true if a static object. Otherwise gravity, etc.
- public float Solid; // true if object cannot be passed through
- public Vector3 Size;
-
- // note that bools are passed as floats since bool size changes by language and architecture
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct SweepHit
-{
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
- public Vector3 Point;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct RaycastHit
-{
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct CollisionDesc
-{
- public uint aID;
- public uint bID;
- public Vector3 point;
- public Vector3 normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct EntityProperties
-{
- public uint ID;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Acceleration;
- public Vector3 RotationalVelocity;
- public override string ToString()
- {
- return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>",
- ID.ToString(),
- Position.X,Position.Y,Position.Z,
- Rotation.X,Rotation.Y,Rotation.Z,Rotation.W,
- Velocity.X,Velocity.Y,Velocity.Z,
- RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z
- );
- }
-}
-
-// Format of this structure must match the definition in the C++ code
-// NOTE: adding the X causes compile breaks if used. These are unused symbols
-// that can be removed from both here and the unmanaged definition of this structure.
-[StructLayout(LayoutKind.Sequential)]
-public struct ConfigurationParameters
-{
- public float defaultFriction;
- public float defaultDensity;
- public float defaultRestitution;
- public float collisionMargin;
- public float gravity;
-
- public float XlinearDamping;
- public float XangularDamping;
- public float XdeactivationTime;
- public float XlinearSleepingThreshold;
- public float XangularSleepingThreshold;
- public float XccdMotionThreshold;
- public float XccdSweptSphereRadius;
- public float XcontactProcessingThreshold;
-
- public float XterrainImplementation;
- public float XterrainFriction;
- public float XterrainHitFraction;
- public float XterrainRestitution;
- public float XterrainCollisionMargin;
-
- public float XavatarFriction;
- public float XavatarStandingFriction;
- public float XavatarDensity;
- public float XavatarRestitution;
- public float XavatarCapsuleWidth;
- public float XavatarCapsuleDepth;
- public float XavatarCapsuleHeight;
- public float XavatarContactProcessingThreshold;
-
- public float XvehicleAngularDamping;
-
- public float maxPersistantManifoldPoolSize;
- public float maxCollisionAlgorithmPoolSize;
- public float shouldDisableContactPoolDynamicAllocation;
- public float shouldForceUpdateAllAabbs;
- public float shouldRandomizeSolverOrder;
- public float shouldSplitSimulationIslands;
- public float shouldEnableFrictionCaching;
- public float numberOfSolverIterations;
-
- public float XlinksetImplementation;
- public float XlinkConstraintUseFrameOffset;
- public float XlinkConstraintEnableTransMotor;
- public float XlinkConstraintTransMotorMaxVel;
- public float XlinkConstraintTransMotorMaxForce;
- public float XlinkConstraintERP;
- public float XlinkConstraintCFM;
- public float XlinkConstraintSolverIterations;
-
- public float physicsLoggingFrames;
-
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
-}
-
-
-// The states a bullet collision object can have
-
-public enum ActivationState : uint
-{
- UNDEFINED = 0,
- ACTIVE_TAG = 1,
- ISLAND_SLEEPING = 2,
- WANTS_DEACTIVATION = 3,
- DISABLE_DEACTIVATION = 4,
- DISABLE_SIMULATION = 5,
-}
-
-public enum CollisionObjectTypes : int
-{
- CO_COLLISION_OBJECT = 1 << 0,
- CO_RIGID_BODY = 1 << 1,
- CO_GHOST_OBJECT = 1 << 2,
- CO_SOFT_BODY = 1 << 3,
- CO_HF_FLUID = 1 << 4,
- CO_USER_TYPE = 1 << 5,
-}
-
-// Values used by Bullet and BulletSim to control object properties.
-// Bullet's "CollisionFlags" has more to do with operations on the
-// object (if collisions happen, if gravity effects it, ...).
- [Flags]
-public enum CollisionFlags : uint
-{
- CF_STATIC_OBJECT = 1 << 0,
- CF_KINEMATIC_OBJECT = 1 << 1,
- CF_NO_CONTACT_RESPONSE = 1 << 2,
- CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
- CF_CHARACTER_OBJECT = 1 << 4,
- CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
- CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
- // Following used by BulletSim to control collisions and updates
- BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
- BS_FLOATS_ON_WATER = 1 << 11,
- BS_VEHICLE_COLLISIONS = 1 << 12,
- BS_NONE = 0,
- BS_ALL = 0xFFFFFFFF,
-
- // These are the collision flags switched depending on physical state.
- // The other flags are used for other things and should not be fooled with.
- BS_ACTIVE = CF_STATIC_OBJECT
- | CF_KINEMATIC_OBJECT
- | CF_NO_CONTACT_RESPONSE
-};
-
-// Values for collisions groups and masks
-public enum CollisionFilterGroups : uint
-{
- // Don't use the bit definitions!! Define the use in a
- // filter/mask definition below. This way collision interactions
- // are more easily debugged.
- BNoneGroup = 0,
- BDefaultGroup = 1 << 0,
- BStaticGroup = 1 << 1,
- BKinematicGroup = 1 << 2,
- BDebrisGroup = 1 << 3,
- BSensorTrigger = 1 << 4,
- BCharacterGroup = 1 << 5,
- BAllGroup = 0xFFFFFFFF,
- // Filter groups defined by BulletSim
- BGroundPlaneGroup = 1 << 10,
- BTerrainGroup = 1 << 11,
- BRaycastGroup = 1 << 12,
- BSolidGroup = 1 << 13,
- // BLinksetGroup = xx // a linkset proper is either static or dynamic
- BLinksetChildGroup = 1 << 14,
- // The collsion filters and masked are defined in one place -- don't want them scattered
- AvatarGroup = BCharacterGroup,
- AvatarMask = BAllGroup,
- ObjectGroup = BSolidGroup,
- ObjectMask = BAllGroup,
- StaticObjectGroup = BStaticGroup,
- StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
- LinksetGroup = BLinksetChildGroup,
- LinksetMask = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other
- VolumeDetectGroup = BSensorTrigger,
- VolumeDetectMask = ~BSensorTrigger,
- TerrainGroup = BTerrainGroup,
- TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
- GroundPlaneGroup = BGroundPlaneGroup,
- GroundPlaneMask = BAllGroup
-
-};
-
-// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
-// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
-public enum ConstraintParams : int
-{
- BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
- BT_CONSTRAINT_STOP_ERP,
- BT_CONSTRAINT_CFM,
- BT_CONSTRAINT_STOP_CFM,
-};
-public enum ConstraintParamAxis : int
-{
- AXIS_LINEAR_X = 0,
- AXIS_LINEAR_Y,
- AXIS_LINEAR_Z,
- AXIS_ANGULAR_X,
- AXIS_ANGULAR_Y,
- AXIS_ANGULAR_Z,
- AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
- AXIS_ANGULAR_ALL,
- AXIS_ALL
-};
-
-// ===============================================================================
-static class BulletSimAPI {
- private static int m_collisionsThisFrame;
- public delegate void DebugLogCallback(string msg);
- ///
- ///
- ///
- ///
- ///
- internal static bool RemoveObjectFromWorld2(object pWorld, object pBody)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body = pBody as RigidBody;
- world.RemoveRigidBody(body);
- return true;
- }
-
- internal static void SetRestitution2(object pBody, float pRestitution)
- {
- RigidBody body = pBody as RigidBody;
- body.SetRestitution(pRestitution);
- }
-
- internal static void SetMargin2(object pShape, float pMargin)
- {
- CollisionShape shape = pShape as CollisionShape;
- shape.SetMargin(pMargin);
- }
-
- internal static void SetLocalScaling2(object pShape, Vector3 pScale)
- {
- CollisionShape shape = pShape as CollisionShape;
- IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
- shape.SetLocalScaling(ref vec);
-
- }
-
- internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
- {
- RigidBody body = pBody as RigidBody;
- body.SetContactProcessingThreshold(contactprocessingthreshold);
- }
-
- internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
- {
- RigidBody body = pBody as RigidBody;
- body.SetCcdMotionThreshold(pccdMotionThreashold);
- }
-
- internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
- {
- RigidBody body = pBody as RigidBody;
- body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
- }
-
- internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
- {
- RigidBody body = pBody as RigidBody;
- body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
- }
-
- internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
- {
- CollisionObject body = pBody as CollisionObject;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
- existingcollisionFlags |= pcollisionFlags;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
- return (CollisionFlags) (uint) existingcollisionFlags;
- }
-
- internal static void AddObjectToWorld2(object pWorld, object pBody)
- {
- RigidBody body = pBody as RigidBody;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
-
- world.AddRigidBody(body);
-
- //if (body.GetBroadphaseHandle() != null)
- // world.UpdateSingleAabb(body);
- }
-
- internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation)
- {
- RigidBody body = pBody as RigidBody;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
-
- world.AddRigidBody(body);
- IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
- IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
- _orientation.W);
- IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
- mat._origin = vposition;
- body.SetWorldTransform(mat);
- //if (body.GetBroadphaseHandle() != null)
- // world.UpdateSingleAabb(body);
- }
-
- internal static void ForceActivationState2(object pBody, ActivationState pActivationState)
- {
- CollisionObject body = pBody as CollisionObject;
- body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
- }
-
- internal static void UpdateSingleAabb2(object pWorld, object pBody)
- {
- CollisionObject body = pBody as CollisionObject;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- world.UpdateSingleAabb(body);
- }
-
- internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
- {
- RigidBody body = pBody as RigidBody;
- body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
- return false;
- return true;
- }
-
- internal static void ClearAllForces2(object pBody)
- {
- CollisionObject body = pBody as CollisionObject;
- IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
- body.SetInterpolationLinearVelocity(ref zeroVector);
- body.SetInterpolationAngularVelocity(ref zeroVector);
- IndexedMatrix bodytransform = body.GetWorldTransform();
-
- body.SetInterpolationWorldTransform(ref bodytransform);
-
- if (body is RigidBody)
- {
- RigidBody rigidbody = body as RigidBody;
- rigidbody.SetLinearVelocity(zeroVector);
- rigidbody.SetAngularVelocity(zeroVector);
- rigidbody.ClearForces();
- }
- }
-
- internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
- body.SetInterpolationAngularVelocity(ref vec);
- }
-
- internal static void SetAngularVelocity2(object pBody, Vector3 pVector3)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
- body.SetAngularVelocity(ref vec);
- }
-
- internal static void ClearForces2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- body.ClearForces();
- }
-
- internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
- IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
- _orientation.W);
- IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
- mat._origin = vposition;
- body.SetWorldTransform(mat);
-
- }
-
- internal static Vector3 GetPosition2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
- return new Vector3(pos.X, pos.Y, pos.Z);
- }
-
- internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
- {
- CollisionShape shape = pShape as CollisionShape;
- IndexedVector3 inertia = IndexedVector3.Zero;
- shape.CalculateLocalInertia(pphysMass, out inertia);
- return new Vector3(inertia.X, inertia.Y, inertia.Z);
- }
-
- internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
- body.SetMassProps(pphysMass, inertia);
- }
-
-
- internal static void SetObjectForce2(object pBody, Vector3 _force)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
- body.SetTotalForce(ref force);
- }
-
- internal static void SetFriction2(object pBody, float _currentFriction)
- {
- RigidBody body = pBody as RigidBody;
- body.SetFriction(_currentFriction);
- }
-
- internal static void SetLinearVelocity2(object pBody, Vector3 _velocity)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
- body.SetLinearVelocity(velocity);
- }
-
- internal static void Activate2(object pBody, bool pforceactivation)
- {
- RigidBody body = pBody as RigidBody;
- body.Activate(pforceactivation);
-
- }
-
- internal static Quaternion GetOrientation2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
- return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
- }
-
- internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
- {
- RigidBody body = pBody as RigidBody;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
- existingcollisionFlags &= ~pcollisionFlags;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
- return (CollisionFlags)(uint)existingcollisionFlags;
- }
-
- internal static void SetGravity2(object pBody, Vector3 pGravity)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
- body.SetGravity(gravity);
- }
-
- internal static bool DestroyConstraint2(object pBody, object pConstraint)
- {
- RigidBody body = pBody as RigidBody;
- TypedConstraint constraint = pConstraint as TypedConstraint;
- body.RemoveConstraintRef(constraint);
- return true;
- }
-
- internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
- IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
- constraint.SetLinearLowerLimit(lowlimit);
- constraint.SetLinearUpperLimit(highlimit);
- return true;
- }
-
- internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
- IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
- constraint.SetAngularLowerLimit(lowlimit);
- constraint.SetAngularUpperLimit(highlimit);
- return true;
- }
-
- internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetOverrideNumSolverIterations((int)cnt);
- }
-
- internal static void CalculateTransforms2(object pConstraint)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.CalculateTransforms();
- }
-
- internal static void SetConstraintEnable2(object pConstraint, float p_2)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetEnabled((p_2 == 0) ? false : true);
- }
-
-
- //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body1 = pBody1 as RigidBody;
- RigidBody body2 = pBody2 as RigidBody;
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
-
- Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
- puseLinearReferenceFrameA);
- consttr.CalculateTransforms();
- world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
-
- return consttr;
- }
-
-
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- ///
- internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body1 = pBody1 as RigidBody;
- RigidBody body2 = pBody2 as RigidBody;
- IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
- IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
-
- IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
- IndexedMatrix mat = IndexedMatrix.Identity;
- mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
- frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
- frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
-
- Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
- consttr.CalculateTransforms();
- world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
-
- return consttr;
- }
- //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
- internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
- constraint.SetFrames(ref frame1, ref frame2);
- }
-
-
-
-
- internal static bool IsInWorld2(object pWorld, object pShapeObj)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- CollisionObject shape = pShapeObj as CollisionObject;
- return world.IsInWorld(shape);
- }
-
- internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
- body.SetInterpolationLinearVelocity(ref velocity);
- }
-
- internal static bool UseFrameOffset2(object pConstraint, float onOff)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetUseFrameOffset((onOff == 0) ? false : true);
- return true;
- }
- //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
- internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetBreakingImpulseThreshold(threshold);
- return true;
- }
- //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
- internal static void SetAngularDamping2(object pBody, float angularDamping)
- {
- RigidBody body = pBody as RigidBody;
- float lineardamping = body.GetLinearDamping();
- body.SetDamping(lineardamping, angularDamping);
-
- }
-
- internal static void UpdateInertiaTensor2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- body.UpdateInertiaTensor();
- }
-
- internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
- {
-
- CompoundShape shape = pCompoundShape as CompoundShape;
- shape.RecalculateLocalAabb();
- }
-
- //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
- internal static CollisionFlags GetCollisionFlags2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- uint flags = (uint)body.GetCollisionFlags();
- return (CollisionFlags) flags;
- }
-
- internal static void SetDamping2(object pBody, float pLinear, float pAngular)
- {
- RigidBody body = pBody as RigidBody;
- body.SetDamping(pLinear, pAngular);
- }
- //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
- internal static void SetDeactivationTime2(object pBody, float pDeactivationTime)
- {
- RigidBody body = pBody as RigidBody;
- body.SetDeactivationTime(pDeactivationTime);
- }
- //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
- internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
- {
- RigidBody body = pBody as RigidBody;
- body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
- }
-
- internal static CollisionObjectTypes GetBodyType2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- return (CollisionObjectTypes)(int) body.GetInternalType();
- }
-
- //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
- internal static void ApplyCentralForce2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyCentralForce(ref fSum);
- }
- internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyCentralImpulse(ref fSum);
- }
- internal static void ApplyTorque2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyTorque(ref fSum);
- }
- internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyTorqueImpulse(ref fSum);
- }
-
- internal static void DumpRigidBody2(object p, object p_2)
- {
- //TODO:
- }
-
- internal static void DumpCollisionShape2(object p, object p_2)
- {
- //TODO:
- }
-
- internal static void DestroyObject2(object p, object p_2)
- {
- //TODO:
- }
-
- internal static void Shutdown2(object pWorld)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- world.Cleanup();
- }
-
- internal static void DeleteCollisionShape2(object p, object p_2)
- {
- //TODO:
- }
- //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-
- internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
- CollisionWorld world = pWorld as CollisionWorld;
- IndexedMatrix mat =
- IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
- pRawOrientation.Z, pRawOrientation.W));
- mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- CollisionShape shape = pShape as CollisionShape;
- //UpdateSingleAabb2(world, shape);
- // TODO: Feed Update array into null
- RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
-
- body.SetUserPointer(pLocalID);
- return body;
- }
-
-
- internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
-
- IndexedMatrix mat =
- IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
- pRawOrientation.Z, pRawOrientation.W));
- mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-
- CollisionShape shape = pShape as CollisionShape;
-
- // TODO: Feed Update array into null
- RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
- body.SetWorldTransform(mat);
- body.SetUserPointer(pLocalID);
- return body;
- }
- //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
- internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
- {
- RigidBody body = pBody as RigidBody;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
- }
- //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
- internal static void SetHitFraction2(object pBody, float pHitFraction)
- {
- RigidBody body = pBody as RigidBody;
- body.SetHitFraction(pHitFraction);
- }
- //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
- internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
- CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
- capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
- capsuleShapeZ.SetLocalScaling(ref scale);
-
- return capsuleShapeZ;
- }
-
- public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List collisionArray, int mMaxUpdatesPerFrame, ref List updateArray, object mDebugLogCallbackHandle)
- {
- CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
-
- p.angularDamping = o[0].XangularDamping;
- p.defaultFriction = o[0].defaultFriction;
- p.defaultFriction = o[0].defaultFriction;
- p.defaultDensity = o[0].defaultDensity;
- p.defaultRestitution = o[0].defaultRestitution;
- p.collisionMargin = o[0].collisionMargin;
- p.gravity = o[0].gravity;
-
- p.linearDamping = o[0].XlinearDamping;
- p.angularDamping = o[0].XangularDamping;
- p.deactivationTime = o[0].XdeactivationTime;
- p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
- p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
- p.ccdMotionThreshold = o[0].XccdMotionThreshold;
- p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
- p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
-
- p.terrainImplementation = o[0].XterrainImplementation;
- p.terrainFriction = o[0].XterrainFriction;
-
- p.terrainHitFraction = o[0].XterrainHitFraction;
- p.terrainRestitution = o[0].XterrainRestitution;
- p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
-
- p.avatarFriction = o[0].XavatarFriction;
- p.avatarStandingFriction = o[0].XavatarStandingFriction;
- p.avatarDensity = o[0].XavatarDensity;
- p.avatarRestitution = o[0].XavatarRestitution;
- p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
- p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
- p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
- p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
-
- p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
-
- p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
- p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
- p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
- p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
- p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
- p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
- p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
- p.numberOfSolverIterations = o[0].numberOfSolverIterations;
-
- p.linksetImplementation = o[0].XlinksetImplementation;
- p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
- p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
- p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
- p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
- p.linkConstraintERP = o[0].XlinkConstraintERP;
- p.linkConstraintCFM = o[0].XlinkConstraintCFM;
- p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
- p.physicsLoggingFrames = o[0].physicsLoggingFrames;
- DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
-
- DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
- CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
-
-
- if (p.maxPersistantManifoldPoolSize > 0)
- cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
- if (p.shouldDisableContactPoolDynamicAllocation !=0)
- m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
- //if (p.maxCollisionAlgorithmPoolSize >0 )
-
- DbvtBroadphase m_broadphase = new DbvtBroadphase();
- //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
- //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
-
- //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
- m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
-
- SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
-
- DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
- world.UpdatedObjects = updateArray;
- world.UpdatedCollisions = collisionArray;
- world.WorldSettings.Params = p;
- world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
- world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
- if (p.shouldRandomizeSolverOrder != 0)
- world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
-
- world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
- //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
-
- if (p.shouldEnableFrictionCaching != 0)
- world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
-
- if (p.numberOfSolverIterations > 0)
- world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
-
-
- world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
- world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
- world.GetSolverInfo().m_globalCfm = 0.0f;
- world.GetSolverInfo().m_tau = 0.6f;
- world.GetSolverInfo().m_friction = 0.3f;
- world.GetSolverInfo().m_maxErrorReduction = 20f;
- world.GetSolverInfo().m_numIterations = 10;
- world.GetSolverInfo().m_erp = 0.2f;
- world.GetSolverInfo().m_erp2 = 0.1f;
- world.GetSolverInfo().m_sor = 1.0f;
- world.GetSolverInfo().m_splitImpulse = false;
- world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
- world.GetSolverInfo().m_linearSlop = 0.0f;
- world.GetSolverInfo().m_warmstartingFactor = 0.85f;
- world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
- world.SetForceUpdateAllAabbs(true);
-
-
- world.SetGravity(new IndexedVector3(0,0,p.gravity));
-
- return world;
- }
- //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
- internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
- {
- Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
- if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
- }
- if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
- }
- if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
- }
- return true;
- }
-
- internal static bool PushUpdate2(object pCollisionObject)
- {
- bool ret = false;
- RigidBody rb = pCollisionObject as RigidBody;
- if (rb != null)
- {
- SimMotionState sms = rb.GetMotionState() as SimMotionState;
- if (sms != null)
- {
- IndexedMatrix wt = IndexedMatrix.Identity;
- sms.GetWorldTransform(out wt);
- sms.SetWorldTransform(ref wt, true);
- ret = true;
- }
- }
- return ret;
-
- }
-
- internal static bool IsCompound2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsCompound();
- }
- internal static bool IsPloyhedral2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsPolyhedral();
- }
- internal static bool IsConvex2d2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsConvex2d();
- }
- internal static bool IsConvex2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsConvex();
- }
- internal static bool IsNonMoving2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsNonMoving();
- }
- internal static bool IsConcave2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsConcave();
- }
- internal static bool IsInfinite2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsInfinite();
- }
- internal static bool IsNativeShape2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- bool ret;
- switch (shape.GetShapeType())
- {
- case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
- ret = true;
- break;
- default:
- ret = false;
- break;
- }
- return ret;
- }
- //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
- internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
- IndexedMatrix bodyTransform = new IndexedMatrix();
- bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
- GhostObject gObj = new PairCachingGhostObject();
- gObj.SetWorldTransform(bodyTransform);
- CollisionShape shape = pShape as CollisionShape;
- gObj.SetCollisionShape(shape);
- gObj.SetUserPointer(pLocalID);
- // TODO: Add to Special CollisionObjects!
- return gObj;
- }
-
- public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
- {
- var world = pWorld as DiscreteDynamicsWorld;
- var obj = pObj as CollisionObject;
- var shape = pShape as CollisionShape;
- obj.SetCollisionShape(shape);
-
- }
- //(PhysicsScene.World.ptr, nativeShapeData)
- internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData)
- {
- var world = pWorld as DiscreteDynamicsWorld;
- CollisionShape shape = null;
- switch (pShapeData.Type)
- {
- case BSPhysicsShapeType.SHAPE_BOX:
- shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
- break;
- case BSPhysicsShapeType.SHAPE_CONE:
- shape = new ConeShapeZ(0.5f, 1.0f);
- break;
- case BSPhysicsShapeType.SHAPE_CYLINDER:
- shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
- break;
- case BSPhysicsShapeType.SHAPE_SPHERE:
- shape = new SphereShape(0.5f);
- break;
-
- }
- if (shape != null)
- {
- IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
- shape.SetMargin(world.WorldSettings.Params.collisionMargin);
- shape.SetLocalScaling(ref scaling);
-
- }
- return shape;
- }
- //PhysicsScene.World.ptr, false
- internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
- {
- return new CompoundShape(enableDynamicAabbTree);
- }
-
- internal static int GetNumberOfCompoundChildren2(object pCompoundShape)
- {
- var compoundshape = pCompoundShape as CompoundShape;
- return compoundshape.GetNumChildShapes();
- }
- //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
- internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
- {
- IndexedMatrix relativeTransform = new IndexedMatrix();
- var compoundshape = pCShape as CompoundShape;
- var addshape = paddShape as CollisionShape;
-
- relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
- relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
- compoundshape.AddChildShape(ref relativeTransform, addshape);
-
- }
-
- internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
- {
- var compoundshape = pCShape as CompoundShape;
- CollisionShape ret = null;
- ret = compoundshape.GetChildShape(pii);
- compoundshape.RemoveChildShapeByIndex(pii);
- return ret;
- }
-
- internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
- {
- StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
- m_planeshape.SetMargin(pcollisionMargin);
- m_planeshape.SetUserPointer(pLocalId);
- return m_planeshape;
- }
-
- internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
- {
- HingeConstraint constrain = null;
- var rb1 = pBody1 as RigidBody;
- var rb2 = ppBody2 as RigidBody;
- if (rb1 != null && rb2 != null)
- {
- IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
- IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
- IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
- IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
- var world = pWorld as DiscreteDynamicsWorld;
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
- }
- return constrain;
- }
-
- internal static bool ReleaseHeightMapInfo2(object pMapInfo)
- {
- if (pMapInfo != null)
- {
- BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
- if (mapinfo.heightMap != null)
- mapinfo.heightMap = null;
-
-
- }
- return true;
- }
-
- internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
- {
- CompoundShape compoundshape = new CompoundShape(false);
- var world = pWorld as DiscreteDynamicsWorld;
-
-
- compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
- int ii = 1;
-
- for (int i = 0; i < pHullCount; i++)
- {
- int vertexCount = (int) pConvHulls[ii];
-
- IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
- IndexedMatrix childTrans = IndexedMatrix.Identity;
- childTrans._origin = centroid;
-
- List virts = new List();
- int ender = ((ii + 4) + (vertexCount*3));
- for (int iii = ii + 4; iii < ender; iii+=3)
- {
-
- virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
- }
- ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
- convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
- compoundshape.AddChildShape(ref childTrans, convexShape);
- ii += (vertexCount*3 + 4);
- }
-
-
- return compoundshape;
- }
-
- internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
- {
- //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
-
- for (int iter = 0; iter < pVerticesCount; iter++)
- {
- if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
- if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
- }
-
- ObjectArray indicesarr = new ObjectArray(indices);
- ObjectArray vertices = new ObjectArray(verticesAsFloats);
- DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
- var world = pWorld as DiscreteDynamicsWorld;
- IndexedMesh mesh = new IndexedMesh();
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount/3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indicesarr;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
- BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
- meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
- // world.UpdateSingleAabb(meshShape);
- return meshShape;
-
- }
- public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount )
- {
-
- String fileName = "objTest3.raw";
- String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
- StreamWriter sw = new StreamWriter(completePath);
- IndexedMesh mesh = new IndexedMesh();
-
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount / 3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indices;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
-
- for (int i = 0; i < pVerticesCount; i++)
- {
-
- string s = vertices[indices[i * 3]].ToString("0.0000");
- s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
- s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-
- sw.Write(s + "\n");
- }
-
- sw.Close();
- }
- public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
- {
-
- String fileName = "objTest6.raw";
- String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
- StreamWriter sw = new StreamWriter(completePath);
- IndexedMesh mesh = new IndexedMesh();
-
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount / 3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indices;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
- sw.WriteLine("Indices");
- sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
- for (int iter = 0; iter < indices.Length; iter++)
- {
- sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
- }
- sw.WriteLine("VerticesFloats");
- sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
- for (int iter = 0; iter < vertices.Length; iter++)
- {
- sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
- }
-
- // for (int i = 0; i < pVerticesCount; i++)
- // {
- //
- // string s = vertices[indices[i * 3]].ToString("0.0000");
- // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
- // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
- //
- // sw.Write(s + "\n");
- //}
-
- sw.Close();
- }
- //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
- internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
- {
- BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
- mapInfo.heightMap = null;
- mapInfo.minCoords = pminCoords;
- mapInfo.maxCoords = pmaxCoords;
- mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
- mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
- mapInfo.ID = pId;
- mapInfo.minZ = pminCoords.Z;
- mapInfo.maxZ = pmaxCoords.Z;
- mapInfo.collisionMargin = pCollisionMargin;
- if (mapInfo.minZ == mapInfo.maxZ)
- mapInfo.minZ -= 0.2f;
- mapInfo.heightMap = pheightMap;
-
- return mapInfo;
-
- }
-
- internal static object CreateTerrainShape2(object pMapInfo)
- {
- BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
- const int upAxis = 2;
- const float scaleFactor = 1.0f;
- HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
- mapinfo.heightMap, scaleFactor,
- mapinfo.minZ, mapinfo.maxZ, upAxis,
- false);
- terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
- terrainShape.SetUseDiamondSubdivision(true);
- terrainShape.SetUserPointer(mapinfo.ID);
- return terrainShape;
- }
-
- internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
- {
- TypedConstraint tconstrain = pConstraint as TypedConstraint;
- bool onOff = ponOff != 0;
- bool ret = false;
-
- switch (tconstrain.GetConstraintType())
- {
- case TypedConstraintType.D6_CONSTRAINT_TYPE:
- Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
- constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
- constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
- constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
- ret = true;
- break;
- }
-
-
- return ret;
-
- }
-
- internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out Listcolliders)
- {
- int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
- out collidersCount, out colliders);
- return epic;
- }
-
- private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders)
- {
- int numSimSteps = 0;
-
-
- //if (updatedEntities is null)
- // updatedEntities = new List();
-
- //if (colliders is null)
- // colliders = new List();
-
-
- if (pWorld is DiscreteDynamicsWorld)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-
- numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
- int updates = 0;
-
- updatedEntityCount = world.UpdatedObjects.Count;
- updatedEntities = new List(world.UpdatedObjects);
- updatedEntityCount = updatedEntities.Count;
- world.UpdatedObjects.Clear();
-
-
- collidersCount = world.UpdatedCollisions.Count;
- colliders = new List(world.UpdatedCollisions);
-
- world.UpdatedCollisions.Clear();
- m_collisionsThisFrame = 0;
- int numManifolds = world.GetDispatcher().GetNumManifolds();
- for (int j = 0; j < numManifolds; j++)
- {
- PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
- int numContacts = contactManifold.GetNumContacts();
- if (numContacts == 0)
- continue;
-
- CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
- CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
-
- ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
- IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
- IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
-
- RecordCollision(world, objA, objB, contactPoint, contactNormal);
- m_collisionsThisFrame ++;
- if (m_collisionsThisFrame >= 9999999)
- break;
-
-
- }
-
-
- }
- else
- {
- //if (updatedEntities is null)
- updatedEntities = new List();
- updatedEntityCount = 0;
- //if (colliders is null)
- colliders = new List();
- collidersCount = 0;
- }
- return numSimSteps;
- }
-
- private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
- {
-
- IndexedVector3 contactNormal = norm;
- if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
- (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
- {
- return;
- }
- uint idA = (uint)objA.GetUserPointer();
- uint idB = (uint)objB.GetUserPointer();
- if (idA > idB)
- {
- uint temp = idA;
- idA = idB;
- idB = temp;
- contactNormal = -contactNormal;
- }
-
- ulong collisionID = ((ulong) idA << 32) | idB;
-
- BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
- {
- aID = idA,
- bID = idB,
- point = contact,
- normal = contactNormal
- };
- world.UpdatedCollisions.Add(cDesc);
- m_collisionsThisFrame++;
-
-
- }
- private static EntityProperties GetDebugProperties(object pWorld, object pBody)
- {
- EntityProperties ent = new EntityProperties();
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body = pBody as RigidBody;
- IndexedMatrix transform = body.GetWorldTransform();
- IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
- IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
- IndexedQuaternion rotation = transform.GetRotation();
- ent.Acceleration = Vector3.Zero;
- ent.ID = (uint)body.GetUserPointer();
- ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
- ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
- ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
- ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
- return ent;
-
-
- }
-
-
- internal static Vector3 GetLocalScaling2(object pBody)
- {
- CollisionShape shape = pBody as CollisionShape;
- IndexedVector3 scale = shape.GetLocalScaling();
- return new Vector3(scale.X,scale.Y,scale.Z);
- }
-
- internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
- {
- DynamicsWorld world = pWorld as DynamicsWorld;
- if (world != null)
- {
- if (NotMe is CollisionObject || NotMe is RigidBody)
- {
- CollisionObject AvoidBody = NotMe as CollisionObject;
-
- IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
- IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
- using (
- ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin,
- rEnd, AvoidBody)
- )
- {
- world.RayTest(ref rOrigin, ref rEnd, rayCallback);
- if (rayCallback.HasHit())
- {
- IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
-
- }
- return rayCallback.HasHit();
- }
- }
- }
- return false;
- }
-}
-}
--
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