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. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1622 ---------------------- 1 file changed, 1622 deletions(-) delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs deleted file mode 100755 index 30a7bee..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ /dev/null @@ -1,1622 +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.Text; - -using OpenSim.Framework; - -using OpenMetaverse; - -using BulletXNA; -using BulletXNA.LinearMath; -using BulletXNA.BulletCollision; -using BulletXNA.BulletDynamics; -using BulletXNA.BulletCollision.CollisionDispatch; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public sealed class BSAPIXNA : BSAPITemplate -{ -private sealed class BulletWorldXNA : BulletWorld -{ - public DiscreteDynamicsWorld world; - public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx) - : base(id, physScene) - { - world = xx; - } -} - -private sealed class BulletBodyXNA : BulletBody -{ - public CollisionObject body; - public RigidBody rigidBody { get { return RigidBody.Upcast(body); } } - - public BulletBodyXNA(uint id, CollisionObject xx) - : base(id) - { - body = xx; - } - public override bool HasPhysicalBody - { - get { return body != null; } - } - public override void Clear() - { - body = null; - } - public override string AddrString - { - get { return "XNARigidBody"; } - } -} - -private sealed class BulletShapeXNA : BulletShape -{ - public CollisionShape shape; - public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) - : base() - { - shape = xx; - type = typ; - } - public override bool HasPhysicalShape - { - get { return shape != null; } - } - public override void Clear() - { - shape = null; - } - public override BulletShape Clone() - { - return new BulletShapeXNA(shape, type); - } - public override bool ReferenceSame(BulletShape other) - { - BulletShapeXNA otheru = other as BulletShapeXNA; - return (otheru != null) && (this.shape == otheru.shape); - - } - public override string AddrString - { - get { return "XNACollisionShape"; } - } -} -private sealed class BulletConstraintXNA : BulletConstraint -{ - public TypedConstraint constrain; - public BulletConstraintXNA(TypedConstraint xx) : base() - { - constrain = xx; - } - - public override void Clear() - { - constrain = null; - } - public override bool HasPhysicalConstraint { get { return constrain != null; } } - - // Used for log messages for a unique display of the memory/object allocated to this instance - public override string AddrString - { - get { return "XNAConstraint"; } - } -} - - private static int m_collisionsThisFrame; - private BSScene PhysicsScene { get; set; } - - public override string BulletEngineName { get { return "BulletXNA"; } } - public override string BulletEngineVersion { get; protected set; } - - public BSAPIXNA(string paramName, BSScene physScene) - { - PhysicsScene = physScene; - } - - /// - /// - /// - /// - /// - public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - world.RemoveRigidBody(body); - return true; - } - - public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) - { - /* TODO */ - return false; - } - - public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) - { - /* TODO */ - return false; - } - - public override void SetRestitution(BulletBody pBody, float pRestitution) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetRestitution(pRestitution); - } - - public override int GetShapeType(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return (int)shape.GetShapeType(); - } - public override void SetMargin(BulletShape pShape, float pMargin) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - shape.SetMargin(pMargin); - } - - public override float GetMargin(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.GetMargin(); - } - - public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); - shape.SetLocalScaling(ref vec); - - } - - public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetContactProcessingThreshold(contactprocessingthreshold); - } - - public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetCcdMotionThreshold(pccdMotionThreashold); - } - - public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); - } - - public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); - } - - public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) - { - CollisionObject body = ((BulletBodyXNA)pBody).body; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); - existingcollisionFlags |= pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags) (uint) existingcollisionFlags; - } - - public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) - { - // Bullet resets several variables when an object is added to the world. In particular, - // BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic - // type. Of course, the collision flags in the broadphase proxy are initialized to default. - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - - IndexedMatrix origPos = body.GetWorldTransform(); - IndexedVector3 origGrav = body.GetGravity(); - - //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) - - world.AddRigidBody(body); - - body.SetWorldTransform(origPos); - body.SetGravity(origGrav); - - pBody.ApplyCollisionMask(pWorld.physicsScene); - - //if (body.GetBroadphaseHandle() != null) - // world.UpdateSingleAabb(body); - return true; - } - - public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState) - { - CollisionObject body = ((BulletBodyXNA)pBody).body; - body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); - } - - public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CollisionObject body = ((BulletBodyXNA)pBody).body; - world.UpdateSingleAabb(body); - } - - public override void UpdateAabbs(BulletWorld world) { /* TODO */ } - public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false; } - public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ } - - public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask) - { - RigidBody body = ((BulletBodyXNA)pBody).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; - } - - public override void ClearAllForces(BulletBody pBody) - { - CollisionObject body = ((BulletBodyXNA)pBody).body; - 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(); - } - } - - public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetInterpolationAngularVelocity(ref vec); - } - - public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetAngularVelocity(ref vec); - } - public override Vector3 GetTotalForce(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 iv3 = body.GetTotalForce(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetTotalTorque(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 iv3 = body.GetTotalTorque(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); - body.SetInvInertiaDiagLocal(ref iv3); - } - public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); - IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); - body.ApplyForce(ref forceiv3, ref posiv3); - } - public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); - IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); - body.ApplyImpulse(ref impiv3, ref posiv3); - } - - public override void ClearForces(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.ClearForces(); - } - - public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation) - { - RigidBody body = ((BulletBodyXNA)pBody).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); - - } - - public override Vector3 GetPosition(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; - return new Vector3(pos.X, pos.Y, pos.Z); - } - - public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - IndexedVector3 inertia = IndexedVector3.Zero; - shape.CalculateLocalInertia(pphysMass, out inertia); - return new Vector3(inertia.X, inertia.Y, inertia.Z); - } - - public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); - body.SetMassProps(pphysMass, inertia); - } - - - public override void SetObjectForce(BulletBody pBody, Vector3 _force) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); - body.SetTotalForce(ref force); - } - - public override void SetFriction(BulletBody pBody, float _currentFriction) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetFriction(_currentFriction); - } - - public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); - body.SetLinearVelocity(velocity); - } - - public override void Activate(BulletBody pBody, bool pforceactivation) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.Activate(pforceactivation); - - } - - public override Quaternion GetOrientation(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); - return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); - } - - public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); - existingcollisionFlags &= ~pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags)(uint)existingcollisionFlags; - } - - public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f; } - - public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f; } - - public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero; } - - public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ } - - public override void SetGravity(BulletBody pBody, Vector3 pGravity) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); - body.SetGravity(gravity); - } - - public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain; - world.RemoveConstraint(constraint); - return true; - } - - public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain 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; - } - - public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain 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; - } - - public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; - constraint.SetOverrideNumSolverIterations((int)cnt); - } - - public override bool CalculateTransforms(BulletConstraint pConstraint) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; - constraint.CalculateTransforms(); - return true; - } - - public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; - constraint.SetEnabled((p_2 == 0) ? false : true); - } - - - //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; - RigidBody body2 = ((BulletBodyXNA)pBody2).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 new BulletConstraintXNA(consttr); - } - - - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// - public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; - RigidBody body2 = ((BulletBodyXNA)pBody2).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 new BulletConstraintXNA(consttr); - } - //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain 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); - return true; - } - - public override Vector3 GetLinearVelocity(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 iv3 = body.GetLinearVelocity(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetAngularVelocity(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 iv3 = body.GetAngularVelocity(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); - IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override void Translate(BulletBody pBody, Vector3 trans) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - } - public override void UpdateDeactivation(BulletBody pBody, float timeStep) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.UpdateDeactivation(timeStep); - } - - public override bool WantsSleeping(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - return body.WantsSleeping(); - } - - public override void SetAngularFactor(BulletBody pBody, float factor) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetAngularFactor(factor); - } - - public override Vector3 GetAngularFactor(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 iv3 = body.GetAngularFactor(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - - public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CollisionObject body = ((BulletBodyXNA)pBody).body; - return world.IsInWorld(body); - } - - public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; - body.AddConstraintRef(constrain); - } - - public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; - body.RemoveConstraintRef(constrain); - } - - public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - return new BulletConstraintXNA(body.GetConstraintRef(index)); - } - - public override int GetNumConstraintRefs(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - return body.GetNumConstraintRefs(); - } - - public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); - body.SetInterpolationLinearVelocity(ref velocity); - } - - public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; - constraint.SetUseFrameOffset((onOff == 0) ? false : true); - return true; - } - //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); - public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) - { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; - constraint.SetBreakingImpulseThreshold(threshold); - return true; - } - //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); - public override void SetAngularDamping(BulletBody pBody, float angularDamping) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - float lineardamping = body.GetLinearDamping(); - body.SetDamping(lineardamping, angularDamping); - - } - - public override void UpdateInertiaTensor(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.UpdateInertiaTensor(); - } - - public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) - { - CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; - shape.RecalculateLocalAabb(); - } - - //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) - public override CollisionFlags GetCollisionFlags(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - uint flags = (uint)body.GetCollisionFlags(); - return (CollisionFlags) flags; - } - - public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetDamping(pLinear, pAngular); - } - //PhysBody.ptr, PhysicsScene.Params.deactivationTime); - public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetDeactivationTime(pDeactivationTime); - } - //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); - } - - public override CollisionObjectTypes GetBodyType(BulletBody pBody) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - return (CollisionObjectTypes)(int) body.GetInternalType(); - } - - public override void ApplyGravity(BulletBody obj) { /* TODO */ } - - public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero; } - - public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ } - - public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f; } - - public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f; } - - public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f; } - - public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ } - - public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; } - - public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ } - - public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ } - - //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); - public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralForce(ref fSum); - } - public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralImpulse(ref fSum); - } - public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorque(ref fSum); - } - public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorqueImpulse(ref fSum); - } - - public override void DumpRigidBody(BulletWorld p, BulletBody p_2) - { - //TODO: - } - - public override void DumpCollisionShape(BulletWorld p, BulletShape p_2) - { - //TODO: - } - public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) - { - //TODO: - } - - public override void DumpActivationInfo(BulletWorld world) - { - //TODO: - } - - public override void DumpAllInfo(BulletWorld world) - { - //TODO: - } - - public override void DumpPhysicsStatistics(BulletWorld world) - { - //TODO: - } - - public override void DestroyObject(BulletWorld p, BulletBody p_2) - { - //TODO: - } - - public override void Shutdown(BulletWorld pWorld) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - world.Cleanup(); - } - - public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) - { - return null; - } - - public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2) - { - //TODO: - return false; - } - //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - - public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - CollisionWorld world = ((BulletWorldXNA)pWorld).world; - 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 = ((BulletShapeXNA)pShape).shape; - //UpdateSingleAabb(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 new BulletBodyXNA(pLocalID, body); - } - - - public override BulletBody CreateBodyWithDefaultMotionState( BulletShape 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 = ((BulletShapeXNA)pShape).shape; - - // 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 new BulletBodyXNA(pLocalID, body); - } - //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); - return (CollisionFlags)body.GetCollisionFlags(); - } - - public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; } - public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } - public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } - public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } - public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; } - public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; } - public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; } - public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; } - public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } - public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } - public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } - public override bool IsActive(BulletBody pBody) { /* TODO */ return false; } - public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; } - public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; } - public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ } - public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } - - //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - public override void SetHitFraction(BulletBody pBody, float pHitFraction) - { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetHitFraction(pHitFraction); - } - //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); - public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - 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 new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ; - } - - public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, - int maxCollisions, ref CollisionDesc[] collisionArray, - int maxUpdates, ref EntityProperties[] updateArray - ) - { - /* TODO */ - return new BulletWorldXNA(1, null, null); - } - - private 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].XphysicsLoggingFrames; - 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 - public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) - { - Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain 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; - } - - public override bool PushUpdate(BulletBody pCollisionObject) - { - bool ret = false; - RigidBody rb = ((BulletBodyXNA)pCollisionObject).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; - - } - - public override float GetAngularMotionDisc(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.GetAngularMotionDisc(); - } - public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.GetContactBreakingThreshold(defaultFactor); - } - public override bool IsCompound(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsCompound(); - } - public override bool IsSoftBody(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsSoftBody(); - } - public override bool IsPolyhedral(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsPolyhedral(); - } - public override bool IsConvex2d(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsConvex2d(); - } - public override bool IsConvex(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsConvex(); - } - public override bool IsNonMoving(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsNonMoving(); - } - public override bool IsConcave(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsConcave(); - } - public override bool IsInfinite(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - return shape.IsInfinite(); - } - public override bool IsNativeShape(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - 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; - } - - public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ } - - //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation - public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - 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 = ((BulletShapeXNA)pShape).shape; - gObj.SetCollisionShape(shape); - gObj.SetUserPointer(pLocalID); - // TODO: Add to Special CollisionObjects! - return new BulletBodyXNA(pLocalID, gObj); - } - - public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CollisionObject obj = ((BulletBodyXNA)pObj).body; - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - obj.SetCollisionShape(shape); - - } - public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; } - - //(PhysicsScene.World.ptr, nativeShapeData) - public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - 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 new BulletShapeXNA(shape, pShapeData.Type); - } - //PhysicsScene.World.ptr, false - public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree) - { - return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); - } - - public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) - { - CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; - return compoundshape.GetNumChildShapes(); - } - //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot - public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) - { - IndexedMatrix relativeTransform = new IndexedMatrix(); - CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; - CollisionShape addshape = ((BulletShapeXNA)paddShape).shape; - - 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); - - } - - public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) - { - CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; - CollisionShape ret = null; - ret = compoundshape.GetChildShape(pii); - compoundshape.RemoveChildShapeByIndex(pii); - return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN); - } - - public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; } - public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } - - public override BulletShape CreateGroundPlaneShape(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 new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); - } - - public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - HingeConstraint constrain = null; - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody; - RigidBody rb2 = ((BulletBodyXNA)ppBody2).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); - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - return new BulletConstraintXNA(constrain); - } - - public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CompoundShape compoundshape = new CompoundShape(false); - - 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 new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); - } - - public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; } - - public override BulletShape CreateMeshShape(BulletWorld 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); - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - 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 new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); - - } - 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(); - } - - public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, - float scaleFactor, float collisionMargin) - { - const int upAxis = 2; - HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y, - heightMap, scaleFactor, - minHeight, maxHeight, upAxis, - false); - terrainShape.SetMargin(collisionMargin + 0.5f); - terrainShape.SetUseDiamondSubdivision(true); - terrainShape.SetUserPointer(id); - return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); - } - - public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) - { - TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain; - bool onOff = ponOff != 0; - bool ret = false; - - switch (tconstrain.GetConstraintType()) - { - case TypedConstraintType.D6_CONSTRAINT_TYPE: - Generic6DofConstraint constrain = tconstrain 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; - - } - - public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, out int collidersCount) - { - /* TODO */ - updatedEntityCount = 0; - collidersCount = 0; - return 1; - } - - private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, - out int updatedEntityCount, out List updatedEntities, - out int collidersCount, out Listcolliders) - { - int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, - out collidersCount, out colliders); - return epic; - } - - private static int PhysicsStepint(BulletWorld 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 BulletWorldXNA) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - - 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(BulletWorld pWorld, BulletBody pBody) - { - EntityProperties ent = new EntityProperties(); - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body = ((BulletBodyXNA)pBody).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; - } - - public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; } - - public override Vector3 GetLocalScaling(BulletShape pShape) - { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - IndexedVector3 scale = shape.GetLocalScaling(); - return new Vector3(scale.X,scale.Y,scale.Z); - } - - public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) - { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - if (world != null) - { - if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) - { - CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body; - - 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; - } -} -} -- cgit v1.1