From 9fd0e1b0805ccc97b8e4f19727d98b26fb5fa89d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sat, 29 Dec 2012 21:44:13 -0800
Subject: BulletSim: add the implementation files for the two versions of
Bullet: unmanaged (C++) and managed (C#).
---
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 39 ++++++++++++++++++++++++
1 file changed, 39 insertions(+)
create 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
new file mode 100755
index 0000000..a56a817
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -0,0 +1,39 @@
+/*
+ * 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.Linq;
+using System.Text;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+ /*
+public sealed class BSAPIXNA : BulletSimAPITemplate
+{
+}
+ */
+}
--
cgit v1.1
From 3d0fc708647ceb734385f90e2f22be9774e2171e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 31 Dec 2012 16:22:45 -0800
Subject: BulletSim: complete movement of BulletSimAPI functions to
BSAPITemplate. Update BulletSim DLLs and SOs with simplier step function
interface.
---
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 78 ++++++++++++------------
1 file changed, 39 insertions(+), 39 deletions(-)
(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index a56a817..8ed791e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -1,39 +1,39 @@
-/*
- * 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.Linq;
-using System.Text;
-
-namespace OpenSim.Region.Physics.BulletSPlugin
-{
- /*
-public sealed class BSAPIXNA : BulletSimAPITemplate
-{
-}
- */
-}
+/*
+ * 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.Linq;
+using System.Text;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+ /*
+public sealed class BSAPIXNA : BSAPITemplate
+{
+}
+ */
+}
--
cgit v1.1
From 04132d3af4c8f44639ea842091f86274513e2dfd Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 09:30:49 -0800
Subject: BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged
to have pointers and managed to have objects. Initial paste of XNA code.
Commented out.
---
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1278 +++++++++++++++++++++-
1 file changed, 1277 insertions(+), 1 deletion(-)
(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 8ed791e..f70ad30 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -29,11 +29,1287 @@ using System.Collections.Generic;
using System.Linq;
using System.Text;
+using BulletXNA;
+using BulletXNA.LinearMath;
+using BulletXNA.BulletCollision;
+using BulletXNA.BulletDynamics;
+using BulletXNA.BulletCollision.CollisionDispatch;
+
+using OpenMetaverse;
+
namespace OpenSim.Region.Physics.BulletSPlugin
{
/*
public sealed class BSAPIXNA : BSAPITemplate
{
+ 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 RemoveObjectFromWorld2(object pWorld, object pBody)
+ {
+ DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ RigidBody body = pBody as RigidBody;
+ world.RemoveRigidBody(body);
+ return true;
+ }
+
+ public override void SetRestitution2(object pBody, float pRestitution)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetRestitution(pRestitution);
+ }
+
+ public override void SetMargin2(object pShape, float pMargin)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ shape.SetMargin(pMargin);
+ }
+
+ public override 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);
+
+ }
+
+ public override void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetContactProcessingThreshold(contactprocessingthreshold);
+ }
+
+ public override void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetCcdMotionThreshold(pccdMotionThreashold);
+ }
+
+ public override void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
+ }
+
+ public override void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
+ }
+
+ public override 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;
+ }
+
+ public override 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);
+ }
+
+ public override 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);
+ }
+
+ public override void ForceActivationState2(object pBody, ActivationState pActivationState)
+ {
+ CollisionObject body = pBody as CollisionObject;
+ body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
+ }
+
+ public override void UpdateSingleAabb2(object pWorld, object pBody)
+ {
+ CollisionObject body = pBody as CollisionObject;
+ DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ world.UpdateSingleAabb(body);
+ }
+
+ public override 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;
+ }
+
+ public override 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();
+ }
+ }
+
+ public override 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);
+ }
+
+ public override 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);
+ }
+
+ public override void ClearForces2(object pBody)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.ClearForces();
+ }
+
+ public override 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);
+
+ }
+
+ public override Vector3 GetPosition2(object pBody)
+ {
+ RigidBody body = pBody as RigidBody;
+ IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
+ return new Vector3(pos.X, pos.Y, pos.Z);
+ }
+
+ public override 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);
+ }
+
+ public override 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);
+ }
+
+
+ public override 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);
+ }
+
+ public override void SetFriction2(object pBody, float _currentFriction)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetFriction(_currentFriction);
+ }
+
+ public override void SetLinearVelocity2(object pBody, Vector3 _velocity)
+ {
+ RigidBody body = pBody as RigidBody;
+ IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
+ body.SetLinearVelocity(velocity);
+ }
+
+ public override void Activate2(object pBody, bool pforceactivation)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.Activate(pforceactivation);
+
+ }
+
+ public override 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);
+ }
+
+ public override 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;
+ }
+
+ public override void SetGravity2(object pBody, Vector3 pGravity)
+ {
+ RigidBody body = pBody as RigidBody;
+ IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
+ body.SetGravity(gravity);
+ }
+
+ public override bool DestroyConstraint2(object pBody, object pConstraint)
+ {
+ RigidBody body = pBody as RigidBody;
+ TypedConstraint constraint = pConstraint as TypedConstraint;
+ body.RemoveConstraintRef(constraint);
+ return true;
+ }
+
+ public override 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;
+ }
+
+ public override 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;
+ }
+
+ public override void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
+ {
+ Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ constraint.SetOverrideNumSolverIterations((int)cnt);
+ }
+
+ public override void CalculateTransforms2(object pConstraint)
+ {
+ Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ constraint.CalculateTransforms();
+ }
+
+ public override 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));
+ public override 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;
+ }
+
+
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ ///
+ public override 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);
+ public override 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);
+ }
+
+
+
+
+ public override bool IsInWorld2(object pWorld, object pShapeObj)
+ {
+ DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ CollisionObject shape = pShapeObj as CollisionObject;
+ return world.IsInWorld(shape);
+ }
+
+ public override 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);
+ }
+
+ public override bool UseFrameOffset2(object pConstraint, float onOff)
+ {
+ Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ constraint.SetUseFrameOffset((onOff == 0) ? false : true);
+ return true;
+ }
+ //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
+ public override bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
+ {
+ Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ constraint.SetBreakingImpulseThreshold(threshold);
+ return true;
+ }
+ //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
+ public override void SetAngularDamping2(object pBody, float angularDamping)
+ {
+ RigidBody body = pBody as RigidBody;
+ float lineardamping = body.GetLinearDamping();
+ body.SetDamping(lineardamping, angularDamping);
+
+ }
+
+ public override void UpdateInertiaTensor2(object pBody)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.UpdateInertiaTensor();
+ }
+
+ public override void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
+ {
+
+ CompoundShape shape = pCompoundShape as CompoundShape;
+ shape.RecalculateLocalAabb();
+ }
+
+ //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
+ public override CollisionFlags GetCollisionFlags2(object pBody)
+ {
+ RigidBody body = pBody as RigidBody;
+ uint flags = (uint)body.GetCollisionFlags();
+ return (CollisionFlags) flags;
+ }
+
+ public override void SetDamping2(object pBody, float pLinear, float pAngular)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetDamping(pLinear, pAngular);
+ }
+ //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
+ public override void SetDeactivationTime2(object pBody, float pDeactivationTime)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetDeactivationTime(pDeactivationTime);
+ }
+ //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+ public override void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
+ }
+
+ public override CollisionObjectTypes GetBodyType2(object pBody)
+ {
+ RigidBody body = pBody as RigidBody;
+ return (CollisionObjectTypes)(int) body.GetInternalType();
+ }
+
+ //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
+ public override 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);
+ }
+ public override 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);
+ }
+ public override 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);
+ }
+ public override 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);
+ }
+
+ public override void DumpRigidBody2(object p, object p_2)
+ {
+ //TODO:
+ }
+
+ public override void DumpCollisionShape2(object p, object p_2)
+ {
+ //TODO:
+ }
+
+ public override void DestroyObject2(object p, object p_2)
+ {
+ //TODO:
+ }
+
+ public override void Shutdown2(object pWorld)
+ {
+ DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ world.Cleanup();
+ }
+
+ public override void DeleteCollisionShape2(object p, object p_2)
+ {
+ //TODO:
+ }
+ //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
+
+ public override 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;
+ }
+
+
+ public override 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);
+ public override 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);
+ public override void SetHitFraction2(object pBody, float pHitFraction)
+ {
+ RigidBody body = pBody as RigidBody;
+ body.SetHitFraction(pHitFraction);
+ }
+ //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+ public override 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
+ public override 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;
+ }
+
+ public override 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;
+
+ }
+
+ public override bool IsCompound2(object pShape)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ return shape.IsCompound();
+ }
+ public override bool IsPloyhedral2(object pShape)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ return shape.IsPolyhedral();
+ }
+ public override bool IsConvex2d2(object pShape)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ return shape.IsConvex2d();
+ }
+ public override bool IsConvex2(object pShape)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ return shape.IsConvex();
+ }
+ public override bool IsNonMoving2(object pShape)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ return shape.IsNonMoving();
+ }
+ public override bool IsConcave2(object pShape)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ return shape.IsConcave();
+ }
+ public override bool IsInfinite2(object pShape)
+ {
+ CollisionShape shape = pShape as CollisionShape;
+ return shape.IsInfinite();
+ }
+ public override 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
+ public override 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)
+ public override 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
+ public override object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
+ {
+ return new CompoundShape(enableDynamicAabbTree);
+ }
+
+ public override int GetNumberOfCompoundChildren2(object pCompoundShape)
+ {
+ var compoundshape = pCompoundShape as CompoundShape;
+ return compoundshape.GetNumChildShapes();
+ }
+ //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
+ public override 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);
+
+ }
+
+ public override object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
+ {
+ var compoundshape = pCShape as CompoundShape;
+ CollisionShape ret = null;
+ ret = compoundshape.GetChildShape(pii);
+ compoundshape.RemoveChildShapeByIndex(pii);
+ return ret;
+ }
+
+ public override 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;
+ }
+
+ public override 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;
+ }
+
+ public override bool ReleaseHeightMapInfo2(object pMapInfo)
+ {
+ if (pMapInfo != null)
+ {
+ BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
+ if (mapinfo.heightMap != null)
+ mapinfo.heightMap = null;
+
+
+ }
+ return true;
+ }
+
+ public override 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;
+ }
+
+ public override 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
+ public override 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;
+
+ }
+
+ public override 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;
+ }
+
+ public override 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;
+
+ }
+
+ public override 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;
+ }
+
+ public override Vector3 GetLocalScaling2(object pBody)
+ {
+ CollisionShape shape = pBody as CollisionShape;
+ IndexedVector3 scale = shape.GetLocalScaling();
+ return new Vector3(scale.X,scale.Y,scale.Z);
+ }
+
+ public override 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;
+ }
}
- */
+*/
}
--
cgit v1.1
From 9d840fd2ee5c3e6c6f788e8145f06701e9ea2724 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 16:49:38 -0800
Subject: BulletSim: move over and port the interface for BulletXNA. Copied
BulletSNPlugin.BulletSimAPI to a new BulletSPlugin.BSAPIXNA.cs and then
modifyed the latter to comply with the BSAPITemplate definition. Not totally
debugged but the code is all there for an INI variable to select either
unmanaged C++ Bullet or the C# version of Bullet.
---
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 889 +++++++++++++++--------
1 file changed, 598 insertions(+), 291 deletions(-)
(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index f70ad30..aea10ee 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -26,22 +26,110 @@
*/
using System;
using System.Collections.Generic;
-using System.Linq;
+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;
-using OpenMetaverse;
-
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; }
@@ -58,112 +146,135 @@ public sealed class BSAPIXNA : BSAPITemplate
///
///
///
- public override bool RemoveObjectFromWorld2(object pWorld, object pBody)
+ public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
{
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body = pBody as RigidBody;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
world.RemoveRigidBody(body);
return true;
}
- public override void SetRestitution2(object pBody, float pRestitution)
+ public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
{
- RigidBody body = pBody as RigidBody;
+ /* 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 void SetMargin2(object pShape, float pMargin)
+ 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 = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
shape.SetMargin(pMargin);
}
- public override void SetLocalScaling2(object pShape, Vector3 pScale)
+ public override float GetMargin(BulletShape pShape)
+ {
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ return shape.GetMargin();
+ }
+
+ public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
shape.SetLocalScaling(ref vec);
}
- public override void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
+ public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetContactProcessingThreshold(contactprocessingthreshold);
}
- public override void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
+ public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetCcdMotionThreshold(pccdMotionThreashold);
}
- public override void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
+ public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
}
- public override void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
+ public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
}
- public override CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
+ public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
{
- CollisionObject body = pBody as CollisionObject;
+ 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 void AddObjectToWorld2(object pWorld, object pBody)
+ public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
{
- RigidBody body = pBody as RigidBody;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ // 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);
- //if (body.GetBroadphaseHandle() != null)
- // world.UpdateSingleAabb(body);
- }
+ body.SetWorldTransform(origPos);
+ body.SetGravity(origGrav);
- public override 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))
+ pBody.ApplyCollisionMask(pWorld.physicsScene);
- 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);
+ return true;
}
- public override void ForceActivationState2(object pBody, ActivationState pActivationState)
+ public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState)
{
- CollisionObject body = pBody as CollisionObject;
+ CollisionObject body = ((BulletBodyXNA)pBody).body;
body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
}
- public override void UpdateSingleAabb2(object pWorld, object pBody)
+ public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody)
{
- CollisionObject body = pBody as CollisionObject;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ CollisionObject body = ((BulletBodyXNA)pBody).body;
world.UpdateSingleAabb(body);
}
- public override bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
+ 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 = pBody as RigidBody;
+ 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)
@@ -171,9 +282,9 @@ public sealed class BSAPIXNA : BSAPITemplate
return true;
}
- public override void ClearAllForces2(object pBody)
+ public override void ClearAllForces(BulletBody pBody)
{
- CollisionObject body = pBody as CollisionObject;
+ CollisionObject body = ((BulletBodyXNA)pBody).body;
IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
body.SetInterpolationLinearVelocity(ref zeroVector);
body.SetInterpolationAngularVelocity(ref zeroVector);
@@ -190,29 +301,67 @@ public sealed class BSAPIXNA : BSAPITemplate
}
}
- public override void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
+ public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
body.SetInterpolationAngularVelocity(ref vec);
}
- public override void SetAngularVelocity2(object pBody, Vector3 pVector3)
+ public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
{
- RigidBody body = pBody as RigidBody;
+ 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 ClearForces2(object pBody)
+ public override void ClearForces(BulletBody pBody)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.ClearForces();
}
- public override void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
+ public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation)
{
- RigidBody body = pBody as RigidBody;
+ 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);
@@ -222,90 +371,98 @@ public sealed class BSAPIXNA : BSAPITemplate
}
- public override Vector3 GetPosition2(object pBody)
+ public override Vector3 GetPosition(BulletBody pBody)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
return new Vector3(pos.X, pos.Y, pos.Z);
}
- public override Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
+ public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
{
- CollisionShape shape = pShape as CollisionShape;
+ 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 SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
+ public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
body.SetMassProps(pphysMass, inertia);
}
- public override void SetObjectForce2(object pBody, Vector3 _force)
+ public override void SetObjectForce(BulletBody pBody, Vector3 _force)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
body.SetTotalForce(ref force);
}
- public override void SetFriction2(object pBody, float _currentFriction)
+ public override void SetFriction(BulletBody pBody, float _currentFriction)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetFriction(_currentFriction);
}
- public override void SetLinearVelocity2(object pBody, Vector3 _velocity)
+ public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
body.SetLinearVelocity(velocity);
}
- public override void Activate2(object pBody, bool pforceactivation)
+ public override void Activate(BulletBody pBody, bool pforceactivation)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.Activate(pforceactivation);
}
- public override Quaternion GetOrientation2(object pBody)
+ public override Quaternion GetOrientation(BulletBody pBody)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
}
- public override CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
+ public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
{
- RigidBody body = pBody as RigidBody;
+ 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 void SetGravity2(object pBody, Vector3 pGravity)
+ 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 = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
body.SetGravity(gravity);
}
- public override bool DestroyConstraint2(object pBody, object pConstraint)
+ public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
{
- RigidBody body = pBody as RigidBody;
- TypedConstraint constraint = pConstraint as TypedConstraint;
- body.RemoveConstraintRef(constraint);
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain;
+ world.RemoveConstraint(constraint);
return true;
}
- public override bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
+ public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ 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);
@@ -313,9 +470,9 @@ public sealed class BSAPIXNA : BSAPITemplate
return true;
}
- public override bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
+ public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ 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);
@@ -323,32 +480,33 @@ public sealed class BSAPIXNA : BSAPITemplate
return true;
}
- public override void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
+ public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
constraint.SetOverrideNumSolverIterations((int)cnt);
}
- public override void CalculateTransforms2(object pConstraint)
+ public override bool CalculateTransforms(BulletConstraint pConstraint)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
constraint.CalculateTransforms();
+ return true;
}
- public override void SetConstraintEnable2(object pConstraint, float p_2)
+ public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain 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));
- public override object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+ //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 = pWorld as DiscreteDynamicsWorld;
- RigidBody body1 = pBody1 as RigidBody;
- RigidBody body2 = pBody2 as RigidBody;
+ 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);
@@ -364,7 +522,7 @@ public sealed class BSAPIXNA : BSAPITemplate
consttr.CalculateTransforms();
world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
- return consttr;
+ return new BulletConstraintXNA(consttr);
}
@@ -378,11 +536,11 @@ public sealed class BSAPIXNA : BSAPITemplate
///
///
///
- public override object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body1 = pBody1 as RigidBody;
- RigidBody body2 = pBody2 as RigidBody;
+ 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));
@@ -396,12 +554,12 @@ public sealed class BSAPIXNA : BSAPITemplate
consttr.CalculateTransforms();
world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
- return consttr;
+ return new BulletConstraintXNA(consttr);
}
- //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
- public override void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
+ //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
+ public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ 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);
@@ -412,163 +570,279 @@ public sealed class BSAPIXNA : BSAPITemplate
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 bool IsInWorld2(object pWorld, object pShapeObj)
+ public override int GetNumConstraintRefs(BulletBody pBody)
{
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- CollisionObject shape = pShapeObj as CollisionObject;
- return world.IsInWorld(shape);
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ return body.GetNumConstraintRefs();
}
- public override void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
+ public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
body.SetInterpolationLinearVelocity(ref velocity);
}
- public override bool UseFrameOffset2(object pConstraint, float onOff)
+ public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
constraint.SetUseFrameOffset((onOff == 0) ? false : true);
return true;
}
- //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
- public override bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
+ //SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
+ public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
{
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
+ Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
constraint.SetBreakingImpulseThreshold(threshold);
return true;
}
- //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
- public override void SetAngularDamping2(object pBody, float angularDamping)
+ //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
+ public override void SetAngularDamping(BulletBody pBody, float angularDamping)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
float lineardamping = body.GetLinearDamping();
body.SetDamping(lineardamping, angularDamping);
}
- public override void UpdateInertiaTensor2(object pBody)
+ public override void UpdateInertiaTensor(BulletBody pBody)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.UpdateInertiaTensor();
}
- public override void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
+ public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
{
-
- CompoundShape shape = pCompoundShape as CompoundShape;
+ CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
shape.RecalculateLocalAabb();
}
- //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
- public override CollisionFlags GetCollisionFlags2(object pBody)
+ //BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
+ public override CollisionFlags GetCollisionFlags(BulletBody pBody)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
uint flags = (uint)body.GetCollisionFlags();
return (CollisionFlags) flags;
}
- public override void SetDamping2(object pBody, float pLinear, float pAngular)
+ public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetDamping(pLinear, pAngular);
}
//PhysBody.ptr, PhysicsScene.Params.deactivationTime);
- public override void SetDeactivationTime2(object pBody, float pDeactivationTime)
+ public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetDeactivationTime(pDeactivationTime);
}
- //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
- public override void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
+ //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
+ public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
}
- public override CollisionObjectTypes GetBodyType2(object pBody)
+ public override CollisionObjectTypes GetBodyType(BulletBody pBody)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
return (CollisionObjectTypes)(int) body.GetInternalType();
}
- //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
- public override void ApplyCentralForce2(object pBody, Vector3 pfSum)
+ 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 = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyCentralForce(ref fSum);
}
- public override void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
+ public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyCentralImpulse(ref fSum);
}
- public override void ApplyTorque2(object pBody, Vector3 pfSum)
+ public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyTorque(ref fSum);
}
- public override void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
+ public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyTorqueImpulse(ref fSum);
}
- public override void DumpRigidBody2(object p, object p_2)
+ 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 DumpCollisionShape2(object p, object p_2)
+ public override void DumpPhysicsStatistics(BulletWorld world)
{
//TODO:
}
- public override void DestroyObject2(object p, object p_2)
+ public override void DestroyObject(BulletWorld p, BulletBody p_2)
{
//TODO:
}
- public override void Shutdown2(object pWorld)
+ public override void Shutdown(BulletWorld pWorld)
{
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
world.Cleanup();
}
- public override void DeleteCollisionShape2(object p, object p_2)
+ 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 object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+ public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
- CollisionWorld world = pWorld as CollisionWorld;
+ 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 = pShape as CollisionShape;
- //UpdateSingleAabb2(world, shape);
+ 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 body;
+ return new BulletBodyXNA(pLocalID, body);
}
- public override object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+ public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
IndexedMatrix mat =
@@ -576,39 +850,71 @@ public sealed class BSAPIXNA : BSAPITemplate
pRawOrientation.Z, pRawOrientation.W));
mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- CollisionShape shape = pShape as CollisionShape;
+ 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 body;
+ return new BulletBodyXNA(pLocalID, body);
}
//(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
- public override void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
+ public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags)
{
- RigidBody body = pBody as RigidBody;
+ 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 SetHitFraction2(object pBody, float pHitFraction)
+ public override void SetHitFraction(BulletBody pBody, float pHitFraction)
{
- RigidBody body = pBody as RigidBody;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
body.SetHitFraction(pHitFraction);
}
- //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
- public override object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
+ //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
+ public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
{
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ 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 capsuleShapeZ;
+
+ 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);
}
- public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List collisionArray, int mMaxUpdatesPerFrame, ref List updateArray, object mDebugLogCallbackHandle)
+ 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();
@@ -728,9 +1034,9 @@ public sealed class BSAPIXNA : BSAPITemplate
return world;
}
//m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
- public override bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
+ public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
{
- Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
+ 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);
@@ -750,10 +1056,10 @@ public sealed class BSAPIXNA : BSAPITemplate
return true;
}
- public override bool PushUpdate2(object pCollisionObject)
+ public override bool PushUpdate(BulletBody pCollisionObject)
{
bool ret = false;
- RigidBody rb = pCollisionObject as RigidBody;
+ RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody;
if (rb != null)
{
SimMotionState sms = rb.GetMotionState() as SimMotionState;
@@ -769,44 +1075,59 @@ public sealed class BSAPIXNA : BSAPITemplate
}
- public override bool IsCompound2(object pShape)
+ public override float GetAngularMotionDisc(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ 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 IsPloyhedral2(object pShape)
+ public override bool IsSoftBody(BulletShape pShape)
+ {
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ return shape.IsSoftBody();
+ }
+ public override bool IsPolyhedral(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
return shape.IsPolyhedral();
}
- public override bool IsConvex2d2(object pShape)
+ public override bool IsConvex2d(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
return shape.IsConvex2d();
}
- public override bool IsConvex2(object pShape)
+ public override bool IsConvex(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
return shape.IsConvex();
}
- public override bool IsNonMoving2(object pShape)
+ public override bool IsNonMoving(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
return shape.IsNonMoving();
}
- public override bool IsConcave2(object pShape)
+ public override bool IsConcave(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
return shape.IsConcave();
}
- public override bool IsInfinite2(object pShape)
+ public override bool IsInfinite(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
return shape.IsInfinite();
}
- public override bool IsNativeShape2(object pShape)
+ public override bool IsNativeShape(BulletShape pShape)
{
- CollisionShape shape = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
bool ret;
switch (shape.GetShapeType())
{
@@ -822,33 +1143,39 @@ public sealed class BSAPIXNA : BSAPITemplate
}
return ret;
}
+
+ public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ }
+
//sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
- public override object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
+ 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 = pShape as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
gObj.SetCollisionShape(shape);
gObj.SetUserPointer(pLocalID);
// TODO: Add to Special CollisionObjects!
- return gObj;
+ return new BulletBodyXNA(pLocalID, gObj);
}
- public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
+ public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape)
{
- var world = pWorld as DiscreteDynamicsWorld;
- var obj = pObj as CollisionObject;
- var shape = pShape as CollisionShape;
+ 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 object BuildNativeShape2(object pWorld, ShapeData pShapeData)
+ public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
{
- var world = pWorld as DiscreteDynamicsWorld;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
CollisionShape shape = null;
switch (pShapeData.Type)
{
@@ -873,25 +1200,25 @@ public sealed class BSAPIXNA : BSAPITemplate
shape.SetLocalScaling(ref scaling);
}
- return shape;
+ return new BulletShapeXNA(shape, pShapeData.Type);
}
//PhysicsScene.World.ptr, false
- public override object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
+ public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
{
- return new CompoundShape(enableDynamicAabbTree);
+ return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
}
- public override int GetNumberOfCompoundChildren2(object pCompoundShape)
+ public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
{
- var compoundshape = pCompoundShape as CompoundShape;
+ CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
return compoundshape.GetNumChildShapes();
}
//LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
- public override void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
+ public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
{
IndexedMatrix relativeTransform = new IndexedMatrix();
- var compoundshape = pCShape as CompoundShape;
- var addshape = paddShape as CollisionShape;
+ 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));
@@ -899,58 +1226,47 @@ public sealed class BSAPIXNA : BSAPITemplate
}
- public override object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
+ public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
{
- var compoundshape = pCShape as CompoundShape;
+ CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
CollisionShape ret = null;
ret = compoundshape.GetChildShape(pii);
compoundshape.RemoveChildShapeByIndex(pii);
- return ret;
+ return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN);
}
- public override object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
+ 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 m_planeshape;
+ return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
}
- public override object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+ 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;
- var rb1 = pBody1 as RigidBody;
- var rb2 = ppBody2 as RigidBody;
+ 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);
- var world = pWorld as DiscreteDynamicsWorld;
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
- return constrain;
- }
-
- public override bool ReleaseHeightMapInfo2(object pMapInfo)
- {
- if (pMapInfo != null)
- {
- BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
- if (mapinfo.heightMap != null)
- mapinfo.heightMap = null;
-
-
- }
- return true;
+ return new BulletConstraintXNA(constrain);
}
- public override object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
+ public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
{
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
CompoundShape compoundshape = new CompoundShape(false);
- var world = pWorld as DiscreteDynamicsWorld;
-
compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
int ii = 1;
@@ -975,12 +1291,13 @@ public sealed class BSAPIXNA : BSAPITemplate
compoundshape.AddChildShape(ref childTrans, convexShape);
ii += (vertexCount*3 + 4);
}
-
- return compoundshape;
+ return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
}
- public override object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
+ 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);
@@ -993,7 +1310,7 @@ public sealed class BSAPIXNA : BSAPITemplate
ObjectArray indicesarr = new ObjectArray(indices);
ObjectArray vertices = new ObjectArray(verticesAsFloats);
DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
- var world = pWorld as DiscreteDynamicsWorld;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount/3;
@@ -1009,7 +1326,7 @@ public sealed class BSAPIXNA : BSAPITemplate
BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
// world.UpdateSingleAabb(meshShape);
- return meshShape;
+ return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
}
public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount )
@@ -1092,52 +1409,31 @@ public sealed class BSAPIXNA : BSAPITemplate
sw.Close();
}
- //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
- public override 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;
-
- }
- public override object CreateTerrainShape2(object pMapInfo)
+ public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
+ float scaleFactor, float collisionMargin)
{
- 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,
+ HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
+ heightMap, scaleFactor,
+ minHeight, maxHeight, upAxis,
false);
- terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
+ terrainShape.SetMargin(collisionMargin + 0.5f);
terrainShape.SetUseDiamondSubdivision(true);
- terrainShape.SetUserPointer(mapinfo.ID);
- return terrainShape;
+ terrainShape.SetUserPointer(id);
+ return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
}
- public override bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
+ public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
{
- TypedConstraint tconstrain = pConstraint as TypedConstraint;
+ TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain;
bool onOff = ponOff != 0;
bool ret = false;
switch (tconstrain.GetConstraintType())
{
case TypedConstraintType.D6_CONSTRAINT_TYPE:
- Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
+ Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
@@ -1150,14 +1446,25 @@ public sealed class BSAPIXNA : BSAPITemplate
}
- public override int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out Listcolliders)
+ 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 = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
+ int epic = PhysicsStepint(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)
+ 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;
@@ -1169,9 +1476,9 @@ public sealed class BSAPIXNA : BSAPITemplate
// colliders = new List();
- if (pWorld is DiscreteDynamicsWorld)
+ if (pWorld is BulletWorldXNA)
{
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
int updates = 0;
@@ -1224,7 +1531,7 @@ public sealed class BSAPIXNA : BSAPITemplate
return numSimSteps;
}
- private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
+ private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
{
IndexedVector3 contactNormal = norm;
@@ -1257,11 +1564,11 @@ public sealed class BSAPIXNA : BSAPITemplate
}
- private static EntityProperties GetDebugProperties(object pWorld, object pBody)
+ private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody)
{
EntityProperties ent = new EntityProperties();
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body = pBody as RigidBody;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
IndexedMatrix transform = body.GetWorldTransform();
IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
@@ -1275,34 +1582,35 @@ public sealed class BSAPIXNA : BSAPITemplate
return ent;
}
- public override Vector3 GetLocalScaling2(object pBody)
+ public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; }
+
+ public override Vector3 GetLocalScaling(BulletShape pShape)
{
- CollisionShape shape = pBody as CollisionShape;
+ CollisionShape shape = ((BulletShapeXNA)pShape).shape;
IndexedVector3 scale = shape.GetLocalScaling();
return new Vector3(scale.X,scale.Y,scale.Z);
}
- public override bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
+ public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
{
- DynamicsWorld world = pWorld as DynamicsWorld;
+ DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
if (world != null)
{
- if (NotMe is CollisionObject || NotMe is RigidBody)
+ if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
{
- CollisionObject AvoidBody = NotMe as CollisionObject;
+ 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)
+ 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();
}
@@ -1311,5 +1619,4 @@ public sealed class BSAPIXNA : BSAPITemplate
return false;
}
}
-*/
}
--
cgit v1.1
From aa236b2020a16c464a854be2b02ca49ea637cb27 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 1 Jan 2013 17:25:41 -0800
Subject: BulletSim: add parameter to have Bullet output performance statistics
every so many frames. Default to off.
---
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index aea10ee..30a7bee 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -970,7 +970,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
p.linkConstraintERP = o[0].XlinkConstraintERP;
p.linkConstraintCFM = o[0].XlinkConstraintCFM;
p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
- p.physicsLoggingFrames = o[0].physicsLoggingFrames;
+ p.physicsLoggingFrames = o[0].XphysicsLoggingFrames;
DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
--
cgit v1.1