From f95033812402aaf31a9f2f66c946165d2d79669f Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Sat, 17 Sep 2011 01:09:25 +0100
Subject: Remove old bullet DotNET and X libraries in preparation for BulletS
These weren't working properly anyway.
You will need to rerun prebuild.sh/.bat after this commit, and maybe "nant clean" as well.
---
.../Region/Physics/BulletXPlugin/BulletXPlugin.cs | 1855 --------------------
1 file changed, 1855 deletions(-)
delete mode 100644 OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
(limited to 'OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs')
diff --git a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs b/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
deleted file mode 100644
index df62dbc..0000000
--- a/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
+++ /dev/null
@@ -1,1855 +0,0 @@
-/*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyright
- * 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.
- */
-
-#region References
-
-using System;
-using System.Collections.Generic;
-using OpenMetaverse;
-using MonoXnaCompactMaths;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using XnaDevRu.BulletX;
-using XnaDevRu.BulletX.Dynamics;
-using Nini.Config;
-using Vector3 = MonoXnaCompactMaths.Vector3;
-using Quaternion = MonoXnaCompactMaths.Quaternion;
-
-#endregion
-
-namespace OpenSim.Region.Physics.BulletXPlugin
-{
- ///
- /// BulletXConversions are called now BulletXMaths
- /// This Class converts objects and types for BulletX and give some operations
- ///
- public class BulletXMaths
- {
- //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-
- //Vector3
- public static Vector3 PhysicsVectorToXnaVector3(OpenMetaverse.Vector3 physicsVector)
- {
- return new Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
- }
-
- public static OpenMetaverse.Vector3 XnaVector3ToPhysicsVector(Vector3 xnaVector3)
- {
- return new OpenMetaverse.Vector3(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
- }
-
- //Quaternion
- public static Quaternion QuaternionToXnaQuaternion(OpenMetaverse.Quaternion quaternion)
- {
- return new Quaternion(quaternion.X, quaternion.Y, quaternion.Z, quaternion.W);
- }
-
- public static OpenMetaverse.Quaternion XnaQuaternionToQuaternion(Quaternion xnaQuaternion)
- {
- return new OpenMetaverse.Quaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
- }
-
- //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license):
- //- SetRotation (class MatrixOperations)
- //- GetRotation (class MatrixOperations)
- //- GetElement (class MathHelper)
- //- SetElement (class MathHelper)
- internal static void SetRotation(ref Matrix m, Quaternion q)
- {
- float d = q.LengthSquared();
- float s = 2f/d;
- float xs = q.X*s, ys = q.Y*s, zs = q.Z*s;
- float wx = q.W*xs, wy = q.W*ys, wz = q.W*zs;
- float xx = q.X*xs, xy = q.X*ys, xz = q.X*zs;
- float yy = q.Y*ys, yz = q.Y*zs, zz = q.Z*zs;
- m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0,
- xy + wz, 1 - (xx + zz), yz - wx, 0,
- xz - wy, yz + wx, 1 - (xx + yy), 0,
- m.M41, m.M42, m.M43, 1);
- }
-
- internal static Quaternion GetRotation(Matrix m)
- {
- Quaternion q;
-
- float trace = m.M11 + m.M22 + m.M33;
-
- if (trace > 0)
- {
- float s = (float) Math.Sqrt(trace + 1);
- q.W = s*0.5f;
- s = 0.5f/s;
-
- q.X = (m.M32 - m.M23)*s;
- q.Y = (m.M13 - m.M31)*s;
- q.Z = (m.M21 - m.M12)*s;
- }
- else
- {
- q.X = q.Y = q.Z = q.W = 0f;
-
- int i = m.M11 < m.M22
- ?
- (m.M22 < m.M33 ? 2 : 1)
- :
- (m.M11 < m.M33 ? 2 : 0);
- int j = (i + 1)%3;
- int k = (i + 2)%3;
-
- float s = (float) Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1);
- SetElement(ref q, i, s*0.5f);
- s = 0.5f/s;
-
- q.W = (GetElement(m, k, j) - GetElement(m, j, k))*s;
- SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j))*s);
- SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k))*s);
- }
-
- return q;
- }
-
- internal static float SetElement(ref Quaternion q, int index, float value)
- {
- switch (index)
- {
- case 0:
- q.X = value;
- break;
- case 1:
- q.Y = value;
- break;
- case 2:
- q.Z = value;
- break;
- case 3:
- q.W = value;
- break;
- }
-
- return 0;
- }
-
- internal static float GetElement(Matrix mat, int row, int col)
- {
- switch (row)
- {
- case 0:
- switch (col)
- {
- case 0:
- return mat.M11;
- case 1:
- return mat.M12;
- case 2:
- return mat.M13;
- }
- break;
- case 1:
- switch (col)
- {
- case 0:
- return mat.M21;
- case 1:
- return mat.M22;
- case 2:
- return mat.M23;
- }
- break;
- case 2:
- switch (col)
- {
- case 0:
- return mat.M31;
- case 1:
- return mat.M32;
- case 2:
- return mat.M33;
- }
- break;
- }
-
- return 0;
- }
- }
-
- ///
- /// PhysicsPlugin Class for BulletX
- ///
- public class BulletXPlugin : IPhysicsPlugin
- {
- private BulletXScene _mScene;
-
- public BulletXPlugin()
- {
- }
-
- public bool Init()
- {
- return true;
- }
-
- public PhysicsScene GetScene(string sceneIdentifier)
- {
- if (_mScene == null)
- {
- _mScene = new BulletXScene(sceneIdentifier);
- }
- return (_mScene);
- }
-
- public string GetName()
- {
- return ("modified_BulletX"); //Changed!! "BulletXEngine" To "modified_BulletX"
- }
-
- public void Dispose()
- {
- }
- }
-
-
- // Class to detect and debug collisions
- // Mainly used for debugging purposes
- internal class CollisionDispatcherLocal : CollisionDispatcher
- {
- private BulletXScene relatedScene;
-
- public CollisionDispatcherLocal(BulletXScene s)
- : base()
- {
- relatedScene = s;
- }
-
- public override bool NeedsCollision(CollisionObject bodyA, CollisionObject bodyB)
- {
- RigidBody rb;
- BulletXCharacter bxcA = null;
- BulletXPrim bxpA = null;
- Type t = bodyA.GetType();
- if (t == typeof (RigidBody))
- {
- rb = (RigidBody) bodyA;
- relatedScene._characters.TryGetValue(rb, out bxcA);
- relatedScene._prims.TryGetValue(rb, out bxpA);
- }
-// String nameA;
-// if (bxcA != null)
-// nameA = bxcA._name;
-// else if (bxpA != null)
-// nameA = bxpA._name;
-// else
-// nameA = "null";
-
-
-
- BulletXCharacter bxcB = null;
- BulletXPrim bxpB = null;
- t = bodyB.GetType();
- if (t == typeof (RigidBody))
- {
- rb = (RigidBody) bodyB;
- relatedScene._characters.TryGetValue(rb, out bxcB);
- relatedScene._prims.TryGetValue(rb, out bxpB);
- }
-
-// String nameB;
-// if (bxcB != null)
-// nameB = bxcB._name;
-// else if (bxpB != null)
-// nameB = bxpB._name;
-// else
- // nameB = "null";
- bool needsCollision;// = base.NeedsCollision(bodyA, bodyB);
- int c1 = 3;
- int c2 = 3;
-
- ////////////////////////////////////////////////////////
- //BulletX Mesh Collisions
- //added by Jed zhu
- //data: May 07,2005
- ////////////////////////////////////////////////////////
- #region BulletXMeshCollisions Fields
-
-
- if (bxcA != null && bxpB != null)
- c1 = Collision(bxcA, bxpB);
- if (bxpA != null && bxcB != null)
- c2 = Collision(bxcB, bxpA);
- if (c1 < 2)
- needsCollision = (c1 > 0) ? true : false;
- else if (c2 < 2)
- needsCollision = (c2 > 0) ? true : false;
- else
- needsCollision = base.NeedsCollision(bodyA, bodyB);
-
-
- #endregion
-
-
- //m_log.DebugFormat("[BulletX]: A collision was detected between {0} and {1} --> {2}", nameA, nameB,
- //needsCollision);
-
-
- return needsCollision;
- }
- //added by jed zhu
- //calculas the collision between the Prim and Actor
- //
- private int Collision(BulletXCharacter actorA, BulletXPrim primB)
- {
- int[] indexBase;
- Vector3[] vertexBase;
- Vector3 vNormal;
- // Vector3 vP1;
- // Vector3 vP2;
- // Vector3 vP3;
- IMesh mesh = primB.GetMesh();
-
- float fdistance;
- if (primB == null)
- return 3;
- if (mesh == null)
- return 2;
- if (actorA == null)
- return 3;
-
- int iVertexCount = mesh.getVertexList().Count;
- int iIndexCount = mesh.getIndexListAsInt().Length;
- if (iVertexCount == 0)
- return 3;
- if (iIndexCount == 0)
- return 3;
- lock (BulletXScene.BulletXLock)
- {
- indexBase = mesh.getIndexListAsInt();
- vertexBase = new Vector3[iVertexCount];
-
- for (int i = 0; i < iVertexCount; i++)
- {
- OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
- if (v != null) // Note, null has special meaning. See meshing code for details
- vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
- else
- vertexBase[i] = Vector3.Zero;
- }
-
- for (int ix = 0; ix < iIndexCount; ix += 3)
- {
- int ia = indexBase[ix + 0];
- int ib = indexBase[ix + 1];
- int ic = indexBase[ix + 2];
- //
- Vector3 v1 = vertexBase[ib] - vertexBase[ia];
- Vector3 v2 = vertexBase[ic] - vertexBase[ia];
-
- Vector3.Cross(ref v1, ref v2, out vNormal);
- Vector3.Normalize(ref vNormal, out vNormal);
-
- fdistance = Vector3.Dot(vNormal, vertexBase[ia]) + 0.50f;
- if (preCheckCollision(actorA, vNormal, fdistance) == 1)
- {
- if (CheckCollision(actorA, ia, ib, ic, vNormal, vertexBase) == 1)
- {
- //PhysicsVector v = actorA.Position;
- //Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
- //Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.2f);
- //actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp);
- return 1;
- }
- }
- }
- }
-
-
- return 0;
- }
- //added by jed zhu
- //return value 1: need second check
- //return value 0: no need check
-
- private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist)
- {
- float fstartSide;
- OpenMetaverse.Vector3 v = actA.Position;
- Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
-
- fstartSide = Vector3.Dot(vNormal, v3) - fDist;
- if (fstartSide > 0) return 0;
- else return 1;
- }
- //added by jed zhu
- private int CheckCollision(BulletXActor actA, int ia, int ib, int ic, Vector3 vNormal, Vector3[] vertBase)
- {
- Vector3 perPlaneNormal;
- float fPerPlaneDist;
- OpenMetaverse.Vector3 v = actA.Position;
- Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
- //check AB
- Vector3 v1;
- v1 = vertBase[ib] - vertBase[ia];
- Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
- Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
-
- if (Vector3.Dot((vertBase[ic] - vertBase[ia]), perPlaneNormal) < 0)
- perPlaneNormal = -perPlaneNormal;
- fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) - 0.50f;
-
-
-
- if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
- return 0;
- fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) + 0.50f;
- if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
- return 0;
-
- //check BC
-
- v1 = vertBase[ic] - vertBase[ib];
- Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
- Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
-
- if (Vector3.Dot((vertBase[ia] - vertBase[ib]), perPlaneNormal) < 0)
- perPlaneNormal = -perPlaneNormal;
- fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) - 0.50f;
-
-
- if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
- return 0;
- fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) + 0.50f;
- if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
- return 0;
- //check CA
- v1 = vertBase[ia] - vertBase[ic];
- Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
- Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
-
- if (Vector3.Dot((vertBase[ib] - vertBase[ic]), perPlaneNormal) < 0)
- perPlaneNormal = -perPlaneNormal;
- fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) - 0.50f;
-
-
- if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
- return 0;
- fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) + 0.50f;
- if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
- return 0;
-
- return 1;
-
- }
- }
-
- ///
- /// PhysicsScene Class for BulletX
- ///
- public class BulletXScene : PhysicsScene
- {
- #region BulletXScene Fields
-
- public DiscreteDynamicsWorld ddWorld;
- private CollisionDispatcher cDispatcher;
- private OverlappingPairCache opCache;
- private SequentialImpulseConstraintSolver sicSolver;
- public static Object BulletXLock = new Object();
-
- private const int minXY = 0;
- private const int minZ = 0;
- private const int maxXY = (int)Constants.RegionSize;
- private const int maxZ = 4096;
- private const int maxHandles = 32766; //Why? I don't know
- private const float gravity = 9.8f;
- private const float heightLevel0 = 77.0f;
- private const float heightLevel1 = 200.0f;
- private const float lowGravityFactor = 0.2f;
- //OpenSim calls Simulate 10 times per seconds. So FPS = "Simulate Calls" * simulationSubSteps = 100 FPS
- private const int simulationSubSteps = 10;
- //private float[] _heightmap;
- private BulletXPlanet _simFlatPlanet;
- internal Dictionary _characters = new Dictionary();
- internal Dictionary _prims = new Dictionary();
-
- public IMesher mesher;
- // private IConfigSource m_config;
-
- // protected internal String identifier;
-
- public BulletXScene(String sceneIdentifier)
- {
- //identifier = sceneIdentifier;
- cDispatcher = new CollisionDispatcherLocal(this);
- Vector3 worldMinDim = new Vector3((float)minXY, (float)minXY, (float)minZ);
- Vector3 worldMaxDim = new Vector3((float)maxXY, (float)maxXY, (float)maxZ);
- opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
- sicSolver = new SequentialImpulseConstraintSolver();
-
- lock (BulletXLock)
- {
- ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
- ddWorld.Gravity = new Vector3(0, 0, -gravity);
- }
- //this._heightmap = new float[65536];
- }
-
- public static float Gravity
- {
- get { return gravity; }
- }
-
- public static float HeightLevel0
- {
- get { return heightLevel0; }
- }
-
- public static float HeightLevel1
- {
- get { return heightLevel1; }
- }
-
- public static float LowGravityFactor
- {
- get { return lowGravityFactor; }
- }
-
- public static int MaxXY
- {
- get { return maxXY; }
- }
-
- public static int MaxZ
- {
- get { return maxZ; }
- }
-
- private List _forgottenRigidBodies = new List();
- internal string is_ex_message = "Can't remove rigidBody!: ";
-
- #endregion
-
- public BulletXScene()
- {
- cDispatcher = new CollisionDispatcherLocal(this);
- Vector3 worldMinDim = new Vector3((float) minXY, (float) minXY, (float) minZ);
- Vector3 worldMaxDim = new Vector3((float) maxXY, (float) maxXY, (float) maxZ);
- opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
- sicSolver = new SequentialImpulseConstraintSolver();
-
- lock (BulletXLock)
- {
- ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
- ddWorld.Gravity = new Vector3(0, 0, -gravity);
- }
- //this._heightmap = new float[65536];
- }
-
- public override void Initialise(IMesher meshmerizer, IConfigSource config)
- {
- mesher = meshmerizer;
- // m_config = config;
- }
-
- public override void Dispose()
- {
-
- }
-
- public override Dictionary GetTopColliders()
- {
- Dictionary returncolliders = new Dictionary();
- return returncolliders;
- }
-
- public override void SetWaterLevel(float baseheight)
- {
-
- }
-
- public override PhysicsActor AddAvatar(string avName, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, bool isFlying)
- {
- OpenMetaverse.Vector3 pos = OpenMetaverse.Vector3.Zero;
- pos.X = position.X;
- pos.Y = position.Y;
- pos.Z = position.Z + 20;
- BulletXCharacter newAv = null;
- lock (BulletXLock)
- {
- newAv = new BulletXCharacter(avName, this, pos);
- _characters.Add(newAv.RigidBody, newAv);
- }
- newAv.Flying = isFlying;
- return newAv;
- }
-
- public override void RemoveAvatar(PhysicsActor actor)
- {
- if (actor is BulletXCharacter)
- {
- lock (BulletXLock)
- {
- try
- {
- ddWorld.RemoveRigidBody(((BulletXCharacter) actor).RigidBody);
- }
- catch (Exception ex)
- {
- BulletXMessage(is_ex_message + ex.Message, true);
- ((BulletXCharacter) actor).RigidBody.ActivationState = ActivationState.DisableSimulation;
- AddForgottenRigidBody(((BulletXCharacter) actor).RigidBody);
- }
- _characters.Remove(((BulletXCharacter) actor).RigidBody);
- }
- GC.Collect();
- }
- }
-
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, OpenMetaverse.Vector3 position,
- OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation, bool isPhysical, uint localid)
- {
- PhysicsActor result;
-
- switch (pbs.ProfileShape)
- {
- case ProfileShape.Square:
- /// support simple box & hollow box now; later, more shapes
- if (pbs.ProfileHollow == 0)
- {
- result = AddPrim(primName, position, size, rotation, null, null, isPhysical);
- }
- else
- {
- IMesh mesh = mesher.CreateMesh(primName, pbs, size, 32f, isPhysical);
- result = AddPrim(primName, position, size, rotation, mesh, pbs, isPhysical);
- }
- break;
-
- default:
- result = AddPrim(primName, position, size, rotation, null, null, isPhysical);
- break;
- }
-
- return result;
- }
-
- public PhysicsActor AddPrim(String name, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation,
- IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
- {
- BulletXPrim newPrim = null;
- lock (BulletXLock)
- {
- newPrim = new BulletXPrim(name, this, position, size, rotation, mesh, pbs, isPhysical);
- _prims.Add(newPrim.RigidBody, newPrim);
- }
- return newPrim;
- }
-
- public override void RemovePrim(PhysicsActor prim)
- {
- if (prim is BulletXPrim)
- {
- lock (BulletXLock)
- {
- try
- {
- ddWorld.RemoveRigidBody(((BulletXPrim) prim).RigidBody);
- }
- catch (Exception ex)
- {
- BulletXMessage(is_ex_message + ex.Message, true);
- ((BulletXPrim) prim).RigidBody.ActivationState = ActivationState.DisableSimulation;
- AddForgottenRigidBody(((BulletXPrim) prim).RigidBody);
- }
- _prims.Remove(((BulletXPrim) prim).RigidBody);
- }
- GC.Collect();
- }
- }
-
- public override void AddPhysicsActorTaint(PhysicsActor prim)
- {
- }
-
- public override float Simulate(float timeStep)
- {
- float fps = 0;
- lock (BulletXLock)
- {
- //Try to remove garbage
- RemoveForgottenRigidBodies();
- //End of remove
- MoveAPrimitives(timeStep);
-
-
- fps = (timeStep*simulationSubSteps);
-
- ddWorld.StepSimulation(timeStep, simulationSubSteps, timeStep);
- //Extra Heightmap Validation: BulletX's HeightFieldTerrain somestimes doesn't work so fine.
- ValidateHeightForAll();
- //End heightmap validation.
- UpdateKineticsForAll();
- }
- return fps;
- }
-
- private void MoveAPrimitives(float timeStep)
- {
- foreach (BulletXCharacter actor in _characters.Values)
- {
- actor.Move(timeStep);
- }
- }
-
- private void ValidateHeightForAll()
- {
- float _height;
- foreach (BulletXCharacter actor in _characters.Values)
- {
- //_height = HeightValue(actor.RigidBodyPosition);
- _height = _simFlatPlanet.HeightValue(actor.RigidBodyPosition);
- actor.ValidateHeight(_height);
- //if (_simFlatPlanet.heightIsNotValid(actor.RigidBodyPosition, out _height)) actor.ValidateHeight(_height);
- }
- foreach (BulletXPrim prim in _prims.Values)
- {
- //_height = HeightValue(prim.RigidBodyPosition);
- _height = _simFlatPlanet.HeightValue(prim.RigidBodyPosition);
- prim.ValidateHeight(_height);
- //if (_simFlatPlanet.heightIsNotValid(prim.RigidBodyPosition, out _height)) prim.ValidateHeight(_height);
- }
- //foreach (BulletXCharacter actor in _characters)
- //{
- // actor.ValidateHeight(0);
- //}
- //foreach (BulletXPrim prim in _prims)
- //{
- // prim.ValidateHeight(0);
- //}
- }
-
- private void UpdateKineticsForAll()
- {
- //UpdatePosition > UpdateKinetics.
- //Not only position will be updated, also velocity cause acceleration.
- foreach (BulletXCharacter actor in _characters.Values)
- {
- actor.UpdateKinetics();
- }
- foreach (BulletXPrim prim in _prims.Values)
- {
- prim.UpdateKinetics();
- }
- //if (this._simFlatPlanet!=null) this._simFlatPlanet.Restore();
- }
-
- public override void GetResults()
- {
- }
-
- public override bool IsThreaded
- {
- get
- {
- return (false); // for now we won't be multithreaded
- }
- }
-
- public override void SetTerrain(float[] heightMap)
- {
- ////As the same as ODE, heightmap (x,y) must be swapped for BulletX
- //for (int i = 0; i < 65536; i++)
- //{
- // // this._heightmap[i] = (double)heightMap[i];
- // // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
- // int x = i & 0xff;
- // int y = i >> 8;
- // this._heightmap[i] = heightMap[x * 256 + y];
- //}
-
- //float[] swappedHeightMap = new float[65536];
- ////As the same as ODE, heightmap (x,y) must be swapped for BulletX
- //for (int i = 0; i < 65536; i++)
- //{
- // // this._heightmap[i] = (double)heightMap[i];
- // // dbm (danx0r) -- heightmap x,y must be swapped for Ode (should fix ODE, but for now...)
- // int x = i & 0xff;
- // int y = i >> 8;
- // swappedHeightMap[i] = heightMap[x * 256 + y];
- //}
- DeleteTerrain();
- //There is a BulletXLock inside the constructor of BulletXPlanet
- //this._simFlatPlanet = new BulletXPlanet(this, swappedHeightMap);
- _simFlatPlanet = new BulletXPlanet(this, heightMap);
- //this._heightmap = heightMap;
- }
-
- public override void DeleteTerrain()
- {
- if (_simFlatPlanet != null)
- {
- lock (BulletXLock)
- {
- try
- {
- ddWorld.RemoveRigidBody(_simFlatPlanet.RigidBody);
- }
- catch (Exception ex)
- {
- BulletXMessage(is_ex_message + ex.Message, true);
- _simFlatPlanet.RigidBody.ActivationState = ActivationState.DisableSimulation;
- AddForgottenRigidBody(_simFlatPlanet.RigidBody);
- }
- }
- _simFlatPlanet = null;
- GC.Collect();
- BulletXMessage("Terrain erased!", false);
- }
-
-
-
- //this._heightmap = null;
- }
-
-
-
- internal void AddForgottenRigidBody(RigidBody forgottenRigidBody)
- {
- _forgottenRigidBodies.Add(forgottenRigidBody);
- }
-
- private void RemoveForgottenRigidBodies()
- {
- RigidBody forgottenRigidBody;
- int nRigidBodies = _forgottenRigidBodies.Count;
- for (int i = nRigidBodies - 1; i >= 0; i--)
- {
- forgottenRigidBody = _forgottenRigidBodies[i];
- try
- {
- ddWorld.RemoveRigidBody(forgottenRigidBody);
- _forgottenRigidBodies.Remove(forgottenRigidBody);
- BulletXMessage("Forgotten Rigid Body Removed", false);
- }
- catch (Exception ex)
- {
- BulletXMessage("Can't remove forgottenRigidBody!: " + ex.Message, false);
- }
- }
- GC.Collect();
- }
-
- internal static void BulletXMessage(string message, bool isWarning)
- {
- PhysicsPluginManager.PhysicsPluginMessage("[Modified BulletX]:\t" + message, isWarning);
- }
-
- //temp
- //private float HeightValue(MonoXnaCompactMaths.Vector3 position)
- //{
- // int li_x, li_y;
- // float height;
- // li_x = (int)Math.Round(position.X); if (li_x < 0) li_x = 0;
- // li_y = (int)Math.Round(position.Y); if (li_y < 0) li_y = 0;
-
- // height = this._heightmap[li_y * 256 + li_x];
- // if (height < 0) height = 0;
- // else if (height > maxZ) height = maxZ;
-
- // return height;
- //}
- }
-
- ///
- /// Generic Physics Actor for BulletX inherit from PhysicActor
- ///
- public class BulletXActor : PhysicsActor
- {
- protected bool flying = false;
- protected bool _physical = false;
- protected OpenMetaverse.Vector3 _position;
- protected OpenMetaverse.Vector3 _velocity;
- protected OpenMetaverse.Vector3 _size;
- protected OpenMetaverse.Vector3 _acceleration;
- protected OpenMetaverse.Quaternion _orientation;
- protected OpenMetaverse.Vector3 m_rotationalVelocity;
- protected RigidBody rigidBody;
- protected int m_PhysicsActorType;
- private Boolean iscolliding = false;
- internal string _name;
-
- public BulletXActor(String name)
- {
- _name = name;
- }
-
- public override bool Stopped
- {
- get { return false; }
- }
-
- public override OpenMetaverse.Vector3 Position
- {
- get { return _position; }
- set
- {
- lock (BulletXScene.BulletXLock)
- {
- _position = value;
- Translate();
- }
- }
- }
-
- public override OpenMetaverse.Vector3 RotationalVelocity
- {
- get { return m_rotationalVelocity; }
- set { m_rotationalVelocity = value; }
- }
-
- public override OpenMetaverse.Vector3 Velocity
- {
- get { return _velocity; }
- set
- {
- lock (BulletXScene.BulletXLock)
- {
- //Static objects don' have linear velocity
- if (_physical)
- {
- _velocity = value;
- Speed();
- }
- else
- {
- _velocity = OpenMetaverse.Vector3.Zero;
- }
- }
- }
- }
- public override float CollisionScore
- {
- get { return 0f; }
- set { }
- }
- public override OpenMetaverse.Vector3 Size
- {
- get { return _size; }
- set
- {
- lock (BulletXScene.BulletXLock)
- {
- _size = value;
- }
- }
- }
-
- public override OpenMetaverse.Vector3 Force
- {
- get { return OpenMetaverse.Vector3.Zero; }
- set { return; }
- }
-
- public override int VehicleType
- {
- get { return 0; }
- set { return; }
- }
-
- public override void VehicleFloatParam(int param, float value)
- {
-
- }
-
- public override void VehicleVectorParam(int param, OpenMetaverse.Vector3 value)
- {
-
- }
-
- public override void VehicleRotationParam(int param, OpenMetaverse.Quaternion rotation)
- {
-
- }
-
- public override void VehicleFlags(int param, bool remove)
- {
-
- }
-
- public override void SetVolumeDetect(int param)
- {
-
- }
-
- public override OpenMetaverse.Vector3 CenterOfMass
- {
- get { return OpenMetaverse.Vector3.Zero; }
- }
-
- public override OpenMetaverse.Vector3 GeometricCenter
- {
- get { return OpenMetaverse.Vector3.Zero; }
- }
-
- public override PrimitiveBaseShape Shape
- {
- set { return; }
- }
-
- public override bool SetAlwaysRun
- {
- get { return false; }
- set { return; }
- }
-
- public override OpenMetaverse.Vector3 Acceleration
- {
- get { return _acceleration; }
- }
-
- public override OpenMetaverse.Quaternion Orientation
- {
- get { return _orientation; }
- set
- {
- lock (BulletXScene.BulletXLock)
- {
- _orientation = value;
- ReOrient();
- }
- }
- }
- public override void link(PhysicsActor obj)
- {
-
- }
-
- public override void delink()
- {
-
- }
-
- public override void LockAngularMotion(OpenMetaverse.Vector3 axis)
- {
-
- }
-
- public override float Mass
- {
- get { return ActorMass; }
- }
-
- public virtual float ActorMass
- {
- get { return 0; }
- }
-
- public override int PhysicsActorType
- {
- get { return (int) m_PhysicsActorType; }
- set { m_PhysicsActorType = value; }
- }
-
- public RigidBody RigidBody
- {
- get { return rigidBody; }
- }
-
- public Vector3 RigidBodyPosition
- {
- get { return rigidBody.CenterOfMassPosition; }
- }
-
- public override bool IsPhysical
- {
- get { return _physical; }
- set { _physical = value; }
- }
-
- public override bool Flying
- {
- get { return flying; }
- set { flying = value; }
- }
-
- public override bool ThrottleUpdates
- {
- get { return false; }
- set { return; }
- }
-
- public override bool IsColliding
- {
- get { return iscolliding; }
- set { iscolliding = value; }
- }
-
- public override bool CollidingGround
- {
- get { return false; }
- set { return; }
- }
-
- public override bool CollidingObj
- {
- get { return false; }
- set { return; }
- }
-
- public override uint LocalID
- {
- set { return; }
- }
-
- public override bool Grabbed
- {
- set { return; }
- }
-
- public override bool Selected
- {
- set { return; }
- }
-
- public override float Buoyancy
- {
- get { return 0f; }
- set { return; }
- }
-
- public override bool FloatOnWater
- {
- set { return; }
- }
-
- public virtual void SetAcceleration(OpenMetaverse.Vector3 accel)
- {
- lock (BulletXScene.BulletXLock)
- {
- _acceleration = accel;
- }
- }
-
- public override bool Kinematic
- {
- get { return false; }
- set { }
- }
-
- public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
- {
- }
- public override OpenMetaverse.Vector3 Torque
- {
- get { return OpenMetaverse.Vector3.Zero; }
- set { return; }
- }
- public override void AddAngularForce(OpenMetaverse.Vector3 force, bool pushforce)
- {
- }
-
- public override void SetMomentum(OpenMetaverse.Vector3 momentum)
- {
- }
-
- internal virtual void ValidateHeight(float heighmapPositionValue)
- {
- }
-
- internal virtual void UpdateKinetics()
- {
- }
-
- #region Methods for updating values of RigidBody
-
- protected internal void Translate()
- {
- Translate(_position);
- }
-
- protected internal void Translate(OpenMetaverse.Vector3 _newPos)
- {
- Vector3 _translation;
- _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
- rigidBody.Translate(_translation);
- }
-
- protected internal void Speed()
- {
- Speed(_velocity);
- }
-
- protected internal void Speed(OpenMetaverse.Vector3 _newSpeed)
- {
- Vector3 _speed;
- _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
- rigidBody.LinearVelocity = _speed;
- }
-
- protected internal void ReOrient()
- {
- ReOrient(_orientation);
- }
-
- protected internal void ReOrient(OpenMetaverse.Quaternion _newOrient)
- {
- Quaternion _newOrientation;
- _newOrientation = BulletXMaths.QuaternionToXnaQuaternion(_newOrient);
- Matrix _comTransform = rigidBody.CenterOfMassTransform;
- BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
- rigidBody.CenterOfMassTransform = _comTransform;
- }
-
- protected internal void ReSize()
- {
- ReSize(_size);
- }
-
- protected internal virtual void ReSize(OpenMetaverse.Vector3 _newSize)
- {
- }
-
- public virtual void ScheduleTerseUpdate()
- {
- base.RequestPhysicsterseUpdate();
- }
-
- #endregion
-
- public override void CrossingFailure()
- {
-
- }
- public override OpenMetaverse.Vector3 PIDTarget { set { return; } }
- public override bool PIDActive { set { return; } }
- public override float PIDTau { set { return; } }
-
- public override float PIDHoverHeight { set { return; } }
- public override bool PIDHoverActive { set { return; } }
- public override PIDHoverType PIDHoverType { set { return; } }
- public override float PIDHoverTau { set { return; } }
-
- public override OpenMetaverse.Quaternion APIDTarget
- {
- set { return; }
- }
-
- public override bool APIDActive
- {
- set { return; }
- }
-
- public override float APIDStrength
- {
- set { return; }
- }
-
- public override float APIDDamping
- {
- set { return; }
- }
-
-
- public override void SubscribeEvents(int ms)
- {
-
- }
- public override void UnSubscribeEvents()
- {
-
- }
- public override bool SubscribedEvents()
- {
- return false;
- }
- }
-
- ///
- /// PhysicsActor Character Class for BulletX
- ///
- public class BulletXCharacter : BulletXActor
- {
- public BulletXCharacter(BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
- : this(String.Empty, parent_scene, pos)
- {
- }
-
- public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos)
- : this(avName, parent_scene, pos, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero, OpenMetaverse.Vector3.Zero,
- OpenMetaverse.Quaternion.Identity)
- {
- }
-
- public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
- OpenMetaverse.Vector3 size, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion orientation)
- : base(avName)
- {
- //This fields will be removed. They're temporal
- float _sizeX = 0.5f;
- float _sizeY = 0.5f;
- float _sizeZ = 1.6f;
- //.
- _position = pos;
- _velocity = velocity;
- _size = size;
- //---
- _size.X = _sizeX;
- _size.Y = _sizeY;
- _size.Z = _sizeZ;
- //.
- _acceleration = acceleration;
- _orientation = orientation;
- _physical = true;
-
- float _mass = 50.0f; //This depends of avatar's dimensions
- //For RigidBody Constructor. The next values might change
- float _linearDamping = 0.0f;
- float _angularDamping = 0.0f;
- float _friction = 0.5f;
- float _restitution = 0.0f;
- Matrix _startTransform = Matrix.Identity;
- Matrix _centerOfMassOffset = Matrix.Identity;
- lock (BulletXScene.BulletXLock)
- {
- _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
- //CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(1.0f, 1.0f, 1.60f));
- //For now, like ODE, collisionShape = sphere of radious = 1.0
- CollisionShape _collisionShape = new SphereShape(1.0f);
- DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
- Vector3 _localInertia = new Vector3();
- _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
- rigidBody =
- new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
- _friction, _restitution);
- //rigidBody.ActivationState = ActivationState.DisableDeactivation;
- //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
- Vector3 _vDebugTranslation;
- _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
- rigidBody.Translate(_vDebugTranslation);
- parent_scene.ddWorld.AddRigidBody(rigidBody);
- }
- }
-
- public override int PhysicsActorType
- {
- get { return (int) ActorTypes.Agent; }
- set { return; }
- }
-
- public override OpenMetaverse.Vector3 Position
- {
- get { return base.Position; }
- set { base.Position = value; }
- }
-
- public override OpenMetaverse.Vector3 Velocity
- {
- get { return base.Velocity; }
- set { base.Velocity = value; }
- }
-
- public override OpenMetaverse.Vector3 Size
- {
- get { return base.Size; }
- set { base.Size = value; }
- }
-
- public override OpenMetaverse.Vector3 Acceleration
- {
- get { return base.Acceleration; }
- }
-
- public override OpenMetaverse.Quaternion Orientation
- {
- get { return base.Orientation; }
- set { base.Orientation = value; }
- }
-
- public override bool Flying
- {
- get { return base.Flying; }
- set { base.Flying = value; }
- }
-
- public override bool IsColliding
- {
- get { return base.IsColliding; }
- set { base.IsColliding = value; }
- }
-
- public override bool Kinematic
- {
- get { return base.Kinematic; }
- set { base.Kinematic = value; }
- }
-
- public override void SetAcceleration(OpenMetaverse.Vector3 accel)
- {
- base.SetAcceleration(accel);
- }
-
- public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
- {
- base.AddForce(force, pushforce);
- }
-
- public override void SetMomentum(OpenMetaverse.Vector3 momentum)
- {
- base.SetMomentum(momentum);
- }
-
- internal void Move(float timeStep)
- {
- Vector3 vec = new Vector3();
- //At this point it's supossed that:
- //_velocity == rigidBody.LinearVelocity
- vec.X = _velocity.X;
- vec.Y = _velocity.Y;
- vec.Z = _velocity.Z;
- if ((vec.X != 0.0f) || (vec.Y != 0.0f) || (vec.Z != 0.0f)) rigidBody.Activate();
- if (flying)
- {
- //Antigravity with movement
- if (_position.Z <= BulletXScene.HeightLevel0)
- {
- vec.Z += BulletXScene.Gravity*timeStep;
- }
- //Lowgravity with movement
- else if ((_position.Z > BulletXScene.HeightLevel0)
- && (_position.Z <= BulletXScene.HeightLevel1))
- {
- vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
- }
- //Lowgravity with...
- else if (_position.Z > BulletXScene.HeightLevel1)
- {
- if (vec.Z > 0) //no movement
- vec.Z = BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
- else
- vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
- }
- }
- rigidBody.LinearVelocity = vec;
- }
-
- //This validation is very basic
- internal override void ValidateHeight(float heighmapPositionValue)
- {
- if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f)
- {
- Matrix m = rigidBody.WorldTransform;
- Vector3 v3 = m.Translation;
- v3.Z = heighmapPositionValue + _size.Z/2.0f;
- m.Translation = v3;
- rigidBody.WorldTransform = m;
- //When an Avie touch the ground it's vertical velocity it's reduced to ZERO
- Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
- }
- }
-
- internal override void UpdateKinetics()
- {
- _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
- _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
- //Orientation it seems that it will be the default.
- ReOrient();
- }
- }
-
- ///
- /// PhysicsActor Prim Class for BulletX
- ///
- public class BulletXPrim : BulletXActor
- {
- //Density it will depends of material.
- //For now all prims have the same density, all prims are made of water. Be water my friend! :D
- private const float _density = 1000.0f;
- private BulletXScene _parent_scene;
- private OpenMetaverse.Vector3 m_prev_position;
- private bool m_lastUpdateSent = false;
- //added by jed zhu
- private IMesh _mesh;
- public IMesh GetMesh() { return _mesh; }
-
-
-
- public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 size,
- OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
- : this(
- primName, parent_scene, pos, OpenMetaverse.Vector3.Zero, size, OpenMetaverse.Vector3.Zero, rotation, mesh, pbs,
- isPhysical)
- {
- }
-
- public BulletXPrim(String primName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
- OpenMetaverse.Vector3 size,
- OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs,
- bool isPhysical)
- : base(primName)
- {
- if ((size.X == 0) || (size.Y == 0) || (size.Z == 0))
- throw new Exception("Size 0");
- if (OpenMetaverse.Quaternion.Normalize(rotation).Length() == 0f)
- rotation = OpenMetaverse.Quaternion.Identity;
-
- _position = pos;
- _physical = isPhysical;
- _velocity = _physical ? velocity : OpenMetaverse.Vector3.Zero;
- _size = size;
- _acceleration = acceleration;
- _orientation = rotation;
-
- _parent_scene = parent_scene;
-
- CreateRigidBody(parent_scene, mesh, pos, size);
- }
-
- public override int PhysicsActorType
- {
- get { return (int) ActorTypes.Prim; }
- set { return; }
- }
-
- public override OpenMetaverse.Vector3 Position
- {
- get { return base.Position; }
- set { base.Position = value; }
- }
-
- public override OpenMetaverse.Vector3 Velocity
- {
- get { return base.Velocity; }
- set { base.Velocity = value; }
- }
-
- public override OpenMetaverse.Vector3 Size
- {
- get { return _size; }
- set
- {
- lock (BulletXScene.BulletXLock)
- {
- _size = value;
- ReSize();
- }
- }
- }
-
- public override OpenMetaverse.Vector3 Acceleration
- {
- get { return base.Acceleration; }
- }
-
- public override OpenMetaverse.Quaternion Orientation
- {
- get { return base.Orientation; }
- set { base.Orientation = value; }
- }
-
- public override float ActorMass
- {
- get
- {
- //For now all prims are boxes
- return (_physical ? 1 : 0)*_density*_size.X*_size.Y*_size.Z;
- }
- }
-
- public override bool IsPhysical
- {
- get { return base.IsPhysical; }
- set
- {
- base.IsPhysical = value;
- if (value)
- {
- //---
- PhysicsPluginManager.PhysicsPluginMessage("Physical - Recreate", true);
- //---
- ReCreateRigidBody(_size);
- }
- else
- {
- //---
- PhysicsPluginManager.PhysicsPluginMessage("Physical - SetMassProps", true);
- //---
- rigidBody.SetMassProps(Mass, new Vector3());
- }
- }
- }
-
- public override bool Flying
- {
- get { return base.Flying; }
- set { base.Flying = value; }
- }
-
- public override bool IsColliding
- {
- get { return base.IsColliding; }
- set { base.IsColliding = value; }
- }
-
- public override bool Kinematic
- {
- get { return base.Kinematic; }
- set { base.Kinematic = value; }
- }
-
- public override void SetAcceleration(OpenMetaverse.Vector3 accel)
- {
- lock (BulletXScene.BulletXLock)
- {
- _acceleration = accel;
- }
- }
-
- public override void AddForce(OpenMetaverse.Vector3 force, bool pushforce)
- {
- base.AddForce(force,pushforce);
- }
-
- public override void SetMomentum(OpenMetaverse.Vector3 momentum)
- {
- base.SetMomentum(momentum);
- }
-
- internal override void ValidateHeight(float heighmapPositionValue)
- {
- if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f)
- {
- Matrix m = rigidBody.WorldTransform;
- Vector3 v3 = m.Translation;
- v3.Z = heighmapPositionValue + _size.Z/2.0f;
- m.Translation = v3;
- rigidBody.WorldTransform = m;
- //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
- //Static objects don't have linear velocity
- if (_physical)
- Speed(new OpenMetaverse.Vector3(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
- }
- }
-
- internal override void UpdateKinetics()
- {
- if (_physical) //Updates properties. Prim updates its properties physically
- {
- _position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
-
- _velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
- _orientation = BulletXMaths.XnaQuaternionToQuaternion(rigidBody.Orientation);
-
- if ((Math.Abs(m_prev_position.X - _position.X) < 0.03)
- && (Math.Abs(m_prev_position.Y - _position.Y) < 0.03)
- && (Math.Abs(m_prev_position.Z - _position.Z) < 0.03))
- {
- if (!m_lastUpdateSent)
- {
- _velocity = OpenMetaverse.Vector3.Zero;
- base.ScheduleTerseUpdate();
- m_lastUpdateSent = true;
- }
- }
- else
- {
- m_lastUpdateSent = false;
- base.ScheduleTerseUpdate();
- }
- m_prev_position = _position;
- }
- else //Doesn't updates properties. That's a cancel
- {
- Translate();
- //Speed(); //<- Static objects don't have linear velocity
- ReOrient();
- }
- }
-
- #region Methods for updating values of RigidBody
-
- protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, OpenMetaverse.Vector3 pos,
- OpenMetaverse.Vector3 size)
- {
- //For RigidBody Constructor. The next values might change
- float _linearDamping = 0.0f;
- float _angularDamping = 0.0f;
- float _friction = 1.0f;
- float _restitution = 0.0f;
- Matrix _startTransform = Matrix.Identity;
- Matrix _centerOfMassOffset = Matrix.Identity;
- //added by jed zhu
- _mesh = mesh;
-
- lock (BulletXScene.BulletXLock)
- {
- _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
- //For now all prims are boxes
- CollisionShape _collisionShape;
- if (mesh == null)
- {
- _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(size)/2.0f);
- }
- else
- {
- int iVertexCount = mesh.getVertexList().Count;
- int[] indices = mesh.getIndexListAsInt();
- Vector3[] v3Vertices = new Vector3[iVertexCount];
- for (int i = 0; i < iVertexCount; i++)
- {
- OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
- if (v != null) // Note, null has special meaning. See meshing code for details
- v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
- else
- v3Vertices[i] = Vector3.Zero;
- }
- TriangleIndexVertexArray triMesh = new TriangleIndexVertexArray(indices, v3Vertices);
-
- _collisionShape = new TriangleMeshShape(triMesh);
- }
- DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
- Vector3 _localInertia = new Vector3();
- if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
- rigidBody =
- new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
- _friction, _restitution);
- //rigidBody.ActivationState = ActivationState.DisableDeactivation;
- //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
- Vector3 _vDebugTranslation;
- _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
- rigidBody.Translate(_vDebugTranslation);
- //---
- parent_scene.ddWorld.AddRigidBody(rigidBody);
- }
- }
-
- protected internal void ReCreateRigidBody(OpenMetaverse.Vector3 size)
- {
- //There is a bug when trying to remove a rigidBody that is colliding with something..
- try
- {
- _parent_scene.ddWorld.RemoveRigidBody(rigidBody);
- }
- catch (Exception ex)
- {
- BulletXScene.BulletXMessage(_parent_scene.is_ex_message + ex.Message, true);
- rigidBody.ActivationState = ActivationState.DisableSimulation;
- _parent_scene.AddForgottenRigidBody(rigidBody);
- }
- CreateRigidBody(_parent_scene, null, _position, size);
- // Note, null for the meshing definitely is wrong. It's here for the moment to apease the compiler
- if (_physical) Speed(); //Static objects don't have linear velocity
- ReOrient();
- GC.Collect();
- }
-
- protected internal override void ReSize(OpenMetaverse.Vector3 _newSize)
- {
- //I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
- //so i have to do it manually. That's recreating rigidbody
- ReCreateRigidBody(_newSize);
- }
-
- #endregion
- }
-
- ///
- /// This Class manage a HeighField as a RigidBody. This is for to be added in the BulletXScene
- ///
- internal class BulletXPlanet
- {
- private OpenMetaverse.Vector3 _staticPosition;
-// private Vector3 _staticVelocity;
-// private OpenMetaverse.Quaternion _staticOrientation;
- private float _mass;
- // private BulletXScene _parentscene;
- internal float[] _heightField;
- private RigidBody _flatPlanet;
-
- internal RigidBody RigidBody
- {
- get { return _flatPlanet; }
- }
-
- internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
- {
- _staticPosition = new OpenMetaverse.Vector3(BulletXScene.MaxXY / 2, BulletXScene.MaxXY / 2, 0);
-// _staticVelocity = new PhysicsVector();
-// _staticOrientation = OpenMetaverse.Quaternion.Identity;
- _mass = 0; //No active
- // _parentscene = parent_scene;
- _heightField = heightField;
-
- float _linearDamping = 0.0f;
- float _angularDamping = 0.0f;
- float _friction = 0.5f;
- float _restitution = 0.0f;
- Matrix _startTransform = Matrix.Identity;
- Matrix _centerOfMassOffset = Matrix.Identity;
-
- lock (BulletXScene.BulletXLock)
- {
- try
- {
- _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition);
- CollisionShape _collisionShape =
- new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField,
- (float) BulletXScene.MaxZ, 2, true, false);
- DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
- Vector3 _localInertia = new Vector3();
- //_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
- _flatPlanet =
- new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping,
- _angularDamping, _friction, _restitution);
- //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
- Vector3 _vDebugTranslation;
- _vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition;
- _flatPlanet.Translate(_vDebugTranslation);
- parent_scene.ddWorld.AddRigidBody(_flatPlanet);
- }
- catch (Exception ex)
- {
- BulletXScene.BulletXMessage(ex.Message, true);
- }
- }
- BulletXScene.BulletXMessage("BulletXPlanet created.", false);
- }
-
- internal float HeightValue(Vector3 position)
- {
- int li_x, li_y;
- float height;
- li_x = (int) Math.Round(position.X);
- if (li_x < 0) li_x = 0;
- if (li_x >= BulletXScene.MaxXY) li_x = BulletXScene.MaxXY - 1;
- li_y = (int) Math.Round(position.Y);
- if (li_y < 0) li_y = 0;
- if (li_y >= BulletXScene.MaxXY) li_y = BulletXScene.MaxXY - 1;
-
- height = ((HeightfieldTerrainShape) _flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y);
- if (height < 0) height = 0;
- else if (height > BulletXScene.MaxZ) height = BulletXScene.MaxZ;
-
- return height;
- }
- }
-}
--
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