From 10a1a6ad3ccf330b93c1664e152f7b94befdd5da Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 9 May 2013 22:13:39 -0700 Subject: vh: Remove BulletXNA from sources. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 2320 ---------------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 + 2 files changed, 2 insertions(+), 2320 deletions(-) delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs deleted file mode 100755 index 59780ae..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ /dev/null @@ -1,2320 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.IO; -using System.Runtime.InteropServices; -using System.Text; - -using OpenSim.Framework; - -using OpenMetaverse; - -using BulletXNA; -using BulletXNA.LinearMath; -using BulletXNA.BulletCollision; -using BulletXNA.BulletDynamics; -using BulletXNA.BulletCollision.CollisionDispatch; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public sealed class BSAPIXNA : BSAPITemplate -{ -private sealed class BulletWorldXNA : BulletWorld -{ - public DiscreteDynamicsWorld world; - public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx) - : base(id, physScene) - { - world = xx; - } -} - -private sealed class BulletBodyXNA : BulletBody -{ - public CollisionObject body; - public RigidBody rigidBody { get { return RigidBody.Upcast(body); } } - - public BulletBodyXNA(uint id, CollisionObject xx) - : base(id) - { - body = xx; - } - public override bool HasPhysicalBody - { - get { return body != null; } - } - public override void Clear() - { - body = null; - } - public override string AddrString - { - get { return "XNARigidBody"; } - } -} - -private sealed class BulletShapeXNA : BulletShape -{ - public CollisionShape shape; - public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) - : base() - { - shape = xx; - shapeType = typ; - } - public override bool HasPhysicalShape - { - get { return shape != null; } - } - public override void Clear() - { - shape = null; - } - public override BulletShape Clone() - { - return new BulletShapeXNA(shape, shapeType); - } - 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"; } - } -} - internal int m_maxCollisions; - internal CollisionDesc[] UpdatedCollisions; - internal int LastCollisionDesc = 0; - internal int m_maxUpdatesPerFrame; - internal int LastEntityProperty = 0; - - internal EntityProperties[] UpdatedObjects; - internal Dictionary specialCollisionObjects; - - private static int m_collisionsThisFrame; - private BSScene PhysicsScene { get; set; } - - public override string BulletEngineName { get { return "BulletXNA"; } } - public override string BulletEngineVersion { get; protected set; } - - public BSAPIXNA(string paramName, BSScene physScene) - { - PhysicsScene = physScene; - } - - /// - /// - /// - /// - /// - public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - CollisionObject collisionObject = ((BulletBodyXNA)pBody).body; - if (body != null) - world.RemoveRigidBody(body); - else if (collisionObject != null) - world.RemoveCollisionObject(collisionObject); - else - return false; - return true; - } - - public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; - world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); - - return true; - - } - - public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; - world.RemoveConstraint(constraint); - return true; - } - - public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - collisionObject.SetRestitution(pRestitution); - } - - public override int GetShapeType(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return (int)shape.GetShapeType(); - } - public override void SetMargin(BulletShape pShape, float pMargin) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - shape.SetMargin(pMargin); - } - - public override float GetMargin(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.GetMargin(); - } - - public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); - shape.SetLocalScaling(ref vec); - - } - - public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - collisionObject.SetContactProcessingThreshold(contactprocessingthreshold); - } - - public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); - } - - public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); - } - - public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); - } - - public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); - existingcollisionFlags |= pcollisionFlags; - collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags) (uint) existingcollisionFlags; - } - - public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CollisionObject cbody = (pBody as BulletBodyXNA).body; - RigidBody rbody = cbody as RigidBody; - - // 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. - IndexedMatrix origPos = cbody.GetWorldTransform(); - if (rbody != null) - { - IndexedVector3 origGrav = rbody.GetGravity(); - world.AddRigidBody(rbody); - rbody.SetGravity(origGrav); - } - else - { - world.AddCollisionObject(cbody); - } - cbody.SetWorldTransform(origPos); - - pBody.ApplyCollisionMask(pWorld.physicsScene); - - //if (body.GetBroadphaseHandle() != null) - // world.UpdateSingleAabb(body); - return true; - } - - public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); - } - - public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - world.UpdateSingleAabb(collisionObject); - } - - public override void UpdateAabbs(BulletWorld pWorld) { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - world.UpdateAabbs(); - } - public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - return world.GetForceUpdateAllAabbs(); - - } - public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - world.SetForceUpdateAllAabbs(pForce); - } - - public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) - return false; - return true; - } - - public override void ClearAllForces(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); - collisionObject.SetInterpolationLinearVelocity(ref zeroVector); - collisionObject.SetInterpolationAngularVelocity(ref zeroVector); - IndexedMatrix bodytransform = collisionObject.GetWorldTransform(); - - collisionObject.SetInterpolationWorldTransform(ref bodytransform); - - if (collisionObject is RigidBody) - { - RigidBody rigidbody = collisionObject as RigidBody; - rigidbody.SetLinearVelocity(zeroVector); - rigidbody.SetAngularVelocity(zeroVector); - rigidbody.ClearForces(); - } - } - - public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - collisionObject.SetInterpolationAngularVelocity(ref vec); - } - - public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetAngularVelocity(ref vec); - } - public override Vector3 GetTotalForce(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 iv3 = body.GetTotalForce(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetTotalTorque(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 iv3 = body.GetTotalTorque(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) - { - RigidBody body = (pBody as BulletBodyXNA).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 = (pBody as BulletBodyXNA).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 = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); - IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); - body.ApplyImpulse(ref impiv3, ref posiv3); - } - - public override void ClearForces(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.ClearForces(); - } - - public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).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; - collisionObject.SetWorldTransform(mat); - - } - - public override Vector3 GetPosition(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin; - return new Vector3(pos.X, pos.Y, pos.Z); - } - - public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - IndexedVector3 inertia = IndexedVector3.Zero; - shape.CalculateLocalInertia(pphysMass, out inertia); - return new Vector3(inertia.X, inertia.Y, inertia.Z); - } - - public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - if (body != null) // Can't set mass props on collision object. - { - IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); - body.SetMassProps(pphysMass, inertia); - } - } - - - public override void SetObjectForce(BulletBody pBody, Vector3 _force) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); - body.SetTotalForce(ref force); - } - - public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - collisionObject.SetFriction(_currentFriction); - } - - public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); - body.SetLinearVelocity(velocity); - } - - public override void Activate(BulletBody pCollisionObject, bool pforceactivation) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - collisionObject.Activate(pforceactivation); - - } - - public override Quaternion GetOrientation(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation(); - return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); - } - - public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); - existingcollisionFlags &= ~pcollisionFlags; - collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); - return (CollisionFlags)(uint)existingcollisionFlags; - } - - public override float GetCcdMotionThreshold(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - return collisionObject.GetCcdSquareMotionThreshold(); - } - - public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - return collisionObject.GetCcdSweptSphereRadius(); - - } - - public override IntPtr GetUserPointer(BulletBody pCollisionObject) - { - CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; - return (IntPtr)shape.GetUserPointer(); - } - - public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val) - { - CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; - shape.SetUserPointer(val); - } - - public override void SetGravity(BulletBody pBody, Vector3 pGravity) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - if (body != null) // Can't set collisionobject.set gravity - { - IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); - body.SetGravity(gravity); - } - } - - public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; - world.RemoveConstraint(constraint); - return true; - } - - public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); - IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); - constraint.SetLinearLowerLimit(lowlimit); - constraint.SetLinearUpperLimit(highlimit); - return true; - } - - public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); - IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); - constraint.SetAngularLowerLimit(lowlimit); - constraint.SetAngularUpperLimit(highlimit); - return true; - } - - public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - constraint.SetOverrideNumSolverIterations((int)cnt); - } - - public override bool CalculateTransforms(BulletConstraint pConstraint) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - constraint.CalculateTransforms(); - return true; - } - - public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - constraint.SetEnabled((p_2 == 0) ? false : true); - } - - - 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 BulletWorldXNA).world; - RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; - IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); - IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); - IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); - frame1._origin = frame1v; - - IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); - IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); - IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); - frame2._origin = frame1v; - - Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, - puseLinearReferenceFrameA); - consttr.CalculateTransforms(); - world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); - - return new BulletConstraintXNA(consttr); - } - - public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1, - Vector3 pframe1, Quaternion pframe1rot, - bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody body1 = (pBody1 as BulletBodyXNA).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; - - Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB); - consttr.CalculateTransforms(); - world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); - - return new BulletConstraintXNA(consttr); - } - - /// - /// - /// - /// - /// - /// - /// - /// - /// - /// - public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; - IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); - IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); - - IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); - IndexedMatrix mat = IndexedMatrix.Identity; - mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); - frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; - frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; - - Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); - consttr.CalculateTransforms(); - world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); - - return new BulletConstraintXNA(consttr); - } - //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); - IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); - IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); - frame1._origin = frame1v; - - IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); - IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); - IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); - frame2._origin = frame1v; - constraint.SetFrames(ref frame1, ref frame2); - return true; - } - - public override Vector3 GetLinearVelocity(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 iv3 = body.GetLinearVelocity(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetAngularVelocity(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 iv3 = body.GetAngularVelocity(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) - { - RigidBody body = (pBody as BulletBodyXNA).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 pCollisionObject, Vector3 trans) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z)); - } - public override void UpdateDeactivation(BulletBody pBody, float timeStep) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.UpdateDeactivation(timeStep); - } - - public override bool WantsSleeping(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - return body.WantsSleeping(); - } - - public override void SetAngularFactor(BulletBody pBody, float factor) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.SetAngularFactor(factor); - } - - public override Vector3 GetAngularFactor(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 iv3 = body.GetAngularFactor(); - return new Vector3(iv3.X, iv3.Y, iv3.Z); - } - - public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - return world.IsInWorld(collisionObject); - } - - public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; - body.AddConstraintRef(constrain); - } - - public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; - body.RemoveConstraintRef(constrain); - } - - public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - return new BulletConstraintXNA(body.GetConstraintRef(index)); - } - - public override int GetNumConstraintRefs(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - return body.GetNumConstraintRefs(); - } - - public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); - collisionObject.SetInterpolationLinearVelocity(ref velocity); - } - - public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - constraint.SetUseFrameOffset((onOff == 0) ? false : true); - return true; - } - //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); - public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) - { - Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - constraint.SetBreakingImpulseThreshold(threshold); - return true; - } - //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); - public override void SetAngularDamping(BulletBody pBody, float angularDamping) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - float lineardamping = body.GetLinearDamping(); - body.SetDamping(lineardamping, angularDamping); - - } - - public override void UpdateInertiaTensor(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - if (body != null) // can't update inertia tensor on CollisionObject - body.UpdateInertiaTensor(); - } - - public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) - { - CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; - shape.RecalculateLocalAabb(); - } - - //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) - public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - uint flags = (uint)collisionObject.GetCollisionFlags(); - return (CollisionFlags) flags; - } - - public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.SetDamping(pLinear, pAngular); - } - //PhysBody.ptr, PhysicsScene.Params.deactivationTime); - public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - collisionObject.SetDeactivationTime(pDeactivationTime); - } - //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); - } - - public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); - } - - public override void ApplyGravity(BulletBody pBody) - { - - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.ApplyGravity(); - } - - public override Vector3 GetGravity(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 gravity = body.GetGravity(); - return new Vector3(gravity.X, gravity.Y, gravity.Z); - } - - public override void SetLinearDamping(BulletBody pBody, float lin_damping) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - float angularDamping = body.GetAngularDamping(); - body.SetDamping(lin_damping, angularDamping); - } - - public override float GetLinearDamping(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - return body.GetLinearDamping(); - } - - public override float GetAngularDamping(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - return body.GetAngularDamping(); - } - - public override float GetLinearSleepingThreshold(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - return body.GetLinearSleepingThreshold(); - } - - public override void ApplyDamping(BulletBody pBody, float timeStep) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.ApplyDamping(timeStep); - } - - public override Vector3 GetLinearFactor(BulletBody pBody) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 linearFactor = body.GetLinearFactor(); - return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z); - } - - public override void SetLinearFactor(BulletBody pBody, Vector3 factor) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z)); - } - - public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W); - IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat); - mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z); - body.SetCenterOfMassTransform( ref mat); - /* TODO: double check this */ - } - - //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); - public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralForce(ref fSum); - } - public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyCentralImpulse(ref fSum); - } - public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorque(ref fSum); - } - public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) - { - RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); - body.ApplyTorqueImpulse(ref fSum); - } - - public override void DestroyObject(BulletWorld pWorld, BulletBody pBody) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CollisionObject co = (pBody as BulletBodyXNA).rigidBody; - RigidBody bo = co as RigidBody; - if (bo == null) - { - - if (world.IsInWorld(co)) - { - world.RemoveCollisionObject(co); - } - } - else - { - - if (world.IsInWorld(bo)) - { - world.RemoveRigidBody(bo); - } - } - if (co != null) - { - if (co.GetUserPointer() != null) - { - uint localId = (uint) co.GetUserPointer(); - if (specialCollisionObjects.ContainsKey(localId)) - { - specialCollisionObjects.Remove(localId); - } - } - } - - } - - public override void Shutdown(BulletWorld pWorld) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - world.Cleanup(); - } - - public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id) - { - CollisionShape shape1 = (pShape as BulletShapeXNA).shape; - - // TODO: Turn this from a reference copy to a Value Copy. - BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); - - return shape2; - } - - public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape) - { - //TODO: - return false; - } - //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - - public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - CollisionWorld world = (pWorld as BulletWorldXNA).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 BulletShapeXNA).shape; - //UpdateSingleAabb(world, shape); - // TODO: Feed Update array into null - SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null); - RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero); - RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero) - { - m_mass = 0 - }; - /* - m_mass = mass; - m_motionState =motionState; - m_collisionShape = collisionShape; - m_localInertia = localInertia; - m_linearDamping = 0f; - m_angularDamping = 0f; - m_friction = 0.5f; - m_restitution = 0f; - m_linearSleepingThreshold = 0.8f; - m_angularSleepingThreshold = 1f; - m_additionalDamping = false; - m_additionalDampingFactor = 0.005f; - m_additionalLinearDampingThresholdSqr = 0.01f; - m_additionalAngularDampingThresholdSqr = 0.01f; - m_additionalAngularDampingFactor = 0.01f; - m_startWorldTransform = IndexedMatrix.Identity; - */ - body.SetUserPointer(pLocalID); - - return new BulletBodyXNA(pLocalID, body); - } - - - public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - - IndexedMatrix mat = - IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, - pRawOrientation.Z, pRawOrientation.W)); - mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - - CollisionShape shape = (pShape as BulletShapeXNA).shape; - - // TODO: Feed Update array into null - RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); - body.SetWorldTransform(mat); - body.SetUserPointer(pLocalID); - return new BulletBodyXNA(pLocalID, body); - } - //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); - return (CollisionFlags)collisionObject.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 pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - return collisionObject.IsStaticObject(); - - } - public override bool IsKinematicObject(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - return collisionObject.IsKinematicObject(); - } - public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - return collisionObject.IsStaticOrKinematicObject(); - } - public override bool HasContactResponse(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - return collisionObject.HasContactResponse(); - } - public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } - public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } - public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } - public override bool IsActive(BulletBody pBody) { /* TODO */ return false; } - public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; } - public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; } - public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ } - public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } - - //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - collisionObject.SetHitFraction(pHitFraction); - } - //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); - public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); - CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); - capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); - capsuleShapeZ.SetLocalScaling(ref scale); - - return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ; - } - - public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, - int maxCollisions, ref CollisionDesc[] collisionArray, - int maxUpdates, ref EntityProperties[] updateArray - ) - { - - UpdatedObjects = updateArray; - UpdatedCollisions = collisionArray; - /* TODO */ - ConfigurationParameters[] configparms = new ConfigurationParameters[1]; - configparms[0] = parms; - Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); - m_maxCollisions = maxCollisions; - m_maxUpdatesPerFrame = maxUpdates; - specialCollisionObjects = new Dictionary(); - - return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); - } - - private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, - ConfigurationParameters[] o, - int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, - int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, - object mDebugLogCallbackHandle) - { - CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); - - p.angularDamping = BSParam.AngularDamping; - 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 = BSParam.LinearDamping; - p.angularDamping = BSParam.AngularDamping; - p.deactivationTime = BSParam.DeactivationTime; - p.linearSleepingThreshold = BSParam.LinearSleepingThreshold; - p.angularSleepingThreshold = BSParam.AngularSleepingThreshold; - p.ccdMotionThreshold = BSParam.CcdMotionThreshold; - p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius; - p.contactProcessingThreshold = BSParam.ContactProcessingThreshold; - - p.terrainImplementation = BSParam.TerrainImplementation; - p.terrainFriction = BSParam.TerrainFriction; - - p.terrainHitFraction = BSParam.TerrainHitFraction; - p.terrainRestitution = BSParam.TerrainRestitution; - p.terrainCollisionMargin = BSParam.TerrainCollisionMargin; - - p.avatarFriction = BSParam.AvatarFriction; - p.avatarStandingFriction = BSParam.AvatarStandingFriction; - p.avatarDensity = BSParam.AvatarDensity; - p.avatarRestitution = BSParam.AvatarRestitution; - p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth; - p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; - p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; - p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; - - p.vehicleAngularDamping = BSParam.VehicleAngularDamping; - - 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 = BSParam.LinksetImplementation; - p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset); - p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor); - p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; - p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; - p.linkConstraintERP = BSParam.LinkConstraintERP; - p.linkConstraintCFM = BSParam.LinkConstraintCFM; - p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; - 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.LastCollisionDesc = 0; - world.LastEntityProperty = 0; - - 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); - - //BSParam.TerrainImplementation = 0; - world.SetGravity(new IndexedVector3(0,0,p.gravity)); - - return world; - } - //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL - public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) - { - Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; - if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); - } - if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); - } - if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) - { - constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); - } - return true; - } - - public override bool PushUpdate(BulletBody pCollisionObject) - { - bool ret = false; - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - RigidBody rb = collisionObject 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 float GetAngularMotionDisc(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.GetAngularMotionDisc(); - } - public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.GetContactBreakingThreshold(defaultFactor); - } - public override bool IsCompound(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsCompound(); - } - public override bool IsSoftBody(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsSoftBody(); - } - public override bool IsPolyhedral(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsPolyhedral(); - } - public override bool IsConvex2d(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsConvex2d(); - } - public override bool IsConvex(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsConvex(); - } - public override bool IsNonMoving(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsNonMoving(); - } - public override bool IsConcave(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsConcave(); - } - public override bool IsInfinite(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - return shape.IsInfinite(); - } - public override bool IsNativeShape(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - bool ret; - switch (shape.GetShapeType()) - { - case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: - case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: - ret = true; - break; - default: - ret = false; - break; - } - return ret; - } - - public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - shape.SetMargin(pMargin); - } - - //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation - public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).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 BulletShapeXNA).shape; - gObj.SetCollisionShape(shape); - gObj.SetUserPointer(pLocalID); - - if (specialCollisionObjects.ContainsKey(pLocalID)) - specialCollisionObjects[pLocalID] = gObj; - else - specialCollisionObjects.Add(pLocalID, gObj); - - // TODO: Add to Special CollisionObjects! - return new BulletBodyXNA(pLocalID, gObj); - } - - public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; - if (pShape == null) - { - collisionObject.SetCollisionShape(new EmptyShape()); - } - else - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - collisionObject.SetCollisionShape(shape); - } - } - public override BulletShape GetCollisionShape(BulletBody pCollisionObject) - { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - CollisionShape shape = collisionObject.GetCollisionShape(); - return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); - } - - //(PhysicsScene.World.ptr, nativeShapeData) - public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CollisionShape shape = null; - switch (pShapeData.Type) - { - case BSPhysicsShapeType.SHAPE_BOX: - shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); - break; - case BSPhysicsShapeType.SHAPE_CONE: - shape = new ConeShapeZ(0.5f, 1.0f); - break; - case BSPhysicsShapeType.SHAPE_CYLINDER: - shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); - break; - case BSPhysicsShapeType.SHAPE_SPHERE: - shape = new SphereShape(0.5f); - break; - - } - if (shape != null) - { - IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); - shape.SetMargin(world.WorldSettings.Params.collisionMargin); - shape.SetLocalScaling(ref scaling); - - } - return new BulletShapeXNA(shape, pShapeData.Type); - } - //PhysicsScene.World.ptr, false - public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree) - { - return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); - } - - public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) - { - CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; - return compoundshape.GetNumChildShapes(); - } - //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot - public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) - { - IndexedMatrix relativeTransform = new IndexedMatrix(); - CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; - CollisionShape addshape = (paddShape as BulletShapeXNA).shape; - - relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); - relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); - compoundshape.AddChildShape(ref relativeTransform, addshape); - - } - - public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) - { - CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; - CollisionShape ret = null; - ret = compoundshape.GetChildShape(pii); - compoundshape.RemoveChildShapeByIndex(pii); - return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); - } - - public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { - - if (cShape == null) - return null; - CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; - CollisionShape shape = compoundShape.GetChildShape(indx); - BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); - - - return retShape; - } - - public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) - { - BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - switch (pin) - { - case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_BOX; - break; - case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - - case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; - break; - case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_HULL; - break; - case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - //implicit convex shapes - case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_SPHERE; - break; - case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_CAPSULE; - break; - case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_CONE; - break; - case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_CYLINDER; - break; - case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - //concave shape - case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! - case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; - break; - case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; - break; - ///used for demo integration FAST/Swift collision library and Bullet - case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; - break; - //terrain - case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_HEIGHTMAP; - break; - ///Used for GIMPACT Trimesh integration - case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; - break; - ///Multimaterial mesh - case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; - break; - - case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_GROUNDPLANE; - break; - case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - - case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_COMPOUND; - break; - - case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; - break; - case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - break; - } - return ret; - } - - public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } - public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ } - - public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) - { - StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); - m_planeshape.SetMargin(pcollisionMargin); - m_planeshape.SetUserPointer(pLocalId); - return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); - } - - public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, - bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - - { - Generic6DofSpringConstraint constrain = null; - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; - if (body1 != null && body2 != null) - { - 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; - - constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - - constrain.CalculateTransforms(); - } - - return new BulletConstraintXNA(constrain); - } - - public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, - bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - HingeConstraint constrain = null; - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody rb2 = (pBody2 as BulletBodyXNA).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); - constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA); - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - return new BulletConstraintXNA(constrain); - } - - public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 pframe1, Quaternion pframe1rot, - Vector3 pframe2, Quaternion pframe2rot, - bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) - { - SliderConstraint constrain = null; - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; - if (rb1 != null && rb2 != null) - { - 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; - - constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA); - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - return new BulletConstraintXNA(constrain); - } - - public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 pframe1, Quaternion pframe1rot, - Vector3 pframe2, Quaternion pframe2rot, - bool pdisableCollisionsBetweenLinkedBodies) - { - ConeTwistConstraint constrain = null; - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; - if (rb1 != null && rb2 != null) - { - 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; - - constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2); - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - return new BulletConstraintXNA(constrain); - } - - public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 paxisInA, Vector3 paxisInB, - float pratio, bool pdisableCollisionsBetweenLinkedBodies) - { - Generic6DofConstraint constrain = null; - /* BulletXNA does not have a gear constraint - GearConstraint constrain = null; - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; - if (rb1 != null && rb2 != null) - { - IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); - IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); - constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio); - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - */ - return new BulletConstraintXNA(constrain); - } - - public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 ppivotInA, Vector3 ppivotInB, - bool pdisableCollisionsBetweenLinkedBodies) - { - Point2PointConstraint constrain = null; - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; - RigidBody rb2 = (pBody2 as BulletBodyXNA).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); - constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB); - world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); - } - return new BulletConstraintXNA(constrain); - } - - public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CompoundShape compoundshape = new CompoundShape(false); - - compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); - int ii = 1; - - for (int i = 0; i < pHullCount; i++) - { - int vertexCount = (int) pConvHulls[ii]; - - IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); - IndexedMatrix childTrans = IndexedMatrix.Identity; - childTrans._origin = centroid; - - List virts = new List(); - int ender = ((ii + 4) + (vertexCount*3)); - for (int iii = ii + 4; iii < ender; iii+=3) - { - - virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); - } - ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); - convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); - compoundshape.AddChildShape(ref childTrans, convexShape); - ii += (vertexCount*3 + 4); - } - - return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); - } - - public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) - { - /* TODO */ return null; - } - - public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape) - { - /* TODO */ return null; - } - - public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) - { - /* TODO */ return null; - } - - public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) - { - //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); - - for (int iter = 0; iter < pVerticesCount; iter++) - { - if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; - if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; - } - - ObjectArray indicesarr = new ObjectArray(indices); - ObjectArray vertices = new ObjectArray(verticesAsFloats); - DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - IndexedMesh mesh = new IndexedMesh(); - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount/3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indicesarr; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); - meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); - // world.UpdateSingleAabb(meshShape); - return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); - - } - public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) - { - - String fileName = "objTest3.raw"; - String completePath = System.IO.Path.Combine(Util.configDir(), fileName); - StreamWriter sw = new StreamWriter(completePath); - IndexedMesh mesh = new IndexedMesh(); - - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount / 3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indices; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - - - - for (int i = 0; i < pVerticesCount; i++) - { - - string s = vertices[indices[i * 3]].ToString("0.0000"); - s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); - s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - - sw.Write(s + "\n"); - } - - sw.Close(); - } - public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) - { - - String fileName = "objTest6.raw"; - String completePath = System.IO.Path.Combine(Util.configDir(), fileName); - StreamWriter sw = new StreamWriter(completePath); - IndexedMesh mesh = new IndexedMesh(); - - mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; - mesh.m_numTriangles = pIndicesCount / 3; - mesh.m_numVertices = pVerticesCount; - mesh.m_triangleIndexBase = indices; - mesh.m_vertexBase = vertices; - mesh.m_vertexStride = 3; - mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; - mesh.m_triangleIndexStride = 3; - - TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); - tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); - - - sw.WriteLine("Indices"); - sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); - for (int iter = 0; iter < indices.Length; iter++) - { - sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); - } - sw.WriteLine("VerticesFloats"); - sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); - for (int iter = 0; iter < vertices.Length; iter++) - { - sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); - } - - // for (int i = 0; i < pVerticesCount; i++) - // { - // - // string s = vertices[indices[i * 3]].ToString("0.0000"); - // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); - // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - // - // sw.Write(s + "\n"); - //} - - sw.Close(); - } - - public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, - float scaleFactor, float collisionMargin) - { - const int upAxis = 2; - HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y, - heightMap, scaleFactor, - minHeight, maxHeight, upAxis, - false); - terrainShape.SetMargin(collisionMargin + 0.5f); - terrainShape.SetUseDiamondSubdivision(true); - terrainShape.SetUserPointer(id); - return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); - } - - public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) - { - TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain; - bool onOff = ponOff != 0; - bool ret = false; - - switch (tconstrain.GetConstraintType()) - { - case TypedConstraintType.D6_CONSTRAINT_TYPE: - Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint; - constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; - constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; - constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; - ret = true; - break; - } - - - return ret; - - } - - public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, out int collidersCount) - { - /* TODO */ - updatedEntityCount = 0; - collidersCount = 0; - - - int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); - - return ret; - } - - private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, - out int updatedEntityCount, out EntityProperties[] updatedEntities, - out int collidersCount, out CollisionDesc[] colliders) - { - int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, - out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame); - return epic; - } - - private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, - out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) - { - int numSimSteps = 0; - Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); - Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); - LastEntityProperty=0; - - - - - - - LastCollisionDesc=0; - - updatedEntityCount = 0; - collidersCount = 0; - - - if (pWorld is BulletWorldXNA) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - - world.LastCollisionDesc = 0; - world.LastEntityProperty = 0; - numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); - int updates = 0; - - PersistentManifold contactManifold; - CollisionObject objA; - CollisionObject objB; - ManifoldPoint manifoldPoint; - PairCachingGhostObject pairCachingGhostObject; - - m_collisionsThisFrame = 0; - int numManifolds = world.GetDispatcher().GetNumManifolds(); - for (int j = 0; j < numManifolds; j++) - { - contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); - int numContacts = contactManifold.GetNumContacts(); - if (numContacts == 0) - continue; - - objA = contactManifold.GetBody0() as CollisionObject; - objB = contactManifold.GetBody1() as CollisionObject; - - manifoldPoint = contactManifold.GetContactPoint(0); - //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); - // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A - - RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance()); - m_collisionsThisFrame ++; - if (m_collisionsThisFrame >= 9999999) - break; - - - } - - foreach (GhostObject ghostObject in specialCollisionObjects.Values) - { - pairCachingGhostObject = ghostObject as PairCachingGhostObject; - if (pairCachingGhostObject != null) - { - RecordGhostCollisions(pairCachingGhostObject); - } - - } - - - updatedEntityCount = LastEntityProperty; - updatedEntities = UpdatedObjects; - - collidersCount = LastCollisionDesc; - colliders = UpdatedCollisions; - - - } - else - { - //if (updatedEntities is null) - //updatedEntities = new List(); - //updatedEntityCount = 0; - - - //collidersCount = 0; - - updatedEntities = new EntityProperties[0]; - - - colliders = new CollisionDesc[0]; - - } - return numSimSteps; - } - public void RecordGhostCollisions(PairCachingGhostObject obj) - { - IOverlappingPairCache cache = obj.GetOverlappingPairCache(); - ObjectArray pairs = cache.GetOverlappingPairArray(); - - DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; - PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); - BroadphasePair collisionPair; - PersistentManifold contactManifold; - - CollisionObject objA; - CollisionObject objB; - - ManifoldPoint pt; - - int numPairs = pairs.Count; - - for (int i = 0; i < numPairs; i++) - { - manifoldArray.Clear(); - if (LastCollisionDesc < UpdatedCollisions.Length) - break; - collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); - if (collisionPair == null) - continue; - - collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); - for (int j = 0; j < manifoldArray.Count; j++) - { - contactManifold = manifoldArray[j]; - int numContacts = contactManifold.GetNumContacts(); - objA = contactManifold.GetBody0() as CollisionObject; - objB = contactManifold.GetBody1() as CollisionObject; - for (int p = 0; p < numContacts; p++) - { - pt = contactManifold.GetContactPoint(p); - if (pt.GetDistance() < 0.0f) - { - RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance()); - break; - } - } - } - } - - } - private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) - { - - 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; - - CollisionDesc cDesc = new CollisionDesc() - { - aID = idA, - bID = idB, - point = new Vector3(contact.X,contact.Y,contact.Z), - normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z), - penetration = penetration - - }; - if (world.LastCollisionDesc < world.UpdatedCollisions.Length) - world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); - m_collisionsThisFrame++; - - - } - private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject) - { - EntityProperties ent = new EntityProperties(); - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; - IndexedMatrix transform = collisionObject.GetWorldTransform(); - IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity(); - IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity(); - IndexedQuaternion rotation = transform.GetRotation(); - ent.Acceleration = Vector3.Zero; - ent.ID = (uint)collisionObject.GetUserPointer(); - ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); - ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); - ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); - ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); - return ent; - } - - public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ - return false; } - - public override Vector3 GetLocalScaling(BulletShape pShape) - { - CollisionShape shape = (pShape as BulletShapeXNA).shape; - IndexedVector3 scale = shape.GetLocalScaling(); - return new Vector3(scale.X,scale.Y,scale.Z); - } - - public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) - { - DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; - if (world != null) - { - if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) - { - CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; - - IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); - IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); - using ( - ClosestNotMeRayResultCallback rayCallback = - new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) - ) - { - world.RayTest(ref rOrigin, ref rEnd, rayCallback); - if (rayCallback.HasHit()) - { - IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; - } - return rayCallback.HasHit(); - } - } - } - return false; - } -} - - - - - public class SimMotionState : DefaultMotionState - { - public RigidBody Rigidbody; - public Vector3 ZeroVect; - - private IndexedMatrix m_xform; - - private EntityProperties m_properties; - private EntityProperties m_lastProperties; - private BSAPIXNA m_world; - - const float POSITION_TOLERANCE = 0.05f; - const float VELOCITY_TOLERANCE = 0.001f; - const float ROTATION_TOLERANCE = 0.01f; - const float ANGULARVELOCITY_TOLERANCE = 0.01f; - - public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates) - { - IndexedQuaternion OrientationQuaterion = starTransform.GetRotation(); - m_properties = new EntityProperties() - { - ID = id, - Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z), - Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W) - }; - m_lastProperties = new EntityProperties() - { - ID = id, - Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z), - Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W) - }; - m_world = pWorld; - m_xform = starTransform; - } - - public override void GetWorldTransform(out IndexedMatrix worldTrans) - { - worldTrans = m_xform; - } - - public override void SetWorldTransform(IndexedMatrix worldTrans) - { - SetWorldTransform(ref worldTrans); - } - - public override void SetWorldTransform(ref IndexedMatrix worldTrans) - { - SetWorldTransform(ref worldTrans, false); - } - public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force) - { - m_xform = worldTrans; - // Put the new transform into m_properties - IndexedQuaternion OrientationQuaternion = m_xform.GetRotation(); - IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity(); - IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity(); - m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z); - m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y, - OrientationQuaternion.Z, OrientationQuaternion.W); - // A problem with stock Bullet is that we don't get an event when an object is deactivated. - // This means that the last non-zero values for linear and angular velocity - // are left in the viewer who does dead reconning and the objects look like - // they float off. - // BulletSim ships with a patch to Bullet which creates such an event. - m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z); - m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z); - - if (force - - || !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE) - || !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE) - // If the Velocity and AngularVelocity are zero, most likely the object has - // been deactivated. If they both are zero and they have become zero recently, - // make sure a property update is sent so the zeros make it to the viewer. - || ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect) - && - (m_properties.Velocity != m_lastProperties.Velocity || - m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity)) - // If Velocity and AngularVelocity are non-zero but have changed, send an update. - || !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE) - || - !AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity, - ANGULARVELOCITY_TOLERANCE) - ) - - - { - // Add this update to the list of updates for this frame. - m_lastProperties = m_properties; - if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) - m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); - - //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; - } - - - - - } - public override void SetRigidBody(RigidBody body) - { - Rigidbody = body; - } - internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon) - { - return - (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && - (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && - (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))); - } - - internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon) - { - return - (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && - (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && - (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && - (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); - } - - } -} - diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a4a8794..f984c10 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -314,6 +314,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters case "bulletunmanaged": ret = new BSAPIUnman(engineName, this); break; + /* case "bulletxna": ret = new BSAPIXNA(engineName, this); // Disable some features that are not implemented in BulletXNA @@ -321,6 +322,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters BSParam.ShouldUseBulletHACD = false; BSParam.ShouldUseSingleConvexHullForPrims = false; break; + */ } if (ret == null) -- cgit v1.1