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#region References
using System;
using System.Collections.Generic;
using OpenSim.Physics.Manager;
using Axiom.Math;
//Specific References for BulletXPlugin
using MonoXnaCompactMaths;
using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
#endregion
namespace OpenSim.Region.Physics.BulletXPlugin
{
/// <summary>
/// This Class converts objects and types for BulletX
/// </summary>
public class BulletXConversions
{
public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
{
return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
}
public static void PhysicsVectorToXnaVector3(PhysicsVector physicsVector, out MonoXnaCompactMaths.Vector3 XnaVector3)
{
XnaVector3.X = physicsVector.X;
XnaVector3.Y = physicsVector.Y;
XnaVector3.Z = physicsVector.Z;
}
public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
{
return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
}
/*public static void XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3, out PhysicsVector physicsVector)
{
xnaVector3.X = physicsVector.X;
xnaVector3.Y = physicsVector.Y;
xnaVector3.Z = physicsVector.Z;
}*/
#region Axiom and Xna
///// <summary>
///// BTW maybe some conversions will be a simply converion that it doesn't require this class, but i don't know
///// </summary>
///// <param name="AxiomVector3"></param>
///// <returns></returns>
//public static MonoXnaCompactMaths.Vector3 Vector3AxiomToXna(Axiom.Math.Vector3 AxiomVector3)
//{
// return new MonoXnaCompactMaths.Vector3(AxiomVector3.x, AxiomVector3.y, AxiomVector3.z);
//}
#endregion
}
/// <summary>
/// PhysicsPlugin Class for BulletX
/// </summary>
public class BulletXPlugin : IPhysicsPlugin
{
private BulletXScene _mScene;
public BulletXPlugin()
{
}
public bool Init()
{
return true;
}
public PhysicsScene GetScene()
{
if (_mScene == null)
{
_mScene = new BulletXScene();
}
return (_mScene);
}
public string GetName()
{
return ("BulletXEngine");
}
public void Dispose()
{
}
}
/// <summary>
/// PhysicsScene Class for BulletX
/// </summary>
public class BulletXScene : PhysicsScene
{
public DiscreteDynamicsWorld ddWorld;
private CollisionDispatcher cDispatcher;
private OverlappingPairCache opCache;
private SequentialImpulseConstraintSolver sicSolver;
private const int minXY = 0;
private const int minZ = 0;
private const int maxXY = 256;
private const int maxZ = 4096;
private const int maxHandles = 32766; //Why? I don't know
private static float gravity = 9.8f;
private static float heightLevel0 = 77.0f;
private static float heightLevel1 = 200.0f;
private static float lowGravityFactor = 0.2f;
private float[] _heightmap;
private List<BulletXCharacter> _characters = new List<BulletXCharacter>();
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 BulletXScene()
{
cDispatcher = new CollisionDispatcher();
MonoXnaCompactMaths.Vector3 worldMinDim = new MonoXnaCompactMaths.Vector3((float)minXY, (float)minXY, (float)minZ);
MonoXnaCompactMaths.Vector3 worldMaxDim = new MonoXnaCompactMaths.Vector3((float)maxXY, (float)maxXY, (float)maxZ);
opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
sicSolver = new SequentialImpulseConstraintSolver();
ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
ddWorld.Gravity = new MonoXnaCompactMaths.Vector3(0, 0, -gravity);
this._heightmap = new float[65536];
}
public override PhysicsActor AddAvatar(PhysicsVector position)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z + 20;
BulletXCharacter newAv = new BulletXCharacter(this, pos);
this._characters.Add(newAv);
return newAv;
}
public override void RemoveAvatar(PhysicsActor actor)
{
}
public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size)
{
PhysicsVector pos = new PhysicsVector();
pos.X = position.X;
pos.Y = position.Y;
pos.Z = position.Z;
PhysicsVector siz = new PhysicsVector();
siz.X = size.X;
siz.Y = size.Y;
siz.Z = size.Z;
return new BulletXPrim();
}
public override void Simulate(float timeStep)
{
foreach (BulletXCharacter actor in _characters)
{
actor.Move(timeStep);
}
ddWorld.StepSimulation(timeStep, 0, timeStep);
foreach (BulletXCharacter actor in _characters)
{
actor.ValidateHeight(this._heightmap[
(int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
+ (int)Math.Round(actor.RigidBodyHorizontalPosition.y)]);
}
foreach (BulletXCharacter actor in _characters)
{
actor.UpdatePosition();
}
}
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];
}
}
public override void DeleteTerrain()
{
}
}
/// <summary>
/// PhysicsActor Character Class for BulletX
/// </summary>
public class BulletXCharacter : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
private bool flying;
private RigidBody rigidBody;
public Axiom.Math.Vector2 RigidBodyHorizontalPosition
{
get
{
return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
}
}
public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
{
_velocity = new PhysicsVector();
_position = pos;
_acceleration = new PhysicsVector();
float _mass = 50.0f; //This depends of avatar's dimensions
Matrix _startTransform = Matrix.Identity;
_startTransform.Translation = BulletXConversions.PhysicsVectorToXnaVector3(pos);
Matrix _centerOfMassOffset = Matrix.Identity;
CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(0.5f, 0.5f, 1.60f));
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
//The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _restitution = 0.0f;
rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
rigidBody.ActivationState = ActivationState.DisableDeactivation;
parent_scene.ddWorld.AddRigidBody(rigidBody);
}
public override bool Flying
{
get
{
return flying;
}
set
{
flying = value;
}
}
public override PhysicsVector Position
{
get
{
return _position;
}
set
{
_position = value;
}
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
}
public override bool Kinematic
{
get
{
return false;
}
set
{
}
}
public override Axiom.Math.Quaternion Orientation
{
get
{
return Axiom.Math.Quaternion.Identity;
}
set
{
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
public void Move(float timeStep)
{
MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
//if (this._velocity.X == 0.0f)
// vec.X = this.rigidBody.LinearVelocity.X; //current velocity
//else
vec.X = this._velocity.X; //overrides current velocity
//if (this._velocity.Y == 0.0f)
// vec.Y = this.rigidBody.LinearVelocity.Y; //current velocity
//else
vec.Y = this._velocity.Y; //overrides current velocity
float nextZVelocity;
//if (this._velocity.Z == 0.0f)
// nextZVelocity = this.rigidBody.LinearVelocity.Z; //current velocity
//else
nextZVelocity = this._velocity.Z; //overrides current velocity
if (flying)
{
//Antigravity with movement
if (this._position.Z <= BulletXScene.HeightLevel0)
{
vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep;
}
//Lowgravity with movement
else if((this._position.Z > BulletXScene.HeightLevel0)
&& (this._position.Z <= BulletXScene.HeightLevel1))
{
vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
}
//Lowgravity with...
else if (this._position.Z > BulletXScene.HeightLevel1)
{
if(nextZVelocity > 0) //no movement
vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
else
vec.Z = nextZVelocity + BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
}
}
else
{
vec.Z = nextZVelocity;
}
rigidBody.LinearVelocity = vec;
}
public void UpdatePosition()
{
this._position = BulletXConversions.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
}
//This validation is very basic
internal void ValidateHeight(float heighmapPositionValue)
{
if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue)
{
Matrix m = rigidBody.WorldTransform;
MonoXnaCompactMaths.Vector3 v3 = m.Translation;
v3.Z = heighmapPositionValue;
m.Translation = v3;
rigidBody.WorldTransform = m;
}
}
}
/// <summary>
/// PhysicsActor Prim Class for BulletX
/// </summary>
public class BulletXPrim : PhysicsActor
{
private PhysicsVector _position;
private PhysicsVector _velocity;
private PhysicsVector _acceleration;
public BulletXPrim()
{
_velocity = new PhysicsVector();
_position = new PhysicsVector();
_acceleration = new PhysicsVector();
}
public override bool Flying
{
get
{
return false; //no flying prims for you
}
set
{
}
}
public override PhysicsVector Position
{
get
{
PhysicsVector pos = new PhysicsVector();
// PhysicsVector vec = this._prim.Position;
//pos.X = vec.X;
//pos.Y = vec.Y;
//pos.Z = vec.Z;
return pos;
}
set
{
/*PhysicsVector vec = value;
PhysicsVector pos = new PhysicsVector();
pos.X = vec.X;
pos.Y = vec.Y;
pos.Z = vec.Z;
this._prim.Position = pos;*/
}
}
public override PhysicsVector Velocity
{
get
{
return _velocity;
}
set
{
_velocity = value;
}
}
public override bool Kinematic
{
get
{
return false;
//return this._prim.Kinematic;
}
set
{
//this._prim.Kinematic = value;
}
}
public override Axiom.Math.Quaternion Orientation
{
get
{
Axiom.Math.Quaternion res = new Axiom.Math.Quaternion();
return res;
}
set
{
}
}
public override PhysicsVector Acceleration
{
get
{
return _acceleration;
}
}
public void SetAcceleration(PhysicsVector accel)
{
this._acceleration = accel;
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
}
}