aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
blob: 6d8e1a8e63ffc5ce844fbf211bfe8cd9d1797549 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
#region Copyright
/*
* Copyright (c) Contributors, http://www.openmetaverse.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*     * Redistributions of source code must retain the above copyright
*       notice, this list of conditions and the following disclaimer.
*     * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*     * Neither the name of the OpenSim 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.
* 
*/
#endregion
#region References
using System;
using System.Collections.Generic;
using OpenSim.Region.Physics.Manager;
using Axiom.Math;
using AxiomQuaternion = Axiom.Math.Quaternion;
//Specific References for BulletXPlugin
using MonoXnaCompactMaths; //Called as MXCM
using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
#endregion

namespace OpenSim.Region.Physics.BulletXPlugin
{
    /// <summary>
    /// BulletXConversions are called now BulletXMaths
    /// This Class converts objects and types for BulletX and give some operations
    /// </summary>
    public class BulletXMaths 
    {
        //Vector3
        public static MonoXnaCompactMaths.Vector3 PhysicsVectorToXnaVector3(PhysicsVector physicsVector)
        {
            return new MonoXnaCompactMaths.Vector3(physicsVector.X, physicsVector.Y, physicsVector.Z);
        }
        public static PhysicsVector XnaVector3ToPhysicsVector(MonoXnaCompactMaths.Vector3 xnaVector3)
        {
            return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
        }
        //Quaternion
        public static MonoXnaCompactMaths.Quaternion AxiomQuaternionToXnaQuaternion(AxiomQuaternion axiomQuaternion)
        {
            return new MonoXnaCompactMaths.Quaternion(axiomQuaternion.x, axiomQuaternion.y, axiomQuaternion.z, axiomQuaternion.w);
        }
        public static AxiomQuaternion XnaQuaternionToAxiomQuaternion(MonoXnaCompactMaths.Quaternion xnaQuaternion)
        {
            return new AxiomQuaternion(xnaQuaternion.W, xnaQuaternion.X, xnaQuaternion.Y, xnaQuaternion.Z);
        }

        //Next methods are extracted from XnaDevRu.BulletX(See 3rd party license):
        //- SetRotation (class MatrixOperations)
        //- GetRotation (class MatrixOperations)
        //- GetElement (class MathHelper)
        //- SetElement (class MathHelper)
        internal static void SetRotation(ref Matrix m, MonoXnaCompactMaths.Quaternion q)
        {
            float d = q.LengthSquared();
            float s = 2f / d;
            float xs = q.X * s, ys = q.Y * s, zs = q.Z * s;
            float wx = q.W * xs, wy = q.W * ys, wz = q.W * zs;
            float xx = q.X * xs, xy = q.X * ys, xz = q.X * zs;
            float yy = q.Y * ys, yz = q.Y * zs, zz = q.Z * zs;
            m = new Matrix(1 - (yy + zz), xy - wz, xz + wy, 0,
                            xy + wz, 1 - (xx + zz), yz - wx, 0,
                            xz - wy, yz + wx, 1 - (xx + yy), 0,
                            m.M41, m.M42, m.M43, 1);
        }
        internal static MonoXnaCompactMaths.Quaternion GetRotation(Matrix m)
        {
            MonoXnaCompactMaths.Quaternion q = new MonoXnaCompactMaths.Quaternion();

            float trace = m.M11 + m.M22 + m.M33;

            if (trace > 0)
            {
                float s = (float)Math.Sqrt(trace + 1);
                q.W = s * 0.5f;
                s = 0.5f / s;

                q.X = (m.M32 - m.M23) * s;
                q.Y = (m.M13 - m.M31) * s;
                q.Z = (m.M21 - m.M12) * s;
            }
            else
            {
                int i = m.M11 < m.M22 ?
                    (m.M22 < m.M33 ? 2 : 1) :
                    (m.M11 < m.M33 ? 2 : 0);
                int j = (i + 1) % 3;
                int k = (i + 2) % 3;

                float s = (float)Math.Sqrt(GetElement(m, i, i) - GetElement(m, j, j) - GetElement(m, k, k) + 1);
                SetElement(ref q, i, s * 0.5f);
                s = 0.5f / s;

                q.W = (GetElement(m, k, j) - GetElement(m, j, k)) * s;
                SetElement(ref q, j, (GetElement(m, j, i) + GetElement(m, i, j)) * s);
                SetElement(ref q, k, (GetElement(m, k, i) + GetElement(m, i, k)) * s);
            }

            return q;
        }
        internal static float SetElement(ref MonoXnaCompactMaths.Quaternion q, int index, float value)
        {
            switch (index)
            {
                case 0:
                    q.X = value; break;
                case 1:
                    q.Y = value; break;
                case 2:
                    q.Z = value; break;
                case 3:
                    q.W = value; break;
            }

            return 0;
        }
        internal static float GetElement(Matrix mat, int row, int col)
        {
            switch (row)
            {
                case 0:
                    switch (col)
                    {
                        case 0:
                            return mat.M11;
                        case 1:
                            return mat.M12;
                        case 2:
                            return mat.M13;
                    } break;
                case 1:
                    switch (col)
                    {
                        case 0:
                            return mat.M21;
                        case 1:
                            return mat.M22;
                        case 2:
                            return mat.M23;
                    } break;
                case 2:
                    switch (col)
                    {
                        case 0:
                            return mat.M31;
                        case 1:
                            return mat.M32;
                        case 2:
                            return mat.M33;
                    } break;
            }

            return 0;
        }
    }
    /// <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 ("modified_BulletX");//Changed!! "BulletXEngine" To "modified_BulletX"
        }
        public void Dispose()
        {
        }
    }
    /// <summary>
    /// PhysicsScene Class for BulletX
    /// </summary>
    public class BulletXScene : PhysicsScene
    {
        #region BulletXScene Fields
        public DiscreteDynamicsWorld ddWorld;
        private CollisionDispatcher cDispatcher;
        private OverlappingPairCache opCache;
        private SequentialImpulseConstraintSolver sicSolver;
        public static Object BulletXLock = new Object();

        private const int minXY = 0;
        private const int minZ = 0;
        private const int maxXY = 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>();
        private List<BulletXPrim> _prims = new List<BulletXPrim>();

        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; } }
        #endregion

        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();

            lock (BulletXLock)
            {
                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 = null;
            lock (BulletXLock)
            {
                newAv = new BulletXCharacter(this, pos);
                _characters.Add(newAv);
            }
            return newAv;
        }
        public override void RemoveAvatar(PhysicsActor actor)
        {
            if (actor is BulletXCharacter)
            {
                lock (BulletXLock)
                {
                    _characters.Remove((BulletXCharacter)actor);
                }
            }
        }
        public override PhysicsActor AddPrim(PhysicsVector position, PhysicsVector size, AxiomQuaternion rotation)
        {
            BulletXPrim newPrim = null;
            lock (BulletXLock)
            {
                newPrim = new BulletXPrim(this, position, size, rotation);
                _prims.Add(newPrim);
            }
            return newPrim;
        }
        public override void RemovePrim(PhysicsActor prim)
        {
            if (prim is BulletXPrim)
            {
                lock (BulletXLock)
                {
                    _prims.Remove((BulletXPrim)prim);
                }
            }
        }
        public override void Simulate(float timeStep)
        {
            lock (BulletXLock)
            {
                BXSMove(timeStep);
                ddWorld.StepSimulation(timeStep, 0, timeStep);
                //Heightmap Validation:
                BXSValidateHeight();
                //End heightmap validation.
                BXSUpdateKinetics();
            }
        }
        private void BXSMove(float timeStep)
        {
            foreach (BulletXCharacter actor in _characters)
            {
                actor.Move(timeStep);
            }
            foreach (BulletXPrim prim in _prims)
            {
            }
        }
        private void BXSValidateHeight()
        {
            float _height;
            foreach (BulletXCharacter actor in _characters)
            {
                if ((actor.RigidBodyHorizontalPosition.x < 0) || (actor.RigidBodyHorizontalPosition.y < 0))
                {
                    _height = 0;
                }
                else
                {
                    _height = this._heightmap[
                    (int)Math.Round(actor.RigidBodyHorizontalPosition.x) * 256
                    + (int)Math.Round(actor.RigidBodyHorizontalPosition.y)];
                }
                actor.ValidateHeight(_height);
            }
            foreach (BulletXPrim prim in _prims)
            {
                if ((prim.RigidBodyHorizontalPosition.x < 0) || (prim.RigidBodyHorizontalPosition.y < 0))
                {
                    _height = 0;
                }
                else
                {
                    _height = this._heightmap[
                    (int)Math.Round(prim.RigidBodyHorizontalPosition.x) * 256
                    + (int)Math.Round(prim.RigidBodyHorizontalPosition.y)];
                }
                prim.ValidateHeight(_height);
            }
        }
        private void BXSUpdateKinetics()
        {
            //UpdatePosition > UpdateKinetics.
            //Not only position will be updated, also velocity cause acceleration.
            foreach (BulletXCharacter actor in _characters)
            {
                actor.UpdateKinetics();
            }
            foreach (BulletXPrim prim in _prims)
            {
                prim.UpdateKinetics();
            }
        }
        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];
            }
            lock (BulletXLock)
            {
                //Updating BulletX HeightMap???
            }
        }
        public override void DeleteTerrain()
        {

        }
    }
    /// <summary>
    /// PhysicsActor Character Class for BulletX
    /// </summary>
    public class BulletXCharacter : PhysicsActor
    {
        private PhysicsVector _position;
        private PhysicsVector _velocity;
        private PhysicsVector _size;
        private PhysicsVector _acceleration;
        private AxiomQuaternion _orientation;
        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)
            : this(parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
            AxiomQuaternion.Identity)
        {
        }
        public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
            PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
        {
            //This fields will be removed. They're temporal
            float _sizeX = 0.5f;
            float _sizeY = 0.5f;
            float _sizeZ = 1.6f;
            //.
            _position = pos;
            _velocity = velocity;
            _size = size;
            //---
            _size.X = _sizeX;
            _size.Y = _sizeY;
            _size.Z = _sizeZ;
            //.
            _acceleration = acceleration;
            _orientation = orientation;
            float _mass = 50.0f; //This depends of avatar's dimensions
            //For RigidBody Constructor. The next values might change
            float _linearDamping = 0.0f;
            float _angularDamping = 0.0f;
            float _friction = 0.5f;
            float _restitution = 0.0f;
            Matrix _startTransform = Matrix.Identity;
            Matrix _centerOfMassOffset = Matrix.Identity;
            lock (BulletXScene.BulletXLock)
            {
                _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
                //CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(1.0f, 1.0f, 1.60f));
                //For now, like ODE, collisionShape = sphere of radious = 1.0
                CollisionShape _collisionShape = new SphereShape(1.0f);
                DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
                MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
                _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
                rigidBody = new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
                rigidBody.ActivationState = ActivationState.DisableDeactivation;
                //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
                MonoXnaCompactMaths.Vector3 _vDebugTranslation;
                _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
                rigidBody.Translate(_vDebugTranslation);
                parent_scene.ddWorld.AddRigidBody(rigidBody);
            }
        }
        public override PhysicsVector Position
        {
            get
            {
                return _position;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _position = value;
                    Translate();
                }
            }
        }
        public override PhysicsVector Velocity
        {
            get
            {
                return _velocity;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _velocity = value;
                    Speed();
                }
            }
        }
        public override PhysicsVector Size
        {
            get
            {
                return _size;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _size = value;
                }
            }
        }
        public override PhysicsVector Acceleration
        {
            get
            {
                return _acceleration;
            }
        }
        public override AxiomQuaternion Orientation
        {
            get
            {
                return _orientation;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _orientation = value;
                }
            }
        }
        public override bool Flying
        {
            get
            {
                return flying;
            }
            set
            {
                flying = value;
            }
        }
        public void SetAcceleration(PhysicsVector accel)
        {
            lock (BulletXScene.BulletXLock)
            {
                _acceleration = accel;
            }
        }
        public override bool Kinematic
        {
            get
            {
                return false;
            }
            set
            {

            }
        }
        public override void AddForce(PhysicsVector force)
        {

        }
        public override void SetMomentum(PhysicsVector momentum)
        {

        }
        internal void Move(float timeStep)
        {
            MonoXnaCompactMaths.Vector3 vec = new MonoXnaCompactMaths.Vector3();
            //At this point it's supossed that:
            //_velocity == rigidBody.LinearVelocity
            vec.X = this._velocity.X; 
            vec.Y = this._velocity.Y; 
            vec.Z = this._velocity.Z; 

            if (flying)
            {
                //Antigravity with movement
                if (this._position.Z <= BulletXScene.HeightLevel0)
                {
                    vec.Z += BulletXScene.Gravity * timeStep;
                }
                //Lowgravity with movement
                else if ((this._position.Z > BulletXScene.HeightLevel0)
                    && (this._position.Z <= BulletXScene.HeightLevel1))
                {
                    vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
                }
                //Lowgravity with...
                else if (this._position.Z > BulletXScene.HeightLevel1)
                {
                    if (vec.Z > 0) //no movement
                        vec.Z = BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);
                    else
                        vec.Z += BulletXScene.Gravity * timeStep * (1.0f - BulletXScene.LowGravityFactor);

                }
            }
            rigidBody.LinearVelocity = vec;
        }
        //This validation is very basic
        internal void ValidateHeight(float heighmapPositionValue)
        {
            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f)
            {
                Matrix m = rigidBody.WorldTransform;
                MonoXnaCompactMaths.Vector3 v3 = m.Translation;
                v3.Z = heighmapPositionValue + _size.Z / 2.0f;
                m.Translation = v3;
                rigidBody.WorldTransform = m;
                //When an Avie touch the ground it's vertical velocity it's reduced to ZERO
                Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
            }
        }
        internal void UpdateKinetics()
        {
            this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
            this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
            //Orientation it seems that it will be the default.
            ReOrient();
        }

        #region Methods for updating values of RigidBody
        private void Translate()
        {
            Translate(this._position);
        }
        private void Translate(PhysicsVector _newPos)
        {
            MonoXnaCompactMaths.Vector3 _translation;
            _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
            rigidBody.Translate(_translation);
        }
        private void Speed()
        {
            Speed(this._velocity);
        }
        private void Speed(PhysicsVector _newSpeed)
        {
            MonoXnaCompactMaths.Vector3 _speed;
            _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
            rigidBody.LinearVelocity = _speed;
        }
        private void ReOrient()
        {
            ReOrient(this._orientation);
        }
        private void ReOrient(AxiomQuaternion _newOrient)
        {
            MonoXnaCompactMaths.Quaternion _newOrientation;
            _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
            Matrix _comTransform = rigidBody.CenterOfMassTransform;
            BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
            rigidBody.CenterOfMassTransform = _comTransform;
        }
        #endregion
    }
    /// <summary>
    /// PhysicsActor Prim Class for BulletX
    /// </summary>
    public class BulletXPrim : PhysicsActor
    {
        private PhysicsVector _position;
        private PhysicsVector _velocity;
        private PhysicsVector _size;
        private PhysicsVector _acceleration;
        private AxiomQuaternion _orientation;
        //Density it will depends of material. 
        //For now all prims have the same density, all prims are made of water. Be water my friend! :D
        private const float _density = 1000.0f;
        private RigidBody rigidBody;
        //_physical value will be linked with the prim object value
        private Boolean _physical = false;

        public Axiom.Math.Vector2 RigidBodyHorizontalPosition
        {
            get
            {
                return new Axiom.Math.Vector2(this.rigidBody.CenterOfMassPosition.X, this.rigidBody.CenterOfMassPosition.Y);
            }
        }
        public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
            : this(parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation)
        {
        }
        public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity, PhysicsVector size,
            PhysicsVector aceleration, AxiomQuaternion rotation)
        {
            _position = pos;
            _velocity = velocity;
            _size = size;
            if ((size.X == 0) || (size.Y == 0) || (size.Z == 0)) throw new Exception("Size 0");

            _acceleration = aceleration;
            //Because a bug, orientation will be fixed to AxiomQuaternion.Identity
            _orientation = AxiomQuaternion.Identity;
            //_orientation = rotation;
            //---
            //For RigidBody Constructor. The next values might change
            float _linearDamping = 0.0f;
            float _angularDamping = 0.0f;
            float _friction = 0.5f;
            float _restitution = 0.0f;
            Matrix _startTransform = Matrix.Identity;
            Matrix _centerOfMassOffset = Matrix.Identity;
            lock (BulletXScene.BulletXLock)
            {
                _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
                //For now all prims are boxes
                CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size) / 2.0f);
                DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
                MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
                _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
                rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
                rigidBody.ActivationState = ActivationState.DisableDeactivation;
                //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
                MonoXnaCompactMaths.Vector3 _vDebugTranslation;
                _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
                rigidBody.Translate(_vDebugTranslation);
                //---
                parent_scene.ddWorld.AddRigidBody(rigidBody);
            }
        }
        public override PhysicsVector Position
        {
            get
            {
                return _position;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _position = value;
                    Translate();
                }
            }
        }
        public override PhysicsVector Velocity
        {
            get
            {
                return _velocity;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _velocity = value;
                    Speed();
                }
            }
        }
        public override PhysicsVector Size
        {
            get
            {
                return _size;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _size = value;
                    ReSize();
                }
            }
        }
        public override PhysicsVector Acceleration
        {
            get
            {
                return _acceleration;
            }
        }
        public override AxiomQuaternion Orientation
        {
            get
            {
                return _orientation;
            }
            set
            {
                lock (BulletXScene.BulletXLock)
                {
                    _orientation = value;
                    ReOrient();
                }
            }
        }
        public float Mass
        {
            get
            {
                //For now all prims are boxes
                return _density * _size.X * _size.Y * _size.Z;
            }
        }
        public override bool Flying
        {
            get
            {
                return false; //no flying prims for you
            }
            set
            {

            }
        }
        public Boolean Physical
        {
            get
            {
                return _physical;
            }
            set
            {
                _physical = value;
            }
        }
        public void SetAcceleration(PhysicsVector accel)
        {
            lock (BulletXScene.BulletXLock)
            {
                _acceleration = accel;
            }
        }
        public override bool Kinematic
        {
            get
            {
                return false;
                //return this._prim.Kinematic;
            }
            set
            {
                //this._prim.Kinematic = value;
            }
        }
        public override void AddForce(PhysicsVector force)
        {

        }
        public override void SetMomentum(PhysicsVector momentum)
        {

        }
        internal void ValidateHeight(float heighmapPositionValue)
        {
            if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z / 2.0f)
            {
                Matrix m = rigidBody.WorldTransform;
                MonoXnaCompactMaths.Vector3 v3 = m.Translation;
                v3.Z = heighmapPositionValue + _size.Z / 2.0f;
                m.Translation = v3;
                rigidBody.WorldTransform = m;
                //When a Prim touch the ground it's vertical velocity it's reduced to ZERO
                Speed(new PhysicsVector(this.rigidBody.LinearVelocity.X, this.rigidBody.LinearVelocity.Y, 0.0f));
            }
        }
        internal void UpdateKinetics()
        {
            if (_physical) //Updates properties. Prim updates its properties physically
            {
                this._position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
                this._velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
                //Orientation is not implemented yet in MonoXnaCompactMaths
                //this._orientation = BulletXMaths.XnaQuaternionToAxiomQuaternion(rigidBody.Orientation); < Good
                //ReOrient();
                //---
                ReOrient();
            }
            else //Doesn't updates properties. That's a cancel
            {
                Translate();
                Speed();
                //Orientation is not implemented yet in MonoXnaCompactMaths
                //ReOrient();
                ReOrient();
            }
        }

        #region Methods for updating values of RigidBody
        private void Translate()
        {
            Translate(this._position);
        }
        private void Translate(PhysicsVector _newPos)
        {
            MonoXnaCompactMaths.Vector3 _translation;
            _translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
            rigidBody.Translate(_translation);
        }
        private void Speed()
        {
            Speed(this._velocity);
        }
        private void Speed(PhysicsVector _newSpeed)
        {
            MonoXnaCompactMaths.Vector3 _speed;
            _speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
            rigidBody.LinearVelocity = _speed;
        }
        private void ReSize()
        {
            ReSize(this._size);
        }
        private void ReSize(PhysicsVector _newSize)
        {
            MonoXnaCompactMaths.Vector3 _newsize;
            _newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize);
            //For now all prims are Boxes
            rigidBody.CollisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize) / 2.0f);
        }
        private void ReOrient()
        {
            ReOrient(this._orientation);
        }
        private void ReOrient(AxiomQuaternion _newOrient)
        {
            MonoXnaCompactMaths.Quaternion _newOrientation;
            _newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
            Matrix _comTransform = rigidBody.CenterOfMassTransform;
            BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
            rigidBody.CenterOfMassTransform = _comTransform;
        }
        #endregion

    }
}