Changes in BulletXPlugin: Added new class BulletXActor class inherits from PhysicsActor and it's the ancestor for BulletXCharacter and BulletXPrim.
darok
parent
7a66eff8af
commit
4faa824c3e
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@ -633,35 +633,227 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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}
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/// <summary>
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/// PhysicsActor Character Class for BulletX
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/// Generic Physics Actor for BulletX inherit from PhysicActor
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/// </summary>
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public class BulletXCharacter : PhysicsActor
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public class BulletXActor : PhysicsActor
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{
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private PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector _size;
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private PhysicsVector _acceleration;
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private AxiomQuaternion _orientation;
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private bool flying;
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private bool iscolliding = false;
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private RigidBody rigidBody;
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protected bool flying = false;
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protected bool _physical = true;
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protected PhysicsVector _position;
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protected PhysicsVector _velocity;
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protected PhysicsVector _size;
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protected PhysicsVector _acceleration;
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protected AxiomQuaternion _orientation;
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protected RigidBody rigidBody;
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private Boolean iscolliding = false;
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public Vector3 RigidBodyPosition
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public BulletXActor()
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{
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get { return rigidBody.CenterOfMassPosition; }
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}
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public override PhysicsVector Position
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{
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get
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{
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return _position;
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}
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_position = value;
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Translate();
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}
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}
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}
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public override PhysicsVector Velocity
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{
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get
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{
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return _velocity;
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}
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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//Static objects don' have linear velocity
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if (_physical)
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{
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_velocity = value;
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Speed();
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}
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else
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{
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_velocity = new PhysicsVector();
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}
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}
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}
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}
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public override PhysicsVector Size
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{
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get
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{
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return _size;
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}
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_size = value;
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}
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}
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}
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public override PhysicsVector Acceleration
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{
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get
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{
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return _acceleration;
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}
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}
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public override AxiomQuaternion Orientation
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{
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get
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{
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return _orientation;
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}
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_orientation = value;
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ReOrient();
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}
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}
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}
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public virtual float Mass
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{ get { return 0; } }
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public RigidBody RigidBody
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{
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get
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{
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return rigidBody;
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}
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}
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public MonoXnaCompactMaths.Vector3 RigidBodyPosition
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{
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get { return this.rigidBody.CenterOfMassPosition; }
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}
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public override bool Flying
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{
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get
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{
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return flying;
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}
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set
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{
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flying = value;
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}
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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/*public override bool Physical
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{
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get
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{
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return _physical;
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}
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set
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{
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_physical = value;
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}
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}*/
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public virtual void SetAcceleration(PhysicsVector accel)
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{
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lock (BulletXScene.BulletXLock)
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{
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_acceleration = accel;
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}
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}
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public override bool Kinematic
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{
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get
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{
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return false;
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}
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set
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{
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}
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}
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public override void AddForce(PhysicsVector force)
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{
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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internal virtual void ValidateHeight(float heighmapPositionValue)
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{
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}
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internal virtual void UpdateKinetics()
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{
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}
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#region Methods for updating values of RigidBody
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internal protected void Translate()
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{
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Translate(this._position);
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}
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internal protected void Translate(PhysicsVector _newPos)
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{
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MonoXnaCompactMaths.Vector3 _translation;
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_translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
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rigidBody.Translate(_translation);
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}
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internal protected void Speed()
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{
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Speed(this._velocity);
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}
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internal protected void Speed(PhysicsVector _newSpeed)
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{
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MonoXnaCompactMaths.Vector3 _speed;
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_speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
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rigidBody.LinearVelocity = _speed;
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}
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internal protected void ReOrient()
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{
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ReOrient(this._orientation);
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}
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internal protected void ReOrient(AxiomQuaternion _newOrient)
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{
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MonoXnaCompactMaths.Quaternion _newOrientation;
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_newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
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Matrix _comTransform = rigidBody.CenterOfMassTransform;
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BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
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rigidBody.CenterOfMassTransform = _comTransform;
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}
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internal protected void ReSize()
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{
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ReSize(this._size);
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}
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internal protected virtual void ReSize(PhysicsVector _newSize)
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{
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}
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#endregion
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}
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/// <summary>
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/// PhysicsActor Character Class for BulletX
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/// </summary>
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public class BulletXCharacter : BulletXActor
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{
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public BulletXCharacter(BulletXScene parent_scene, PhysicsVector pos)
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: this("", parent_scene, pos)
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{
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}
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public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos)
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: this(avName, parent_scene, pos, new PhysicsVector(), new PhysicsVector(), new PhysicsVector(),
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AxiomQuaternion.Identity)
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{
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}
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public BulletXCharacter(String avName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
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PhysicsVector size, PhysicsVector acceleration, AxiomQuaternion orientation)
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{
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@ -711,95 +903,55 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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public override PhysicsVector Position
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{
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get { return _position; }
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_position = value;
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Translate();
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}
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}
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get { return base.Position; }
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set { base.Position = value; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_velocity = value;
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Speed();
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}
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}
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get { return base.Velocity; }
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set { base.Velocity = value; }
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}
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public override PhysicsVector Size
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{
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get { return _size; }
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_size = value;
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}
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}
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get { return base.Size; }
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set { base.Size = value; }
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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get { return base.Acceleration; }
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}
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public override AxiomQuaternion Orientation
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{
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get { return _orientation; }
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_orientation = value;
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}
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}
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get { return base.Orientation; }
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set { base.Orientation = value; }
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}
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public RigidBody RigidBody
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{
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get { return rigidBody; }
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}
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public override bool Flying
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{
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get { return flying; }
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set { flying = value; }
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get { return base.Flying; }
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set { base.Flying = value; }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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get { return base.IsColliding; }
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set { base.IsColliding = value; }
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}
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public void SetAcceleration(PhysicsVector accel)
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{
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lock (BulletXScene.BulletXLock)
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{
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_acceleration = accel;
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}
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}
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public override bool Kinematic
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{
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get { return false; }
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set { }
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get { return base.Kinematic; }
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set { base.Kinematic = value; }
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}
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public override void SetAcceleration(PhysicsVector accel)
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{
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base.SetAcceleration(accel);
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}
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public override void AddForce(PhysicsVector force)
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{
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base.AddForce(force);
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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base.SetMomentum(momentum);
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}
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internal void Move(float timeStep)
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@ -835,9 +987,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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}
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rigidBody.LinearVelocity = vec;
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}
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//This validation is very basic
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internal void ValidateHeight(float heighmapPositionValue)
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internal override void ValidateHeight(float heighmapPositionValue)
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{
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if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f)
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{
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@ -850,93 +1001,30 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
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}
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}
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internal void UpdateKinetics()
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internal override void UpdateKinetics()
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{
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_position = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.CenterOfMassPosition);
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_velocity = BulletXMaths.XnaVector3ToPhysicsVector(rigidBody.LinearVelocity);
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//Orientation it seems that it will be the default.
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ReOrient();
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}
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#region Methods for updating values of RigidBody
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private void Translate()
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{
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Translate(_position);
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}
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private void Translate(PhysicsVector _newPos)
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{
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Vector3 _translation;
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_translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
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rigidBody.Translate(_translation);
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}
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private void Speed()
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{
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Speed(_velocity);
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}
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private void Speed(PhysicsVector _newSpeed)
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{
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Vector3 _speed;
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_speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
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rigidBody.LinearVelocity = _speed;
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}
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private void ReOrient()
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{
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ReOrient(_orientation);
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}
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private void ReOrient(AxiomQuaternion _newOrient)
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{
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Quaternion _newOrientation;
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_newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
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Matrix _comTransform = rigidBody.CenterOfMassTransform;
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BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
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rigidBody.CenterOfMassTransform = _comTransform;
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}
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#endregion
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}
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/// <summary>
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/// PhysicsActor Prim Class for BulletX
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/// </summary>
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public class BulletXPrim : PhysicsActor
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public class BulletXPrim : BulletXActor
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{
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private PhysicsVector _position;
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private PhysicsVector _velocity;
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private PhysicsVector _size;
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private PhysicsVector _acceleration;
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private AxiomQuaternion _orientation;
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//Density it will depends of material.
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//For now all prims have the same density, all prims are made of water. Be water my friend! :D
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private const float _density = 1000.0f;
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private RigidBody rigidBody;
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private BulletXScene _parent_scene;
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//_physical value will be linked with the prim object value
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private Boolean _physical = false;
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private Boolean iscolliding = false;
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public Vector3 RigidBodyPosition
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{
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get { return rigidBody.CenterOfMassPosition; }
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}
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public BulletXPrim(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size, AxiomQuaternion rotation)
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: this("", parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, null, null)
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{
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}
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public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
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AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
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: this(primName, parent_scene, pos, new PhysicsVector(), size, new PhysicsVector(), rotation, mesh, pbs)
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{
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}
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public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector velocity,
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PhysicsVector size,
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PhysicsVector aceleration, AxiomQuaternion rotation, Mesh mesh, PrimitiveBaseShape pbs)
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@ -983,41 +1071,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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public override PhysicsVector Position
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{
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get { return _position; }
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_position = value;
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Translate();
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}
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}
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get { return base.Position; }
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set { base.Position = value; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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//Static objects don' have linear velocity
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if (_physical)
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{
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_velocity = value;
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Speed();
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}
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else
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{
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_velocity = new PhysicsVector();
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}
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}
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}
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get { return base.Velocity; }
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set { base.Velocity = value; }
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}
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public override PhysicsVector Size
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{
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get { return _size; }
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get
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{
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return _size;
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}
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set
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{
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lock (BulletXScene.BulletXLock)
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@ -1027,87 +1094,86 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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}
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}
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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get { return base.Acceleration; }
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}
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public override AxiomQuaternion Orientation
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{
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get { return _orientation; }
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set
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{
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lock (BulletXScene.BulletXLock)
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{
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_orientation = value;
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ReOrient();
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}
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}
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get { return base.Orientation; }
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set { base.Orientation = value; }
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}
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public float Mass
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public override float Mass
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{
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get
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{
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//For now all prims are boxes
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return (_physical ? 1 : 0)*_density*_size.X*_size.Y*_size.Z;
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return (_physical ? 1 : 0) * _density * _size.X * _size.Y * _size.Z;
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}
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}
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public RigidBody RigidBody
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{
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get { return rigidBody; }
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}
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public override bool Flying
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{
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get { return false; //no flying prims for you
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}
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set { }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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public Boolean Physical
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{
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get { return _physical; }
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set { _physical = value; }
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}
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/*public override bool Physical
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{
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get
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{
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return base.Physical;
|
||||
}
|
||||
set
|
||||
{
|
||||
base.Physical = value;
|
||||
if (value)
|
||||
{
|
||||
//---
|
||||
PhysicsPluginManager.PhysicsPluginMessage("Physical - Recreate", true);
|
||||
//---
|
||||
ReCreateRigidBody(this._size);
|
||||
}
|
||||
else
|
||||
{
|
||||
//---
|
||||
PhysicsPluginManager.PhysicsPluginMessage("Physical - SetMassProps", true);
|
||||
//---
|
||||
this.rigidBody.SetMassProps(Mass, new MonoXnaCompactMaths.Vector3());
|
||||
}
|
||||
}
|
||||
}*/
|
||||
public override bool Flying
|
||||
{
|
||||
get { return base.Flying; }
|
||||
set { base.Flying = value; }
|
||||
}
|
||||
public override bool IsColliding
|
||||
{
|
||||
get { return base.IsColliding; }
|
||||
set { base.IsColliding = value; }
|
||||
}
|
||||
public override bool Kinematic
|
||||
{
|
||||
get { return base.Kinematic; }
|
||||
set { base.Kinematic = value; }
|
||||
}
|
||||
|
||||
public void SetAcceleration(PhysicsVector accel)
|
||||
public override 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)
|
||||
{
|
||||
base.AddForce(force);
|
||||
}
|
||||
|
||||
public override void SetMomentum(PhysicsVector momentum)
|
||||
{
|
||||
base.SetMomentum(momentum);
|
||||
}
|
||||
|
||||
internal void ValidateHeight(float heighmapPositionValue)
|
||||
internal override void ValidateHeight(float heighmapPositionValue)
|
||||
{
|
||||
if (rigidBody.CenterOfMassPosition.Z < heighmapPositionValue + _size.Z/2.0f)
|
||||
{
|
||||
|
|
@ -1122,8 +1188,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
|
|||
Speed(new PhysicsVector(rigidBody.LinearVelocity.X, rigidBody.LinearVelocity.Y, 0.0f));
|
||||
}
|
||||
}
|
||||
|
||||
internal void UpdateKinetics()
|
||||
internal override void UpdateKinetics()
|
||||
{
|
||||
if (_physical) //Updates properties. Prim updates its properties physically
|
||||
{
|
||||
|
|
@ -1140,44 +1205,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
|
|||
}
|
||||
|
||||
#region Methods for updating values of RigidBody
|
||||
|
||||
private void Translate()
|
||||
internal protected void CreateRigidBody(BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size)
|
||||
{
|
||||
Translate(_position);
|
||||
}
|
||||
|
||||
private void Translate(PhysicsVector _newPos)
|
||||
{
|
||||
Vector3 _translation;
|
||||
_translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
|
||||
rigidBody.Translate(_translation);
|
||||
}
|
||||
|
||||
private void Speed()
|
||||
{
|
||||
Speed(_velocity);
|
||||
}
|
||||
|
||||
private void Speed(PhysicsVector _newSpeed)
|
||||
{
|
||||
Vector3 _speed;
|
||||
_speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
|
||||
rigidBody.LinearVelocity = _speed;
|
||||
}
|
||||
|
||||
private void ReSize()
|
||||
{
|
||||
ReSize(_size);
|
||||
}
|
||||
|
||||
private void ReSize(PhysicsVector _newSize)
|
||||
{
|
||||
//I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
|
||||
//so i have to do it manually. That's recreating rigidbody
|
||||
Vector3 _newsize;
|
||||
_newsize = BulletXMaths.PhysicsVectorToXnaVector3(_newSize);
|
||||
if ((_newsize.X == 0) || (_newsize.Y == 0) || (_newsize.Z == 0)) throw new Exception("Size 0");
|
||||
|
||||
//For RigidBody Constructor. The next values might change
|
||||
float _linearDamping = 0.0f;
|
||||
float _angularDamping = 0.0f;
|
||||
|
|
@ -1185,54 +1214,48 @@ namespace OpenSim.Region.Physics.BulletXPlugin
|
|||
float _restitution = 0.0f;
|
||||
Matrix _startTransform = Matrix.Identity;
|
||||
Matrix _centerOfMassOffset = Matrix.Identity;
|
||||
RigidBody _tmpRigidBody;
|
||||
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_position);
|
||||
//For now all prims are boxes
|
||||
CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_newSize)/2.0f);
|
||||
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
|
||||
Vector3 _localInertia = new Vector3();
|
||||
if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
|
||||
_tmpRigidBody =
|
||||
new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
|
||||
_friction, _restitution);
|
||||
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
|
||||
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
|
||||
Vector3 _vDebugTranslation;
|
||||
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
|
||||
_tmpRigidBody.Translate(_vDebugTranslation);
|
||||
//---
|
||||
lock (BulletXScene.BulletXLock)
|
||||
{
|
||||
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
|
||||
//For now all prims are boxes
|
||||
CollisionShape _collisionShape = new XnaDevRu.BulletX.BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(size) / 2.0f);
|
||||
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
|
||||
MonoXnaCompactMaths.Vector3 _localInertia = new MonoXnaCompactMaths.Vector3();
|
||||
if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
|
||||
rigidBody = new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping, _friction, _restitution);
|
||||
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
|
||||
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
|
||||
MonoXnaCompactMaths.Vector3 _vDebugTranslation;
|
||||
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
|
||||
rigidBody.Translate(_vDebugTranslation);
|
||||
//---
|
||||
parent_scene.ddWorld.AddRigidBody(rigidBody);
|
||||
}
|
||||
}
|
||||
internal protected void ReCreateRigidBody(PhysicsVector size)
|
||||
{
|
||||
//There is a bug when trying to remove a rigidBody that is colliding with something..
|
||||
try
|
||||
{
|
||||
_parent_scene.ddWorld.RemoveRigidBody(rigidBody);
|
||||
this._parent_scene.ddWorld.RemoveRigidBody(rigidBody);
|
||||
}
|
||||
catch (Exception ex)
|
||||
{
|
||||
_parent_scene.BulletXMessage(_parent_scene.is_ex_message + ex.Message, true);
|
||||
this._parent_scene.BulletXMessage(this._parent_scene.is_ex_message + ex.Message, true);
|
||||
rigidBody.ActivationState = ActivationState.DisableSimulation;
|
||||
_parent_scene.AddForgottenRigidBody(rigidBody);
|
||||
this._parent_scene.AddForgottenRigidBody(rigidBody);
|
||||
}
|
||||
rigidBody = _tmpRigidBody;
|
||||
_parent_scene.ddWorld.AddRigidBody(rigidBody);
|
||||
if (_physical) Speed(); //Static objects don't have linear velocity
|
||||
CreateRigidBody(this._parent_scene, this._position, size);
|
||||
if (_physical) Speed();//Static objects don't have linear velocity
|
||||
ReOrient();
|
||||
GC.Collect();
|
||||
}
|
||||
|
||||
private void ReOrient()
|
||||
internal protected override void ReSize(PhysicsVector _newSize)
|
||||
{
|
||||
ReOrient(_orientation);
|
||||
//I wonder to know how to resize with a simple instruction in BulletX. It seems that for now there isn't
|
||||
//so i have to do it manually. That's recreating rigidbody
|
||||
ReCreateRigidBody(_newSize);
|
||||
}
|
||||
|
||||
private void ReOrient(AxiomQuaternion _newOrient)
|
||||
{
|
||||
Quaternion _newOrientation;
|
||||
_newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
|
||||
Matrix _comTransform = rigidBody.CenterOfMassTransform;
|
||||
BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
|
||||
rigidBody.CenterOfMassTransform = _comTransform;
|
||||
}
|
||||
|
||||
#endregion
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue