* This adds llVolumeDetect functionality to the C# implementation of BulletSim.
teravus
parent
c3fb114461
commit
5128ae7b86
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@ -137,6 +137,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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internal int LastEntityProperty = 0;
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internal EntityProperties[] UpdatedObjects;
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internal Dictionary<uint, GhostObject> specialCollisionObjects;
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private static int m_collisionsThisFrame;
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private BSScene PhysicsScene { get; set; }
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@ -158,7 +159,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
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{
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DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
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RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
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world.RemoveRigidBody(body);
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CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
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if (body != null)
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world.RemoveRigidBody(body);
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else if (collisionObject != null)
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world.RemoveCollisionObject(collisionObject);
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else
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return false;
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return true;
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}
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@ -182,7 +189,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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collisionObject.SetRestitution(pRestitution);
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}
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@ -219,13 +226,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
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}
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public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
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}
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@ -262,7 +269,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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}
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else
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{
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world.AddCollisionObject(rbody);
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world.AddCollisionObject(cbody);
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}
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cbody.SetWorldTransform(origPos);
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@ -303,7 +310,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
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collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
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if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
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@ -390,7 +397,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
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IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
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_orientation.W);
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@ -418,8 +425,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
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{
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RigidBody body = (pBody as BulletBodyXNA).rigidBody;
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IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
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body.SetMassProps(pphysMass, inertia);
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if (body != null) // Can't set mass props on collision object.
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{
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IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
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body.SetMassProps(pphysMass, inertia);
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}
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}
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@ -432,7 +442,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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collisionObject.SetFriction(_currentFriction);
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}
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@ -459,7 +469,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
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existingcollisionFlags &= ~pcollisionFlags;
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collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
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@ -494,8 +504,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override void SetGravity(BulletBody pBody, Vector3 pGravity)
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{
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RigidBody body = (pBody as BulletBodyXNA).rigidBody;
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IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
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body.SetGravity(gravity);
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if (body != null) // Can't set collisionobject.set gravity
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{
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IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
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body.SetGravity(gravity);
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}
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}
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public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
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@ -733,7 +746,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override void UpdateInertiaTensor(BulletBody pBody)
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{
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RigidBody body = (pBody as BulletBodyXNA).rigidBody;
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body.UpdateInertiaTensor();
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if (body != null) // can't update inertia tensor on CollisionObject
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body.UpdateInertiaTensor();
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}
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public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
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@ -770,7 +784,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
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return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
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}
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@ -889,7 +903,18 @@ private sealed class BulletConstraintXNA : BulletConstraint
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world.RemoveRigidBody(bo);
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}
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}
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if (co != null)
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{
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if (co.GetUserPointer() != null)
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{
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uint localId = (uint) co.GetUserPointer();
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if (specialCollisionObjects.ContainsKey(localId))
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{
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specialCollisionObjects.Remove(localId);
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}
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}
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}
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}
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public override void Shutdown(BulletWorld pWorld)
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@ -1050,7 +1075,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
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m_maxCollisions = maxCollisions;
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m_maxUpdatesPerFrame = maxUpdates;
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specialCollisionObjects = new Dictionary<uint, GhostObject>();
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return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
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}
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@ -1310,6 +1335,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
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CollisionShape shape = (pShape as BulletShapeXNA).shape;
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gObj.SetCollisionShape(shape);
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gObj.SetUserPointer(pLocalID);
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if (specialCollisionObjects.ContainsKey(pLocalID))
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specialCollisionObjects[pLocalID] = gObj;
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else
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specialCollisionObjects.Add(pLocalID, gObj);
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// TODO: Add to Special CollisionObjects!
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return new BulletBodyXNA(pLocalID, gObj);
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}
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@ -1399,7 +1430,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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}
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public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
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/* TODO */
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if (cShape == null)
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return null;
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CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
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@ -1407,7 +1438,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
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return null;
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return retShape;
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}
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public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
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@ -1802,26 +1833,29 @@ private sealed class BulletConstraintXNA : BulletConstraint
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numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
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int updates = 0;
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PersistentManifold contactManifold;
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CollisionObject objA;
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CollisionObject objB;
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ManifoldPoint manifoldPoint;
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PairCachingGhostObject pairCachingGhostObject;
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m_collisionsThisFrame = 0;
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int numManifolds = world.GetDispatcher().GetNumManifolds();
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for (int j = 0; j < numManifolds; j++)
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{
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PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
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contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
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int numContacts = contactManifold.GetNumContacts();
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if (numContacts == 0)
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continue;
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CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
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CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
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objA = contactManifold.GetBody0() as CollisionObject;
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objB = contactManifold.GetBody1() as CollisionObject;
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ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
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IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
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IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
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manifoldPoint = contactManifold.GetContactPoint(0);
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//IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
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// IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
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RecordCollision(this, objA, objB, contactPoint, contactNormal,manifoldPoint.GetDistance());
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RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance());
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m_collisionsThisFrame ++;
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if (m_collisionsThisFrame >= 9999999)
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break;
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@ -1829,12 +1863,19 @@ private sealed class BulletConstraintXNA : BulletConstraint
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}
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foreach (GhostObject ghostObject in specialCollisionObjects.Values)
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{
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pairCachingGhostObject = ghostObject as PairCachingGhostObject;
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if (pairCachingGhostObject != null)
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{
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RecordGhostCollisions(pairCachingGhostObject);
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}
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}
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updatedEntityCount = LastEntityProperty;
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updatedEntities = UpdatedObjects;
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collidersCount = LastCollisionDesc;
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colliders = UpdatedCollisions;
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@ -1860,60 +1901,49 @@ private sealed class BulletConstraintXNA : BulletConstraint
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}
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public void RecordGhostCollisions(PairCachingGhostObject obj)
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{
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/*
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*void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj)
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{
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btManifoldArray manifoldArray;
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btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray();
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int numPairs = pairArray.size();
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IOverlappingPairCache cache = obj.GetOverlappingPairCache();
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ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
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DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
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PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
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BroadphasePair collisionPair;
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PersistentManifold contactManifold;
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// For all the pairs of sets of contact points
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for (int i=0; i < numPairs; i++)
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{
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if (m_collisionsThisFrame >= m_maxCollisionsPerFrame)
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break;
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CollisionObject objA;
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CollisionObject objB;
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manifoldArray.clear();
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const btBroadphasePair& pair = pairArray[i];
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ManifoldPoint pt;
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// The real representation is over in the world pair cache
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btBroadphasePair* collisionPair = m_worldData.dynamicsWorld->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
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if (!collisionPair)
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continue;
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int numPairs = pairs.Count;
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for (int i = 0; i < numPairs; i++)
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{
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manifoldArray.Clear();
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if (LastCollisionDesc < UpdatedCollisions.Length)
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break;
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collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
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if (collisionPair == null)
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continue;
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collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
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for (int j = 0; j < manifoldArray.Count; j++)
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{
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contactManifold = manifoldArray[j];
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int numContacts = contactManifold.GetNumContacts();
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objA = contactManifold.GetBody0() as CollisionObject;
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objB = contactManifold.GetBody1() as CollisionObject;
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for (int p = 0; p < numContacts; p++)
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{
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pt = contactManifold.GetContactPoint(p);
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if (pt.GetDistance() < 0.0f)
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{
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RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance());
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break;
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}
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}
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}
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}
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if (collisionPair->m_algorithm)
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collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
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// The collision pair has sets of collision points (manifolds)
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for (int j=0; j < manifoldArray.size(); j++)
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{
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btPersistentManifold* contactManifold = manifoldArray[j];
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int numContacts = contactManifold->getNumContacts();
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const btCollisionObject* objA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
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const btCollisionObject* objB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
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// TODO: this is a more thurough check than the regular collision code --
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// here we find the penetrating contact in the manifold but for regular
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// collisions we assume the first point in the manifold is good enough.
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// Decide of this extra checking is required or if first point is good enough.
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for (int p=0; p < numContacts; p++)
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{
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const btManifoldPoint& pt = contactManifold->getContactPoint(p);
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// If a penetrating contact, this is a hit
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if (pt.getDistance()<0.f)
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{
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const btVector3& contactPoint = pt.getPositionWorldOnA();
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const btVector3& normalOnA = -pt.m_normalWorldOnB;
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RecordCollision(objA, objB, contactPoint, normalOnA, pt.getDistance());
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// Only one contact point for each set of colliding objects
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break;
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}
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}
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}
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}
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}
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*/
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}
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private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
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{
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@ -1934,7 +1964,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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contactNormal = -contactNormal;
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}
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ulong collisionID = ((ulong) idA << 32) | idB;
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//ulong collisionID = ((ulong) idA << 32) | idB;
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CollisionDesc cDesc = new CollisionDesc()
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{
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