Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Justin Clark-Casey (justincc)
commit
8ea112a5b2
|
|
@ -137,6 +137,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
internal int LastEntityProperty = 0;
|
||||
|
||||
internal EntityProperties[] UpdatedObjects;
|
||||
internal Dictionary<uint, GhostObject> specialCollisionObjects;
|
||||
|
||||
private static int m_collisionsThisFrame;
|
||||
private BSScene PhysicsScene { get; set; }
|
||||
|
|
@ -158,7 +159,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
{
|
||||
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
|
||||
RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
|
||||
CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
|
||||
if (body != null)
|
||||
world.RemoveRigidBody(body);
|
||||
else if (collisionObject != null)
|
||||
world.RemoveCollisionObject(collisionObject);
|
||||
else
|
||||
return false;
|
||||
return true;
|
||||
}
|
||||
|
||||
|
|
@ -182,7 +189,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
collisionObject.SetRestitution(pRestitution);
|
||||
}
|
||||
|
||||
|
|
@ -219,13 +226,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
|
||||
}
|
||||
|
||||
public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
|
||||
}
|
||||
|
||||
|
|
@ -262,7 +269,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
}
|
||||
else
|
||||
{
|
||||
world.AddCollisionObject(rbody);
|
||||
world.AddCollisionObject(cbody);
|
||||
}
|
||||
cbody.SetWorldTransform(origPos);
|
||||
|
||||
|
|
@ -303,7 +310,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
|
||||
collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
|
||||
if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
|
||||
|
|
@ -390,7 +397,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
|
||||
IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
|
||||
_orientation.W);
|
||||
|
|
@ -418,9 +425,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
|
||||
{
|
||||
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
|
||||
if (body != null) // Can't set mass props on collision object.
|
||||
{
|
||||
IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
|
||||
body.SetMassProps(pphysMass, inertia);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
public override void SetObjectForce(BulletBody pBody, Vector3 _force)
|
||||
|
|
@ -432,7 +442,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
collisionObject.SetFriction(_currentFriction);
|
||||
}
|
||||
|
||||
|
|
@ -459,7 +469,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
|
||||
existingcollisionFlags &= ~pcollisionFlags;
|
||||
collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
|
||||
|
|
@ -494,9 +504,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
public override void SetGravity(BulletBody pBody, Vector3 pGravity)
|
||||
{
|
||||
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
|
||||
if (body != null) // Can't set collisionobject.set gravity
|
||||
{
|
||||
IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
|
||||
body.SetGravity(gravity);
|
||||
}
|
||||
}
|
||||
|
||||
public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
|
||||
{
|
||||
|
|
@ -733,6 +746,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
public override void UpdateInertiaTensor(BulletBody pBody)
|
||||
{
|
||||
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
|
||||
if (body != null) // can't update inertia tensor on CollisionObject
|
||||
body.UpdateInertiaTensor();
|
||||
}
|
||||
|
||||
|
|
@ -770,7 +784,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
|
||||
{
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
|
||||
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
|
||||
return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
|
||||
}
|
||||
|
||||
|
|
@ -889,6 +903,17 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
world.RemoveRigidBody(bo);
|
||||
}
|
||||
}
|
||||
if (co != null)
|
||||
{
|
||||
if (co.GetUserPointer() != null)
|
||||
{
|
||||
uint localId = (uint) co.GetUserPointer();
|
||||
if (specialCollisionObjects.ContainsKey(localId))
|
||||
{
|
||||
specialCollisionObjects.Remove(localId);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -1050,7 +1075,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
|
||||
m_maxCollisions = maxCollisions;
|
||||
m_maxUpdatesPerFrame = maxUpdates;
|
||||
|
||||
specialCollisionObjects = new Dictionary<uint, GhostObject>();
|
||||
|
||||
return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
|
||||
}
|
||||
|
|
@ -1310,6 +1335,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
CollisionShape shape = (pShape as BulletShapeXNA).shape;
|
||||
gObj.SetCollisionShape(shape);
|
||||
gObj.SetUserPointer(pLocalID);
|
||||
|
||||
if (specialCollisionObjects.ContainsKey(pLocalID))
|
||||
specialCollisionObjects[pLocalID] = gObj;
|
||||
else
|
||||
specialCollisionObjects.Add(pLocalID, gObj);
|
||||
|
||||
// TODO: Add to Special CollisionObjects!
|
||||
return new BulletBodyXNA(pLocalID, gObj);
|
||||
}
|
||||
|
|
@ -1399,7 +1430,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
}
|
||||
|
||||
public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
|
||||
/* TODO */
|
||||
|
||||
if (cShape == null)
|
||||
return null;
|
||||
CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
|
||||
|
|
@ -1407,7 +1438,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
|
||||
|
||||
|
||||
return null;
|
||||
return retShape;
|
||||
}
|
||||
|
||||
public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
|
||||
|
|
@ -1802,26 +1833,29 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
|
||||
int updates = 0;
|
||||
|
||||
|
||||
|
||||
PersistentManifold contactManifold;
|
||||
CollisionObject objA;
|
||||
CollisionObject objB;
|
||||
ManifoldPoint manifoldPoint;
|
||||
PairCachingGhostObject pairCachingGhostObject;
|
||||
|
||||
m_collisionsThisFrame = 0;
|
||||
int numManifolds = world.GetDispatcher().GetNumManifolds();
|
||||
for (int j = 0; j < numManifolds; j++)
|
||||
{
|
||||
PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
|
||||
contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
|
||||
int numContacts = contactManifold.GetNumContacts();
|
||||
if (numContacts == 0)
|
||||
continue;
|
||||
|
||||
CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
|
||||
CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
|
||||
objA = contactManifold.GetBody0() as CollisionObject;
|
||||
objB = contactManifold.GetBody1() as CollisionObject;
|
||||
|
||||
ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
|
||||
IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
|
||||
IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
|
||||
manifoldPoint = contactManifold.GetContactPoint(0);
|
||||
//IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
|
||||
// IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
|
||||
|
||||
RecordCollision(this, objA, objB, contactPoint, contactNormal,manifoldPoint.GetDistance());
|
||||
RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance());
|
||||
m_collisionsThisFrame ++;
|
||||
if (m_collisionsThisFrame >= 9999999)
|
||||
break;
|
||||
|
|
@ -1829,13 +1863,20 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
|
||||
}
|
||||
|
||||
foreach (GhostObject ghostObject in specialCollisionObjects.Values)
|
||||
{
|
||||
pairCachingGhostObject = ghostObject as PairCachingGhostObject;
|
||||
if (pairCachingGhostObject != null)
|
||||
{
|
||||
RecordGhostCollisions(pairCachingGhostObject);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
updatedEntityCount = LastEntityProperty;
|
||||
updatedEntities = UpdatedObjects;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
collidersCount = LastCollisionDesc;
|
||||
colliders = UpdatedCollisions;
|
||||
|
||||
|
|
@ -1860,60 +1901,49 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
}
|
||||
public void RecordGhostCollisions(PairCachingGhostObject obj)
|
||||
{
|
||||
/*
|
||||
*void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj)
|
||||
{
|
||||
btManifoldArray manifoldArray;
|
||||
btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray();
|
||||
int numPairs = pairArray.size();
|
||||
IOverlappingPairCache cache = obj.GetOverlappingPairCache();
|
||||
ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
|
||||
|
||||
// For all the pairs of sets of contact points
|
||||
for (int i=0; i < numPairs; i++)
|
||||
DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
|
||||
PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
|
||||
BroadphasePair collisionPair;
|
||||
PersistentManifold contactManifold;
|
||||
|
||||
CollisionObject objA;
|
||||
CollisionObject objB;
|
||||
|
||||
ManifoldPoint pt;
|
||||
|
||||
int numPairs = pairs.Count;
|
||||
|
||||
for (int i = 0; i < numPairs; i++)
|
||||
{
|
||||
if (m_collisionsThisFrame >= m_maxCollisionsPerFrame)
|
||||
manifoldArray.Clear();
|
||||
if (LastCollisionDesc < UpdatedCollisions.Length)
|
||||
break;
|
||||
|
||||
manifoldArray.clear();
|
||||
const btBroadphasePair& pair = pairArray[i];
|
||||
|
||||
// The real representation is over in the world pair cache
|
||||
btBroadphasePair* collisionPair = m_worldData.dynamicsWorld->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
|
||||
if (!collisionPair)
|
||||
collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
|
||||
if (collisionPair == null)
|
||||
continue;
|
||||
|
||||
if (collisionPair->m_algorithm)
|
||||
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
|
||||
|
||||
// The collision pair has sets of collision points (manifolds)
|
||||
for (int j=0; j < manifoldArray.size(); j++)
|
||||
collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
|
||||
for (int j = 0; j < manifoldArray.Count; j++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = manifoldArray[j];
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
|
||||
const btCollisionObject* objA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
|
||||
const btCollisionObject* objB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
// TODO: this is a more thurough check than the regular collision code --
|
||||
// here we find the penetrating contact in the manifold but for regular
|
||||
// collisions we assume the first point in the manifold is good enough.
|
||||
// Decide of this extra checking is required or if first point is good enough.
|
||||
for (int p=0; p < numContacts; p++)
|
||||
contactManifold = manifoldArray[j];
|
||||
int numContacts = contactManifold.GetNumContacts();
|
||||
objA = contactManifold.GetBody0() as CollisionObject;
|
||||
objB = contactManifold.GetBody1() as CollisionObject;
|
||||
for (int p = 0; p < numContacts; p++)
|
||||
{
|
||||
const btManifoldPoint& pt = contactManifold->getContactPoint(p);
|
||||
// If a penetrating contact, this is a hit
|
||||
if (pt.getDistance()<0.f)
|
||||
pt = contactManifold.GetContactPoint(p);
|
||||
if (pt.GetDistance() < 0.0f)
|
||||
{
|
||||
const btVector3& contactPoint = pt.getPositionWorldOnA();
|
||||
const btVector3& normalOnA = -pt.m_normalWorldOnB;
|
||||
RecordCollision(objA, objB, contactPoint, normalOnA, pt.getDistance());
|
||||
// Only one contact point for each set of colliding objects
|
||||
RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance());
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
|
||||
{
|
||||
|
|
@ -1934,7 +1964,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
|
|||
contactNormal = -contactNormal;
|
||||
}
|
||||
|
||||
ulong collisionID = ((ulong) idA << 32) | idB;
|
||||
//ulong collisionID = ((ulong) idA << 32) | idB;
|
||||
|
||||
CollisionDesc cDesc = new CollisionDesc()
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in New Issue