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* Patch from Jed (DeepThink) - More optimisations for BulletX renderer. Trimesh collisions should now work relatively efficiently. BulletX plugin should now be functional - feedback would be appreciated as to how it performs vs ODE.

0.6.0-stable
Adam Frisby 2008-05-09 17:17:54 +00:00
parent f9c6cc36e1
commit 93ec7f0c3c
1 changed files with 31 additions and 22 deletions
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53
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@ -279,30 +279,42 @@ namespace OpenSim.Region.Physics.BulletXPlugin
// else
// nameB = "null";
bool needsCollision;
int c1 = 3;
int c2 = 3;
////////////////////////////////////////////////////////
//BulletX Mesh Collisions
//added by Jed zhu
//data: May 07,2005
////////////////////////////////////////////////////////
#region BulletXMeshCollisions Fields
if (bxcA != null && bxpB != null)
needsCollision = Collision(bxcA, bxpB);
else if (bxpA != null && bxcB != null)
needsCollision = Collision(bxcB, bxpA);
else
needsCollision = base.NeedsCollision(bodyA, bodyB);
if (bxcA != null && bxpB != null)
c1 = Collision(bxcA, bxpB);
if (bxpA != null && bxcB != null)
c2 = Collision(bxcB, bxpA);
if (c1 < 2)
needsCollision = (c1 > 0) ? true : false;
else if (c2 < 2)
needsCollision = (c2 > 0) ? true : false;
else
needsCollision = NeedsCollision(bodyA, bodyB);
#endregion
//m_log.DebugFormat("[BulletX]: A collision was detected between {0} and {1} --> {2}", nameA, nameB,
//needsCollision);
return needsCollision;
}
//added by jed zhu
//calculas the collision between the Prim and Actor
private bool Collision(BulletXCharacter actorA, BulletXPrim primB)
//
private int Collision(BulletXCharacter actorA, BulletXPrim primB)
{
int[] indexBase;
Vector3[] vertexBase;
@ -311,18 +323,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
float fdistance;
if (primB == null)
return false;
return 3;
if (mesh == null)
return false;
return 2;
if (actorA == null)
return false;
return 3;
int iVertexCount = mesh.getVertexList().Count;
int iIndexCount = mesh.getIndexListAsInt().Length;
if (iVertexCount == 0)
return false;
return 3;
if (iIndexCount == 0)
return false;
return 3;
lock (BulletXScene.BulletXLock)
{
indexBase = mesh.getIndexListAsInt();
@ -352,21 +364,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
if (CheckCollision(actorA, ia, ib, ic, vNormal, vertexBase) == 1)
{
PhysicsVector v = actorA.Position;
Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.2f);
actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp);
return false;
//PhysicsVector v = actorA.Position;
//Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
//Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.0f);
//actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp);
return 1;
}
}
}
}
return true;
return 0;
}
//added by jed zhu
//return value 1: need second check
@ -379,7 +388,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
fstartSide = Vector3.Dot(vNormal, v3) - fDist;
if (fstartSide <= 0) return 0;
if (fstartSide > 0) return 0;
else return 1;
}
//added by jed zhu