* Repairs the Object updates, Collision updates, and Child Prim methods making the bulletXNA engine work again.
* The only thing that had an issue was when creating a new RigidBody, BulletXNA didn't know the type SimMotionState and the upcast type is unknown in the constructor. Therefore, I had to update the IMotionState with a new method 'SetBody'. All of the duplicated type information has been removed and BulletXNA is not relying on any non-standard types external to the library.user_profiles
teravus
parent
878df52515
commit
ba9d6b7337
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@ -27,6 +27,7 @@
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using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Runtime.InteropServices;
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using System.Text;
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using OpenSim.Framework;
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@ -130,10 +131,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
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}
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}
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internal int m_maxCollisions;
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internal CollisionDesc[] m_collisionArray;
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internal CollisionDesc[] UpdatedCollisions;
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internal int LastCollisionDesc = 0;
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internal int m_maxUpdatesPerFrame;
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internal EntityProperties[] m_updateArray;
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internal int LastEntityProperty = 0;
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internal EntityProperties[] UpdatedObjects;
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private static int m_collisionsThisFrame;
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private BSScene PhysicsScene { get; set; }
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@ -900,7 +903,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
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// TODO: Turn this from a reference copy to a Value Copy.
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BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSPhysicsShapeType.SHAPE_UNKNOWN);
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BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
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return shape2;
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}
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@ -922,9 +925,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
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CollisionShape shape = (pShape as BulletShapeXNA).shape;
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//UpdateSingleAabb(world, shape);
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// TODO: Feed Update array into null
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SimMotionState motionState = new SimMotionState(world, pLocalID, mat, null);
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SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null);
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RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
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RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, new SimMotionState(world, pLocalID, mat, null),shape,IndexedVector3.Zero)
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RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero)
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{
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m_mass = 0
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};
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@ -1039,8 +1042,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
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)
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{
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m_updateArray = updateArray;
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m_collisionArray = collisionArray;
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UpdatedObjects = updateArray;
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UpdatedCollisions = collisionArray;
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/* TODO */
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ConfigurationParameters[] configparms = new ConfigurationParameters[1];
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configparms[0] = parms;
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@ -1136,9 +1139,6 @@ private sealed class BulletConstraintXNA : BulletConstraint
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DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
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world.UpdatedObjects = BSAPIXNA.GetBulletXNAEntityStruct(BSAPIXNA.BulletSimEntityStructToByteArray(updateArray, updateArray.Length));
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world.UpdatedCollisions = BSAPIXNA.GetBulletXNACollisionStruct(BSAPIXNA.BulletSimCollisionStructToByteArray(collisionArray, collisionArray.Length));
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world.LastCollisionDesc = 0;
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world.LastEntityProperty = 0;
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@ -1332,7 +1332,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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{
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CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
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CollisionShape shape = collisionObject.GetCollisionShape();
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return new BulletShapeXNA(shape,BSPhysicsShapeType.SHAPE_UNKNOWN);
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return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
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}
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//(PhysicsScene.World.ptr, nativeShapeData)
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@ -1395,10 +1395,148 @@ private sealed class BulletConstraintXNA : BulletConstraint
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CollisionShape ret = null;
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ret = compoundshape.GetChildShape(pii);
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compoundshape.RemoveChildShapeByIndex(pii);
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return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN);
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return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
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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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CollisionShape shape = compoundShape.GetChildShape(indx);
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BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
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return null;
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}
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public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
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{
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switch (pin)
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{
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case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_BOX;
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break;
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case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_MESH;
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break;
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case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_HULL;
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break;
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case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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//implicit convex shapes
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case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_SPHERE;
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break;
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case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_CAPSULE;
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break;
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case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_CONE;
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break;
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case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_CYLINDER;
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break;
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case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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//concave shape
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case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
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case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_MESH;
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break;
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case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_MESH;
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break;
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///used for demo integration FAST/Swift collision library and Bullet
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case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_MESH;
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break;
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//terrain
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case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_HEIGHTMAP;
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break;
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///Used for GIMPACT Trimesh integration
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case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_MESH;
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break;
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///Multimaterial mesh
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case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_MESH;
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break;
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case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_GROUNDPLANE;
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break;
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case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_COMPOUND;
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break;
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case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_MESH;
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break;
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case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE:
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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break;
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}
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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}
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public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; }
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public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
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public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ }
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return epic;
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}
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private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
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private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
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out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
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{
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int numSimSteps = 0;
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Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
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Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
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LastEntityProperty=0;
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LastCollisionDesc=0;
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updatedEntityCount = 0;
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collidersCount = 0;
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@ -1651,8 +1799,6 @@ private sealed class BulletConstraintXNA : BulletConstraint
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world.LastCollisionDesc = 0;
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world.LastEntityProperty = 0;
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world.UpdatedObjects = new BulletXNA.EntityProperties[maxUpdates];
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world.UpdatedCollisions = new BulletXNA.CollisionDesc[maxCollisions];
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numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
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int updates = 0;
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@ -1675,7 +1821,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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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(world, objA, objB, contactPoint, contactNormal);
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RecordCollision(this, objA, objB, contactPoint, contactNormal);
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m_collisionsThisFrame ++;
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if (m_collisionsThisFrame >= 9999999)
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break;
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@ -1683,15 +1829,16 @@ private sealed class BulletConstraintXNA : BulletConstraint
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}
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updatedEntityCount = world.LastEntityProperty;
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updatedEntities = GetBulletSimEntityStruct(BulletXNAEntityStructToByteArray(world.UpdatedObjects, world.LastEntityProperty));
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updatedEntityCount = LastEntityProperty;
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updatedEntities = UpdatedObjects;
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collidersCount = world.LastCollisionDesc;
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colliders =
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GetBulletSimCollisionStruct(BulletXNACollisionStructToByteArray(world.UpdatedCollisions, world.LastCollisionDesc));//new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
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collidersCount = LastCollisionDesc;
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colliders = UpdatedCollisions;
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}
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else
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@ -1699,8 +1846,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
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//if (updatedEntities is null)
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//updatedEntities = new List<BulletXNA.EntityProperties>();
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//updatedEntityCount = 0;
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//if (colliders is null)
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//colliders = new List<BulletXNA.CollisionDesc>();
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//collidersCount = 0;
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updatedEntities = new EntityProperties[0];
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@ -1712,7 +1859,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
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return numSimSteps;
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}
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private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
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private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
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{
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IndexedVector3 contactNormal = norm;
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@ -1733,12 +1880,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
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ulong collisionID = ((ulong) idA << 32) | idB;
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BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
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CollisionDesc cDesc = new CollisionDesc()
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{
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aID = idA,
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bID = idB,
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point = contact,
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normal = contactNormal
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point = new Vector3(contact.X,contact.Y,contact.Z),
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normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z)
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};
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if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
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world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
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@ -1800,160 +1947,131 @@ private sealed class BulletConstraintXNA : BulletConstraint
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}
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return false;
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}
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}
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public static unsafe BulletXNA.CollisionDesc[] GetBulletXNACollisionStruct(byte[] buffer)
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public class SimMotionState : DefaultMotionState
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{
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int count = buffer.Length/sizeof (BulletXNA.CollisionDesc);
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BulletXNA.CollisionDesc[] result = new BulletXNA.CollisionDesc[count];
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BulletXNA.CollisionDesc* ptr;
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fixed (byte* localBytes = new byte[buffer.Length])
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public RigidBody Rigidbody;
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public Vector3 ZeroVect;
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private IndexedMatrix m_xform;
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private EntityProperties m_properties;
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private EntityProperties m_lastProperties;
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private BSAPIXNA m_world;
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const float POSITION_TOLERANCE = 0.05f;
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const float VELOCITY_TOLERANCE = 0.001f;
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const float ROTATION_TOLERANCE = 0.01f;
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const float ANGULARVELOCITY_TOLERANCE = 0.01f;
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public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
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{
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for (int i = 0; i < buffer.Length; i++)
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IndexedQuaternion OrientationQuaterion = starTransform.GetRotation();
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m_properties = new EntityProperties()
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{
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localBytes[i] = buffer[i];
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}
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for (int i=0;i<count;i++)
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ID = id,
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Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z),
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Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W)
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};
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m_lastProperties = new EntityProperties()
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{
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ptr = (BulletXNA.CollisionDesc*) (localBytes + sizeof (BulletXNA.CollisionDesc)*i);
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result[i] = new BulletXNA.CollisionDesc();
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result[i] = *ptr;
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}
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}
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return result;
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ID = id,
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Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z),
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Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W)
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};
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m_world = pWorld;
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m_xform = starTransform;
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}
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public static unsafe CollisionDesc[] GetBulletSimCollisionStruct(byte[] buffer)
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public override void GetWorldTransform(out IndexedMatrix worldTrans)
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{
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int count = buffer.Length / sizeof(CollisionDesc);
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CollisionDesc[] result = new CollisionDesc[count];
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CollisionDesc* ptr;
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fixed (byte* localBytes = new byte[buffer.Length])
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{
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for (int i = 0; i < buffer.Length; i++)
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{
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localBytes[i] = buffer[i];
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}
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for (int i = 0; i < count; i++)
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{
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ptr = (CollisionDesc*)(localBytes + sizeof(CollisionDesc) * i);
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result[i] = new CollisionDesc();
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result[i] = *ptr;
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}
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}
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return result;
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}
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public static unsafe byte[] BulletSimCollisionStructToByteArray(CollisionDesc[] CollisionDescArray, int count)
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{
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int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
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byte[] byteArray = new byte[sizeof(CollisionDesc) * arrayLength];
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fixed (CollisionDesc* floatPointer = CollisionDescArray)
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{
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fixed (byte* bytePointer = byteArray)
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{
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CollisionDesc* read = floatPointer;
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CollisionDesc* write = (CollisionDesc*)bytePointer;
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for (int i = 0; i < arrayLength; i++)
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{
|
||||
*write++ = *read++;
|
||||
}
|
||||
}
|
||||
}
|
||||
return byteArray;
|
||||
}
|
||||
public static unsafe byte[] BulletXNACollisionStructToByteArray(BulletXNA.CollisionDesc[] CollisionDescArray, int count)
|
||||
{
|
||||
int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
|
||||
byte[] byteArray = new byte[sizeof(BulletXNA.CollisionDesc) * arrayLength];
|
||||
fixed (BulletXNA.CollisionDesc* floatPointer = CollisionDescArray)
|
||||
{
|
||||
fixed (byte* bytePointer = byteArray)
|
||||
{
|
||||
BulletXNA.CollisionDesc* read = floatPointer;
|
||||
BulletXNA.CollisionDesc* write = (BulletXNA.CollisionDesc*)bytePointer;
|
||||
for (int i = 0; i < arrayLength; i++)
|
||||
{
|
||||
*write++ = *read++;
|
||||
}
|
||||
}
|
||||
}
|
||||
return byteArray;
|
||||
}
|
||||
public static unsafe BulletXNA.EntityProperties[] GetBulletXNAEntityStruct(byte[] buffer)
|
||||
{
|
||||
int count = buffer.Length / sizeof(BulletXNA.EntityProperties);
|
||||
BulletXNA.EntityProperties[] result = new BulletXNA.EntityProperties[count];
|
||||
BulletXNA.EntityProperties* ptr;
|
||||
fixed (byte* localBytes = new byte[buffer.Length])
|
||||
{
|
||||
for (int i = 0; i < buffer.Length; i++)
|
||||
{
|
||||
localBytes[i] = buffer[i];
|
||||
}
|
||||
for (int i = 0; i < count; i++)
|
||||
{
|
||||
ptr = (BulletXNA.EntityProperties*)(localBytes + sizeof(BulletXNA.EntityProperties) * i);
|
||||
result[i] = new BulletXNA.EntityProperties();
|
||||
result[i] = *ptr;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
worldTrans = m_xform;
|
||||
}
|
||||
|
||||
public static unsafe EntityProperties[] GetBulletSimEntityStruct(byte[] buffer)
|
||||
public override void SetWorldTransform(IndexedMatrix worldTrans)
|
||||
{
|
||||
int count = buffer.Length / sizeof(EntityProperties);
|
||||
EntityProperties[] result = new EntityProperties[count];
|
||||
EntityProperties* ptr;
|
||||
fixed (byte* localBytes = new byte[buffer.Length])
|
||||
{
|
||||
for (int i = 0; i < buffer.Length; i++)
|
||||
{
|
||||
localBytes[i] = buffer[i];
|
||||
SetWorldTransform(ref worldTrans);
|
||||
}
|
||||
for (int i = 0; i < count; i++)
|
||||
|
||||
public override void SetWorldTransform(ref IndexedMatrix worldTrans)
|
||||
{
|
||||
ptr = (EntityProperties*)(localBytes + sizeof(EntityProperties) * i);
|
||||
result[i] = new EntityProperties();
|
||||
result[i] = *ptr;
|
||||
SetWorldTransform(ref worldTrans, false);
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
public static unsafe byte[] BulletSimEntityStructToByteArray(EntityProperties[] CollisionDescArray, int count)
|
||||
public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force)
|
||||
{
|
||||
int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
|
||||
byte[] byteArray = new byte[sizeof(EntityProperties) * arrayLength];
|
||||
fixed (EntityProperties* floatPointer = CollisionDescArray)
|
||||
m_xform = worldTrans;
|
||||
// Put the new transform into m_properties
|
||||
IndexedQuaternion OrientationQuaternion = m_xform.GetRotation();
|
||||
IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity();
|
||||
IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity();
|
||||
m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z);
|
||||
m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y,
|
||||
OrientationQuaternion.Z, OrientationQuaternion.W);
|
||||
// A problem with stock Bullet is that we don't get an event when an object is deactivated.
|
||||
// This means that the last non-zero values for linear and angular velocity
|
||||
// are left in the viewer who does dead reconning and the objects look like
|
||||
// they float off.
|
||||
// BulletSim ships with a patch to Bullet which creates such an event.
|
||||
m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z);
|
||||
m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z);
|
||||
|
||||
if (force
|
||||
|
||||
|| !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE)
|
||||
|| !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE)
|
||||
// If the Velocity and AngularVelocity are zero, most likely the object has
|
||||
// been deactivated. If they both are zero and they have become zero recently,
|
||||
// make sure a property update is sent so the zeros make it to the viewer.
|
||||
|| ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect)
|
||||
&&
|
||||
(m_properties.Velocity != m_lastProperties.Velocity ||
|
||||
m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity))
|
||||
// If Velocity and AngularVelocity are non-zero but have changed, send an update.
|
||||
|| !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE)
|
||||
||
|
||||
!AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity,
|
||||
ANGULARVELOCITY_TOLERANCE)
|
||||
)
|
||||
|
||||
|
||||
{
|
||||
fixed (byte* bytePointer = byteArray)
|
||||
// Add this update to the list of updates for this frame.
|
||||
m_lastProperties = m_properties;
|
||||
if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
|
||||
m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);
|
||||
|
||||
//(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
public override void SetRigidBody(RigidBody body)
|
||||
{
|
||||
EntityProperties* read = floatPointer;
|
||||
EntityProperties* write = (EntityProperties*)bytePointer;
|
||||
for (int i = 0; i < arrayLength; i++)
|
||||
Rigidbody = body;
|
||||
}
|
||||
internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon)
|
||||
{
|
||||
*write++ = *read++;
|
||||
return
|
||||
(((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
|
||||
(((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
|
||||
(((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon)));
|
||||
}
|
||||
}
|
||||
}
|
||||
return byteArray;
|
||||
}
|
||||
public static unsafe byte[] BulletXNAEntityStructToByteArray(BulletXNA.EntityProperties[] CollisionDescArray, int count)
|
||||
|
||||
internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon)
|
||||
{
|
||||
int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
|
||||
byte[] byteArray = new byte[sizeof(BulletXNA.EntityProperties) * arrayLength];
|
||||
fixed (BulletXNA.EntityProperties* floatPointer = CollisionDescArray)
|
||||
{
|
||||
fixed (byte* bytePointer = byteArray)
|
||||
{
|
||||
BulletXNA.EntityProperties* read = floatPointer;
|
||||
BulletXNA.EntityProperties* write = (BulletXNA.EntityProperties*)bytePointer;
|
||||
for (int i = 0; i < arrayLength; i++)
|
||||
{
|
||||
*write++ = *read++;
|
||||
return
|
||||
(((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) &&
|
||||
(((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) &&
|
||||
(((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) &&
|
||||
(((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon)));
|
||||
}
|
||||
}
|
||||
}
|
||||
return byteArray;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
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Reference in New Issue