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Partialy fixed a bug with collisions in BulletXPlugin.

afrisby
darok 2007-11-01 19:12:06 +00:00
parent 4faa824c3e
commit bda35705e6
1 changed files with 19 additions and 37 deletions
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56
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
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@ -69,8 +69,6 @@ using XnaDevRu.BulletX;
using XnaDevRu.BulletX.Dynamics;
using AxiomQuaternion = Axiom.Math.Quaternion;
using BoxShape=XnaDevRu.BulletX.BoxShape;
//Specific References for BulletXPlugin
#endregion
namespace OpenSim.Region.Physics.BulletXPlugin
@ -734,7 +732,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
return rigidBody;
}
}
public MonoXnaCompactMaths.Vector3 RigidBodyPosition
public Vector3 RigidBodyPosition
{
get { return this.rigidBody.CenterOfMassPosition; }
}
@ -804,7 +802,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
internal protected void Translate(PhysicsVector _newPos)
{
MonoXnaCompactMaths.Vector3 _translation;
Vector3 _translation;
_translation = BulletXMaths.PhysicsVectorToXnaVector3(_newPos) - rigidBody.CenterOfMassPosition;
rigidBody.Translate(_translation);
}
@ -814,7 +812,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
internal protected void Speed(PhysicsVector _newSpeed)
{
MonoXnaCompactMaths.Vector3 _speed;
Vector3 _speed;
_speed = BulletXMaths.PhysicsVectorToXnaVector3(_newSpeed);
rigidBody.LinearVelocity = _speed;
}
@ -824,7 +822,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
internal protected void ReOrient(AxiomQuaternion _newOrient)
{
MonoXnaCompactMaths.Quaternion _newOrientation;
Quaternion _newOrientation;
_newOrientation = BulletXMaths.AxiomQuaternionToXnaQuaternion(_newOrient);
Matrix _comTransform = rigidBody.CenterOfMassTransform;
BulletXMaths.SetRotation(ref _comTransform, _newOrientation);
@ -1033,6 +1031,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
if (rotation.Norm == 0f) rotation = AxiomQuaternion.Identity;
_position = pos;
//ZZZ
_physical = false;
//zzz
if (_physical) _velocity = velocity;
else _velocity = new PhysicsVector();
_size = size;
@ -1041,32 +1042,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_parent_scene = parent_scene;
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
lock (BulletXScene.BulletXLock)
{
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
//For now all prims are boxes
CollisionShape _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(_size)/2.0f);
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
Vector3 _localInertia = new 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
Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
rigidBody.Translate(_vDebugTranslation);
//---
parent_scene.ddWorld.AddRigidBody(rigidBody);
}
CreateRigidBody(parent_scene, pos, size);
}
public override PhysicsVector Position
@ -1108,7 +1084,10 @@ namespace OpenSim.Region.Physics.BulletXPlugin
get
{
//For now all prims are boxes
return (_physical ? 1 : 0) * _density * _size.X * _size.Y * _size.Z;
//ZZZ
return _density * _size.X * _size.Y * _size.Z;
//return (_physical ? 1 : 0) * _density * _size.X * _size.Y * _size.Z;
//zzz
}
}
public Boolean Physical
@ -1210,7 +1189,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _friction = 1.0f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
@ -1220,12 +1199,15 @@ namespace OpenSim.Region.Physics.BulletXPlugin
//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
Vector3 _localInertia = new Vector3();
//ZZZ
if (Mass > 0) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
//if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
//zzz
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;
Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
rigidBody.Translate(_vDebugTranslation);
//---