* Commit from Jed Zhu (DeepThink) - Initial implementation of mesh collision into BulletX plugin. Additional work to come in the next few days.
Adam Frisby
parent
8bd1924aaa
commit
cf7560d1aa
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@ -259,6 +259,8 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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// else
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// nameA = "null";
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BulletXCharacter bxcB = null;
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BulletXPrim bxpB = null;
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t = bodyB.GetType();
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@ -268,21 +270,178 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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relatedScene._characters.TryGetValue(rb, out bxcB);
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relatedScene._prims.TryGetValue(rb, out bxpB);
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}
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// String nameB;
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// if (bxcB != null)
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// nameB = bxcB._name;
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// else if (bxpB != null)
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// nameB = bxpB._name;
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// else
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// nameB = "null";
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// nameB = "null";
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bool needsCollision;
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////////////////////////////////////////////////////////
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//BulletX Mesh Collisions
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//added by Jed zhu
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//data: May 07,2005
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////////////////////////////////////////////////////////
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#region BulletXMeshCollisions Fields
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if (bxcA != null && bxpB != null)
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needsCollision = Collision(bxcA, bxpB);
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else if (bxpA != null && bxcB != null)
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needsCollision = Collision(bxcB, bxpA);
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else
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needsCollision = base.NeedsCollision(bodyA, bodyB);
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#endregion
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bool needsCollision = base.NeedsCollision(bodyA, bodyB);
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//m_log.DebugFormat("[BulletX]: A collision was detected between {0} and {1} --> {2}", nameA, nameB,
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//needsCollision);
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return needsCollision;
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}
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//added by jed zhu
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//calculas the collision between the Prim and Actor
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private bool Collision(BulletXCharacter actorA, BulletXPrim primB)
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{
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int[] indexBase;
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Vector3[] vertexBase;
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Vector3 vNormal, vP1, vP2, vP3;
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IMesh mesh = primB.GetMesh();
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float fdistance;
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if (primB == null)
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return false;
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if (mesh == null)
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return false;
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if (actorA == null)
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return false;
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int iVertexCount = mesh.getVertexList().Count;
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int iIndexCount = mesh.getIndexListAsInt().Length;
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if (iVertexCount == 0)
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return false;
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if (iIndexCount == 0)
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return false;
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lock (BulletXScene.BulletXLock)
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{
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indexBase = mesh.getIndexListAsInt();
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vertexBase = new Vector3[iVertexCount];
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for (int i = 0; i < iVertexCount; i++)
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{
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PhysicsVector v = mesh.getVertexList()[i];
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if (v != null) // Note, null has special meaning. See meshing code for details
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vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
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else
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vertexBase[i] = Vector3.Zero;
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}
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for (int ix = 0; ix < iIndexCount; ix += 3)
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{
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int ia = indexBase[ix + 0];
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int ib = indexBase[ix + 1];
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int ic = indexBase[ix + 2];
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//
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Vector3 v1 = vertexBase[ib] - vertexBase[ia];
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Vector3 v2 = vertexBase[ic] - vertexBase[ia];
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Vector3.Cross(ref v1, ref v2, out vNormal);
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Vector3.Normalize(ref vNormal, out vNormal);
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fdistance = Vector3.Dot(vNormal, vertexBase[ia]) + 5.0f;
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if (preCheckCollision(actorA, vNormal, fdistance) == 1)
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{
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if (CheckCollision(actorA, ia, ib, ic, vNormal, vertexBase) == 1)
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{
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PhysicsVector v = actorA.Position;
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Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
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Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.2f);
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actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp);
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return false;
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}
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}
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}
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}
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return true;
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}
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//added by jed zhu
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//return value 1: need second check
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//return value 0: no need check
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private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist)
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{
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float fstartSide;
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PhysicsVector v = actA.Position;
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Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
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fstartSide = Vector3.Dot(vNormal, v3) - fDist;
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if (fstartSide <= 0) return 0;
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else return 1;
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}
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//added by jed zhu
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private int CheckCollision(BulletXActor actA, int ia, int ib, int ic, Vector3 vNormal, Vector3[] vertBase)
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{
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Vector3 perPlaneNormal;
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float fPerPlaneDist;
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PhysicsVector v = actA.Position;
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Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
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//check AB
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Vector3 v1;
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v1 = vertBase[ib] - vertBase[ia];
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Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
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Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
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if (Vector3.Dot((vertBase[ic] - vertBase[ia]), perPlaneNormal) < 0)
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perPlaneNormal = -perPlaneNormal;
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fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) - 5.0f;
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if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
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return 0;
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fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) + 5.0f;
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if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
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return 0;
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//check BC
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v1 = vertBase[ic] - vertBase[ib];
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Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
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Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
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if (Vector3.Dot((vertBase[ia] - vertBase[ib]), perPlaneNormal) < 0)
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perPlaneNormal = -perPlaneNormal;
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fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) - 5.0f;
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if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
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return 0;
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fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) + 5.0f;
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if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
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return 0;
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//check CA
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v1 = vertBase[ia] - vertBase[ic];
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Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
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Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);
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if (Vector3.Dot((vertBase[ib] - vertBase[ic]), perPlaneNormal) < 0)
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perPlaneNormal = -perPlaneNormal;
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fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) - 5.0f;
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if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
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return 0;
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fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) + 5.0f;
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if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
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return 0;
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return 1;
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}
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}
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/// <summary>
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@ -570,7 +729,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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public override bool IsThreaded
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{
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get { return (false); // for now we won't be multithreaded
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get
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{
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return (false); // for now we won't be multithreaded
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}
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}
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@ -1213,6 +1374,11 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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private BulletXScene _parent_scene;
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private PhysicsVector m_prev_position = new PhysicsVector(0, 0, 0);
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private bool m_lastUpdateSent = false;
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//added by jed zhu
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private IMesh _mesh;
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public IMesh GetMesh() { return _mesh; }
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public BulletXPrim(String primName, BulletXScene parent_scene, PhysicsVector pos, PhysicsVector size,
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AxiomQuaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
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@ -1416,6 +1582,9 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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float _restitution = 0.0f;
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Matrix _startTransform = Matrix.Identity;
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Matrix _centerOfMassOffset = Matrix.Identity;
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//added by jed zhu
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//_mesh = mesh;
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lock (BulletXScene.BulletXLock)
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{
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_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
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