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OpenSimMirror/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs

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/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.IO;
using System.Runtime.InteropServices;
using System.Text;
using OpenSim.Framework;
using OpenMetaverse;
using BulletXNA;
using BulletXNA.LinearMath;
using BulletXNA.BulletCollision;
using BulletXNA.BulletDynamics;
using BulletXNA.BulletCollision.CollisionDispatch;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSAPIXNA : BSAPITemplate
{
private sealed class BulletWorldXNA : BulletWorld
{
public DiscreteDynamicsWorld world;
public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx)
: base(id, physScene)
{
world = xx;
}
}
private sealed class BulletBodyXNA : BulletBody
{
public CollisionObject body;
public RigidBody rigidBody { get { return RigidBody.Upcast(body); } }
public BulletBodyXNA(uint id, CollisionObject xx)
: base(id)
{
body = xx;
}
public override bool HasPhysicalBody
{
get { return body != null; }
}
public override void Clear()
{
body = null;
}
public override string AddrString
{
get { return "XNARigidBody"; }
}
}
private sealed class BulletShapeXNA : BulletShape
{
public CollisionShape shape;
public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ)
: base()
{
shape = xx;
shapeType = typ;
}
public override bool HasPhysicalShape
{
get { return shape != null; }
}
public override void Clear()
{
shape = null;
}
public override BulletShape Clone()
{
return new BulletShapeXNA(shape, shapeType);
}
public override bool ReferenceSame(BulletShape other)
{
BulletShapeXNA otheru = other as BulletShapeXNA;
return (otheru != null) && (this.shape == otheru.shape);
}
public override string AddrString
{
get { return "XNACollisionShape"; }
}
}
private sealed class BulletConstraintXNA : BulletConstraint
{
public TypedConstraint constrain;
public BulletConstraintXNA(TypedConstraint xx) : base()
{
constrain = xx;
}
public override void Clear()
{
constrain = null;
}
public override bool HasPhysicalConstraint { get { return constrain != null; } }
// Used for log messages for a unique display of the memory/object allocated to this instance
public override string AddrString
{
get { return "XNAConstraint"; }
}
}
internal int m_maxCollisions;
internal CollisionDesc[] UpdatedCollisions;
internal int LastCollisionDesc = 0;
internal int m_maxUpdatesPerFrame;
internal int LastEntityProperty = 0;
internal EntityProperties[] UpdatedObjects;
internal Dictionary<uint, GhostObject> specialCollisionObjects;
private static int m_collisionsThisFrame;
private BSScene PhysicsScene { get; set; }
public override string BulletEngineName { get { return "BulletXNA"; } }
public override string BulletEngineVersion { get; protected set; }
public BSAPIXNA(string paramName, BSScene physScene)
{
PhysicsScene = physScene;
}
/// <summary>
///
/// </summary>
/// <param name="p"></param>
/// <param name="p_2"></param>
public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
{
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;
}
public override bool ClearCollisionProxyCache(BulletWorld pWorld, BulletBody pBody)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
CollisionObject collisionObject = ((BulletBodyXNA)pBody).body;
if (body != null && collisionObject != null && collisionObject.GetBroadphaseHandle() != null)
{
world.RemoveCollisionObject(collisionObject);
world.AddCollisionObject(collisionObject);
}
return true;
}
public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
return true;
}
public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.RemoveConstraint(constraint);
return true;
}
public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetRestitution(pRestitution);
}
public override int GetShapeType(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return (int)shape.GetShapeType();
}
public override void SetMargin(BulletShape pShape, float pMargin)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
shape.SetMargin(pMargin);
}
public override float GetMargin(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.GetMargin();
}
public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
shape.SetLocalScaling(ref vec);
}
public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
collisionObject.SetContactProcessingThreshold(contactprocessingthreshold);
}
public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
}
public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
}
public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
}
public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
existingcollisionFlags |= pcollisionFlags;
collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
return (CollisionFlags) (uint) existingcollisionFlags;
}
public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionObject cbody = (pBody as BulletBodyXNA).body;
RigidBody rbody = cbody as RigidBody;
// Bullet resets several variables when an object is added to the world. In particular,
// BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
// type. Of course, the collision flags in the broadphase proxy are initialized to default.
IndexedMatrix origPos = cbody.GetWorldTransform();
if (rbody != null)
{
IndexedVector3 origGrav = rbody.GetGravity();
world.AddRigidBody(rbody);
rbody.SetGravity(origGrav);
}
else
{
world.AddCollisionObject(cbody);
}
cbody.SetWorldTransform(origPos);
pBody.ApplyCollisionMask(pWorld.physicsScene);
//if (body.GetBroadphaseHandle() != null)
// world.UpdateSingleAabb(body);
return true;
}
public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
}
public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
world.UpdateSingleAabb(collisionObject);
}
public override void UpdateAabbs(BulletWorld pWorld) {
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
world.UpdateAabbs();
}
public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
return world.GetForceUpdateAllAabbs();
}
public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
world.SetForceUpdateAllAabbs(pForce);
}
public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
{
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)
return false;
return true;
}
public override void ClearAllForces(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
collisionObject.SetInterpolationLinearVelocity(ref zeroVector);
collisionObject.SetInterpolationAngularVelocity(ref zeroVector);
IndexedMatrix bodytransform = collisionObject.GetWorldTransform();
collisionObject.SetInterpolationWorldTransform(ref bodytransform);
if (collisionObject is RigidBody)
{
RigidBody rigidbody = collisionObject as RigidBody;
rigidbody.SetLinearVelocity(zeroVector);
rigidbody.SetAngularVelocity(zeroVector);
rigidbody.ClearForces();
}
}
public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
collisionObject.SetInterpolationAngularVelocity(ref vec);
}
public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
body.SetAngularVelocity(ref vec);
}
public override Vector3 GetTotalForce(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetTotalForce();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetTotalTorque(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetTotalTorque();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
body.SetInvInertiaDiagLocal(ref iv3);
}
public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
body.ApplyForce(ref forceiv3, ref posiv3);
}
public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
body.ApplyImpulse(ref impiv3, ref posiv3);
}
public override void ClearForces(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.ClearForces();
}
public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
{
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);
IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
mat._origin = vposition;
collisionObject.SetWorldTransform(mat);
}
public override Vector3 GetPosition(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin;
return new Vector3(pos.X, pos.Y, pos.Z);
}
public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
IndexedVector3 inertia = IndexedVector3.Zero;
shape.CalculateLocalInertia(pphysMass, out inertia);
return new Vector3(inertia.X, inertia.Y, inertia.Z);
}
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)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
body.SetTotalForce(ref force);
}
public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
collisionObject.SetFriction(_currentFriction);
}
public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
body.SetLinearVelocity(velocity);
}
public override void Activate(BulletBody pCollisionObject, bool pforceactivation)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
collisionObject.Activate(pforceactivation);
}
public override Quaternion GetOrientation(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation();
return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
}
public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
existingcollisionFlags &= ~pcollisionFlags;
collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
return (CollisionFlags)(uint)existingcollisionFlags;
}
public override float GetCcdMotionThreshold(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
return collisionObject.GetCcdSquareMotionThreshold();
}
public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
return collisionObject.GetCcdSweptSphereRadius();
}
public override IntPtr GetUserPointer(BulletBody pCollisionObject)
{
CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
return (IntPtr)shape.GetUserPointer();
}
public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val)
{
CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
shape.SetUserPointer(val);
}
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)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.RemoveConstraint(constraint);
return true;
}
public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
constraint.SetLinearLowerLimit(lowlimit);
constraint.SetLinearUpperLimit(highlimit);
return true;
}
public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
constraint.SetAngularLowerLimit(lowlimit);
constraint.SetAngularUpperLimit(highlimit);
return true;
}
public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetOverrideNumSolverIterations((int)cnt);
}
public override bool CalculateTransforms(BulletConstraint pConstraint)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.CalculateTransforms();
return true;
}
public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetEnabled((p_2 == 0) ? false : true);
}
public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
puseLinearReferenceFrameA);
consttr.CalculateTransforms();
world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
return new BulletConstraintXNA(consttr);
}
public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1,
Vector3 pframe1, Quaternion pframe1rot,
bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB);
consttr.CalculateTransforms();
world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
return new BulletConstraintXNA(consttr);
}
/// <summary>
///
/// </summary>
/// <param name="pWorld"></param>
/// <param name="pBody1"></param>
/// <param name="pBody2"></param>
/// <param name="pjoinPoint"></param>
/// <param name="puseLinearReferenceFrameA"></param>
/// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
/// <returns></returns>
public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
IndexedMatrix mat = IndexedMatrix.Identity;
mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
consttr.CalculateTransforms();
world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
return new BulletConstraintXNA(consttr);
}
//SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
constraint.SetFrames(ref frame1, ref frame2);
return true;
}
public override Vector3 GetLinearVelocity(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetLinearVelocity();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetAngularVelocity(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetAngularVelocity();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override void Translate(BulletBody pCollisionObject, Vector3 trans)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z));
}
public override void UpdateDeactivation(BulletBody pBody, float timeStep)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.UpdateDeactivation(timeStep);
}
public override bool WantsSleeping(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return body.WantsSleeping();
}
public override void SetAngularFactor(BulletBody pBody, float factor)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetAngularFactor(factor);
}
public override Vector3 GetAngularFactor(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetAngularFactor();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
return world.IsInWorld(collisionObject);
}
public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
body.AddConstraintRef(constrain);
}
public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
body.RemoveConstraintRef(constrain);
}
public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return new BulletConstraintXNA(body.GetConstraintRef(index));
}
public override int GetNumConstraintRefs(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return body.GetNumConstraintRefs();
}
public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
collisionObject.SetInterpolationLinearVelocity(ref velocity);
}
public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetUseFrameOffset((onOff == 0) ? false : true);
return true;
}
//SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
{
Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetBreakingImpulseThreshold(threshold);
return true;
}
public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation)
{
HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint;
if (softness == HINGE_NOT_SPECIFIED)
constraint.SetLimit(low, high);
else
constraint.SetLimit(low, high, softness, bias, relaxation);
return true;
}
public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true));
return true;
}
public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
if (index == SPRING_NOT_SPECIFIED)
{
constraint.SetEquilibriumPoint();
}
else
{
if (equilibriumPoint == SPRING_NOT_SPECIFIED)
constraint.SetEquilibriumPoint(index);
else
constraint.SetEquilibriumPoint(index, equilibriumPoint);
}
return true;
}
public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
constraint.SetStiffness(index, stiffness);
return true;
}
public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping)
{
Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint;
constraint.SetDamping(index, damping);
return true;
}
public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (lowerUpper)
{
case SLIDER_LOWER_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetLowerLinLimit(val);
break;
case SLIDER_ANGULAR:
constraint.SetLowerAngLimit(val);
break;
}
break;
case SLIDER_UPPER_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetUpperLinLimit(val);
break;
case SLIDER_ANGULAR:
constraint.SetUpperAngLimit(val);
break;
}
break;
}
return true;
}
public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (softRestDamp)
{
case SLIDER_SET_SOFTNESS:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break;
}
break;
}
break;
case SLIDER_SET_RESTITUTION:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break;
}
break;
}
break;
case SLIDER_SET_DAMPING:
switch (dirLimOrtho)
{
case SLIDER_SET_DIRECTION:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break;
}
break;
case SLIDER_SET_LIMIT:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break;
}
break;
case SLIDER_SET_ORTHO:
switch (linAng)
{
case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break;
case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break;
}
break;
}
break;
}
return true;
}
public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true);
break;
case SLIDER_ANGULAR:
constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true);
break;
}
return true;
}
public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val)
{
SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint;
switch (forceVel)
{
case SLIDER_MOTOR_VELOCITY:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetTargetLinMotorVelocity(val);
break;
case SLIDER_ANGULAR:
constraint.SetTargetAngMotorVelocity(val);
break;
}
break;
case SLIDER_MAX_MOTOR_FORCE:
switch (linAng)
{
case SLIDER_LINEAR:
constraint.SetMaxLinMotorForce(val);
break;
case SLIDER_ANGULAR:
constraint.SetMaxAngMotorForce(val);
break;
}
break;
}
return true;
}
//BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
public override void SetAngularDamping(BulletBody pBody, float angularDamping)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
float lineardamping = body.GetLinearDamping();
body.SetDamping(lineardamping, angularDamping);
}
public override void UpdateInertiaTensor(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
if (body != null) // can't update inertia tensor on CollisionObject
body.UpdateInertiaTensor();
}
public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
{
CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
shape.RecalculateLocalAabb();
}
//BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
uint flags = (uint)collisionObject.GetCollisionFlags();
return (CollisionFlags) flags;
}
public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetDamping(pLinear, pAngular);
}
//PhysBody.ptr, PhysicsScene.Params.deactivationTime);
public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
collisionObject.SetDeactivationTime(pDeactivationTime);
}
//SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
}
public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
}
public override void ApplyGravity(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.ApplyGravity();
}
public override Vector3 GetGravity(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 gravity = body.GetGravity();
return new Vector3(gravity.X, gravity.Y, gravity.Z);
}
public override void SetLinearDamping(BulletBody pBody, float lin_damping)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
float angularDamping = body.GetAngularDamping();
body.SetDamping(lin_damping, angularDamping);
}
public override float GetLinearDamping(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return body.GetLinearDamping();
}
public override float GetAngularDamping(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return body.GetAngularDamping();
}
public override float GetLinearSleepingThreshold(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return body.GetLinearSleepingThreshold();
}
public override void ApplyDamping(BulletBody pBody, float timeStep)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.ApplyDamping(timeStep);
}
public override Vector3 GetLinearFactor(BulletBody pBody)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 linearFactor = body.GetLinearFactor();
return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z);
}
public override void SetLinearFactor(BulletBody pBody, Vector3 factor)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z));
}
public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W);
IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat);
mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z);
body.SetCenterOfMassTransform( ref mat);
/* TODO: double check this */
}
//BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyCentralForce(ref fSum);
}
public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyCentralImpulse(ref fSum);
}
public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyTorque(ref fSum);
}
public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
{
RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyTorqueImpulse(ref fSum);
}
public override void DestroyObject(BulletWorld pWorld, BulletBody pBody)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionObject co = (pBody as BulletBodyXNA).rigidBody;
RigidBody bo = co as RigidBody;
if (bo == null)
{
if (world.IsInWorld(co))
{
world.RemoveCollisionObject(co);
}
}
else
{
if (world.IsInWorld(bo))
{
world.RemoveRigidBody(bo);
}
}
if (co != null)
{
if (co.GetUserPointer() != null)
{
uint localId = (uint) co.GetUserPointer();
if (specialCollisionObjects.ContainsKey(localId))
{
specialCollisionObjects.Remove(localId);
}
}
}
}
public override void Shutdown(BulletWorld pWorld)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
world.Cleanup();
}
public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id)
{
CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
// TODO: Turn this from a reference copy to a Value Copy.
BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType()));
return shape2;
}
public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape)
{
//TODO:
return false;
}
//(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
CollisionWorld world = (pWorld as BulletWorldXNA).world;
IndexedMatrix mat =
IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
pRawOrientation.Z, pRawOrientation.W));
mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
CollisionShape shape = (pShape as BulletShapeXNA).shape;
//UpdateSingleAabb(world, shape);
// TODO: Feed Update array into null
SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null);
RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero)
{
m_mass = 0
};
/*
m_mass = mass;
m_motionState =motionState;
m_collisionShape = collisionShape;
m_localInertia = localInertia;
m_linearDamping = 0f;
m_angularDamping = 0f;
m_friction = 0.5f;
m_restitution = 0f;
m_linearSleepingThreshold = 0.8f;
m_angularSleepingThreshold = 1f;
m_additionalDamping = false;
m_additionalDampingFactor = 0.005f;
m_additionalLinearDampingThresholdSqr = 0.01f;
m_additionalAngularDampingThresholdSqr = 0.01f;
m_additionalAngularDampingFactor = 0.01f;
m_startWorldTransform = IndexedMatrix.Identity;
*/
body.SetUserPointer(pLocalID);
return new BulletBodyXNA(pLocalID, body);
}
public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
IndexedMatrix mat =
IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
pRawOrientation.Z, pRawOrientation.W));
mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
CollisionShape shape = (pShape as BulletShapeXNA).shape;
// TODO: Feed Update array into null
RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
body.SetWorldTransform(mat);
body.SetUserPointer(pLocalID);
return new BulletBodyXNA(pLocalID, body);
}
//(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
return (CollisionFlags)collisionObject.GetCollisionFlags();
}
public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
{
/* TODO */
return Vector3.Zero;
}
public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
public override bool IsStaticObject(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
return collisionObject.IsStaticObject();
}
public override bool IsKinematicObject(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
return collisionObject.IsKinematicObject();
}
public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
return collisionObject.IsStaticOrKinematicObject();
}
public override bool HasContactResponse(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
return collisionObject.HasContactResponse();
}
public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
public override bool IsActive(BulletBody pBody) { /* TODO */ return false; }
public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; }
public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; }
public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ }
public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
//(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
collisionObject.SetHitFraction(pHitFraction);
}
//BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
capsuleShapeZ.SetLocalScaling(ref scale);
return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ;
}
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
)
{
UpdatedObjects = updateArray;
UpdatedCollisions = collisionArray;
/* TODO */
ConfigurationParameters[] configparms = new ConfigurationParameters[1];
configparms[0] = parms;
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));
}
private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
ConfigurationParameters[] o,
int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
p.angularDamping = BSParam.AngularDamping;
p.defaultFriction = o[0].defaultFriction;
p.defaultFriction = o[0].defaultFriction;
p.defaultDensity = o[0].defaultDensity;
p.defaultRestitution = o[0].defaultRestitution;
p.collisionMargin = o[0].collisionMargin;
p.gravity = o[0].gravity;
p.linearDamping = BSParam.LinearDamping;
p.angularDamping = BSParam.AngularDamping;
p.deactivationTime = BSParam.DeactivationTime;
p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
p.terrainImplementation = BSParam.TerrainImplementation;
p.terrainFriction = BSParam.TerrainFriction;
p.terrainHitFraction = BSParam.TerrainHitFraction;
p.terrainRestitution = BSParam.TerrainRestitution;
p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
p.avatarFriction = BSParam.AvatarFriction;
p.avatarStandingFriction = BSParam.AvatarStandingFriction;
p.avatarDensity = BSParam.AvatarDensity;
p.avatarRestitution = BSParam.AvatarRestitution;
p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
p.numberOfSolverIterations = o[0].numberOfSolverIterations;
p.linksetImplementation = BSParam.LinksetImplementation;
p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset);
p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor);
p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
p.linkConstraintERP = BSParam.LinkConstraintERP;
p.linkConstraintCFM = BSParam.LinkConstraintCFM;
p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
p.physicsLoggingFrames = o[0].physicsLoggingFrames;
DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
if (p.maxPersistantManifoldPoolSize > 0)
cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
if (p.shouldDisableContactPoolDynamicAllocation !=0)
m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
//if (p.maxCollisionAlgorithmPoolSize >0 )
DbvtBroadphase m_broadphase = new DbvtBroadphase();
//IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
//IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
//AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
world.LastCollisionDesc = 0;
world.LastEntityProperty = 0;
world.WorldSettings.Params = p;
world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
if (p.shouldRandomizeSolverOrder != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
//world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
if (p.shouldEnableFrictionCaching != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
if (p.numberOfSolverIterations > 0)
world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
world.GetSolverInfo().m_globalCfm = 0.0f;
world.GetSolverInfo().m_tau = 0.6f;
world.GetSolverInfo().m_friction = 0.3f;
world.GetSolverInfo().m_maxErrorReduction = 20f;
world.GetSolverInfo().m_numIterations = 10;
world.GetSolverInfo().m_erp = 0.2f;
world.GetSolverInfo().m_erp2 = 0.1f;
world.GetSolverInfo().m_sor = 1.0f;
world.GetSolverInfo().m_splitImpulse = false;
world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
world.GetSolverInfo().m_linearSlop = 0.0f;
world.GetSolverInfo().m_warmstartingFactor = 0.85f;
world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
world.SetForceUpdateAllAabbs(true);
//BSParam.TerrainImplementation = 0;
world.SetGravity(new IndexedVector3(0,0,p.gravity));
// Turn off Pooling since globals and pooling are bad for threading.
BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
BulletGlobals.CastResultPool.SetPoolingEnabled(false);
BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);
BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
BulletGlobals.GJKPool.SetPoolingEnabled(false);
BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);
return world;
}
//m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
{
Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
}
if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
}
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
}
return true;
}
public override bool PushUpdate(BulletBody pCollisionObject)
{
bool ret = false;
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
RigidBody rb = collisionObject as RigidBody;
if (rb != null)
{
SimMotionState sms = rb.GetMotionState() as SimMotionState;
if (sms != null)
{
IndexedMatrix wt = IndexedMatrix.Identity;
sms.GetWorldTransform(out wt);
sms.SetWorldTransform(ref wt, true);
ret = true;
}
}
return ret;
}
public override float GetAngularMotionDisc(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.GetAngularMotionDisc();
}
public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.GetContactBreakingThreshold(defaultFactor);
}
public override bool IsCompound(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsCompound();
}
public override bool IsSoftBody(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsSoftBody();
}
public override bool IsPolyhedral(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsPolyhedral();
}
public override bool IsConvex2d(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsConvex2d();
}
public override bool IsConvex(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsConvex();
}
public override bool IsNonMoving(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsNonMoving();
}
public override bool IsConcave(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsConcave();
}
public override bool IsInfinite(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsInfinite();
}
public override bool IsNativeShape(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
bool ret;
switch (shape.GetShapeType())
{
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
ret = true;
break;
default:
ret = false;
break;
}
return ret;
}
public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
shape.SetMargin(pMargin);
}
//sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedMatrix bodyTransform = new IndexedMatrix();
bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
GhostObject gObj = new PairCachingGhostObject();
gObj.SetWorldTransform(bodyTransform);
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);
}
public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
if (pShape == null)
{
collisionObject.SetCollisionShape(new EmptyShape());
}
else
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
collisionObject.SetCollisionShape(shape);
}
}
public override BulletShape GetCollisionShape(BulletBody pCollisionObject)
{
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
CollisionShape shape = collisionObject.GetCollisionShape();
return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
}
//(PhysicsScene.World.ptr, nativeShapeData)
public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionShape shape = null;
switch (pShapeData.Type)
{
case BSPhysicsShapeType.SHAPE_BOX:
shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
break;
case BSPhysicsShapeType.SHAPE_CONE:
shape = new ConeShapeZ(0.5f, 1.0f);
break;
case BSPhysicsShapeType.SHAPE_CYLINDER:
shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
break;
case BSPhysicsShapeType.SHAPE_SPHERE:
shape = new SphereShape(0.5f);
break;
}
if (shape != null)
{
IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
shape.SetMargin(world.WorldSettings.Params.collisionMargin);
shape.SetLocalScaling(ref scaling);
}
return new BulletShapeXNA(shape, pShapeData.Type);
}
//PhysicsScene.World.ptr, false
public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree)
{
return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND);
}
public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
{
CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
return compoundshape.GetNumChildShapes();
}
//LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
{
IndexedMatrix relativeTransform = new IndexedMatrix();
CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
CollisionShape addshape = (paddShape as BulletShapeXNA).shape;
relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
compoundshape.AddChildShape(ref relativeTransform, addshape);
}
public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
{
CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
CollisionShape ret = null;
ret = compoundshape.GetChildShape(pii);
compoundshape.RemoveChildShapeByIndex(pii);
return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType()));
}
public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) {
if (cShape == null)
return null;
CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape;
CollisionShape shape = compoundShape.GetChildShape(indx);
BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType()));
return retShape;
}
public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin)
{
BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
switch (pin)
{
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_BOX;
break;
case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
break;
case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_HULL;
break;
case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
//implicit convex shapes
case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_SPHERE;
break;
case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_CAPSULE;
break;
case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_CONE;
break;
case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_CONVEXHULL;
break;
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_CYLINDER;
break;
case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
//concave shape
case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_MESH;
break;
case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_MESH;
break;
///used for demo integration FAST/Swift collision library and Bullet
case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_MESH;
break;
//terrain
case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_HEIGHTMAP;
break;
///Used for GIMPACT Trimesh integration
case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_GIMPACT;
break;
///Multimaterial mesh
case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_MESH;
break;
case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_GROUNDPLANE;
break;
case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_COMPOUND;
break;
case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_MESH;
break;
case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE:
ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
break;
}
return ret;
}
public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ }
public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ }
public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
{
StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
m_planeshape.SetMargin(pcollisionMargin);
m_planeshape.SetUserPointer(pLocalId);
return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
}
public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot,
bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
Generic6DofSpringConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
if (body1 != null && body2 != null)
{
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
constrain.CalculateTransforms();
}
return new BulletConstraintXNA(constrain);
}
public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB,
bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
HingeConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
return new BulletConstraintXNA(constrain);
}
public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 pframe1, Quaternion pframe1rot,
Vector3 pframe2, Quaternion pframe2rot,
bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
SliderConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
return new BulletConstraintXNA(constrain);
}
public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 pframe1, Quaternion pframe1rot,
Vector3 pframe2, Quaternion pframe2rot,
bool pdisableCollisionsBetweenLinkedBodies)
{
ConeTwistConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
return new BulletConstraintXNA(constrain);
}
public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 paxisInA, Vector3 paxisInB,
float pratio, bool pdisableCollisionsBetweenLinkedBodies)
{
Generic6DofConstraint constrain = null;
/* BulletXNA does not have a gear constraint
GearConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
*/
return new BulletConstraintXNA(constrain);
}
public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 ppivotInA, Vector3 ppivotInB,
bool pdisableCollisionsBetweenLinkedBodies)
{
Point2PointConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
return new BulletConstraintXNA(constrain);
}
public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CompoundShape compoundshape = new CompoundShape(false);
compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
int ii = 1;
for (int i = 0; i < pHullCount; i++)
{
int vertexCount = (int) pConvHulls[ii];
IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
IndexedMatrix childTrans = IndexedMatrix.Identity;
childTrans._origin = centroid;
List<IndexedVector3> virts = new List<IndexedVector3>();
int ender = ((ii + 4) + (vertexCount*3));
for (int iii = ii + 4; iii < ender; iii+=3)
{
virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
}
ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
compoundshape.AddChildShape(ref childTrans, convexShape);
ii += (vertexCount*3 + 4);
}
return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
}
public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms)
{
/* TODO */ return null;
}
public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
{
/* TODO */ return null;
}
public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
/* TODO */ return null;
}
public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
//DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
for (int iter = 0; iter < pVerticesCount; iter++)
{
if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
}
ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount/3;
mesh.m_numVertices = pVerticesCount;
mesh.m_triangleIndexBase = indicesarr;
mesh.m_vertexBase = vertices;
mesh.m_vertexStride = 3;
mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
mesh.m_triangleIndexStride = 3;
TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
// world.UpdateSingleAabb(meshShape);
return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH);
}
public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
// TODO:
return null;
}
public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
{
String fileName = "objTest3.raw";
String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
StreamWriter sw = new StreamWriter(completePath);
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount / 3;
mesh.m_numVertices = pVerticesCount;
mesh.m_triangleIndexBase = indices;
mesh.m_vertexBase = vertices;
mesh.m_vertexStride = 3;
mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
mesh.m_triangleIndexStride = 3;
TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
for (int i = 0; i < pVerticesCount; i++)
{
string s = vertices[indices[i * 3]].ToString("0.0000");
s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
sw.Write(s + "\n");
}
sw.Close();
}
public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
{
String fileName = "objTest6.raw";
String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
StreamWriter sw = new StreamWriter(completePath);
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount / 3;
mesh.m_numVertices = pVerticesCount;
mesh.m_triangleIndexBase = indices;
mesh.m_vertexBase = vertices;
mesh.m_vertexStride = 3;
mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
mesh.m_triangleIndexStride = 3;
TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
sw.WriteLine("Indices");
sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
for (int iter = 0; iter < indices.Length; iter++)
{
sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
}
sw.WriteLine("VerticesFloats");
sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
for (int iter = 0; iter < vertices.Length; iter++)
{
sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
}
// for (int i = 0; i < pVerticesCount; i++)
// {
//
// string s = vertices[indices[i * 3]].ToString("0.0000");
// s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
// s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
//
// sw.Write(s + "\n");
//}
sw.Close();
}
public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap,
float scaleFactor, float collisionMargin)
{
const int upAxis = 2;
HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y,
heightMap, scaleFactor,
minHeight, maxHeight, upAxis,
false);
terrainShape.SetMargin(collisionMargin);
terrainShape.SetUseDiamondSubdivision(true);
terrainShape.SetUserPointer(id);
return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN);
}
public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
{
TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
bool onOff = ponOff != 0;
bool ret = false;
switch (tconstrain.GetConstraintType())
{
case TypedConstraintType.D6_CONSTRAINT_TYPE:
Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint;
constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
ret = true;
break;
}
return ret;
}
public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
out int updatedEntityCount, out int collidersCount)
{
/* TODO */
updatedEntityCount = 0;
collidersCount = 0;
int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
return ret;
}
private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
out int updatedEntityCount, out EntityProperties[] updatedEntities,
out int collidersCount, out CollisionDesc[] colliders)
{
int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame);
return epic;
}
private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
{
int numSimSteps = 0;
Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length);
Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length);
LastEntityProperty=0;
LastCollisionDesc=0;
updatedEntityCount = 0;
collidersCount = 0;
if (pWorld is BulletWorldXNA)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
world.LastCollisionDesc = 0;
world.LastEntityProperty = 0;
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++)
{
contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
int numContacts = contactManifold.GetNumContacts();
if (numContacts == 0)
continue;
objA = contactManifold.GetBody0() as CollisionObject;
objB = contactManifold.GetBody1() as CollisionObject;
manifoldPoint = contactManifold.GetContactPoint(0);
//IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
// IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance());
m_collisionsThisFrame ++;
if (m_collisionsThisFrame >= 9999999)
break;
}
foreach (GhostObject ghostObject in specialCollisionObjects.Values)
{
pairCachingGhostObject = ghostObject as PairCachingGhostObject;
if (pairCachingGhostObject != null)
{
RecordGhostCollisions(pairCachingGhostObject);
}
}
updatedEntityCount = LastEntityProperty;
updatedEntities = UpdatedObjects;
collidersCount = LastCollisionDesc;
colliders = UpdatedCollisions;
}
else
{
//if (updatedEntities is null)
//updatedEntities = new List<BulletXNA.EntityProperties>();
//updatedEntityCount = 0;
//collidersCount = 0;
updatedEntities = new EntityProperties[0];
colliders = new CollisionDesc[0];
}
return numSimSteps;
}
public void RecordGhostCollisions(PairCachingGhostObject obj)
{
IOverlappingPairCache cache = obj.GetOverlappingPairCache();
ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
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++)
{
manifoldArray.Clear();
if (LastCollisionDesc < UpdatedCollisions.Length)
break;
collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
if (collisionPair == null)
continue;
collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
for (int j = 0; j < manifoldArray.Count; j++)
{
contactManifold = manifoldArray[j];
int numContacts = contactManifold.GetNumContacts();
objA = contactManifold.GetBody0() as CollisionObject;
objB = contactManifold.GetBody1() as CollisionObject;
for (int p = 0; p < numContacts; p++)
{
pt = contactManifold.GetContactPoint(p);
if (pt.GetDistance() < 0.0f)
{
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)
{
IndexedVector3 contactNormal = norm;
if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
(objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
{
return;
}
uint idA = (uint)objA.GetUserPointer();
uint idB = (uint)objB.GetUserPointer();
if (idA > idB)
{
uint temp = idA;
idA = idB;
idB = temp;
contactNormal = -contactNormal;
}
//ulong collisionID = ((ulong) idA << 32) | idB;
CollisionDesc cDesc = new CollisionDesc()
{
aID = idA,
bID = idB,
point = new Vector3(contact.X,contact.Y,contact.Z),
normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z),
penetration = penetration
};
if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
m_collisionsThisFrame++;
}
private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
{
EntityProperties ent = new EntityProperties();
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedMatrix transform = collisionObject.GetWorldTransform();
IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
IndexedQuaternion rotation = transform.GetRotation();
ent.Acceleration = Vector3.Zero;
ent.ID = (uint)collisionObject.GetUserPointer();
ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
return ent;
}
public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */
return false; }
public override Vector3 GetLocalScaling(BulletShape pShape)
{
CollisionShape shape = (pShape as BulletShapeXNA).shape;
IndexedVector3 scale = shape.GetLocalScaling();
return new Vector3(scale.X,scale.Y,scale.Z);
}
public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
if (world != null)
{
if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
{
CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
using (
ClosestNotMeRayResultCallback rayCallback =
new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody)
)
{
world.RayTest(ref rOrigin, ref rEnd, rayCallback);
if (rayCallback.HasHit())
{
IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
}
return rayCallback.HasHit();
}
}
}
return false;
}
}
public class SimMotionState : DefaultMotionState
{
public RigidBody Rigidbody;
public Vector3 ZeroVect;
private IndexedMatrix m_xform;
private EntityProperties m_properties;
private EntityProperties m_lastProperties;
private BSAPIXNA m_world;
const float POSITION_TOLERANCE = 0.05f;
const float VELOCITY_TOLERANCE = 0.001f;
const float ROTATION_TOLERANCE = 0.01f;
const float ANGULARVELOCITY_TOLERANCE = 0.01f;
public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
{
IndexedQuaternion OrientationQuaterion = starTransform.GetRotation();
m_properties = new EntityProperties()
{
ID = id,
Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z),
Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W)
};
m_lastProperties = new EntityProperties()
{
ID = id,
Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z),
Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W)
};
m_world = pWorld;
m_xform = starTransform;
}
public override void GetWorldTransform(out IndexedMatrix worldTrans)
{
worldTrans = m_xform;
}
public override void SetWorldTransform(IndexedMatrix worldTrans)
{
SetWorldTransform(ref worldTrans);
}
public override void SetWorldTransform(ref IndexedMatrix worldTrans)
{
SetWorldTransform(ref worldTrans, false);
}
public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force)
{
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)
)
{
// 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)
{
Rigidbody = body;
}
internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon)
{
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)));
}
internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon)
{
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)));
}
}
}
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