internal void Step(float timestep, BulletDotNETScene _parent_scene)
{
parent_scene = _parent_scene;
if (m_body == null || m_type == Vehicle.TYPE_NONE)
{
return;
}
/*if (m_prim.m_force.X == 0.0f && m_prim.m_force.Y == 0.0f && m_prim.m_force.Z == 0.0f && m_prim.IsPhysical)
* {
* // keep track of where we stopped. No more slippin' & slidin'
* if (!m_prim._zeroFlag)
* {
* m_prim._zeroFlag = true;
* m_prim.m_zeroPosition.X = m_prim.m_taintposition.X;
* m_prim.m_zeroPosition.Y = m_prim.m_taintposition.Y;
* m_prim.m_zeroPosition.Z = m_prim.m_taintposition.Z;
* m_prim.m_velocity = Vector3.Zero;
* m_prim.Body.setLinearVelocity(new btVector3(0, 0, 0));
* }
* }*/
MoveLinear(timestep);
MoveAngular(timestep);
LimitRotation(timestep);
}
public PhysicsScene GetScene(string sceneIdentifier)
{
if (m_scene == null)
{
m_scene = new BulletDotNETScene(sceneIdentifier);
}
return m_scene;
}
public PhysicsScene GetScene(string sceneIdentifier)
{
if (m_scene == null)
{
m_scene = new BulletDotNETScene(sceneIdentifier);
}
return(m_scene);
}
// private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
m_taintedForce = new PhysicsVector();
m_velocity = new PhysicsVector();
m_target_velocity = new PhysicsVector();
m_position = pos;
m_zeroPosition = new PhysicsVector(pos.X, pos.Y, pos.Z); // this is a class, not a struct. Must make new, or m_zeroPosition will == position regardless
m_acceleration = new PhysicsVector();
m_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_density = density;
heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
for (int i = 0; i < 11; i++)
{
m_colliderarr[i] = false;
}
for (int i = 0; i < 11; i++)
{
m_colliderGroundarr[i] = false;
}
CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
m_parent_scene.AddPhysicsActorTaint(this);
// m_name = avName;
tempVector1 = new btVector3(0, 0, 0);
tempVector2 = new btVector3(0, 0, 0);
tempVector3 = new btVector3(0, 0, 0);
tempVector4 = new btVector3(0, 0, 0);
tempVector5RayCast = new btVector3(0, 0, 0);
tempVector6RayCast = new btVector3(0, 0, 0);
tempVector7RayCast = new btVector3(0, 0, 0);
tempQuat1 = new btQuaternion(0, 0, 0, 1);
tempTrans1 = new btTransform(tempQuat1, tempVector1);
// m_movementComparision = new PhysicsVector(0, 0, 0);
m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
}
internal void Step(float timestep, BulletDotNETScene _parent_scene)
{
parent_scene = _parent_scene;
if (m_body == null || m_type == Vehicle.TYPE_NONE)
return;
/*if (m_prim.m_force.X == 0.0f && m_prim.m_force.Y == 0.0f && m_prim.m_force.Z == 0.0f && m_prim.IsPhysical)
{
// keep track of where we stopped. No more slippin' & slidin'
if (!m_prim._zeroFlag)
{
m_prim._zeroFlag = true;
m_prim.m_zeroPosition.X = m_prim.m_taintposition.X;
m_prim.m_zeroPosition.Y = m_prim.m_taintposition.Y;
m_prim.m_zeroPosition.Z = m_prim.m_taintposition.Z;
m_prim.m_velocity = Vector3.Zero;
m_prim.Body.setLinearVelocity(new btVector3(0, 0, 0));
}
}*/
MoveLinear(timestep);
MoveAngular(timestep);
LimitRotation(timestep);
}
public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
m_position = pos;
m_zeroPosition = pos;
m_parent_scene = parent_scene;
PID_D = pid_d;
PID_P = pid_p;
CAPSULE_RADIUS = capsule_radius;
m_density = density;
heightFudgeFactor = height_fudge_factor;
walkDivisor = walk_divisor;
runDivisor = rundivisor;
for (int i = 0; i < 11; i++)
{
m_colliderarr[i] = false;
}
for (int i = 0; i < 11; i++)
{
m_colliderGroundarr[i] = false;
}
CAPSULE_LENGTH = (size.Z * 1.15f) - CAPSULE_RADIUS * 2.0f;
m_tainted_CAPSULE_LENGTH = CAPSULE_LENGTH;
m_isPhysical = false; // current status: no ODE information exists
m_tainted_isPhysical = true; // new tainted status: need to create ODE information
m_parent_scene.AddPhysicsActorTaint(this);
// m_name = avName;
tempVector1 = new btVector3(0, 0, 0);
tempVector2 = new btVector3(0, 0, 0);
tempVector3 = new btVector3(0, 0, 0);
tempVector4 = new btVector3(0, 0, 0);
tempVector5RayCast = new btVector3(0, 0, 0);
tempVector6RayCast = new btVector3(0, 0, 0);
tempVector7RayCast = new btVector3(0, 0, 0);
tempQuat1 = new btQuaternion(0, 0, 0, 1);
tempTrans1 = new btTransform(tempQuat1, tempVector1);
// m_movementComparision = new PhysicsVector(0, 0, 0);
m_CapsuleOrientationAxis = new btVector3(1, 0, 1);
}
private void setMesh(BulletDotNETScene _parent_scene, IMesh mesh)
{
// TODO: Set Collision Body Mesh
// This sleeper is there to moderate how long it takes between
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
m_log.Debug("_________SetMesh");
Thread.Sleep(10);
//Kill Body so that mesh can re-make the geom
if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero)
{
if (childPrim)
{
if (_parent != null)
{
BulletDotNETPrim parent = (BulletDotNETPrim)_parent;
parent.ChildDelink(this);
}
}
else
{
//disableBody();
}
}
//IMesh oldMesh = primMesh;
//primMesh = mesh;
//float[] vertexList = primMesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
//int[] indexList = primMesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
////Array.Reverse(indexList);
//primMesh.releaseSourceMeshData(); // free up the original mesh data to save memory
IMesh oldMesh = primMesh;
primMesh = mesh;
float[] vertexList = mesh.getVertexListAsFloatLocked(); // Note, that vertextList is pinned in memory
int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
//Array.Reverse(indexList);
mesh.releaseSourceMeshData(); // free up the original mesh data to save memory
int VertexCount = vertexList.GetLength(0) / 3;
int IndexCount = indexList.GetLength(0);
if (btshapeArray != null && btshapeArray.Handle != IntPtr.Zero)
btshapeArray.Dispose();
//Array.Reverse(indexList);
btshapeArray = new btTriangleIndexVertexArray(IndexCount / 3, indexList, (3 * sizeof(int)),
VertexCount, vertexList, 3 * sizeof(float));
SetCollisionShape(new btGImpactMeshShape(btshapeArray));
//((btGImpactMeshShape) prim_geom).updateBound();
((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape)prim_geom).updateBound();
_parent_scene.SetUsingGImpact();
//if (oldMesh != null)
//{
// oldMesh.releasePinned();
// oldMesh = null;
//}
}
public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
{
tempPosition1 = new btVector3(0, 0, 0);
tempPosition2 = new btVector3(0, 0, 0);
tempPosition3 = new btVector3(0, 0, 0);
tempSize1 = new btVector3(0, 0, 0);
tempSize2 = new btVector3(0, 0, 0);
tempLinearVelocity1 = new btVector3(0, 0, 0);
tempLinearVelocity2 = new btVector3(0, 0, 0);
tempAngularVelocity1 = new btVector3(0, 0, 0);
tempAngularVelocity2 = new btVector3(0, 0, 0);
tempInertia1 = new btVector3(0, 0, 0);
tempInertia2 = new btVector3(0, 0, 0);
tempOrientation1 = new btQuaternion(0, 0, 0, 1);
tempOrientation2 = new btQuaternion(0, 0, 0, 1);
_parent_scene = parent_scene;
tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
tempTransform2 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempTransform3 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempTransform4 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempMotionState1 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero);
AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize);
int regionsize = (int)Constants.RegionSize;
if (regionsize == 256)
regionsize = 512;
AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
_target_velocity = Vector3.Zero;
_velocity = Vector3.Zero;
_position = pos;
m_taintposition = pos;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
m_density = parent_scene.geomDefaultDensity;
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
// body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = null;
Body = null;
if (size.X <= 0) size.X = 0.01f;
if (size.Y <= 0) size.Y = 0.01f;
if (size.Z <= 0) size.Z = 0.01f;
_size = size;
m_taintsize = _size;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
_orientation = rotation;
m_taintrot = _orientation;
_mesh = mesh;
_pbs = pbs;
_parent_scene = parent_scene;
if (pos.Z < 0)
m_isphysical = false;
else
{
m_isphysical = pisPhysical;
// If we're physical, we need to be in the master space for now.
// linksets *should* be in a space together.. but are not currently
}
m_primName = primName;
m_taintadd = true;
_parent_scene.AddPhysicsActorTaint(this);
}
