public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
frameInAloc, frameInArot, frameInBloc, frameInBrot,
disableCollisionsBetweenLinkedBodies);
m_enabled = true;
}
public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
pivotInA, pivotInB, axisInA, axisInB,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
}
public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1Loc, Quaternion frame1Rot,
Vector3 frame2Loc, Quaternion frame2Rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
:base(world, obj1, obj2)
{
m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
frame1Loc, frame1Rot, frame2Loc, frame2Rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
}
// Create a btGeneric6DofConstraint
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
frame1, frame1rot,
frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
world.physicsScene.DetailLog(
"{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
}
// 6 Dof constraint based on a midpoint between the two constrained bodies
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
{
world.physicsScene.DetailLog(
"{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
world.physicsScene.Logger.ErrorFormat(
"{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
m_enabled = false;
}
else
{
m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
PhysicsScene.DetailLog(
"{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.AddrString,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
if (!m_constraint.HasPhysicalConstraint)
{
world.physicsScene.Logger.ErrorFormat(
"{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
}
public virtual void ResetConstraintSolver(BulletWorld sim)
{
}
public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
out int updatedEntityCount, out int collidersCount);
public virtual void DumpActivationInfo(BulletWorld sim)
{
}
public virtual void DumpPhysicsStatistics(BulletWorld sim)
{
}
public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
{
}
public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj);
// ===================================================================================== // btDynamicsWorld entries // public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot); public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
public abstract void Shutdown(BulletWorld sim);
public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
public abstract BulletShape CreateHullShape(BulletWorld world,
int hullCount, float[] hulls);
public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
public abstract BulletShape CreateConvexHullShape(BulletWorld world,
int indicesCount, int[] indices,
int verticesCount, float[] vertices);
public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain,
bool disableCollisionsBetweenLinkedObjects);
public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool disableCollisionsBetweenLinkedBodies);
// =====================================================================================
// Debugging
public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
{
}
public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 axisInA, Vector3 axisInB,
float ratio, bool disableCollisionsBetweenLinkedBodies);
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
bool disableCollisionsBetweenLinkedBodies);
public virtual void DumpAllInfo(BulletWorld sim)
{
}
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
public virtual void ResetBroadphasePool(BulletWorld sim)
{
}
// ===================================================================================== // btCollisionWorld entries public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
public BSConstraintCollection(BulletWorld world)
{
m_world = world;
m_constraints = new List<BSConstraint>();
}
public abstract void UpdateAabbs(BulletWorld world);