public OdeSolid(dWorldID worldID, dSpaceID spaceID)
{
this.worldID = worldID;
this.spaceID = spaceID;
isPlaceable = true;
collisionCount = 0;
nonSymmetricInertia = false;
isFreelySpinning = true;
prevAngVelMagSquared = 0;
data = new SolidData();
if (!data.IsStatic)
{
// Create an ODE body with default ODE mass parameters (total
// mass = 1). This should have an initial mass of 0 until shapes
// are added, but ODE won't allow a mass of 0. This will be
// adjusted appropriately when the first shape is added.
bodyID = this.worldID.CreateBody();
//mBodyID = new Body(mWorldID);
}
Init(data);
}
/// <summary>
/// Attach this joint to some new bodies.
///
/// If the joint is already attached, it will be detached from the old bodies first.
/// To attach this joint to only one body, set body1 or body2 to zero - a zero body
/// refers to the static environment.
/// Setting both bodies to zero puts the joint into "limbo", i.e. it will have no
/// effect on the simulation.
/// Some joints, like hinge-2 need to be attached to two bodies to work.
/// </summary>
public void Attach(dBodyID b1Id, dBodyID b2Id)
{
if (IsNull())
{
return;
}
Tao.Ode.Ode.dJointAttach(this, b1Id, b2Id);
}
protected override void StepPhysics()
{
// Apply linear and angular damping; if using the "add opposing
// forces" method, be sure to do this before calling ODE step
// function.
if (solidList != null)
{
foreach (OdeSolid solid in solidList)
{
if (!solid.Static)
{
if (solid.Sleeping)
{
// Reset velocities, force, & torques of objects that go
// to sleep; ideally, this should happen in the ODE
// source only once - when the object initially goes to
// sleep.
/*ODE.Body body = solid.InternalGetBodyID();
* body.ApplyLinearVelocityDrag(0, 0, 0);
* body.ApplyAngularVelocityDrag(0, 0, 0);
* body.AddForce(0, 0, 0);
* body.AddTorque(0, 0, 0);*/
IntPtr body = solid.InternalGetBodyID();
Tao.Ode.Ode.dBodySetLinearVel(body, 0, 0, 0);
Tao.Ode.Ode.dBodySetAngularVel(body, 0, 0, 0);
Tao.Ode.Ode.dBodySetForce(body, 0, 0, 0);
Tao.Ode.Ode.dBodySetTorque(body, 0, 0, 0);
}
else
{
// Dampen Solid motion. 3 possible methods:
// 1) apply a force/torque in the opposite direction of
// motion scaled by the body's velocity
// 2) same as 1, but scale the opposing force by
// the body's momentum (this automatically handles
// different mass values)
// 3) reduce the body's linear and angular velocity by
// scaling them by 1 - damping * stepsize
/*ODE.Body body = solid.InternalGetBody();
* ODE.Mass mass = body.Mass;*/
dBodyID body = solid.InternalGetBodyID();
Tao.Ode.Ode.dMass mass = body.Mass;
//Tao.Ode.Ode.dBodyGetMass(body, ref mass); // (mike)
// Method 2
// Since the ODE mass.I inertia matrix is local, angular
// velocity and torque also need to be local.
// Linear damping
float linearDamping = solid.LinearDamping;
if (0 != linearDamping)
{
Vector3 lVelGlobal = Tao.Ode.Ode.dBodyGetLinearVel(body); // C# compiler automatically calls an implicit convertion here
// The damping force depends on the damping amount,
// mass, and velocity (i.e. damping amount and
// momentum).
float dampingFactor = -linearDamping * mass.mass;
Vector3 dampingForce = new Vector3(dampingFactor * lVelGlobal.X, dampingFactor * lVelGlobal.Y, dampingFactor * lVelGlobal.Z);
// Add a global force opposite to the global linear
// velocity.
body.AddForce(dampingForce);
//(mike)//Tao.Ode.Ode.dBodyAddForce(body, dampingForce.X, dampingForce.Y, dampingForce.Z);
}
// Angular damping
float angularDamping = solid.AngularDamping;
if (0 != angularDamping)
{
Vector3 aVelGlobal = Tao.Ode.Ode.dBodyGetAngularVel(body); // C# compiler automatically calls an implicit convertion here
//(mike) //Tao.Ode.Ode.dBodyVectorFromWorld(body, aVelGlobal.X, aVelGlobal.Y, aVelGlobal.Z, ref temp);
Vector3 aVelLocal = body.BodyVectorFromWorld(aVelGlobal);
// The damping force depends on the damping amount,
// mass, and velocity (i.e. damping amount and
// momentum).
float dampingFactor = -angularDamping;
Vector3 aMomentum;
// Make adjustments for inertia tensor.
//dMULTIPLYOP0_331( aMomentum, = , mass.I, aVelLocal ); (KleMiX) ???
aMomentum.X = mass.I.M00 * aVelLocal.X + mass.I.M01 * aVelLocal.Y + aVelLocal.X + mass.I.M02 * aVelLocal.Z;
aMomentum.Y = mass.I.M10 * aVelLocal.X + mass.I.M11 * aVelLocal.Y + aVelLocal.X + mass.I.M12 * aVelLocal.Z;
aMomentum.Z = mass.I.M20 * aVelLocal.X + mass.I.M21 * aVelLocal.Y + aVelLocal.X + mass.I.M22 * aVelLocal.Z;
Vector3 dampingTorque = new Vector3(dampingFactor * aMomentum.X, dampingFactor * aMomentum.Y, dampingFactor * aMomentum.Z);
// Add a local torque opposite to the local angular
// velocity.
//body.AddRelativeTorque(dampingTorque);
Tao.Ode.Ode.dBodyAddRelTorque(body, dampingTorque.X, dampingTorque.Y, dampingTorque.Z);
}
}
}
}
}
// Do collision detection; add contacts to the contact joint group.
//space.Collide();
Tao.Ode.Ode.dSpaceCollide(space, GCHandle.ToIntPtr(GCHandle.Alloc(this)),
OdeHelper.CollisionCallbackRunner);
// Take a simulation step.
if (SolverType.QuickStep == solverType)
{
//world.QuickStep(stepSize, quickWorldIterations);
Tao.Ode.Ode.dWorldQuickStep(world, stepSize);
}
else
{
//world.TimeStep(stepSize);
Tao.Ode.Ode.dWorldStep(world, stepSize);
}
// Remove all joints from the contact group.
//contactJointGroup.Clear();
Tao.Ode.Ode.dJointGroupEmpty(contactJointGroup);
// Fix angular velocities for freely-spinning bodies that have
// gained angular velocity through explicit integrator inaccuracy.
if (solidList != null)
{
foreach (OdeSolid s in solidList)
{
if (!s.Sleeping && !s.Static)
{
s.InternalDoAngularVelFix();
}
}
}
}
/// Main collision callback functor.
static unsafe internal void CollisionCallback(IntPtr data, dGeomID o0, dGeomID o1)
{
if (o0.IsSpace || o1.IsSpace)
{
// Colliding a space with either a geom or another space.
Tao.Ode.Ode.dSpaceCollide2(o0, o1, data, CollisionCallbackRunner);
if (o0.IsSpace)
{
// Colliding all geoms internal to the space.
Tao.Ode.Ode.dSpaceCollide(o0, data, CollisionCallbackRunner);
}
if (o1.IsSpace)
{
// Colliding all geoms internal to the space.
Tao.Ode.Ode.dSpaceCollide(o1, data, CollisionCallbackRunner);
}
}
else
{
// Colliding two geoms.
// The following is a set of special cases where we might
// want to skip collision detection (but not all are
// enforced here for various reasons):
// 1. Two static Solids (neither geom has a body) AND
// neither Solid has a CollisionEventHandler AND there are
// not global handlers: this is enforced.
// 2. Two Shapes that are part of the same Solid (they
// share a body): this is not enforced because ODE
// already takes care of it.
// 3. Two sleeping Solids (note: both must have bodies to
// check this): this is enforced. (ODE should handle
// this, but it doesn't.)
// 4. Two Solids connected by a fixed Joint: this is
// enforced.
// 5. Two Solids connected by a Joint (besides ODE
// contact joints, which should never generate more
// contacts) with contacts disabled (note: both must have
// bodies to check this): this is enforced.
// 6. Solid0 is static, Solid1 is dynamic and is sleeping,
// static-to-sleeping contacts are ignored by the
// Simulator, and neither Solid has a
// CollisionEventHandler AND there are no global handlers:
// this is enforced.
// 7. Solid1 is static, Solid0 is dynamic and is sleeping,
// static-to-sleeping contacts are ignored by the
// Simulator, and neither Solid has a
// CollisionEventHandler AND there are no global handlers:
// this is enforced.
// 8. The two Solids' contact groups do not generate
// contacts when they collide AND neither Solid has a
// CollisionEventHandler AND there are no global handlers.
// Get the geoms' ODE body IDs.
dBodyID o0BodyID = o0.RigidBody;
dBodyID o1BodyID = o1.RigidBody;
bool solid0Static = PtrWrapper.IsEmpty(o0BodyID); // (mike)
bool solid1Static = PtrWrapper.IsEmpty(o1BodyID); // {mike}
// Check if both Solids are dynamic (i.e. have ODE bodies).
bool bothHaveBodies = true;
if (solid0Static || solid1Static)
{
bothHaveBodies = false;
}
// If the two Solids are connected by a common Joint, get
// a pointer to that Joint.
Joint commonJoint = null;
if (bothHaveBodies)
{
int connExcluding = Tao.Ode.Ode.dAreConnectedExcluding(o0BodyID, o1BodyID, (int)Tao.Ode.Ode.dJointTypes.dJointTypeContact);
if (connExcluding != 0)
{
// This will become non-NULL only if there exists an ODE
// joint connecting the two bodies.
commonJoint = GetCommonJoint(o0BodyID, o1BodyID);
}
}
// Get pointers to the geoms' GeomData structures.
GeomData geomData0 = GCHandle.FromIntPtr(Tao.Ode.Ode.dGeomGetData(o0)).Target as GeomData;
GeomData geomData1 = GCHandle.FromIntPtr(Tao.Ode.Ode.dGeomGetData(o1)).Target as GeomData;
// Get pointers to the geoms' ShapeData structures.
ShapeData shape0 = geomData0.Shape;
ShapeData shape1 = geomData1.Shape;
// Get a pointer to the ODESimulator.
OdeSimulator sim = GCHandle.FromIntPtr(data).Target as OdeSimulator;
// Check if the two Solids' contact groups generate contacts
// when they collide.
bool makeContacts = sim.GroupsMakeContacts(shape0.ContactGroup, shape1.ContactGroup);
// Find out whether the Simulator has static-to-sleeping
// contacts disabled.
bool ignoreStaticSleepingContacts = !sim.IsStaticSleepingContactsEnabled;
// Get pointers to the geoms' Solids.
Solid solid0 = geomData0.Solid;
Solid solid1 = geomData1.Solid;
// Get pointers to the two Solids' CollisionEventHandlers.
// These will be NULL if the Solids don't use
// CollisionEventHandlers.
CollisionEventProcessor handler0 = solid0.CollisionEventHandler;
CollisionEventProcessor handler1 = solid1.CollisionEventHandler;
bool neitherHasEventHandler = !(handler0 != null || handler1 != null);
bool hasNoGlobalHandler = sim.NumGlobalCollisionEventHandlers == 0;
// Now do the actual tests to see if we should return early.
// It is important here that we don't call dBodyIsEnabled on
// a static body because that crashes ODE.
bool case1 = neitherHasEventHandler && hasNoGlobalHandler &&
solid0Static && solid1Static;
//bool case2= o0BodyID == o1BodyID;
bool case3 = bothHaveBodies && Tao.Ode.Ode.dBodyIsEnabled(o0BodyID) == 0 &&
Tao.Ode.Ode.dBodyIsEnabled(o1BodyID) == 0;
bool case4 = commonJoint != null &&
commonJoint.Type == JointType.Fixed;
bool case5 = commonJoint != null &&
!commonJoint.ContactsEnabled;
bool case6 = solid0Static && null != o1BodyID && o1BodyID.IsNotNull() &&
Tao.Ode.Ode.dBodyIsEnabled(o1BodyID) == 0 &&
ignoreStaticSleepingContacts &&
neitherHasEventHandler && hasNoGlobalHandler;
bool case7 = solid1Static && null != o0BodyID && o0BodyID.IsNotNull() &&
Tao.Ode.Ode.dBodyIsEnabled(o0BodyID) == 0 &&
ignoreStaticSleepingContacts &&
neitherHasEventHandler && hasNoGlobalHandler;
bool case8 = !makeContacts && neitherHasEventHandler &&
hasNoGlobalHandler;
if (case1 || case3 || case4 || case5 || case6 || case7 || case8)
{
return;
}
// Now actually test for collision between the two geoms.
// This is one of the more expensive operations.
IntPtr theWorldID = sim.World;
IntPtr theJointGroupID = sim.JointGroup;
int contGeomSize = sizeof(Tao.Ode.Ode.dContactGeom);
Tao.Ode.Ode.dContactGeom[] contactArray = new Tao.Ode.Ode.dContactGeom[sim.MaxContacts];
int numContacts = 0;
/*try
* {*/
numContacts = Tao.Ode.Ode.dCollide(o0, o1, sim.MaxContacts /*was 15*/, contactArray, contGeomSize);
// Was big perfomance problem here (KleMiX)
/*}
* catch(Exception)
* {
* return;
* }*/
// If the two objects didn't make any contacts, they weren't
// touching, so just return.
if (0 == numContacts)
{
return;
}
// If at least one of the Solids has a CollisionEventHandler,
// send it a CollisionEvent.
if (handler0 != null || handler1 != null || !hasNoGlobalHandler)
{
// Call the CollisionEventHandlers. Note that we only
// use one contact point per collision: just the first one
// in the contact array. The order of the Solids
// passed to the event handlers is important: the first
// one should be the one whose event handler is
// getting called.
CollisionEvent e = new CollisionEvent();
e.ThisSolid = solid0;
e.OtherSolid = solid1;
e.Position.X = contactArray[0].pos.X;
e.Position.Y = contactArray[0].pos.Y;
e.Position.Z = contactArray[0].pos.Z;
e.Normal.X = contactArray[0].normal.X;
e.Normal.Y = contactArray[0].normal.Y;
e.Normal.Z = contactArray[0].normal.Z;
e.Depth = contactArray[0].depth;
if (handler0 != null)
{
handler0.HandleCollisionEvent(e);
}
if (handler1 != null)
{
// For the other Solid's CollisionEventHandler, we need
// to invert the normal and swap the Solid pointers.
e.Normal *= -1;
e.ThisSolid = solid1;
e.OtherSolid = solid0;
handler1.HandleCollisionEvent(e);
}
sim.InternalRecordCollision(e);
}
if (makeContacts)
{
// Invalidate the "freely-spinning" parameters.
((OdeSolid)solid0).InternalSetFreelySpinning(false);
((OdeSolid)solid1).InternalSetFreelySpinning(false);
for (int i = 0; i < numContacts; ++i)
{
Material m0 = shape0.Material;
Material m1 = shape1.Material;
Tao.Ode.Ode.dContact tempContact = new Tao.Ode.Ode.dContact();
tempContact.surface.mode = (int)Tao.Ode.Ode.dContactFlags.dContactBounce |
(int)Tao.Ode.Ode.dContactFlags.dContactSoftERP;
// Average the hardness of the two materials.
float hardness = (m0.Hardness + m1.Hardness) * 0.5f;
// Convert hardness to ERP. As hardness goes from
// 0.0 to 1.0, ERP goes from min to max.
tempContact.surface.soft_erp = hardness *
(Defaults.Ode.MaxERP - Defaults.Ode.MinERP) +
Defaults.Ode.MinERP;
// Don't use contact CFM anymore. Just let it use
// the global value set in the ODE world.
//tempContact.surface.soft_cfm =
// defaults::ode::minCFM;
// As friction goes from 0.0 to 1.0, mu goes from 0.0
// to max, though it is set to dInfinity when
// friction == 1.0.
if (1.0 == m0.Friction && 1.0 == m1.Friction)
{
tempContact.surface.mu = float.PositiveInfinity;
}
else
{
tempContact.surface.mu = (float)Math.Sqrt(m0.Friction * m1.Friction) * Defaults.Ode.MaxFriction;
}
// Average the bounciness of the two materials.
float bounciness = (m0.Bounciness + m1.Bounciness) * 0.5f;
// ODE's bounce parameter, a.k.a. restitution.
tempContact.surface.bounce = bounciness;
// ODE's bounce_vel parameter is a threshold:
// the relative velocity of the two objects must be
// greater than this for bouncing to occur at all.
tempContact.surface.bounce_vel = Defaults.BounceThreshold;
tempContact.geom = contactArray[i];
//ODE.Joints.Contact contactJoint = new ODE.Joints.Contact(theWorldID, tempContact, theJointGroupID);
IntPtr contactJoint = Tao.Ode.Ode.dJointCreateContact(theWorldID, theJointGroupID, ref tempContact);
//contactJoint.Attach(o0BodyID, o1BodyID);
Tao.Ode.Ode.dJointAttach(contactJoint, o0BodyID, o1BodyID);
}
}
}
}
