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++;
}
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;
}
// Select the connection to the actual Bullet implementation.
// The main engine selection is the engineName up to the first hypen.
// So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
// is passed to the engine to do its special selection, etc.
private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
{
// For the moment, do a simple switch statement.
// Someday do fancyness with looking up the interfaces in the assembly.
BSAPITemplate ret = null;
string selectionName = engineName.ToLower();
int hyphenIndex = engineName.IndexOf("-");
if (hyphenIndex > 0)
selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
switch (selectionName)
{
case "bulletunmanaged":
ret = new BSAPIUnman(engineName, this);
break;
case "bulletxna":
ret = new BSAPIXNA(engineName, this);
break;
}
if (ret == null)
{
MainConsole.Instance.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
}
else
{
MainConsole.Instance.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
}
return ret;
}
