public static OpenSim.Region.Physics.Manager.Pose MatrixToPose(PhysX.Math.Matrix matrix)
{
OpenSim.Region.Physics.Manager.Pose pose;
pose.Position = DecomposeToPosition(matrix);
pose.Rotation = DecomposeToRotation(matrix);
return(pose);
}
public static Matrix AsXNA(this PhysX.Math.Matrix m)
{
return(new Matrix
(
m.M11, m.M12, m.M13, m.M14,
m.M21, m.M22, m.M23, m.M24,
m.M31, m.M32, m.M33, m.M34,
m.M41, m.M42, m.M43, m.M44
));
}
private List <PhysX.Shape> AssignHullsToActor(PhysX.RigidActor actor, PhysX.Material material, PhysX.Math.Matrix localPose,
bool physical)
{
List <PhysX.Shape> hulls = new List <PhysX.Shape>();
foreach (PhysX.ConvexMeshGeometry geom in _convexHulls)
{
PhysX.Shape shape = actor.CreateShape(geom, material, localPose);
shape.RestOffset = REST_OFFSET;
if (physical && Settings.Instance.UseCCD)
{
//enable CCD
shape.Flags |= PhysX.ShapeFlag.UseSweptBounds;
}
hulls.Add(shape);
}
return(hulls);
}
private PhysX.Shape CreatePrimitiveShape(PhysX.RigidActor actor, PhysX.Material material, ref PhysX.Math.Matrix localPose,
bool physical)
{
PhysX.Shape shape = actor.CreateShape(_primitiveGeom, material, localPose);
shape.RestOffset = REST_OFFSET;
if (physical && Settings.Instance.UseCCD)
{
//enable CCD
shape.Flags |= PhysX.ShapeFlag.UseSweptBounds;
}
return(shape);
}
private PhysX.Shape CreateTrimeshShape(PhysX.RigidActor actor, PhysX.Material material, ref PhysX.Math.Matrix localPose)
{
PhysX.Shape shape = actor.CreateShape(_triMesh, material, localPose);
shape.RestOffset = REST_OFFSET;
return(shape);
}
internal List <PhysX.Shape> AssignToActor(PhysX.RigidActor actor, PhysX.Material material, PhysX.Math.Matrix localPose, bool physical)
{
switch (_shapeType)
{
case ShapeType.PrimitiveBox:
case ShapeType.PrimitiveSphere:
return(new List <PhysX.Shape> {
CreatePrimitiveShape(actor, material, ref localPose, physical)
});
case ShapeType.TriMesh:
return(new List <PhysX.Shape> {
CreateTrimeshShape(actor, material, ref localPose)
});
case ShapeType.DecomposedConvexHulls:
case ShapeType.SingleConvex:
return(this.AssignHullsToActor(actor, material, localPose, physical));
case ShapeType.Null:
return(new List <PhysX.Shape>(0));
default:
throw new InvalidOperationException("Can not assign shape to actor: shapeType is missing or invalid");
}
}
public static OpenMetaverse.Quaternion DecomposeToRotation(PhysX.Math.Matrix matrix)
{
PhysX.Math.Quaternion physxRot = PhysX.Math.Quaternion.RotationMatrix(matrix);
return(new OpenMetaverse.Quaternion(physxRot.X, physxRot.Y, physxRot.Z, physxRot.W));
}
public static OpenMetaverse.Vector3 DecomposeToPosition(PhysX.Math.Matrix matrix)
{
return(new OpenMetaverse.Vector3(matrix.M41, matrix.M42, matrix.M43));
}
public static PhysX.Math.Vector3 DecomposeToPosition(PhysX.Math.Matrix matrix)
{
return(new PhysX.Math.Vector3(matrix.M41, matrix.M42, matrix.M43));
}
