public PhysicsActor AddPrim(String name, OpenMetaverse.Vector3 position, OpenMetaverse.Vector3 size, OpenMetaverse.Quaternion rotation,
IMesh mesh, PrimitiveBaseShape pbs, bool isPhysical)
{
BulletXPrim newPrim = null;
lock (BulletXLock)
{
newPrim = new BulletXPrim(name, this, position, size, rotation, mesh, pbs, isPhysical);
_prims.Add(newPrim.RigidBody, newPrim);
}
return newPrim;
}
//added by jed zhu
//calculas the collision between the Prim and Actor
//
private int Collision(BulletXCharacter actorA, BulletXPrim primB)
{
int[] indexBase;
Vector3[] vertexBase;
Vector3 vNormal;
// Vector3 vP1;
// Vector3 vP2;
// Vector3 vP3;
IMesh mesh = primB.GetMesh();
float fdistance;
if (primB == null)
return 3;
if (mesh == null)
return 2;
if (actorA == null)
return 3;
int iVertexCount = mesh.getVertexList().Count;
int iIndexCount = mesh.getIndexListAsInt().Length;
if (iVertexCount == 0)
return 3;
if (iIndexCount == 0)
return 3;
lock (BulletXScene.BulletXLock)
{
indexBase = mesh.getIndexListAsInt();
vertexBase = new Vector3[iVertexCount];
for (int i = 0; i < iVertexCount; i++)
{
OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
if (v != null) // Note, null has special meaning. See meshing code for details
vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
else
vertexBase[i] = Vector3.Zero;
}
for (int ix = 0; ix < iIndexCount; ix += 3)
{
int ia = indexBase[ix + 0];
int ib = indexBase[ix + 1];
int ic = indexBase[ix + 2];
//
Vector3 v1 = vertexBase[ib] - vertexBase[ia];
Vector3 v2 = vertexBase[ic] - vertexBase[ia];
Vector3.Cross(ref v1, ref v2, out vNormal);
Vector3.Normalize(ref vNormal, out vNormal);
fdistance = Vector3.Dot(vNormal, vertexBase[ia]) + 0.50f;
if (preCheckCollision(actorA, vNormal, fdistance) == 1)
{
if (CheckCollision(actorA, ia, ib, ic, vNormal, vertexBase) == 1)
{
//PhysicsVector v = actorA.Position;
//Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
//Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.2f);
//actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp);
return 1;
}
}
}
}
return 0;
}