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;
}
