public BridgeTriangleRaycastCallback(Vector3 from, Vector3 to,
CollisionWorld.RayResultCallback resultCallback, CollisionObject collisionObject, TriangleMeshShape triangleMesh)
: base(from, to)
{
_resultCallback = resultCallback;
_collisionObject = collisionObject;
_triangleMesh = triangleMesh;
}
public BridgeTriangleRaycastCallback(Vector3 from, Vector3 to,
CollisionWorld.RayResultCallback resultCallback, CollisionObject collisionObject, TriangleMeshShape triangleMesh)
: base(from, to)
{
_resultCallback = resultCallback;
_collisionObject = collisionObject;
_triangleMesh = triangleMesh;
}
protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, OpenMetaverse.Vector3 pos,
OpenMetaverse.Vector3 size)
{
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 1.0f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
//added by jed zhu
_mesh = mesh;
lock (BulletXScene.BulletXLock)
{
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
//For now all prims are boxes
CollisionShape _collisionShape;
if (mesh == null)
{
_collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(size)/2.0f);
}
else
{
int iVertexCount = mesh.getVertexList().Count;
int[] indices = mesh.getIndexListAsInt();
Vector3[] v3Vertices = 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
v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
else
v3Vertices[i] = Vector3.Zero;
}
TriangleIndexVertexArray triMesh = new TriangleIndexVertexArray(indices, v3Vertices);
_collisionShape = new TriangleMeshShape(triMesh);
}
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
Vector3 _localInertia = new Vector3();
if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
rigidBody =
new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
_friction, _restitution);
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
rigidBody.Translate(_vDebugTranslation);
//---
parent_scene.ddWorld.AddRigidBody(rigidBody);
}
}
// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
// In a future implementation, we consider moving the ray test as a virtual method in CollisionShape.
// This allows more customization.
public static void RayTestSingle(Matrix rayFromTrans, Matrix rayToTrans,
CollisionObject collisionObject,
CollisionShape collisionShape,
Matrix colObjWorldTransform,
RayResultCallback resultCallback)
{
SphereShape pointShape = new SphereShape(0.0f);
if (collisionShape.IsConvex)
{
CastResult castResult = new CastResult();
castResult.Fraction = 1f; //??
ConvexShape convexShape = collisionShape as ConvexShape;
VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(pointShape, convexShape, simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
if (convexCaster.CalcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
{
//add hit
if (castResult.Normal.LengthSquared() > 0.0001f)
{
castResult.Normal.Normalize();
if (castResult.Fraction < resultCallback.ClosestHitFraction)
{
CollisionWorld.LocalRayResult localRayResult = new LocalRayResult
(
collisionObject,
new LocalShapeInfo(),
castResult.Normal,
castResult.Fraction
);
resultCallback.AddSingleResult(localRayResult);
}
}
}
else
{
if (collisionShape.IsConcave)
{
TriangleMeshShape triangleMesh = collisionShape as TriangleMeshShape;
Matrix worldTocollisionObject = MathHelper.InvertMatrix(colObjWorldTransform);
Vector3 rayFromLocal = Vector3.TransformNormal(rayFromTrans.Translation, worldTocollisionObject);
Vector3 rayToLocal = Vector3.TransformNormal(rayToTrans.Translation, worldTocollisionObject);
BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
rcb.HitFraction = resultCallback.ClosestHitFraction;
Vector3 rayAabbMinLocal = rayFromLocal;
MathHelper.SetMin(ref rayAabbMinLocal, rayToLocal);
Vector3 rayAabbMaxLocal = rayFromLocal;
MathHelper.SetMax(ref rayAabbMaxLocal, rayToLocal);
triangleMesh.ProcessAllTriangles(rcb, rayAabbMinLocal, rayAabbMaxLocal);
}
else
{
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape.IsCompound)
{
CompoundShape compoundShape = collisionShape as CompoundShape;
for (int i = 0; i < compoundShape.ChildShapeCount; i++)
{
Matrix childTrans = compoundShape.GetChildTransform(i);
CollisionShape childCollisionShape = compoundShape.GetChildShape(i);
Matrix childWorldTrans = colObjWorldTransform * childTrans;
RayTestSingle(rayFromTrans, rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback);
}
}
}
}
}
}
