protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// Initialize variables kept in base.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BulletShape();
LastAssetBuildFailed = false;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastTick = CollisionCollection;
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
CollisionAccumulation = 0;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedAxis = LockedAxisFree;
}
public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
pivotInA, pivotInB, axisInA, axisInB,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
}
public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2,
frameInAloc, frameInArot, frameInBloc, frameInBrot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
}
public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
frameInAloc, frameInArot, frameInBloc, frameInBrot,
disableCollisionsBetweenLinkedBodies);
m_enabled = true;
}
public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
pivotInA, pivotInB,
axisInA, axisInB,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
}
public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1Loc, Quaternion frame1Rot,
Vector3 frame2Loc, Quaternion frame2Rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
:base(world, obj1, obj2)
{
m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
frame1Loc, frame1Rot, frame2Loc, frame2Rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
}
// Create a btGeneric6DofConstraint
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
frame1, frame1rot,
frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
IsInitialized = false;
PhysScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// Oddity if object is destroyed and recreated very quickly it could still have the old body.
if (!PhysBody.HasPhysicalBody)
PhysBody = new BulletBody(localID);
// Clean out anything that might be in the physical actor list.
// Again, a workaround for destroying and recreating an object very quickly.
PhysicalActors.Dispose();
UserSetCenterOfMassDisplacement = null;
PrimAssetState = PrimAssetCondition.Unknown;
// Initialize variables kept in base.
// Beware that these cause taints to be queued whch can cause race conditions on startup.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
HoverActive = false;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionsLastTickStep = -1;
SubscribedEventsMs = 0;
// Crazy values that will never be true
CollidingStep = BSScene.NotASimulationStep;
CollidingGroundStep = BSScene.NotASimulationStep;
CollisionAccumulation = BSScene.NotASimulationStep;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
}
// Create a btGeneric6DofConstraint
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
frame1, frame1rot,
frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
}
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
{
world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
m_enabled = false;
}
else
{
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
if (m_constraint.ptr == IntPtr.Zero)
{
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
}
// 6 Dof constraint based on a midpoint between the two constrained bodies
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
{
world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
m_enabled = false;
}
else
{
m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
m_body1.ID, world.worldID, m_constraint.AddrString,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
if (!m_constraint.HasPhysicalConstraint)
{
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
TypeName = typeName;
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BulletShape();
// A linkset of just me
Linkset = BSLinkset.Factory(PhysicsScene, this);
LastAssetBuildFailed = false;
// Default material type
Material = MaterialAttributes.Material.Wood;
CollisionCollection = new CollisionEventUpdate();
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
}
// Get the constraint between two bodies. There can be only one.
// Return 'true' if a constraint was found.
public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
{
uint lookingID1 = body1.ID;
uint lookingID2 = body2.ID;
try
{
m_constraints.ForEach(delegate(BSConstraint constrain)
{
if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
|| (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
{
throw new ThreadedClasses.ReturnValueException<BSConstraint>(constrain);
}
});
}
catch(ThreadedClasses.ReturnValueException<BSConstraint> e)
{
returnConstraint = e.Value;
return true;
}
returnConstraint = default(BSConstraint);
return false;
}
// Get the constraint between two bodies. There can be only one.
// Return 'true' if a constraint was found.
public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
{
bool found = false;
BSConstraint foundConstraint = null;
uint lookingID1 = body1.ID;
uint lookingID2 = body2.ID;
lock (m_constraints)
{
foreach (BSConstraint constrain in m_constraints)
{
if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
|| (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
{
foundConstraint = constrain;
found = true;
break;
}
}
}
returnConstraint = foundConstraint;
return found;
}
public abstract void UpdateInertiaTensor(BulletBody obj);
public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 pivotinA, Vector3 pivotinB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
public abstract CollisionObjectTypes GetBodyType(BulletBody obj);
public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool disableCollisionsBetweenLinkedBodies);
public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj);
// =====================================================================================
// Debugging
public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
{
}
// =====================================================================================
// btDynamicsWorld entries
// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot);
public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj);
public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
// =====================================================================================
// btCollisionWorld entries
public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
bool disableCollisionsBetweenLinkedBodies);
public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 axisInA, Vector3 axisInB,
float ratio, bool disableCollisionsBetweenLinkedBodies);
public abstract bool WantsSleeping(BulletBody obj);
public abstract void Activate(BulletBody obj, bool forceActivation);
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_enabled = false;
}
public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
public abstract void ForceActivationState(BulletBody obj, ActivationState state);
public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
public abstract bool IsActive(BulletBody obj);
public abstract void SetLinearFactor(BulletBody obj, Vector3 factor);
public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia);
public abstract void SetRestitution(BulletBody obj, float val);
public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation);
public abstract bool PushUpdate(BulletBody obj);
public abstract void Translate(BulletBody obj, Vector3 trans);
public abstract void SetContactProcessingThreshold(BulletBody obj, float val);
public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1loc, Quaternion frame1rot,
Vector3 frame2loc, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
public abstract void SetLinearDamping(BulletBody obj, float lin_damping);
public abstract float GetContactProcessingThreshold(BulletBody obj);
public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
public abstract bool IsStaticOrKinematicObject(BulletBody obj);
// Set the force being applied to the object as if its mass is one. public abstract void SetObjectForce(BulletBody obj, Vector3 force);
public abstract bool HasContactResponse(BulletBody obj);
public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
public abstract void SetUserPointer(BulletBody obj, IntPtr val);
public abstract BulletShape GetCollisionShape(BulletBody obj);
public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
public abstract int GetActivationState(BulletBody obj);
// ===================================================================================== // btCollisionWorld entries public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
public abstract void SetActivationState(BulletBody obj, int state);
// A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj1; // Look out for confusion down the road
m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
frameInBloc, frameInBrot,
useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
m_body1.ID, world.worldID, obj1.ID, obj1.AddrString);
PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}",
m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
}
public abstract void SetDeactivationTime(BulletBody obj, float dtime);
public abstract float GetDeactivationTime(BulletBody obj);
public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask);
