// Called to update/change the body and shape for an object.
// The object has some shape and body on it. Here we decide if that is the correct shape
// for the current state of the object (static/dynamic/...).
// If bodyCallback is not null, it is called if either the body or the shape are changed
// so dependencies (like constraints) can be removed before the physical object is dereferenced.
// Return 'true' if either the body or the shape changed.
// Called at taint-time.
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
{
m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
bool ret = false;
// This lock could probably be pushed down lower but building shouldn't take long
lock (m_collectionActivityLock)
{
// Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to shape.
// Returns 'true' of BSShape is changed to a new shape.
bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback);
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
// Returns 'true' if BSBody was changed.
bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
return ret;
}
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 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);
}
// 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;
}
}
}
public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
public abstract void UpdateAabbs(BulletWorld world);
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world)
{
m_body1 = obj1;
m_body2 = obj2;
m_enabled = false;
}
public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep,
out int updatedEntityCount, out int collidersCount);
public virtual void ResetConstraintSolver(BulletWorld sim)
{
}
public abstract bool GetForceUpdateAllAabbs(BulletWorld world);
// =====================================================================================
// Debugging
public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
{
}
// =====================================================================================
// btCollisionWorld entries
public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
public abstract void UpdateAabbs(BulletWorld world);
public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain);
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 virtual void DumpAllInfo(BulletWorld sim)
{
}
public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
// =====================================================================================
// 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 GetForceUpdateAllAabbs(BulletWorld world);
public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj);
public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects);
public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force);
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
// ===================================================================================== // btCollisionWorld entries public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);
public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool disableCollisionsBetweenLinkedBodies);
public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
public abstract void DestroyObject(BulletWorld sim, BulletBody obj);
// =====================================================================================
// Debugging
public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
{
}
public virtual void DumpActivationInfo(BulletWorld sim)
{
}
public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
{
}
public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
{
}
public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain)
{
}
public virtual void DumpPhysicsStatistics(BulletWorld sim)
{
}
public virtual void DumpActivationInfo(BulletWorld sim)
{
}
public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id);
public virtual void DumpAllInfo(BulletWorld sim)
{
}
public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
public virtual void DumpPhysicsStatistics(BulletWorld sim)
{
}
public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain);
public virtual void ResetBroadphasePool(BulletWorld sim)
{
}
public virtual void ResetBroadphasePool(BulletWorld sim)
{
}
public virtual void ResetConstraintSolver(BulletWorld sim)
{
}
public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
public abstract void Shutdown(BulletWorld sim);
public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 pivotinA, Vector3 pivotinB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value);
public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1loc, Quaternion frame1rot,
Vector3 frame2loc, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
// 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 BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1,
Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies);
public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frameInAloc, Quaternion frameInArot,
Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies);
