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; }