コード例 #1
0
ファイル: BulletXPlugin.cs プロジェクト: dirkhusemann/opensim
        internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
        {
            _staticPosition = new OpenMetaverse.Vector3(BulletXScene.MaxXY / 2, BulletXScene.MaxXY / 2, 0);
//             _staticVelocity = new PhysicsVector();
//             _staticOrientation = OpenMetaverse.Quaternion.Identity;
            _mass = 0; //No active
            // _parentscene = parent_scene;
            _heightField = heightField;

            float _linearDamping = 0.0f;
            float _angularDamping = 0.0f;
            float _friction = 0.5f;
            float _restitution = 0.0f;
            Matrix _startTransform = Matrix.Identity;
            Matrix _centerOfMassOffset = Matrix.Identity;

            lock (BulletXScene.BulletXLock)
            {
                try
                {
                    _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition);
                    CollisionShape _collisionShape =
                        new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField,
                                                    (float) BulletXScene.MaxZ, 2, true, false);
                    DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
                    Vector3 _localInertia = new Vector3();
                    //_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
                    _flatPlanet =
                        new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping,
                                      _angularDamping, _friction, _restitution);
                    //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
                    Vector3 _vDebugTranslation;
                    _vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition;
                    _flatPlanet.Translate(_vDebugTranslation);
                    parent_scene.ddWorld.AddRigidBody(_flatPlanet);
                }
                catch (Exception ex)
                {
                    BulletXScene.BulletXMessage(ex.Message, true);
                }
            }
            BulletXScene.BulletXMessage("BulletXPlanet created.", false);
        }
コード例 #2
0
ファイル: BulletXPlugin.cs プロジェクト: dirkhusemann/opensim
        public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
                                OpenMetaverse.Vector3 size, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion orientation)
            : base(avName)
        {
            //This fields will be removed. They're temporal
            float _sizeX = 0.5f;
            float _sizeY = 0.5f;
            float _sizeZ = 1.6f;
            //.
            _position = pos;
            _velocity = velocity;
            _size = size;
            //---
            _size.X = _sizeX;
            _size.Y = _sizeY;
            _size.Z = _sizeZ;
            //.
            _acceleration = acceleration;
            _orientation = orientation;
            _physical = true;

            float _mass = 50.0f; //This depends of avatar's dimensions
            //For RigidBody Constructor. The next values might change
            float _linearDamping = 0.0f;
            float _angularDamping = 0.0f;
            float _friction = 0.5f;
            float _restitution = 0.0f;
            Matrix _startTransform = Matrix.Identity;
            Matrix _centerOfMassOffset = Matrix.Identity;
            lock (BulletXScene.BulletXLock)
            {
                _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
                //CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(1.0f, 1.0f, 1.60f));
                //For now, like ODE, collisionShape = sphere of radious = 1.0
                CollisionShape _collisionShape = new SphereShape(1.0f);
                DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
                Vector3 _localInertia = new Vector3();
                _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);
            }
        }
コード例 #3
0
ファイル: BulletXPlugin.cs プロジェクト: dirkhusemann/opensim
        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);
            }
        }
コード例 #4
0
        /// <summary>
        /// Creates new rigid body and adds it to the world.
        /// </summary>
        /// <param name="mass">Body mass, if 0 body is static.</param>
        /// <param name="startTransform">Starting body transform.</param>
        /// <param name="shape">Body shape.</param>
        /// <returns>Created rigid body.</returns>
        public RigidBody CreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
        {
            //rigidbody is dynamic if and only if mass is non zero, otherwise static
            bool isDynamic = (mass != 0.0f);

            Vector3 localInertia = new Vector3();
            if (isDynamic)
                shape.CalculateLocalInertia(mass, out localInertia);

            //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects

            DefaultMotionState myMotionState = new DefaultMotionState(startTransform, Matrix.Identity);
            RigidBody body = new RigidBody(mass, myMotionState, shape, localInertia, 0.0f, 0.0f, 0.5f, 0.0f);

            _world.AddRigidBody(body);

            return body;
        }