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); } } } } } }