public bool Equals(EntityProperties other)
{
if (this.ID == other.ID && this.Position == other.Position && this.Rotation == other.Rotation && this.Velocity == other.Velocity && this.Acceleration == other.Acceleration)
return this.AngularVelocity == other.AngularVelocity;
else
return false;
}
public EntityProperties FromTransform(uint id, IndexedMatrix startTransform)
{
EntityProperties ret = new EntityProperties();
ID = id;
Position = startTransform._origin;
Rotation = startTransform.GetRotation();
return ret;
}
public EntityProperties FromTransform(uint id, IndexedMatrix startTransform)
{
EntityProperties ret = new EntityProperties();
ID = id;
Position = startTransform._origin;
Rotation = startTransform.GetRotation();
return(ret);
}
public bool Equals(EntityProperties other)
{
if (this.ID == other.ID && this.Position == other.Position && this.Rotation == other.Rotation && this.Velocity == other.Velocity && this.Acceleration == other.Acceleration)
{
return(this.AngularVelocity == other.AngularVelocity);
}
else
{
return(false);
}
}
public SimMotionState(CollisionWorld pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
{
m_properties = new EntityProperties()
{
ID = id,
Position = starTransform._origin,
Rotation = starTransform.GetRotation()
};
m_lastProperties = new EntityProperties()
{
ID = id,
Position = starTransform._origin,
Rotation = starTransform.GetRotation()
};
m_world = pWorld;
m_xform = starTransform;
}
public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force)
{
m_xform = worldTrans;
// Put the new transform into m_properties
m_properties.Position = m_xform._origin;
m_properties.Rotation = m_xform.GetRotation();
// A problem with stock Bullet is that we don't get an event when an object is deactivated.
// This means that the last non-zero values for linear and angular velocity
// are left in the viewer who does dead reconning and the objects look like
// they float off.
// BulletSim ships with a patch to Bullet which creates such an event.
m_properties.Velocity = Rigidbody.GetLinearVelocity();
m_properties.AngularVelocity = Rigidbody.GetAngularVelocity();
if (force
|| !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE) ||
!AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE)
// If the Velocity and AngularVelocity are zero, most likely the object has
// been deactivated. If they both are zero and they have become zero recently,
// make sure a property update is sent so the zeros make it to the viewer.
|| ((m_properties.Velocity == ZeroVect && m_properties.AngularVelocity == ZeroVect)
&&
(m_properties.Velocity != m_lastProperties.Velocity ||
m_properties.AngularVelocity != m_lastProperties.AngularVelocity))
// If Velocity and AngularVelocity are non-zero but have changed, send an update.
|| !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE)
||
!AlmostEqual(ref m_properties.AngularVelocity, ref m_lastProperties.AngularVelocity,
ANGULARVELOCITY_TOLERANCE)
)
{
// Add this update to the list of updates for this frame.
m_lastProperties = m_properties;
if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
{
m_world.UpdatedObjects[m_world.LastEntityProperty++] = (m_properties);
}
//(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
}
}
public SimMotionState(CollisionWorld pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
{
m_properties = new EntityProperties()
{
ID = id,
Position = starTransform._origin,
Rotation = starTransform.GetRotation()
};
m_lastProperties = new EntityProperties()
{
ID = id,
Position = starTransform._origin,
Rotation = starTransform.GetRotation()
};
m_world = pWorld;
m_xform = starTransform;
}
public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force)
{
m_xform = worldTrans;
// Put the new transform into m_properties
m_properties.Position = m_xform._origin;
m_properties.Rotation = m_xform.GetRotation();
// A problem with stock Bullet is that we don't get an event when an object is deactivated.
// This means that the last non-zero values for linear and angular velocity
// are left in the viewer who does dead reconning and the objects look like
// they float off.
// BulletSim ships with a patch to Bullet which creates such an event.
m_properties.Velocity = Rigidbody.GetLinearVelocity();
m_properties.AngularVelocity = Rigidbody.GetAngularVelocity();
if (force
|| !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE)
|| !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE)
// If the Velocity and AngularVelocity are zero, most likely the object has
// been deactivated. If they both are zero and they have become zero recently,
// make sure a property update is sent so the zeros make it to the viewer.
|| ((m_properties.Velocity == ZeroVect && m_properties.AngularVelocity == ZeroVect)
&&
(m_properties.Velocity != m_lastProperties.Velocity ||
m_properties.AngularVelocity != m_lastProperties.AngularVelocity))
// If Velocity and AngularVelocity are non-zero but have changed, send an update.
|| !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE)
||
!AlmostEqual(ref m_properties.AngularVelocity, ref m_lastProperties.AngularVelocity,
ANGULARVELOCITY_TOLERANCE)
)
{
// Add this update to the list of updates for this frame.
m_lastProperties = m_properties;
if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length)
m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties);
//(*m_updatesThisFrame)[m_properties.ID] = &m_properties;
}
}
