// Initialization and simulation
public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
);
protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
{
PreUpdatePropertyAction actions = OnPreUpdateProperty;
if (actions != null)
actions(ref entprop);
}
// Initialization and simulation
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
)
{
// Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
// If Debug logging level, enable logging from the unmanaged code
m_DebugLogCallbackHandle = null;
if (MainConsole.Instance.IsDebugEnabled)
{
MainConsole.Instance.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
//if (PhysicsScene.PhysicsLogging.Enabled)
// The handle is saved in a variable to make sure it doesn't get freed after this call
// m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
//else
m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
}
// Get the version of the DLL
// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
// BulletEngineVersion = BulletSimAPI.GetVersion2();
BulletEngineVersion = "";
// Call the unmanaged code with the buffers and other information
return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
m_DebugLogCallbackHandle));
}
// Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop);
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
TriggerPreUpdatePropertyAction(ref entprop);
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
bool terseUpdate = false;
if (entprop.Velocity != OMV.Vector3.Zero && entprop.Velocity.ApproxEquals(OMV.Vector3.Zero, 0.01f) && Velocity != OMV.Vector3.Zero)
{
entprop.Velocity = OMV.Vector3.Zero;
entprop.Acceleration = OMV.Vector3.Zero;
entprop.RotationalVelocity = OMV.Vector3.Zero;
Velocity = RawVelocity = OMV.Vector3.Zero;
ZeroMotion(true);
terseUpdate = true;
}
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
// very sensitive to velocity changes.
if (entprop.Velocity == OMV.Vector3.Zero || (VehicleType != 0 /*&& !entprop.Velocity.ApproxEquals(RawVelocity, 0.01f)*/) ||
!entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold / 2f))
{
terseUpdate = true;
RawVelocity = entprop.Velocity;
}
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = _position;
entprop.Velocity = RawVelocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.Acceleration = _acceleration;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
//DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
if (terseUpdate)
base.RequestPhysicsterseUpdate();
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
}
private void PreUpdateProperty(ref EntityProperties entprop)
{
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (IsActive)
{
entprop.RotationalVelocity = Vector3.Zero;
}
}
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (!IsStationary)
_position = entprop.Position;
_orientation = entprop.Rotation;
if (entprop.Velocity != OMV.Vector3.Zero && entprop.Velocity.ApproxEquals(OMV.Vector3.Zero, 0.01f) && Velocity != OMV.Vector3.Zero)
{
entprop.Velocity = OMV.Vector3.Zero;
entprop.Acceleration = OMV.Vector3.Zero;
entprop.RotationalVelocity = OMV.Vector3.Zero;
Velocity = OMV.Vector3.Zero;
TriggerSignificantMovement();
TriggerMovementUpdate();
}
if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.4f))
{
RawVelocity = entprop.Velocity;
TriggerSignificantMovement();
TriggerMovementUpdate();
}
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
{
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position);
entprop.Position = _position;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity);
}
