//----------------------------------------------------------------------------------------------
public override void ClientResetScene()
{
//#ifdef SHOW_NUM_DEEP_PENETRATIONS
gNumDeepPenetrationChecks = 0;
gNumGjkChecks = 0;
//#endif //SHOW_NUM_DEEP_PENETRATIONS
gNumClampedCcdMotions = 0;
int numObjects = 0;
foreach (DiscreteDynamicsWorld world in m_worlds)
{
// Prefer a better place for this...
world.SetDebugDrawer(m_debugDraw);
numObjects = world.GetNumCollisionObjects();
IList <CollisionObject> copyArray = world.GetCollisionObjectArray();
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = copyArray[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.GetMotionState() != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.GetMotionState();
myMotionState.m_graphicsWorldTrans = myMotionState.m_startWorldTrans;
body.SetCenterOfMassTransform(ref myMotionState.m_graphicsWorldTrans);
colObj.SetInterpolationWorldTransform(ref myMotionState.m_startWorldTrans);
if (colObj.GetActivationState() != ActivationState.DISABLE_DEACTIVATION)
{
colObj.ForceActivationState(ActivationState.ACTIVE_TAG);
colObj.Activate();
colObj.SetDeactivationTime(0);
}
//colObj.setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
world.GetBroadphase().GetOverlappingPairCache().CleanProxyFromPairs(colObj.GetBroadphaseHandle(), world.GetDispatcher());
if (!body.IsStaticObject())
{
IndexedVector3 zero = IndexedVector3.Zero;
body.SetLinearVelocity(ref zero);
body.SetAngularVelocity(ref zero);
}
}
}
///reset some internal cached data in the broadphase
world.GetBroadphase().ResetPool(world.GetDispatcher());
world.GetConstraintSolver().Reset();
}
}
//----------------------------------------------------------------------------------------------
public virtual void RenderScenePassMultiWorld(int pass, GameTime gameTime, DiscreteDynamicsWorld world)
{
IndexedMatrix m = IndexedMatrix.Identity;
IndexedBasisMatrix rot = IndexedBasisMatrix.Identity;
int numObjects = world.GetNumCollisionObjects();
IndexedVector3 wireColor = new IndexedVector3(1, 0, 0);
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = world.GetCollisionObjectArray()[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null && body.GetMotionState() != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.GetMotionState();
//myMotionState.m_graphicsWorldTrans.getOpenGLMatrix(m);
m = myMotionState.m_graphicsWorldTrans;
rot = myMotionState.m_graphicsWorldTrans._basis;
}
else
{
//colObj.getWorldTransform().getOpenGLMatrix(m);
m = colObj.GetWorldTransform();
rot = colObj.GetWorldTransform()._basis;
}
wireColor = new IndexedVector3(1.0f, 1.0f, 0.5f); //wants deactivation
if ((i & 1) != 0)
{
wireColor = new IndexedVector3(0f, 0f, 1f);
}
///color differently for active, sleeping, wantsdeactivation states
if (colObj.GetActivationState() == ActivationState.ACTIVE_TAG) //active
{
if ((i & 1) != 0)
{
wireColor += new IndexedVector3(1f, 0f, 0f);
}
else
{
wireColor += new IndexedVector3(.5f, 0f, 0f);
}
}
if (colObj.GetActivationState() == ActivationState.ISLAND_SLEEPING) //ISLAND_SLEEPING
{
if ((i & 1) != 0)
{
wireColor += new IndexedVector3(0f, 1f, 0f);
}
else
{
wireColor += new IndexedVector3(0f, 05f, 0f);
}
}
IndexedVector3 min, max;
world.GetBroadphase().GetBroadphaseAabb(out min, out max);
min -= MathUtil.MAX_VECTOR;
max += MathUtil.MAX_VECTOR;
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld.getDebugDrawer().drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
switch (pass)
{
case 0:
{
m_shapeDrawer.DrawXNA(ref m, colObj.GetCollisionShape(), ref wireColor, m_debugDraw.GetDebugMode(), ref min, ref max, ref m_lookAt, ref m_perspective);
break;
}
case 1:
{
IndexedVector3 shadow = rot * m_lightDirection;
m_shapeDrawer.DrawShadow(ref m, ref shadow, colObj.GetCollisionShape(), ref min, ref max);
break;
}
case 2:
{
IndexedVector3 adjustedWireColor = wireColor * 0.3f;
m_shapeDrawer.DrawXNA(ref m, colObj.GetCollisionShape(), ref adjustedWireColor, 0, ref min, ref max, ref m_lookAt, ref m_perspective);
break;
}
}
}
}
public override void DumpDebugInfo(StringBuilder stringBuilder)
{
base.DumpDebugInfo(stringBuilder);
stringBuilder.AppendFormat("BulletXNAObject type[{0}] actiState[{1}] mask[{2}] flags[{3}]", RigidBody != null?"RB":"G", CollisionObject.GetActivationState(), CollisionMask, CollisionGroups);
GameComponentHelper.PrintVector3(stringBuilder, "LinVel", LinearVelocity);
if (CollisionObject.GetBroadphaseHandle() != null)
{
GameComponentHelper.PrintVector3(stringBuilder, "aaBMin", CollisionObject.GetBroadphaseHandle().m_aabbMin);
GameComponentHelper.PrintVector3(stringBuilder, "aaBMax", CollisionObject.GetBroadphaseHandle().m_aabbMax);
}
}
