public void setMotionState(btMotionState motionState)
{
if (m_disposed)
{
throw new ObjectDisposedException(ToString());
}
BulletAPI_BtRigidBody_setMotionState(m_handle, motionState.Handle);
}
public btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape, btVector3 localInertia)
{
m_constructionInfo = new btRigidBodyConstructionInfo();
m_constructionInfo.m_collisionShape = collisionShape;
m_constructionInfo.m_localInertia = localInertia;
m_constructionInfo.m_motionState = motionState;
m_constructionInfo.m_startWorldTransform = btTransform.getIdentity();
m_constructionInfo.SetGenericDefaultValues();
m_constructionInfo.m_mass = mass;
m_constructionInfo.commit();
m_handle = BulletAPI_CreateBtRigidBody(m_constructionInfo.Handle);
}
public btRigidBody(float mass, btMotionState motionState, btCollisionShape collisionShape, btVector3 localInertia)
{
m_constructionInfo = new btRigidBodyConstructionInfo();
m_constructionInfo.m_collisionShape = collisionShape;
m_constructionInfo.m_localInertia = localInertia;
m_constructionInfo.m_motionState = motionState;
m_constructionInfo.m_startWorldTransform = btTransform.getIdentity();
m_constructionInfo.SetGenericDefaultValues();
m_constructionInfo.m_mass = mass;
m_constructionInfo.commit();
m_handle = BulletAPI_CreateBtRigidBody(m_constructionInfo.Handle);
}
public override void DeleteTerrain()
{
if (TerrainBody != null)
{
m_world.removeRigidBody(TerrainBody);
}
if (m_terrainShape != null)
{
m_terrainShape.Dispose();
m_terrainShape = null;
}
if (m_terrainMotionState != null)
{
m_terrainMotionState.Dispose();
m_terrainMotionState = null;
}
if (m_terrainTransform != null)
{
m_terrainTransform.Dispose();
m_terrainTransform = null;
}
if (m_terrainPosition != null)
{
m_terrainPosition.Dispose();
m_terrainPosition = null;
}
}
public override void SetTerrain(float[] heightMap, double[,] normalHeightMap)
{
if (m_terrainShape != null)
DeleteTerrain();
float hfmax = -9000;
float hfmin = 90000;
for (int i = 0; i <heightMap.Length;i++)
{
if (Single.IsNaN(heightMap[i]) || Single.IsInfinity(heightMap[i]))
{
heightMap[i] = 0f;
}
hfmin = (heightMap[i] < hfmin) ? heightMap[i] : hfmin;
hfmax = (heightMap[i] > hfmax) ? heightMap[i] : hfmax;
}
// store this for later reference.
// Note, we're storing it after we check it for anomolies above
_origheightmap = heightMap;
hfmin = 0;
hfmax = 256;
m_terrainShape = new btHeightfieldTerrainShape((int)Constants.RegionSize, (int)Constants.RegionSize, heightMap,
1.0f, hfmin, hfmax, (int)btHeightfieldTerrainShape.UPAxis.Z,
(int)btHeightfieldTerrainShape.PHY_ScalarType.PHY_FLOAT, false);
float AabbCenterX = Constants.RegionSize/2f;
float AabbCenterY = Constants.RegionSize/2f;
float AabbCenterZ = 0;
float temphfmin, temphfmax;
temphfmin = hfmin;
temphfmax = hfmax;
if (temphfmin < 0)
{
temphfmax = 0 - temphfmin;
temphfmin = 0 - temphfmin;
}
else if (temphfmin > 0)
{
temphfmax = temphfmax + (0 - temphfmin);
//temphfmin = temphfmin + (0 - temphfmin);
}
AabbCenterZ = temphfmax/2f;
if (m_terrainPosition == null)
{
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
}
else
{
try
{
m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
}
catch (ObjectDisposedException)
{
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
}
}
if (m_terrainMotionState != null)
{
m_terrainMotionState.Dispose();
m_terrainMotionState = null;
}
m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
TerrainBody.setUserPointer((IntPtr)0);
m_world.addRigidBody(TerrainBody);
}
public override void SetTerrain (ITerrainChannel channel, short[] shortheightMap)
{
if (m_terrainShape != null)
DeleteTerrain();
float hfmax = 256;
float hfmin = 0;
// store this for later reference.
// Note, we're storing it after we check it for anomolies above
_origheightmap = shortheightMap;
hfmin = 0;
hfmax = 256;
float[] heightmap = new float[m_region.RegionSizeX * m_region.RegionSizeX];
for (int i = 0; i < shortheightMap.Length; i++)
{
heightmap[i] = shortheightMap[i] / Constants.TerrainCompression;
}
m_terrainShape = new btHeightfieldTerrainShape(m_region.RegionSizeX, m_region.RegionSizeY, heightmap,
1.0f, hfmin, hfmax, (int)btHeightfieldTerrainShape.UPAxis.Z,
(int)btHeightfieldTerrainShape.PHY_ScalarType.PHY_FLOAT, false);
float AabbCenterX = m_region.RegionSizeX / 2f;
float AabbCenterY = m_region.RegionSizeY / 2f;
float AabbCenterZ = 0;
float temphfmin, temphfmax;
temphfmin = hfmin;
temphfmax = hfmax;
if (temphfmin < 0)
{
temphfmax = 0 - temphfmin;
temphfmin = 0 - temphfmin;
}
else if (temphfmin > 0)
{
temphfmax = temphfmax + (0 - temphfmin);
//temphfmin = temphfmin + (0 - temphfmin);
}
AabbCenterZ = temphfmax/2f;
if (m_terrainPosition == null)
{
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
}
else
{
try
{
m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
}
catch (ObjectDisposedException)
{
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
}
}
if (m_terrainMotionState != null)
{
m_terrainMotionState.Dispose();
m_terrainMotionState = null;
}
m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
TerrainBody.setUserPointer((IntPtr)0);
m_world.addRigidBody(TerrainBody);
}
internal void Dispose()
{
//TODO:
DisableAxisMotor();
DisposeOfBody();
SetCollisionShape(null);
if (tempMotionState3 != null && tempMotionState3.Handle != IntPtr.Zero)
{
tempMotionState3.Dispose();
tempMotionState3 = null;
}
if (tempMotionState2 != null && tempMotionState2.Handle != IntPtr.Zero)
{
tempMotionState2.Dispose();
tempMotionState2 = null;
}
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
{
tempMotionState1.Dispose();
tempMotionState1 = null;
}
if (tempTransform4 != null && tempTransform4.Handle != IntPtr.Zero)
{
tempTransform4.Dispose();
tempTransform4 = null;
}
if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
{
tempTransform3.Dispose();
tempTransform3 = null;
}
if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
{
tempTransform2.Dispose();
tempTransform2 = null;
}
if (tempTransform1 != null && tempTransform1.Handle != IntPtr.Zero)
{
tempTransform1.Dispose();
tempTransform1 = null;
}
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
{
tempOrientation2.Dispose();
tempOrientation2 = null;
}
if (tempOrientation1 != null && tempOrientation1.Handle != IntPtr.Zero)
{
tempOrientation1.Dispose();
tempOrientation1 = null;
}
if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
{
tempInertia1.Dispose();
tempInertia1 = null;
}
if (tempInertia2 != null && tempInertia2.Handle != IntPtr.Zero)
{
tempInertia2.Dispose();
tempInertia1 = null;
}
if (tempAngularVelocity2 != null && tempAngularVelocity2.Handle != IntPtr.Zero)
{
tempAngularVelocity2.Dispose();
tempAngularVelocity2 = null;
}
if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero)
{
tempAngularVelocity1.Dispose();
tempAngularVelocity1 = null;
}
if (tempLinearVelocity2 != null && tempLinearVelocity2.Handle != IntPtr.Zero)
{
tempLinearVelocity2.Dispose();
tempLinearVelocity2 = null;
}
if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero)
{
tempLinearVelocity1.Dispose();
tempLinearVelocity1 = null;
}
if (tempSize2 != null && tempSize2.Handle != IntPtr.Zero)
{
tempSize2.Dispose();
tempSize2 = null;
}
if (tempSize1 != null && tempSize1.Handle != IntPtr.Zero)
{
tempSize1.Dispose();
tempSize1 = null;
}
if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
{
tempPosition3.Dispose();
tempPosition3 = null;
}
if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
{
tempPosition2.Dispose();
tempPosition2 = null;
}
if (tempPosition1 != null && tempPosition1.Handle != IntPtr.Zero)
{
tempPosition1.Dispose();
tempPosition1 = null;
}
if (AxisLockLinearLow != null && AxisLockLinearLow.Handle != IntPtr.Zero)
{
AxisLockLinearLow.Dispose();
AxisLockLinearLow = null;
}
if (AxisLockLinearHigh != null && AxisLockLinearHigh.Handle != IntPtr.Zero)
{
AxisLockLinearHigh.Dispose();
AxisLockLinearHigh = null;
}
}
public void SetBody(float mass)
{
if (!IsPhysical || childrenPrim.Count == 0)
{
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose();
if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
tempTransform2.Dispose();
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
tempPosition2.Dispose();
tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z);
tempTransform2 = new btTransform(tempOrientation2, tempPosition2);
tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero);
if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
tempInertia1.Dispose();
tempInertia1 = new btVector3(0, 0, 0);
prim_geom.calculateLocalInertia(mass, tempInertia1);
if (mass != 0)
_parent_scene.addActivePrim(this);
else
_parent_scene.remActivePrim(this);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (prim_geom is btGImpactMeshShape)
{
((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape)prim_geom).updateBound();
}
//Body.setCollisionFlags(Body.getCollisionFlags() | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
//Body.setUserPointer((IntPtr) (int)m_localID);
_parent_scene.AddPrimToScene(this);
}
else
{
// bool hasTrimesh = false;
lock (childrenPrim)
{
foreach (BulletDotNETPrim chld in childrenPrim)
{
if (chld == null)
continue;
// if (chld.NeedsMeshing())
// hasTrimesh = true;
}
}
//if (hasTrimesh)
//{
ProcessGeomCreationAsTriMesh(Vector3.Zero, Quaternion.Identity);
// createmesh returns null when it doesn't mesh.
/*
if (_mesh is Mesh)
{
}
else
{
m_log.Warn("[PHYSICS]: Can't link a OpenSim.Region.Physics.Meshing.Mesh object");
return;
}
*/
foreach (BulletDotNETPrim chld in childrenPrim)
{
if (chld == null)
continue;
Vector3 offset = chld.Position - Position;
Vector3 pos = new Vector3(offset.X, offset.Y, offset.Z);
pos *= Quaternion.Inverse(Orientation);
//pos *= Orientation;
offset = pos;
chld.ProcessGeomCreationAsTriMesh(offset, chld.Orientation);
_mesh.Append(chld._mesh);
}
setMesh(_parent_scene, _mesh);
//}
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose();
if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
tempTransform2.Dispose();
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
tempPosition2.Dispose();
tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
tempPosition2 = new btVector3(_position.X, _position.Y, _position.Z);
tempTransform2 = new btTransform(tempOrientation2, tempPosition2);
tempMotionState1 = new btDefaultMotionState(tempTransform2, _parent_scene.TransZero);
if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
tempInertia1.Dispose();
tempInertia1 = new btVector3(0, 0, 0);
prim_geom.calculateLocalInertia(mass, tempInertia1);
if (mass != 0)
_parent_scene.addActivePrim(this);
else
_parent_scene.remActivePrim(this);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (prim_geom is btGImpactMeshShape)
{
((btGImpactMeshShape)prim_geom).setLocalScaling(new btVector3(1, 1, 1));
((btGImpactMeshShape)prim_geom).updateBound();
}
_parent_scene.AddPrimToScene(this);
}
if (IsPhysical)
changeAngularLock(0);
}
public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size,
Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
{
tempPosition1 = new btVector3(0, 0, 0);
tempPosition2 = new btVector3(0, 0, 0);
tempPosition3 = new btVector3(0, 0, 0);
tempSize1 = new btVector3(0, 0, 0);
tempSize2 = new btVector3(0, 0, 0);
tempLinearVelocity1 = new btVector3(0, 0, 0);
tempLinearVelocity2 = new btVector3(0, 0, 0);
tempAngularVelocity1 = new btVector3(0, 0, 0);
tempAngularVelocity2 = new btVector3(0, 0, 0);
tempInertia1 = new btVector3(0, 0, 0);
tempInertia2 = new btVector3(0, 0, 0);
tempOrientation1 = new btQuaternion(0, 0, 0, 1);
tempOrientation2 = new btQuaternion(0, 0, 0, 1);
_parent_scene = parent_scene;
tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
tempTransform2 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempTransform3 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempTransform4 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
tempMotionState1 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero);
AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize);
int regionsize = (int)Constants.RegionSize;
if (regionsize == 256)
regionsize = 512;
AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);
_target_velocity = Vector3.Zero;
_velocity = Vector3.Zero;
_position = pos;
m_taintposition = pos;
PID_D = parent_scene.bodyPIDD;
PID_G = parent_scene.bodyPIDG;
m_density = parent_scene.geomDefaultDensity;
// m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
// body_autodisable_frames = parent_scene.bodyFramesAutoDisable;
prim_geom = null;
Body = null;
if (size.X <= 0) size.X = 0.01f;
if (size.Y <= 0) size.Y = 0.01f;
if (size.Z <= 0) size.Z = 0.01f;
_size = size;
m_taintsize = _size;
_acceleration = Vector3.Zero;
m_rotationalVelocity = Vector3.Zero;
_orientation = rotation;
m_taintrot = _orientation;
_mesh = mesh;
_pbs = pbs;
_parent_scene = parent_scene;
if (pos.Z < 0)
m_isphysical = false;
else
{
m_isphysical = pisPhysical;
// If we're physical, we need to be in the master space for now.
// linksets *should* be in a space together.. but are not currently
}
m_primName = primName;
m_taintadd = true;
_parent_scene.AddPhysicsActorTaint(this);
}
public void setMotionState(btMotionState motionState)
{
if (m_disposed)
throw new ObjectDisposedException(ToString());
BulletAPI_BtRigidBody_setMotionState(m_handle, motionState.Handle);
}
public override void SetTerrain(bool[] heightMap)
{
if (m_terrainShape != null)
DeleteTerrain();
m_terrainShape = AddPrim(
"__TERRAIN__",
new Vector3(Constants.RegionSize / 2, Constants.RegionSize / 2, Constants.RegionSize / 2),
new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionSize),
Quaternion.Identity,
voxmesher.ToMesh(heightMap),
PrimitiveBaseShape.Default,
false);
//float AabbCenterX = Constants.RegionSize/2f;
//float AabbCenterY = Constants.RegionSize/2f;
//float AabbCenterZ = 0f;
/*
float temphfmin, temphfmax;
temphfmin = hfmin;
temphfmax = hfmax;
if (temphfmin < 0)
{
temphfmax = 0 - temphfmin;
temphfmin = 0 - temphfmin;
}
else if (temphfmin > 0)
{
temphfmax = temphfmax + (0 - temphfmin);
//temphfmin = temphfmin + (0 - temphfmin);
}
AabbCenterZ = temphfmax/2f;
if (m_terrainPosition == null)
{
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
}
else
{
try
{
m_terrainPosition.setValue(AabbCenterX, AabbCenterY, AabbCenterZ);
}
catch (ObjectDisposedException)
{
m_terrainPosition = new btVector3(AabbCenterX, AabbCenterY, AabbCenterZ);
}
}
*/
if (m_terrainMotionState != null)
{
m_terrainMotionState.Dispose();
m_terrainMotionState = null;
}
m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
}
