Пример #1
0
    // Select the connection to the actual Bullet implementation.
    // The main engine selection is the engineName up to the first hypen.
    // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
    //     is passed to the engine to do its special selection, etc.
    private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
    {
        // For the moment, do a simple switch statement.
        // Someday do fancyness with looking up the interfaces in the assembly.
        BSAPITemplate ret = null;

        string selectionName = engineName.ToLower();
        int hyphenIndex = engineName.IndexOf("-");
        if (hyphenIndex > 0)
            selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);

        switch (selectionName)
        {
            case "bullet":
            case "bulletunmanaged":
                ret = new BSAPIUnman(engineName, this);
                break;
            case "bulletxna":
                ret = new BSAPIXNA(engineName, this);
                // Disable some features that are not implemented in BulletXNA
                m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader);
                m_log.InfoFormat("{0}    Disabling ShouldUseBulletHACD", LogHeader);
                BSParam.ShouldUseBulletHACD = false;
                m_log.InfoFormat("{0}    Disabling ShouldUseSingleConvexHullForPrims", LogHeader);
                BSParam.ShouldUseSingleConvexHullForPrims = false;
                m_log.InfoFormat("{0}    Disabling ShouldUseGImpactShapeForPrims", LogHeader);
                BSParam.ShouldUseGImpactShapeForPrims = false;
                m_log.InfoFormat("{0}    Setting terrain implimentation to Heightmap", LogHeader);
                BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
                break;
        }

        if (ret == null)
        {
            m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
        }
        else
        {
            m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
        }

        return ret;
    }
Пример #2
0
        private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
        {
            IndexedVector3 contactNormal = norm;
            if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
            (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
            {
            return;
            }
            uint idA = (uint)objA.GetUserPointer();
            uint idB = (uint)objB.GetUserPointer();
            if (idA > idB)
            {
            uint temp = idA;
            idA = idB;
            idB = temp;
            contactNormal = -contactNormal;
            }

            //ulong collisionID = ((ulong) idA << 32) | idB;

            CollisionDesc cDesc = new CollisionDesc()
                                            {
                                                aID = idA,
                                                bID = idB,
                                                point = new Vector3(contact.X,contact.Y,contact.Z),
                                                normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z),
                                                penetration = penetration

                                            };
            if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
            world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
            m_collisionsThisFrame++;
        }
Пример #3
0
 public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates)
 {
     IndexedQuaternion OrientationQuaterion = starTransform.GetRotation();
     m_properties = new EntityProperties()
                        {
                            ID = id,
                            Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z),
                            Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W)
                        };
     m_lastProperties = new EntityProperties()
     {
         ID = id,
         Position = new Vector3(starTransform._origin.X, starTransform._origin.Y, starTransform._origin.Z),
         Rotation = new Quaternion(OrientationQuaterion.X, OrientationQuaterion.Y, OrientationQuaterion.Z, OrientationQuaterion.W)
     };
     m_world = pWorld;
     m_xform = starTransform;
 }
Пример #4
0
    // Select the connection to the actual Bullet implementation.
    // The main engine selection is the engineName up to the first hypen.
    // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
    //     is passed to the engine to do its special selection, etc.
    private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
    {
        // For the moment, do a simple switch statement.
        // Someday do fancyness with looking up the interfaces in the assembly.
        BSAPITemplate ret = null;

        string selectionName = engineName.ToLower();
        int hyphenIndex = engineName.IndexOf("-");
        if (hyphenIndex > 0)
            selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);

        switch (selectionName)
        {
            case "bulletunmanaged":
                ret = new BSAPIUnman(engineName, this);
                break;
            case "bulletxna":
                ret = new BSAPIXNA(engineName, this);
                break;
        }

        if (ret == null)
        {
            m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
        }
        else
        {
            m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
        }

        return ret;
    }