protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
TypeName = typeName;
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BulletShape();
// A linkset of just me
Linkset = BSLinkset.Factory(PhysicsScene, this);
LastAssetBuildFailed = false;
// Default material type
Material = MaterialAttributes.Material.Wood;
CollisionCollection = new CollisionEventUpdate();
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
}
public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
public abstract bool IsNativeShape(BulletShape shape);
public abstract bool IsCompound(BulletShape shape);
public abstract Vector3 GetLocalScaling(BulletShape shape);
public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
{
}
public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id);
public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape);
public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot);
public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
// ===================================================================================== // btCollisionShape entries public abstract float GetAngularMotionDisc(BulletShape shape);
public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
public abstract int GetNumberOfCompoundChildren(BulletShape cShape);
public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
public abstract bool IsConvex2d(BulletShape shape);
// =====================================================================================
// btCollisionShape entries
public abstract float GetAngularMotionDisc(BulletShape shape);
public abstract bool IsPolyhedral(BulletShape shape);
public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx);
public abstract bool IsPolyhedral(BulletShape shape);
public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
public abstract bool IsConvex(BulletShape shape);
public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
public abstract bool IsNonMoving(BulletShape shape);
public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot);
public abstract bool IsConcave(BulletShape shape);
public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape);
public abstract bool IsCompound(BulletShape shape);
public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id);
public abstract bool IsSoftBody(BulletShape shape);
public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor);
public abstract bool IsInfinite(BulletShape shape);
public abstract float GetMargin(BulletShape shape);
public abstract void SetLocalScaling(BulletShape shape, Vector3 scale);
public abstract int GetShapeType(BulletShape shape);
public abstract Vector3 GetLocalScaling(BulletShape shape);
public abstract bool IsConcave(BulletShape shape);
public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass);
public abstract bool IsInfinite(BulletShape shape);
public abstract int GetShapeType(BulletShape shape);
public abstract bool IsNonMoving(BulletShape shape);
public abstract void SetMargin(BulletShape shape, float val);
public abstract bool IsSoftBody(BulletShape shape);
public abstract float GetMargin(BulletShape shape);
public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape);
public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape)
{
}
public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape);
// 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
// Called at taint-time.
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
{
if (!LinksetRoot.IsPhysicallyActive)
{
// No reason to do this physical stuff for static linksets.
DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID);
return;
}
// The user moving a child around requires the rebuilding of the linkset compound shape
// One problem is this happens when a border is crossed -- the simulator implementation
// stores the position into the group which causes the move of the object
// but it also means all the child positions get updated.
// What would cause an unnecessary rebuild so we make sure the linkset is in a
// region before bothering to do a rebuild.
if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
{
// If a child of the linkset is updating only the position or rotation, that can be done
// without rebuilding the linkset.
// If a handle for the child can be fetch, we update the child here. If a rebuild was
// scheduled by someone else, the rebuild will just replace this setting.
bool updatedChild = false;
// Anything other than updating position or orientation usually means a physical update
// and that is caused by us updating the object.
if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
{
// Find the physical instance of the child
if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
{
// It is possible that the linkset is still under construction and the child is not yet
// inserted into the compound shape. A rebuild of the linkset in a pre-step action will
// build the whole thing with the new position or rotation.
// The index must be checked because Bullet references the child array but does no validity
// checking of the child index passed.
int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo);
if (updated.LinksetChildIndex < numLinksetChildren)
{
BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex);
if (linksetChildShape.HasPhysicalShape)
{
// Found the child shape within the compound shape
m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex,
updated.RawPosition - LinksetRoot.RawPosition,
updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),
true /* shouldRecalculateLocalAabb */);
updatedChild = true;
DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}",
updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation);
}
else // DEBUG DEBUG
{ // DEBUG DEBUG
DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
updated.LocalID, linksetChildShape);
} // DEBUG DEBUG
}
else // DEBUG DEBUG
{ // DEBUG DEBUG
// the child is not yet in the compound shape. This is non-fatal.
DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
updated.LocalID, numLinksetChildren, updated.LinksetChildIndex);
} // DEBUG DEBUG
}
else // DEBUG DEBUG
{ // DEBUG DEBUG
DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
} // DEBUG DEBUG
if (!updatedChild)
{
// If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
// Note: there are several ways through this code that will not update the child if
// the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
// there will already be a rebuild scheduled.
DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
updated.LocalID, whichUpdated);
Refresh(updated);
}
}
}
}
public abstract void SetMargin(BulletShape shape, float val);
// Create terrain mesh from a heightmap.
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
Vector3 minCoords, Vector3 maxCoords)
: base(physicsScene, regionBase, id)
{
int indicesCount;
int[] indices;
int verticesCount;
float[] vertices;
m_savedHeightMap = initialMap;
m_sizeX = (int)(maxCoords.X - minCoords.X);
m_sizeY = (int)(maxCoords.Y - minCoords.Y);
bool meshCreationSuccess = false;
if (BSParam.TerrainMeshMagnification == 1)
{
// If a magnification of one, use the old routine that is tried and true.
meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(m_physicsScene,
initialMap, m_sizeX, m_sizeY, // input size
Vector3.Zero, // base for mesh
out indicesCount, out indices, out verticesCount, out vertices);
}
else
{
// Other magnifications use the newer routine
meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(m_physicsScene,
initialMap, m_sizeX, m_sizeY, // input size
BSParam.TerrainMeshMagnification,
physicsScene.TerrainManager.DefaultRegionSize,
Vector3.Zero, // base for mesh
out indicesCount, out indices, out verticesCount, out vertices);
}
if (!meshCreationSuccess)
{
// DISASTER!!
m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID);
m_physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
// Something is very messed up and a crash is in our future.
return;
}
m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);
m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices);
if (!m_terrainShape.HasPhysicalShape)
{
// DISASTER!!
m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID);
m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
// Something is very messed up and a crash is in our future.
return;
}
Vector3 pos = regionBase;
Quaternion rot = Quaternion.Identity;
m_terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
if (!m_terrainBody.HasPhysicalBody)
{
// DISASTER!!
m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
// Something is very messed up and a crash is in our future.
return;
}
physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin);
// Set current terrain attributes
m_physicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
m_physicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
m_physicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
m_physicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
m_physicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
// Static objects are not very massive.
m_physicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
// Put the new terrain to the world of physical objects
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_terrainBody);
// Redo its bounding box now that it is in the world
m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_terrainBody);
m_terrainBody.collisionType = CollisionType.Terrain;
m_terrainBody.ApplyCollisionMask(m_physicsScene);
if (BSParam.UseSingleSidedMeshes)
{
m_physicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
m_physicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
}
// Make it so the terrain will not move or be considered for movement.
m_physicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
}
public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb);
public abstract void SetShapeCollisionMargin(BulletShape shape, float margin);
