internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
{
_staticPosition = new OpenMetaverse.Vector3(BulletXScene.MaxXY / 2, BulletXScene.MaxXY / 2, 0);
// _staticVelocity = new PhysicsVector();
// _staticOrientation = OpenMetaverse.Quaternion.Identity;
_mass = 0; //No active
// _parentscene = parent_scene;
_heightField = heightField;
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
lock (BulletXScene.BulletXLock)
{
try
{
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition);
CollisionShape _collisionShape =
new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField,
(float) BulletXScene.MaxZ, 2, true, false);
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
Vector3 _localInertia = new Vector3();
//_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
_flatPlanet =
new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping,
_angularDamping, _friction, _restitution);
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition;
_flatPlanet.Translate(_vDebugTranslation);
parent_scene.ddWorld.AddRigidBody(_flatPlanet);
}
catch (Exception ex)
{
BulletXScene.BulletXMessage(ex.Message, true);
}
}
BulletXScene.BulletXMessage("BulletXPlanet created.", false);
}
public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
OpenMetaverse.Vector3 size, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion orientation)
: base(avName)
{
//This fields will be removed. They're temporal
float _sizeX = 0.5f;
float _sizeY = 0.5f;
float _sizeZ = 1.6f;
//.
_position = pos;
_velocity = velocity;
_size = size;
//---
_size.X = _sizeX;
_size.Y = _sizeY;
_size.Z = _sizeZ;
//.
_acceleration = acceleration;
_orientation = orientation;
_physical = true;
float _mass = 50.0f; //This depends of avatar's dimensions
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 0.5f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
lock (BulletXScene.BulletXLock)
{
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
//CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(1.0f, 1.0f, 1.60f));
//For now, like ODE, collisionShape = sphere of radious = 1.0
CollisionShape _collisionShape = new SphereShape(1.0f);
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
Vector3 _localInertia = new Vector3();
_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
rigidBody =
new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
_friction, _restitution);
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
rigidBody.Translate(_vDebugTranslation);
parent_scene.ddWorld.AddRigidBody(rigidBody);
}
}
protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, OpenMetaverse.Vector3 pos,
OpenMetaverse.Vector3 size)
{
//For RigidBody Constructor. The next values might change
float _linearDamping = 0.0f;
float _angularDamping = 0.0f;
float _friction = 1.0f;
float _restitution = 0.0f;
Matrix _startTransform = Matrix.Identity;
Matrix _centerOfMassOffset = Matrix.Identity;
//added by jed zhu
_mesh = mesh;
lock (BulletXScene.BulletXLock)
{
_startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
//For now all prims are boxes
CollisionShape _collisionShape;
if (mesh == null)
{
_collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(size)/2.0f);
}
else
{
int iVertexCount = mesh.getVertexList().Count;
int[] indices = mesh.getIndexListAsInt();
Vector3[] v3Vertices = new Vector3[iVertexCount];
for (int i = 0; i < iVertexCount; i++)
{
OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
if (v != null) // Note, null has special meaning. See meshing code for details
v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
else
v3Vertices[i] = Vector3.Zero;
}
TriangleIndexVertexArray triMesh = new TriangleIndexVertexArray(indices, v3Vertices);
_collisionShape = new TriangleMeshShape(triMesh);
}
DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
Vector3 _localInertia = new Vector3();
if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
rigidBody =
new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
_friction, _restitution);
//rigidBody.ActivationState = ActivationState.DisableDeactivation;
//It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
Vector3 _vDebugTranslation;
_vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
rigidBody.Translate(_vDebugTranslation);
//---
parent_scene.ddWorld.AddRigidBody(rigidBody);
}
}
/// <summary>
/// Creates new rigid body and adds it to the world.
/// </summary>
/// <param name="mass">Body mass, if 0 body is static.</param>
/// <param name="startTransform">Starting body transform.</param>
/// <param name="shape">Body shape.</param>
/// <returns>Created rigid body.</returns>
public RigidBody CreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = new Vector3();
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, Matrix.Identity);
RigidBody body = new RigidBody(mass, myMotionState, shape, localInertia, 0.0f, 0.0f, 0.5f, 0.0f);
_world.AddRigidBody(body);
return body;
}
