public bool SetStiffness(int pIndex, float pStiffness)
{
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness);
PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness);
return(true);
}
public bool SetEquilibriumPoint(int pIndex, float pEqPoint)
{
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint);
return(true);
}
public bool SetAxisEnable(int pIndex, bool pAxisEnable)
{
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable);
PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable));
return(true);
}
public bool SetDamping(int pIndex, float pDamping)
{
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}",
m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping);
PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping);
return(true);
}
// Invoke the detailed logger and output something if it's enabled.
protected void DetailLog(string msg, params Object[] args)
{
if (PhysicsScene.PhysicsLogging.Enabled)
{
PhysicsScene.DetailLog(msg, args);
}
}
protected void MDetailLog(string msg, params Object[] parms)
{
if (PhysicsScene != null)
{
PhysicsScene.DetailLog(msg, parms);
}
}
public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq)
{
PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}",
m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y);
PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z);
return(true);
}
// A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot,
bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj1; // Look out for confusion down the road
m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1,
frameInBloc, frameInBrot,
useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}",
m_body1.ID, world.worldID, obj1.ID, obj1.AddrString);
PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}",
m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies);
}
public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1Loc, Quaternion frame1Rot,
Vector3 frame2Loc, Quaternion frame2Rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world, obj1, obj2)
{
m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2,
frame1Loc, frame1Rot, frame2Loc, frame2Rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
m_enabled = true;
PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}",
m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
}
// 6 Dof constraint based on a midpoint between the two constrained bodies
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
: base(world)
{
m_body1 = obj1;
m_body2 = obj2;
if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
{
world.physicsScene.DetailLog(
"{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
world.physicsScene.Logger.ErrorFormat(
"{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
m_enabled = false;
}
else
{
m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
PhysicsScene.DetailLog(
"{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.AddrString,
obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
if (!m_constraint.HasPhysicalConstraint)
{
world.physicsScene.Logger.ErrorFormat(
"{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
}
// 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(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(PhysicsScene,
initialMap, m_sizeX, m_sizeY, // input size
BSParam.TerrainMeshMagnification,
physicsScene.TerrainManager.WorldMax,
Vector3.Zero, // base for mesh
out indicesCount, out indices, out verticesCount, out vertices);
}
if (!meshCreationSuccess)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}",
BSScene.DetailLogZero, ID);
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;
}
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshid,id={1},indices={2},indSz={3},vertices={4},vertSz={5}",
BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length);
m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount,
vertices);
if (!m_terrainShape.HasPhysicalShape)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero,
ID);
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 = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
if (!m_terrainBody.HasPhysicalBody)
{
// DISASTER!!
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
PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
// Static objects are not very massive.
PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
// Put the new terrain to the world of physical objects
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
// Redo its bounding box now that it is in the world
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
m_terrainBody.collisionType = CollisionType.Terrain;
m_terrainBody.ApplyCollisionMask(PhysicsScene);
if (BSParam.UseSingleSidedMeshes)
{
PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
}
// Make it so the terrain will not move or be considered for movement.
PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
}
// 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);
if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
m_sizeX, m_sizeY,
(float)m_sizeX, (float)m_sizeY,
Vector3.Zero, 1.0f,
out indicesCount, out indices, out verticesCount, out vertices))
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
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;
}
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}",
ID, indicesCount, indices.Length, verticesCount, vertices.Length);
m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices);
if (!m_terrainShape.HasPhysicalShape)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
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 = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
if (!m_terrainBody.HasPhysicalBody)
{
// DISASTER!!
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;
}
// Set current terrain attributes
PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);
// Static objects are not very massive.
PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);
// Put the new terrain to the world of physical objects
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody);
// Redo its bounding box now that it is in the world
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody);
m_terrainBody.collisionType = CollisionType.Terrain;
m_terrainBody.ApplyCollisionMask(PhysicsScene);
// Make it so the terrain will not move or be considered for movement.
PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
}
// High performance detailed logging routine used by the physical objects.
protected void DetailLog(string msg, params Object[] args)
{
PhysicsScene.DetailLog(msg, args);
}