public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj);
public abstract int GetNumConstraintRefs(BulletBody obj);
// =====================================================================================
// Debugging
public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject)
{
}
public abstract bool IsInWorld(BulletWorld world, BulletBody obj);
public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract bool WantsSleeping(BulletBody obj);
public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor);
// Apply impulse to the object's torque. Force is scaled by object's mass. public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp);
// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos);
// Apply force at the given point. Will add torque to the object. public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos);
// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp);
public abstract void ApplyTorque(BulletBody obj, Vector3 torque);
public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold);
public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert);
public abstract void Translate(BulletBody obj, Vector3 trans);
public abstract void ClearAllForces(BulletBody obj);
public abstract void UpdateDeactivation(BulletBody obj, float timeStep);
public abstract void UpdateInertiaTensor(BulletBody obj);
public abstract void SetAngularFactor(BulletBody obj, float factor);
public abstract Vector3 GetLinearVelocity(BulletBody obj);
public abstract Vector3 GetAngularFactor(BulletBody obj);
public abstract Vector3 GetAngularVelocity(BulletBody obj);
public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain);
public abstract void SetLinearVelocity(BulletBody obj, Vector3 val);
public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index);
public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity);
public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask);
public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos);
// 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,meshed,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);
}
public abstract Vector3 GetTotalTorque(BulletBody obj);
