public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName) : base(physicsScene, pObj, actorName) { m_velocityMotor = null; m_walkingUpStairs = 0; m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID); }
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); return(null); }
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) { m_physicsScene = physicsScene; m_controllingPrim = pObj; ActorName = actorName; Enabled = true; }
// Get a reference to a physical shape. Create if it doesn't exist public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { BSShape ret = null; if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE); physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); } // Compound shapes are handled special as they are rebuilt from scratch. // This isn't too great a hardship since most of the child shapes will have already been created. if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added ret = BSShapeCompound.GetReference(prim); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); } // Avatars have their own unique shape if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added ret = BSShapeAvatar.GetReference(prim); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret); } if (ret == null) ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); return ret; }
// Create the correct type of linkset for this child public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent) { BSLinkset ret = null; switch ((int)BSParam.LinksetImplementation) { case (int)LinksetImplementation.Constraint: ret = new BSLinksetConstraints(physScene, parent); break; case (int)LinksetImplementation.Compound: ret = new BSLinksetCompound(physScene, parent); break; case (int)LinksetImplementation.Manual: // ret = new BSLinksetManual(physScene, parent); break; case (int)LinksetImplementation.CompoundGroup: ret = new BSLinksetGroupCompound(physScene, parent); break; default: ret = new BSLinksetCompound(physScene, parent); break; } if (ret == null) { physScene.Logger.ErrorFormat( "[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID); } return(ret); }
private BSShapeNative(BSScene physicsScene, BSPhysObject prim, BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; nativeShapeData.Scale = prim.Scale; nativeShapeData.Size = prim.Scale; nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; /* * if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) * { * ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale); * physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); * } * else * { * ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData); * } * if (ptr == IntPtr.Zero) * { * physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", * LogHeader, prim.LocalID, shapeType); * } * type = shapeType; * key = (UInt64)shapeKey; */ }
public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(parent_scene, localID, primName, "BSPrim") { // MainConsole.Instance.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _position = pos; _size = size; Scale = size; // prims are the size the user wants them to be (different for BSCharactes). _orientation = rotation; _buoyancy = 0f; RawVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; BaseShape = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; // We keep a handle to the vehicle actor so we can set vehicle parameters later. VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName); PhysicalActors.Add(VehicleActorName, VehicleActor); _mass = CalculateMass(); // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() { // Make sure the object is being created with some sanity. ExtremeSanityCheck(true /* inTaintTime */); CreateGeomAndObject(true); CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody); }); }
public PhysicsScene GetScene() { if (_mScene == null) { _mScene = new BSScene(); } return(_mScene); }
public BSTerrainManager(BSScene physicsScene) { PhysicsScene = physicsScene; // Assume one region of default size m_worldMax = new Vector3(physicsScene.Scene.RegionInfo.RegionSizeX, physicsScene.Scene.RegionInfo.RegionSizeY, physicsScene.Scene.RegionInfo.RegionSizeZ); }
// Apply the specificed collision mask into the physical world public virtual bool ApplyCollisionMask(BSScene physicsScene) { // Should assert the body has been added to the physical world. // (The collision masks are stored in the collision proxy cache which only exists for // a collision body that is in the world.) return(physicsScene.PE.SetCollisionGroupMask(this, BulletSimData.CollisionTypeMasks[collisionType].group, BulletSimData.CollisionTypeMasks[collisionType].mask)); }
public BSShapeCollection(BSScene physScene) { PhysicsScene = physScene; // Set the next to 'true' for very detailed shape update detailed logging (detailed details?) // While detailed debugging is still active, this is better than commenting out all the // DetailLog statements. When debugging slows down, this and the protected logging // statements can be commented/removed. DDetail = true; }
// Make this reference to the physical shape go away since native shapes are not shared. public override void Dereference(BSScene physicsScene) { /* * // Native shapes are not tracked and are released immediately * physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); * PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this); * ptr = IntPtr.Zero; * // Garbage collection will free up this instance. */ }
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) : base(parent_scene, localID, avName, "BSCharacter") { _position = pos; _flying = isFlying; _orientation = OMV.Quaternion.Identity; RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. _size = size; if (_size.X == 0f) { _size.X = BSParam.AvatarCapsuleDepth; } if (_size.Y == 0f) { _size.Y = BSParam.AvatarCapsuleWidth; } // The dimensions of the physical capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. Scale = ComputeAvatarScale(_size); // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); // The avatar's movement is controlled by this motor that speeds up and slows down // the avatar seeking to reach the motor's target speed. // This motor runs as a prestep action for the avatar so it will keep the avatar // standing as well as moving. Destruction of the avatar will destroy the pre-step action. m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName); PhysicalActors.Add(AvatarMoveActorName, m_moveActor); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); // do actual creation in taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); SetPhysicalProperties(); SubscribeEvents(1000); }); return; }
public BSAPIUnman(string paramName, BSScene physScene) { PhysicsScene = physScene; // Do something fancy with the paramName to get the right DLL implementation // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc. if (Util.IsWindows()) Util.LoadArchSpecificWindowsDll("BulletSim.dll"); // If not Windows, loading is performed by the // Mono loader as specified in // "bin/Physics/WhiteCore.Physics.BulletSPlugin.dll.config". }
// This minCoords and maxCoords passed in give the size of the terrain (min and max Z // are the high and low points of the heightmap). public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { m_mapInfo = new BulletHMapInfo(id, initialMap); m_mapInfo.minCoords = minCoords; m_mapInfo.maxCoords = maxCoords; m_mapInfo.minZ = minCoords.Z; m_mapInfo.maxZ = maxCoords.Z; m_mapInfo.terrainRegionBase = TerrainBase; // Don't have to free any previous since we just got here. BuildHeightmapTerrain(); }
protected BSLinkset(BSScene scene, BSPrimLinkable parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; // We create LOTS of linksets. if (m_nextLinksetID <= 0) m_nextLinksetID = 1; PhysicsScene = scene; LinksetRoot = parent; m_children = new HashSet<BSPrimLinkable>(); LinksetMass = parent.RawMass; Rebuilding = false; parent.ClearDisplacement(); }
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) : base(parent_scene, localID, avName, "BSCharacter") { _position = pos; _flying = isFlying; _orientation = OMV.Quaternion.Identity; RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. _size = size; if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; // The dimensions of the physical capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. Scale = ComputeAvatarScale(_size); // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); // The avatar's movement is controlled by this motor that speeds up and slows down // the avatar seeking to reach the motor's target speed. // This motor runs as a prestep action for the avatar so it will keep the avatar // standing as well as moving. Destruction of the avatar will destroy the pre-step action. m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName); PhysicalActors.Add(AvatarMoveActorName, m_moveActor); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); // do actual creation in taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); SetPhysicalProperties(); SubscribeEvents(1000); }); return; }
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, int material, float friction, float restitution, float gravityMultiplier, float density) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) { Linkset = BSLinkset.Factory(PhysicsScene, this); PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() { base.SetMaterial(material); base.Friction = friction; base.Restitution = restitution; base.GravityMultiplier = gravityMultiplier; base.Density = density; Linkset.Refresh(this); }); }
protected BSLinkset(BSScene scene, BSPrimLinkable parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; // We create LOTS of linksets. if (m_nextLinksetID <= 0) { m_nextLinksetID = 1; } PhysicsScene = scene; LinksetRoot = parent; m_children = new HashSet <BSPrimLinkable>(); LinksetMass = parent.RawMass; Rebuilding = false; parent.ClearDisplacement(); }
// Constructor to build a default, flat heightmap terrain. public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) : base(physicsScene, regionBase, id) { Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; float[] initialMap = new float[totalHeights]; for (int ii = 0; ii < totalHeights; ii++) { initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; } m_mapInfo = new BulletHMapInfo(id, initialMap); m_mapInfo.minCoords = minTerrainCoords; m_mapInfo.maxCoords = maxTerrainCoords; m_mapInfo.terrainRegionBase = TerrainBase; // Don't have to free any previous since we just got here. BuildHeightmapTerrain(); }
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { PhysicsScene = parentScene; LocalID = localID; PhysObjectName = name; Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; // The collection of things that push me around PhysicalActors = new BSActorCollection(PhysicsScene); // Initialize variables kept in base. GravityMultiplier = 1.0f; Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); //HoverActive = false; // We don't have any physical representation yet. PhysBody = new BulletBody(localID); PhysShape = new BulletShape(); PrimAssetState = PrimAssetCondition.Unknown; // Default material type. Also sets Friction, Restitution and Density. SetMaterial((int)MaterialAttributes.Material.Wood); CollisionCollection = new CollisionEventUpdate(); CollisionsLastTick = CollisionCollection; SubscribedEventsMs = 0; CollidingStep = 0; TrueCollidingStep = 0; CollisionAccumulation = 0; ColliderIsMoving = false; CollisionScore = 0; // All axis free. LockedAxis = LockedAxisFree; }
// Get a reference to a physical shape. Create if it doesn't exist public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { BSShape ret = null; if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE); physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); } // Compound shapes are handled special as they are rebuilt from scratch. // This isn't too great a hardship since most of the child shapes will have already been created. if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added ret = BSShapeCompound.GetReference(prim); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); } // Avatars have their own unique shape if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added ret = BSShapeAvatar.GetReference(prim); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret); } if (ret == null) { ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); } return(ret); }
public BSConstraint(BulletWorld world) { m_world = world; PhysicsScene = m_world.physicsScene; }
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). // Return 'true' if successfully created. public static bool ConvertHeightmapToMesh(BSScene physicsScene, float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap Vector3 extentBase, // base to be added to all vertices out int indicesCountO, out int[] indicesO, out int verticesCountO, out float[] verticesO) { bool ret = false; int indicesCount = 0; int verticesCount = 0; int[] indices = new int[0]; float[] vertices = new float[0]; // Simple mesh creation which assumes magnification == 1. // TODO: do a more general solution that scales, adds new vertices and smoothes the result. // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop // from zero to <= sizeX). The triangle indices are then generated as two triangles // per heightmap point. There are sizeX by sizeY of these squares. The extra row and // column of vertices are used to complete the triangles of the last row and column // of the heightmap. try { // One vertice per heightmap value plus the vertices off the side and bottom edge. int totalVertices = (sizeX + 1) * (sizeY + 1); vertices = new float[totalVertices * 3]; int totalIndices = sizeX * sizeY * 6; indices = new int[totalIndices]; if (physicsScene != null) physicsScene.DetailLog( "{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3}", BSScene.DetailLogZero, totalVertices, totalIndices, extentBase); float minHeight = float.MaxValue; // Note that sizeX+1 vertices are created since there is land between this and the next region. for (int yy = 0; yy <= sizeY; yy++) { for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times { int offset = yy * sizeX + xx; // Extend the height with the height from the last row or column if (yy == sizeY) offset -= sizeX; if (xx == sizeX) offset -= 1; float height = heightMap[offset]; minHeight = Math.Min(minHeight, height); vertices[verticesCount + 0] = (float)xx + extentBase.X; vertices[verticesCount + 1] = (float)yy + extentBase.Y; vertices[verticesCount + 2] = height + extentBase.Z; verticesCount += 3; } } verticesCount = verticesCount / 3; for (int yy = 0; yy < sizeY; yy++) { for (int xx = 0; xx < sizeX; xx++) { int offset = yy * (sizeX + 1) + xx; // Each vertices is presumed to be the upper left corner of a box of two triangles indices[indicesCount + 0] = offset; indices[indicesCount + 1] = offset + 1; indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column indices[indicesCount + 3] = offset + 1; indices[indicesCount + 4] = offset + sizeX + 2; indices[indicesCount + 5] = offset + sizeX + 1; indicesCount += 6; } } ret = true; } catch (Exception e) { if (physicsScene != null) physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", LogHeader, physicsScene.RegionName, extentBase, e); } indicesCountO = indicesCount; indicesO = indices; verticesCountO = verticesCount; verticesO = vertices; return ret; }
public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { return(null); }
public override void Dereference(BSScene physicsScene) { }
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). // Return 'true' if successfully created. public static bool ConvertHeightmapToMesh(BSScene physicsScene, float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap Vector3 extentBase, // base to be added to all vertices out int indicesCountO, out int[] indicesO, out int verticesCountO, out float[] verticesO) { bool ret = false; int indicesCount = 0; int verticesCount = 0; int[] indices = new int[0]; float[] vertices = new float[0]; // Simple mesh creation which assumes magnification == 1. // TODO: do a more general solution that scales, adds new vertices and smoothes the result. // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop // from zero to <= sizeX). The triangle indices are then generated as two triangles // per heightmap point. There are sizeX by sizeY of these squares. The extra row and // column of vertices are used to complete the triangles of the last row and column // of the heightmap. try { // One vertice per heightmap value plus the vertices off the side and bottom edge. int totalVertices = (sizeX + 1) * (sizeY + 1); vertices = new float[totalVertices * 3]; int totalIndices = sizeX * sizeY * 6; indices = new int[totalIndices]; if (physicsScene != null) { physicsScene.DetailLog( "{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3}", BSScene.DetailLogZero, totalVertices, totalIndices, extentBase); } float minHeight = float.MaxValue; // Note that sizeX+1 vertices are created since there is land between this and the next region. for (int yy = 0; yy <= sizeY; yy++) { for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times { int offset = yy * sizeX + xx; // Extend the height with the height from the last row or column if (yy == sizeY) { offset -= sizeX; } if (xx == sizeX) { offset -= 1; } float height = heightMap[offset]; minHeight = Math.Min(minHeight, height); vertices[verticesCount + 0] = (float)xx + extentBase.X; vertices[verticesCount + 1] = (float)yy + extentBase.Y; vertices[verticesCount + 2] = height + extentBase.Z; verticesCount += 3; } } verticesCount = verticesCount / 3; for (int yy = 0; yy < sizeY; yy++) { for (int xx = 0; xx < sizeX; xx++) { int offset = yy * (sizeX + 1) + xx; // Each vertices is presumed to be the upper left corner of a box of two triangles indices[indicesCount + 0] = offset; indices[indicesCount + 1] = offset + 1; indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column indices[indicesCount + 3] = offset + 1; indices[indicesCount + 4] = offset + sizeX + 2; indices[indicesCount + 5] = offset + sizeX + 1; indicesCount += 6; } } ret = true; } catch (Exception e) { if (physicsScene != null) { physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", LogHeader, physicsScene.RegionName, extentBase, e); } } indicesCountO = indicesCount; indicesO = indices; verticesCountO = verticesCount; verticesO = vertices; return(ret); }
public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) : base(physicsScene, regionBase, id) { }
// Create the correct type of linkset for this child public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent) { BSLinkset ret = null; switch ((int)BSParam.LinksetImplementation) { case (int)LinksetImplementation.Constraint: ret = new BSLinksetConstraints(physScene, parent); break; case (int)LinksetImplementation.Compound: ret = new BSLinksetCompound(physScene, parent); break; case (int)LinksetImplementation.Manual: // ret = new BSLinksetManual(physScene, parent); break; case (int)LinksetImplementation.CompoundGroup: ret = new BSLinksetGroupCompound(physScene, parent); break; default: ret = new BSLinksetCompound(physScene, parent); break; } if (ret == null) { physScene.Logger.ErrorFormat( "[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID); } return ret; }
// Make this reference to the physical shape go away since native shapes are not shared. public override void Dereference(BSScene physicsScene) { /* // Native shapes are not tracked and are released immediately physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this); ptr = IntPtr.Zero; // Garbage collection will free up this instance. */ }
public BulletWorld(uint worldId, BSScene bss) { worldID = worldId; physicsScene = bss; }
public BSAPIXNA(string paramName, BSScene physScene) { PhysicsScene = physScene; }
// 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); }
public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) : base(physicsScene, regionBase, id) { }
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); return null; }
public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) : base(myScene, myPrim, actorName) { ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; m_haveRegisteredForSceneEvents = false; SetupVehicleDebugging(); }
private BSShapeNative(BSScene physicsScene, BSPhysObject prim, BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; nativeShapeData.Scale = prim.Scale; nativeShapeData.Size = prim.Scale; nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; /* if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale); physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData); } if (ptr == IntPtr.Zero) { physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", LogHeader, prim.LocalID, shapeType); } type = shapeType; key = (UInt64)shapeKey; */ }
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). // Version that handles magnification. // Return 'true' if successfully created. public static bool ConvertHeightmapToMesh2(BSScene physicsScene, float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap int magnification, // number of vertices per heighmap step Vector3 extent, // dimensions of the output mesh Vector3 extentBase, // base to be added to all vertices out int indicesCountO, out int[] indicesO, out int verticesCountO, out float[] verticesO) { bool ret = false; int indicesCount = 0; int verticesCount = 0; int[] indices = new int[0]; float[] vertices = new float[0]; HeightMapGetter hmap = new HeightMapGetter(heightMap, sizeX, sizeY); // The vertices dimension of the output mesh int meshX = sizeX * magnification; int meshY = sizeY * magnification; // The output size of one mesh step float meshXStep = extent.X / meshX; float meshYStep = extent.Y / meshY; // Create an array of vertices that is meshX+1 by meshY+1 (note the loop // from zero to <= meshX). The triangle indices are then generated as two triangles // per heightmap point. There are meshX by meshY of these squares. The extra row and // column of vertices are used to complete the triangles of the last row and column // of the heightmap. try { // Vertices for the output heightmap plus one on the side and bottom to complete triangles int totalVertices = (meshX + 1) * (meshY + 1); vertices = new float[totalVertices * 3]; int totalIndices = meshX * meshY * 6; indices = new int[totalIndices]; if (physicsScene != null) { physicsScene.DetailLog( "{0},BSTerrainMesh.ConvertHeightMapToMesh2,inSize={1},outSize={2},totVert={3},totInd={4},extentBase={5}", BSScene.DetailLogZero, new Vector2(sizeX, sizeY), new Vector2(meshX, meshY), totalVertices, totalIndices, extentBase); } float minHeight = float.MaxValue; // Note that sizeX+1 vertices are created since there is land between this and the next region. // Loop through the output vertices and compute the mediun height in between the input vertices for (int yy = 0; yy <= meshY; yy++) { for (int xx = 0; xx <= meshX; xx++) // Hint: the "<=" means we go around sizeX + 1 times { float offsetY = (float)yy * (float)sizeY / (float)meshY; // The Y that is closest to the mesh point int stepY = (int)offsetY; float fractionalY = offsetY - (float)stepY; float offsetX = (float)xx * (float)sizeX / (float)meshX; // The X that is closest to the mesh point int stepX = (int)offsetX; float fractionalX = offsetX - (float)stepX; // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,xx={1},yy={2},offX={3},stepX={4},fractX={5},offY={6},stepY={7},fractY={8}", // BSScene.DetailLogZero, xx, yy, offsetX, stepX, fractionalX, offsetY, stepY, fractionalY); // get the four corners of the heightmap square the mesh point is in float heightUL = hmap.GetHeight(stepX, stepY); float heightUR = hmap.GetHeight(stepX + 1, stepY); float heightLL = hmap.GetHeight(stepX, stepY + 1); float heightLR = hmap.GetHeight(stepX + 1, stepY + 1); // bilinear interplolation float height = heightUL * (1 - fractionalX) * (1 - fractionalY) + heightUR * fractionalX * (1 - fractionalY) + heightLL * (1 - fractionalX) * fractionalY + heightLR * fractionalX * fractionalY; // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,heightUL={1},heightUR={2},heightLL={3},heightLR={4},heightMap={5}", // BSScene.DetailLogZero, heightUL, heightUR, heightLL, heightLR, height); minHeight = Math.Min(minHeight, height); vertices[verticesCount + 0] = (float)xx * meshXStep + extentBase.X; vertices[verticesCount + 1] = (float)yy * meshYStep + extentBase.Y; vertices[verticesCount + 2] = height + extentBase.Z; verticesCount += 3; } } // The number of vertices generated verticesCount /= 3; // Loop through all the heightmap squares and create indices for the two triangles for that square for (int yy = 0; yy < meshY; yy++) { for (int xx = 0; xx < meshX; xx++) { int offset = yy * (meshX + 1) + xx; // Each vertices is presumed to be the upper left corner of a box of two triangles indices[indicesCount + 0] = offset; indices[indicesCount + 1] = offset + 1; indices[indicesCount + 2] = offset + meshX + 1; // accounting for the extra column indices[indicesCount + 3] = offset + 1; indices[indicesCount + 4] = offset + meshX + 2; indices[indicesCount + 5] = offset + meshX + 1; indicesCount += 6; } } ret = true; } catch (Exception e) { if (physicsScene != null) { physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", LogHeader, physicsScene.RegionName, extentBase, e); } } indicesCountO = indicesCount; indicesO = indices; verticesCountO = verticesCount; verticesO = vertices; return(ret); }
public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) { PhysicsScene = physicsScene; TerrainBase = regionBase; ID = id; }
private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged #endregion Fields #region Constructors public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { }
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) { ClearDisplacement(); }
// Release the use of a physical shape. public abstract void Dereference(BSScene physicsScene);
// Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). // Version that handles magnification. // Return 'true' if successfully created. public static bool ConvertHeightmapToMesh2(BSScene physicsScene, float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap int magnification, // number of vertices per heighmap step Vector3 extent, // dimensions of the output mesh Vector3 extentBase, // base to be added to all vertices out int indicesCountO, out int[] indicesO, out int verticesCountO, out float[] verticesO) { bool ret = false; int indicesCount = 0; int verticesCount = 0; int[] indices = new int[0]; float[] vertices = new float[0]; HeightMapGetter hmap = new HeightMapGetter(heightMap, sizeX, sizeY); // The vertices dimension of the output mesh int meshX = sizeX * magnification; int meshY = sizeY * magnification; // The output size of one mesh step float meshXStep = extent.X / meshX; float meshYStep = extent.Y / meshY; // Create an array of vertices that is meshX+1 by meshY+1 (note the loop // from zero to <= meshX). The triangle indices are then generated as two triangles // per heightmap point. There are meshX by meshY of these squares. The extra row and // column of vertices are used to complete the triangles of the last row and column // of the heightmap. try { // Vertices for the output heightmap plus one on the side and bottom to complete triangles int totalVertices = (meshX + 1) * (meshY + 1); vertices = new float[totalVertices * 3]; int totalIndices = meshX * meshY * 6; indices = new int[totalIndices]; if (physicsScene != null) physicsScene.DetailLog( "{0},BSTerrainMesh.ConvertHeightMapToMesh2,inSize={1},outSize={2},totVert={3},totInd={4},extentBase={5}", BSScene.DetailLogZero, new Vector2(sizeX, sizeY), new Vector2(meshX, meshY), totalVertices, totalIndices, extentBase); float minHeight = float.MaxValue; // Note that sizeX+1 vertices are created since there is land between this and the next region. // Loop through the output vertices and compute the mediun height in between the input vertices for (int yy = 0; yy <= meshY; yy++) { for (int xx = 0; xx <= meshX; xx++) // Hint: the "<=" means we go around sizeX + 1 times { float offsetY = (float)yy * (float)sizeY / (float)meshY; // The Y that is closest to the mesh point int stepY = (int)offsetY; float fractionalY = offsetY - (float)stepY; float offsetX = (float)xx * (float)sizeX / (float)meshX; // The X that is closest to the mesh point int stepX = (int)offsetX; float fractionalX = offsetX - (float)stepX; // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,xx={1},yy={2},offX={3},stepX={4},fractX={5},offY={6},stepY={7},fractY={8}", // BSScene.DetailLogZero, xx, yy, offsetX, stepX, fractionalX, offsetY, stepY, fractionalY); // get the four corners of the heightmap square the mesh point is in float heightUL = hmap.GetHeight(stepX, stepY); float heightUR = hmap.GetHeight(stepX + 1, stepY); float heightLL = hmap.GetHeight(stepX, stepY + 1); float heightLR = hmap.GetHeight(stepX + 1, stepY + 1); // bilinear interplolation float height = heightUL * (1 - fractionalX) * (1 - fractionalY) + heightUR * fractionalX * (1 - fractionalY) + heightLL * (1 - fractionalX) * fractionalY + heightLR * fractionalX * fractionalY; // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,heightUL={1},heightUR={2},heightLL={3},heightLR={4},heightMap={5}", // BSScene.DetailLogZero, heightUL, heightUR, heightLL, heightLR, height); minHeight = Math.Min(minHeight, height); vertices[verticesCount + 0] = (float)xx * meshXStep + extentBase.X; vertices[verticesCount + 1] = (float)yy * meshYStep + extentBase.Y; vertices[verticesCount + 2] = height + extentBase.Z; verticesCount += 3; } } // The number of vertices generated verticesCount /= 3; // Loop through all the heightmap squares and create indices for the two triangles for that square for (int yy = 0; yy < meshY; yy++) { for (int xx = 0; xx < meshX; xx++) { int offset = yy * (meshX + 1) + xx; // Each vertices is presumed to be the upper left corner of a box of two triangles indices[indicesCount + 0] = offset; indices[indicesCount + 1] = offset + 1; indices[indicesCount + 2] = offset + meshX + 1; // accounting for the extra column indices[indicesCount + 3] = offset + 1; indices[indicesCount + 4] = offset + meshX + 2; indices[indicesCount + 5] = offset + meshX + 1; indicesCount += 6; } } ret = true; } catch (Exception e) { if (physicsScene != null) physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", LogHeader, physicsScene.RegionName, extentBase, e); } indicesCountO = indicesCount; indicesO = indices; verticesCountO = verticesCount; verticesO = vertices; return ret; }
// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { }
public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx) : base(id, physScene) { world = xx; }