public OdeSolid(dWorldID worldID, dSpaceID spaceID)
{
this.worldID = worldID;
this.spaceID = spaceID;
isPlaceable = true;
collisionCount = 0;
nonSymmetricInertia = false;
isFreelySpinning = true;
prevAngVelMagSquared = 0;
data = new SolidData();
if (!data.IsStatic)
{
// Create an ODE body with default ODE mass parameters (total
// mass = 1). This should have an initial mass of 0 until shapes
// are added, but ODE won't allow a mass of 0. This will be
// adjusted appropriately when the first shape is added.
bodyID = this.worldID.CreateBody();
//mBodyID = new Body(mWorldID);
}
Init(data);
}
public override void AddShape(ShapeData data)
{
if (data.Material.Density < 0)
{
return;
}
dGeomID newGeomID = null;
dGeomID newTransformID = null;
dTriMeshDataID newTrimeshDataID = null;
dSpaceID tempSpaceID = null;
Tao.Ode.Ode.dMass newMass = new Tao.Ode.Ode.dMass();
if (new Matrix() == data.Offset)
{
// No offset transform.
tempSpaceID = spaceID;
newTransformID = null;
}
else
{
// Use ODE's geom transform object.
tempSpaceID = IntPtr.Zero;
newTransformID = spaceID.CreateGeomTransform();
}
// Allocate a new GeomData object.
GeomData newGeomData = new GeomData();
switch (data.Type)
{
case ShapeType.Box:
{
BoxShapeData boxData = data as BoxShapeData;
newGeomID = tempSpaceID.CreateBoxGeom(boxData.Dimensions.X,
boxData.Dimensions.Y,
boxData.Dimensions.Z);
Tao.Ode.Ode.dMassSetBox(ref newMass, data.Material.Density,
boxData.Dimensions.X,
boxData.Dimensions.Y,
boxData.Dimensions.Z);
break;
}
case ShapeType.Sphere:
{
SphereShapeData sphereData = data as SphereShapeData;
newGeomID = tempSpaceID.CreateSphereGeom(sphereData.Radius);
Tao.Ode.Ode.dMassSetSphere(ref newMass, data.Material.Density, sphereData.Radius);
break;
}
case ShapeType.Capsule:
{
CapsuleShapeData capsuleData = data as CapsuleShapeData;
newGeomID = tempSpaceID.CreateCylinderGeom(capsuleData.Radius, capsuleData.Length);
// The "direction" parameter orients the mass along one of the
// body's local axes; x=1, y=2, z=3. This axis MUST
// correspond with the axis along which the capsule is
// initially aligned, which is the capsule's local Z axis.
/*Tao.Ode.Ode.dMassSetCylinder(ref newMass, data.Material.Density,
* 3, capsuleData.Radius, capsuleData.Length);*/
Tao.Ode.Ode.dMassSetCapsule(ref newMass, data.Material.Density, 3,
capsuleData.Radius, capsuleData.Length);
break;
}
case ShapeType.Plane:
{
PlaneShapeData planeData = data as PlaneShapeData;
if (!this.data.IsStatic)
{
//OPAL_LOGGER( "warning" ) << "opal::ODESolid::addPlane: " <<
//"Plane Shape added to a non-static Solid. " <<
//"The Solid will be made static." << std::endl;
// ODE planes can't have bodies, so make it static.
this.Static = true;
}
// TODO: make this fail gracefully and print warning: plane
// offset transform ignored.
if (newTransformID != null)
{
break;
}
// ODE planes must have their normal vector (abc) normalized.
Vector3 normal = new Vector3(planeData.Abcd[0], planeData.Abcd[1], planeData.Abcd[2]);
normal.Normalize();
newGeomID = tempSpaceID.CreatePlaneGeom(normal.X, normal.Y, normal.Z, planeData.Abcd[3]);
// Note: ODE planes cannot have mass, but this is already
// handled since static Solids ignore mass.
// Solids with planes are the only non-"placeable" Solids.
isPlaceable = false;
break;
}
//case RAY_SHAPE:
//{
// RayShapeData& rayData = (RayShapeData&)data;
// newGeomID = dCreateRay(spaceID,
// (dReal)rayData.ray.getLength());
// Point3r origin = rayData.ray.getOrigin();
// Vec3r dir = rayData.ray.getDir();
// dGeomRaySet(newGeomID, (dReal)origin[0], (dReal)origin[1],
// (dReal)origin[2], (dReal)dir[0], (dReal)dir[1],
// (dReal)dir[2]);
// // Note: rays don't have mass.
// break;
//}
case ShapeType.Mesh:
{
MeshShapeData meshData = data as MeshShapeData;
// Setup trimesh data pointer. It is critical that the
// size of OPAL reals at this point match the size of ODE's
// dReals.
newTrimeshDataID = dTriMeshDataID.Create();
// Old way... This is problematic because ODE interprets
// the vertex array as an array of dVector3s which each
// have 4 elements.
//dGeomTriMeshDataBuildSimple(newTrimeshDataID,
// (dReal*)meshData.vertexArray, meshData.numVertices,
// (int*)meshData.triangleArray, 3 * meshData.numTriangles);
//#ifdef dSINGLE
newTrimeshDataID.BuildSingle(meshData.VertexArray, 3 * sizeof(float),
meshData.NumVertices,
meshData.TriangleArray,
3 * meshData.NumTriangles,
3 * sizeof(int));
//#else
// dGeomTriMeshDataBuildDouble( newTrimeshDataID,
// ( void* ) meshData.vertexArray, 3 * sizeof( real ),
// meshData.numVertices, ( void* ) meshData.triangleArray,
// 3 * meshData.numTriangles, 3 * sizeof( unsigned int ) );
//#endif
newGeomID = tempSpaceID.CreateTriMeshGeom(newTrimeshDataID);
// This is a simple way to set the mass of an arbitrary
// mesh. Ideally we would compute the exact volume and
// intertia tensor. Instead we just use a box
// inertia tensor from its axis-aligned bounding box.
float[] aabb = newGeomID.AABB;
// dGeomGetAABB( newGeomID, aabb );
Tao.Ode.Ode.dMassSetBox(ref newMass, data.Material.Density,
aabb[1] - aabb[0], aabb[3] - aabb[2],
aabb[5] - aabb[4]);
break;
}
default:
throw new InvalidOperationException("OdeSolid.AddShape");
}
// This will do nothing if this is a static Solid.
AddMass(newMass, data.Offset);
// Store new Shape.
this.data.AddShape(data);
// Update the Solid's local AABB. The new shape's local AABB
// must be transformed using the shape's offset from the Solid.
BoundingBox shapeAABB = data.LocalAABB;
//data.LocalAABBgetLocalAABB( shapeAABB );
Vector3 minExtents = Vector3.Transform(shapeAABB.Min, data.Offset);
Vector3 maxExtents = Vector3.Transform(shapeAABB.Max, data.Offset);
shapeAABB.Min = minExtents;
shapeAABB.Max = maxExtents;
AddToLocalAABB(shapeAABB);
if (newGeomData == null)
{
return;
}
// Setup GeomData.
newGeomData.Solid = this;
newGeomData.Shape = this.data.GetShapeData(this.data.NumShapes - 1);
newGeomData.GeomID = newGeomID;
newGeomData.TransformID = newTransformID;
newGeomData.SpaceID = spaceID;
newGeomData.TrimeshDataID = newTrimeshDataID;
// Setup the geom.
SetupNewGeom(newGeomData);
}
