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BulletSim: move over and port the interface for BulletXNA.

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Copied BulletSNPlugin.BulletSimAPI to a new
BulletSPlugin.BSAPIXNA.cs and then modifyed the latter to
comply with the BSAPITemplate definition. Not totally debugged
but the code is all there for an INI variable to select either
unmanaged C++ Bullet or the C# version of Bullet.
This commit is contained in:
Robert Adams
2013-01-01 16:49:38 -08:00
parent 0662d109c2
commit 9d840fd2ee
7 changed files with 628 additions and 320 deletions
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22
OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
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@@ -339,10 +339,10 @@ public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape)
return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr);
}
public override int GetBodyType(BulletBody obj)
public override CollisionObjectTypes GetBodyType(BulletBody obj)
{
BulletBodyUnman bodyu = obj as BulletBodyUnman;
return BSAPICPP.GetBodyType2(bodyu.ptr);
return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr);
}
public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot)
@@ -522,9 +522,22 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force)
// btDynamicsWorld entries
public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
{
// Bullet resets several variables when an object is added to the world.
// Gravity is reset to world default depending on the static/dynamic
// type. Of course, the collision flags in the broadphase proxy are initialized to default.
BulletWorldUnman worldu = world as BulletWorldUnman;
BulletBodyUnman bodyu = obj as BulletBodyUnman;
return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr);
bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr);
if (ret)
{
BSAPICPP.SetGravity2(bodyu.ptr, origGrav);
obj.ApplyCollisionMask(world.physicsScene);
}
return ret;
}
public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj)
@@ -1061,7 +1074,7 @@ public override Vector3 GetAngularFactor(BulletBody obj)
return BSAPICPP.GetAngularFactor2(bodyu.ptr);
}
public override bool IsInWorld(BulletBody obj)
public override bool IsInWorld(BulletWorld world, BulletBody obj)
{
BulletBodyUnman bodyu = obj as BulletBodyUnman;
return BSAPICPP.IsInWorld2(bodyu.ptr);
@@ -1239,7 +1252,6 @@ public override void DumpPhysicsStatistics(BulletWorld world)
BSAPICPP.DumpPhysicsStatistics2(worldu.ptr);
}
// =====================================================================================
// =====================================================================================
// =====================================================================================