C# BulletSPlugin.BulletBody类代码示例

    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;

        // Initialize variables kept in base.
        GravModifier = 1.0f;
        Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);

        // We don't have any physical representation yet.
        PhysBody = new BulletBody(localID);
        PhysShape = new BulletShape();

        LastAssetBuildFailed = false;

        // Default material type. Also sets Friction, Restitution and Density.
        SetMaterial((int)MaterialAttributes.Material.Wood);

        CollisionCollection = new CollisionEventUpdate();
        CollisionsLastTick = CollisionCollection;
        SubscribedEventsMs = 0;
        CollidingStep = 0;
        CollidingGroundStep = 0;
        CollisionAccumulation = 0;
        ColliderIsMoving = false;
        CollisionScore = 0;

        // All axis free.
        LockedAxis = LockedAxisFree;
    }

 public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 frameInAloc, Quaternion frameInArot,
                 Vector3 frameInBloc, Quaternion frameInBrot,
                 bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2,
                             frameInAloc, frameInArot, frameInBloc, frameInBrot,
                             disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }

 public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 pivotInA, Vector3 pivotInB,
                 Vector3 axisInA, Vector3 axisInB,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2,
                             pivotInA, pivotInB, axisInA, axisInB,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }

 public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 frameInAloc, Quaternion frameInArot,
                 Vector3 frameInBloc, Quaternion frameInBrot,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2,
                             frameInAloc, frameInArot, frameInBloc, frameInBrot,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
 }

 public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
                 Vector3 pivotInA, Vector3 pivotInB,
                 Vector3 axisInA, Vector3 axisInB,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
     m_world = world;
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = new BulletConstraint(
                         BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
                             pivotInA, pivotInB,
                             axisInA, axisInB,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
     m_enabled = true;
 }

    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);
    }

 // Create a btGeneric6DofConstraint
 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
                 Vector3 frame1, Quaternion frame1rot,
                 Vector3 frame2, Quaternion frame2rot,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
     : base(world)
 {
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2,
                             frame1, frame1rot,
                             frame2, frame2rot,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
     m_enabled = true;
     world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                         BSScene.DetailLogZero, world.worldID,
                         obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString);
 }

    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
    {
        IsInitialized = false;

        PhysScene = parentScene;
        LocalID = localID;
        PhysObjectName = name;
        Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
        TypeName = typeName;

        // Oddity if object is destroyed and recreated very quickly it could still have the old body.
        if (!PhysBody.HasPhysicalBody)
            PhysBody = new BulletBody(localID);

        // Clean out anything that might be in the physical actor list.
        // Again, a workaround for destroying and recreating an object very quickly.
        PhysicalActors.Dispose();

        UserSetCenterOfMassDisplacement = null;

        PrimAssetState = PrimAssetCondition.Unknown;

        // Initialize variables kept in base.
        // Beware that these cause taints to be queued whch can cause race conditions on startup.
        GravModifier = 1.0f;
        Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
        HoverActive = false;

        // Default material type. Also sets Friction, Restitution and Density.
        SetMaterial((int)MaterialAttributes.Material.Wood);

        CollisionsLastTickStep = -1;

        SubscribedEventsMs = 0;
        // Crazy values that will never be true
        CollidingStep = BSScene.NotASimulationStep;
        CollidingGroundStep = BSScene.NotASimulationStep;
        CollisionAccumulation = BSScene.NotASimulationStep;
        ColliderIsMoving = false;
        CollisionScore = 0;

        // All axis free.
        LockedLinearAxis = LockedAxisFree;
        LockedAngularAxis = LockedAxisFree;
    }

 // Create a btGeneric6DofConstraint
 public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
                 Vector3 frame1, Quaternion frame1rot,
                 Vector3 frame2, Quaternion frame2rot,
                 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
 {
     m_world = world;
     m_body1 = obj1;
     m_body2 = obj2;
     m_constraint = new BulletConstraint(
                         BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
                             frame1, frame1rot,
                             frame2, frame2rot,
                             useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
     m_enabled = true;
     world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
                         BSScene.DetailLogZero, world.worldID,
                         obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
 }

    // 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}",
                                m_body1.ID, 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;
            }
        }
    }

 // Get the constraint between two bodies. There can be only one.
 // Return 'true' if a constraint was found.
 public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
 {
     uint lookingID1 = body1.ID;
     uint lookingID2 = body2.ID;
     try
     {
         m_constraints.ForEach(delegate(BSConstraint constrain)
         {
             if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
                 || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
             {
                 throw new ThreadedClasses.ReturnValueException<BSConstraint>(constrain);
             }
         });
     }
     catch(ThreadedClasses.ReturnValueException<BSConstraint> e)
     {
         returnConstraint = e.Value;
         return true;
     }
     returnConstraint = default(BSConstraint);
     return false;
 }

    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
    {
        PhysicsScene = parentScene;
        LocalID = localID;
        PhysObjectName = name;
        TypeName = typeName;

        // We don't have any physical representation yet.
        PhysBody = new BulletBody(localID);
        PhysShape = new BulletShape();

        // A linkset of just me
        Linkset = BSLinkset.Factory(PhysicsScene, this);
        LastAssetBuildFailed = false;

        // Default material type
        Material = MaterialAttributes.Material.Wood;

        CollisionCollection = new CollisionEventUpdate();
        SubscribedEventsMs = 0;
        CollidingStep = 0;
        CollidingGroundStep = 0;
    }

    // Get the constraint between two bodies. There can be only one.
    // Return 'true' if a constraint was found.
    public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
    {
        bool found = false;
        BSConstraint foundConstraint = null;

        uint lookingID1 = body1.ID;
        uint lookingID2 = body2.ID;
        lock (m_constraints)
        {
            foreach (BSConstraint constrain in m_constraints)
            {
                if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
                    || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
                {
                    foundConstraint = constrain;
                    found = true;
                    break;
                }
            }
        }
        returnConstraint = foundConstraint;
        return found;
    }

 // =====================================================================================
 // btCollisionWorld entries
 public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj);

 public abstract void UpdateInertiaTensor(BulletBody obj);