C# BulletBody.ApplyCollisionMask方法代码示例

// =====================================================================================
// btDynamicsWorld entries
public override bool AddObjectToWorld(BulletWorld world, BulletBody obj)
{
    BulletWorldUnman worldu = world as BulletWorldUnman;
    BulletBodyUnman bodyu = obj as BulletBodyUnman;

    // 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.
    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 AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
        {
            DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
            CollisionObject cbody = (pBody as BulletBodyXNA).body;
            RigidBody rbody = cbody as RigidBody;

            // Bullet resets several variables when an object is added to the world. In particular,
            //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
            //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
            IndexedMatrix origPos = cbody.GetWorldTransform();
            if (rbody != null)
            {
            IndexedVector3 origGrav = rbody.GetGravity();
            world.AddRigidBody(rbody);
            rbody.SetGravity(origGrav);
            }
            else
            {
            world.AddCollisionObject(cbody);
            }
            cbody.SetWorldTransform(origPos);

            pBody.ApplyCollisionMask(pWorld.physicsScene);

            //if (body.GetBroadphaseHandle() != null)
            //    world.UpdateSingleAabb(body);
            return true;
        }

    // 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(m_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(m_physicsScene,
                                            initialMap, m_sizeX, m_sizeY,       // input size
                                            BSParam.TerrainMeshMagnification,
                                            physicsScene.TerrainManager.DefaultRegionSize,
                                            Vector3.Zero,                       // base for mesh
                                            out indicesCount, out indices, out verticesCount, out vertices);
        }
        if (!meshCreationSuccess)
        {
            // DISASTER!!
            m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID);
            m_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;
        }

        m_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 = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices);
        if (!m_terrainShape.HasPhysicalShape)
        {
            // DISASTER!!
            m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID);
            m_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 = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot);
        if (!m_terrainBody.HasPhysicalBody)
        {
            // DISASTER!!
            m_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
        m_physicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction);
        m_physicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction);
        m_physicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution);
        m_physicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold);
        m_physicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT);

        // Static objects are not very massive.
        m_physicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero);

        // Put the new terrain to the world of physical objects
        m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_terrainBody);

        // Redo its bounding box now that it is in the world
        m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_terrainBody);

        m_terrainBody.collisionType = CollisionType.Terrain;
        m_terrainBody.ApplyCollisionMask(m_physicsScene);

        if (BSParam.UseSingleSidedMeshes)
        {
            m_physicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id);
            m_physicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
        }

        // Make it so the terrain will not move or be considered for movement.
        m_physicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
    }

    public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
    {
        // Bullet resets several variables when an object is added to the world. In particular,
        //   BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic
        //   type. Of course, the collision flags in the broadphase proxy are initialized to default.
        DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
        RigidBody body = ((BulletBodyXNA)pBody).rigidBody;

        IndexedMatrix origPos = body.GetWorldTransform();
        IndexedVector3 origGrav = body.GetGravity();

        //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))

        world.AddRigidBody(body);

        body.SetWorldTransform(origPos);
        body.SetGravity(origGrav);

        pBody.ApplyCollisionMask(pWorld.physicsScene);

        //if (body.GetBroadphaseHandle() != null)
        //    world.UpdateSingleAabb(body);
        return true;
    }

    // Create the initial instance of terrain and the underlying ground plane.
    // This is called from the initialization routine so we presume it is
    //    safe to call Bullet in real time. We hope no one is moving prims around yet.
    public void CreateInitialGroundPlaneAndTerrain()
    {
        // The ground plane is here to catch things that are trying to drop to negative infinity
        BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
        m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, 
                                        BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);

        PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
        PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
        // Ground plane does not move
        PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
        // Everything collides with the ground plane.
        m_groundPlane.collisionType = CollisionType.Groundplane;
        m_groundPlane.ApplyCollisionMask(PhysicsScene);

        // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
        BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
        m_terrains.Add(Vector3.Zero, initialTerrain);
    }

    // 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);

        if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
                            m_sizeX, m_sizeY,
                            (float)m_sizeX, (float)m_sizeY,
                            Vector3.Zero, 1.0f,
                            out indicesCount, out indices, out verticesCount, out vertices))
        {
            // DISASTER!!
            PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", 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,indices={1},indSz={2},vertices={3},vertSz={4}", 
                                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);
            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;
        }

        // 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.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);

        // Make it so the terrain will not move or be considered for movement.
        PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION);
    }

        // Create the initial instance of terrain and the underlying ground plane.
        // This is called from the initialization routine so we presume it is
        //    safe to call Bullet in real time. We hope no one is moving prims around yet.
        public void CreateInitialGroundPlaneAndTerrain()
        {
            DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName);
            // The ground plane is here to catch things that are trying to drop to negative infinity
            BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin);
            m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape,
                                        BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity);

            PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane);
            PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane);
            // Ground plane does not move
            PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION);
            // Everything collides with the ground plane.
            m_groundPlane.collisionType = CollisionType.Groundplane;
            m_groundPlane.ApplyCollisionMask(PhysicsScene);

            m_terrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, m_worldMax);
        }