C# Manager.PhysicsVector类代码示例

 public BasicActor()
 {
     _velocity = new PhysicsVector();
     _position = new PhysicsVector();
     _acceleration = new PhysicsVector();
     _size = new PhysicsVector();
 }

 public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
 {
     BasicActor act = new BasicActor();
     act.Position = position;
     act.Flying = isFlying;
     _actors.Add(act);
     return act;
 }

        public void CreateAndDropPhysicalCube()
        {
            PrimitiveBaseShape newcube = PrimitiveBaseShape.CreateBox();
            PhysicsVector position = new PhysicsVector(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 128);
            PhysicsVector size = new PhysicsVector(0.5f, 0.5f, 0.5f);
            Quaternion rot = Quaternion.Identity;
            PhysicsActor prim = ps.AddPrimShape("CoolShape", newcube, position, size, rot, true);
            OdePrim oprim = (OdePrim)prim;
            OdeScene pscene = (OdeScene) ps;

            Assert.That(oprim.m_taintadd);

            prim.LocalID = 5;

            for (int i = 0; i < 58; i++)
            {
                ps.Simulate(0.133f);

                Assert.That(oprim.prim_geom != (IntPtr)0);

                Assert.That(oprim.m_targetSpace != (IntPtr)0);

                //Assert.That(oprim.m_targetSpace == pscene.space);
                m_log.Info("TargetSpace: " + oprim.m_targetSpace + " - SceneMainSpace: " + pscene.space);

                Assert.That(!oprim.m_taintadd);
                m_log.Info("Prim Position (" + oprim.m_localID + "): " + prim.Position.ToString());

                // Make sure we're above the ground
                //Assert.That(prim.Position.Z > 20f);
                //m_log.Info("PrimCollisionScore (" + oprim.m_localID + "): " + oprim.m_collisionscore);

                // Make sure we've got a Body
                Assert.That(oprim.Body != (IntPtr)0);
                //m_log.Info(
            }

            // Make sure we're not somewhere above the ground
            Assert.That(prim.Position.Z < 21.5f);

            ps.RemovePrim(prim);
            Assert.That(oprim.m_taintremove);
            ps.Simulate(0.133f);
            Assert.That(oprim.Body == (IntPtr)0);
        }

 public override void SetMomentum(PhysicsVector momentum)
 {
 }

 public void SetAcceleration(PhysicsVector accel)
 {
     _acceleration = accel;
 }

        public override void VehicleVectorParam(int param, PhysicsVector value)
        {

        }

 public abstract void AddAngularForce(PhysicsVector force, bool pushforce);

        public virtual void RaiseOutOfBounds(PhysicsVector pos)
        {
            // Make a temporary copy of the event to avoid possibility of
            // a race condition if the last subscriber unsubscribes
            // immediately after the null check and before the event is raised.
            OutOfBounds handler = OnOutOfBounds;

            if (handler != null)
            {
                handler(pos);
            }
        }

 internal void PushForce(PhysicsVector impulse)
 {
     if (PhysicsActor != null)
     {
         PhysicsActor.AddForce(impulse,true);
     }
 }

 public override void AddAngularForce(PhysicsVector force, bool pushforce)
 {
     m_angularforcelist.Add(force);
     m_taintaddangularforce = true;
 }

 public override void AddForce(PhysicsVector force, bool pushforce)
 {
     m_forcelist.Add(force);
     m_taintforce = true;
     //m_log.Info("[PHYSICS]: Added Force:" + force.ToString() +  " to prim at " + Position.ToString());
 }

 public override void LockAngularMotion(PhysicsVector axis)
 {
     m_log.DebugFormat("[axislock]: <{0},{1},{2}>", axis.X, axis.Y, axis.Z);
     m_taintAngularLock = new PhysicsVector(axis.X, axis.Y, axis.Z);
 }

        internal void EnableAxisMotor(PhysicsVector axislock)
        {
            if (m_aMotor != null)
                DisableAxisMotor();

            if (Body == null)
                return;

            if (Body.Handle == IntPtr.Zero)
                return;

            if (AxisLockAngleHigh != null && AxisLockAngleHigh.Handle != IntPtr.Zero)
                AxisLockAngleHigh.Dispose();

           

            m_aMotor = new btGeneric6DofConstraint(Body, _parent_scene.TerrainBody, _parent_scene.TransZero,
                                                   _parent_scene.TransZero, false);

            float endNoLock = (360 * Utils.DEG_TO_RAD);
            AxisLockAngleHigh = new btVector3((axislock.X == 0) ? 0 : endNoLock, (axislock.Y == 0) ? 0 : endNoLock, (axislock.Z == 0) ? 0 : endNoLock);

            m_aMotor.setAngularLowerLimit(_parent_scene.VectorZero);
            m_aMotor.setAngularUpperLimit(AxisLockAngleHigh);
            m_aMotor.setLinearLowerLimit(AxisLockLinearLow);
            m_aMotor.setLinearUpperLimit(AxisLockLinearHigh);
            _parent_scene.getBulletWorld().addConstraint((btTypedConstraint)m_aMotor);
            //m_aMotor.
            

        }

        public void UpdatePositionAndVelocity()
        {
            if (!m_isSelected)
            {
                if (_parent == null)
                {
                    PhysicsVector pv = new PhysicsVector(0, 0, 0);
                    bool lastZeroFlag = _zeroFlag;
                    if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
                        tempPosition3.Dispose();
                    if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
                        tempTransform3.Dispose();

                    if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
                        tempOrientation2.Dispose();

                    if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero)
                        tempAngularVelocity1.Dispose();

                    if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero)
                        tempLinearVelocity1.Dispose();



                    tempTransform3 = Body.getInterpolationWorldTransform();
                    tempPosition3 = tempTransform3.getOrigin(); // vec
                    tempOrientation2 = tempTransform3.getRotation(); // ori
                    tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
                    tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel

                    _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
                                      tempAngularVelocity1.getZ());
                    PhysicsVector l_position = new PhysicsVector();
                    Quaternion l_orientation = new Quaternion();
                    m_lastposition = _position;
                    m_lastorientation = _orientation;

                    l_position.X = tempPosition3.getX();
                    l_position.Y = tempPosition3.getY();
                    l_position.Z = tempPosition3.getZ();
                    l_orientation.X = tempOrientation2.getX();
                    l_orientation.Y = tempOrientation2.getY();
                    l_orientation.Z = tempOrientation2.getZ();
                    l_orientation.W = tempOrientation2.getW();

                    if (l_position.X > ((int)Constants.RegionSize - 0.05f) || l_position.X < 0f || l_position.Y > ((int)Constants.RegionSize - 0.05f) || l_position.Y < 0f)
                    {
                        //base.RaiseOutOfBounds(l_position);

                        if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
                        {
                            _position = l_position;
                            //_parent_scene.remActivePrim(this);
                            if (_parent == null)
                                base.RequestPhysicsterseUpdate();
                            return;
                        }
                        else
                        {
                            if (_parent == null)
                                base.RaiseOutOfBounds(l_position);
                            return;
                        }
                    }

                    if (l_position.Z < -200000f)
                    {
                        // This is so prim that get lost underground don't fall forever and suck up
                        //
                        // Sim resources and memory.
                        // Disables the prim's movement physics....
                        // It's a hack and will generate a console message if it fails.

                        //IsPhysical = false;
                        //if (_parent == null)
                        //base.RaiseOutOfBounds(_position);

                        _acceleration.X = 0;
                        _acceleration.Y = 0;
                        _acceleration.Z = 0;

                        _velocity.X = 0;
                        _velocity.Y = 0;
                        _velocity.Z = 0;
                        m_rotationalVelocity.X = 0;
                        m_rotationalVelocity.Y = 0;
                        m_rotationalVelocity.Z = 0;

                        if (_parent == null)
                            base.RequestPhysicsterseUpdate();

                        m_throttleUpdates = false;
                        // throttleCounter = 0;
                        _zeroFlag = true;
                        //outofBounds = true;
                    }

                    if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
                        && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
                        && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
//.........这里部分代码省略.........

        public BulletDotNETPrim(String primName, BulletDotNETScene parent_scene, PhysicsVector pos, PhysicsVector size,
                       Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical)
        {
            tempPosition1 = new btVector3(0, 0, 0);
            tempPosition2 = new btVector3(0, 0, 0);
            tempPosition3 = new btVector3(0, 0, 0);
            tempSize1 = new btVector3(0, 0, 0);
            tempSize2 = new btVector3(0, 0, 0);
            tempLinearVelocity1 = new btVector3(0, 0, 0);
            tempLinearVelocity2 = new btVector3(0, 0, 0);
            tempAngularVelocity1 = new btVector3(0, 0, 0);
            tempAngularVelocity2 = new btVector3(0, 0, 0);
            tempInertia1 = new btVector3(0, 0, 0);
            tempInertia2 = new btVector3(0, 0, 0);
            tempOrientation1 = new btQuaternion(0,0,0,1);
            tempOrientation2 = new btQuaternion(0, 0, 0, 1);
            _parent_scene = parent_scene;
            tempTransform1 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero);
            tempTransform2 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
            tempTransform3 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;
            tempTransform4 = new btTransform(_parent_scene.QuatIdentity, _parent_scene.VectorZero); ;

            tempMotionState1 = new btDefaultMotionState(_parent_scene.TransZero);
            tempMotionState2 = new btDefaultMotionState(_parent_scene.TransZero);
            tempMotionState3 = new btDefaultMotionState(_parent_scene.TransZero);

            
            AxisLockLinearLow = new btVector3(-1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize, -1 * (int)Constants.RegionSize);
            int regionsize = (int) Constants.RegionSize;
            
            if (regionsize == 256)
                regionsize = 512;

            AxisLockLinearHigh = new btVector3((int)Constants.RegionSize, (int)Constants.RegionSize, (int)Constants.RegionSize);

            _target_velocity = new PhysicsVector(0, 0, 0);
            _velocity = new PhysicsVector();
            _position = pos;
            m_taintposition = pos;
            PID_D = parent_scene.bodyPIDD;
            PID_G = parent_scene.bodyPIDG;
            m_density = parent_scene.geomDefaultDensity;
            // m_tensor = parent_scene.bodyMotorJointMaxforceTensor;
            // body_autodisable_frames = parent_scene.bodyFramesAutoDisable;

            prim_geom = null;
            Body = null;

            if (size.X <= 0) size.X = 0.01f;
            if (size.Y <= 0) size.Y = 0.01f;
            if (size.Z <= 0) size.Z = 0.01f;

            _size = size;
            m_taintsize = _size;
            _acceleration = new PhysicsVector();
            m_rotationalVelocity = PhysicsVector.Zero;
            _orientation = rotation;
            m_taintrot = _orientation;
            _mesh = mesh;
            _pbs = pbs;

            _parent_scene = parent_scene;

            if (pos.Z < 0)
                m_isphysical = false;
            else
            {
                m_isphysical = pisPhysical;
                // If we're physical, we need to be in the master space for now.
                // linksets *should* be in a space together..  but are not currently
            }
            m_primName = primName;
            m_taintadd = true;
            _parent_scene.AddPhysicsActorTaint(this);

        }