merged physics

FUSEEProjectTeam · Apr 16, 2014 · b2826b9 · b2826b9
2 parents 774f443 + 4e8fd40
commit b2826b9
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Showing 39 changed files with 738 additions and 668 deletions.
diff --git a/Engine.sln b/Engine.sln
@@ -322,6 +322,7 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WebXirkit", "src\Engine\Xir
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "PhysicsTest", "src\Engine\Examples\PhysicsTest\PhysicsTest.csproj", "{CB5B28E9-5E30-453B-9878-ADC1E0D708D8}"
 	ProjectSection(ProjectDependencies) = postProject
+		{F7AD2BB5-D2B0-4697-BDDB-4CC26152A6B6} = {F7AD2BB5-D2B0-4697-BDDB-4CC26152A6B6}
 		{8B0453B6-D8E0-4189-80C8-9E0F8C9130E9} = {8B0453B6-D8E0-4189-80C8-9E0F8C9130E9}
 	EndProjectSection
 EndProject
@@ -338,6 +339,7 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "SceneViewer", "src\Engine\E
 		{32D5C521-6CC4-4DCF-BFA1-199043E938DC} = {32D5C521-6CC4-4DCF-BFA1-199043E938DC}
 		{4A183140-3153-4F7E-A692-F4E3EF2CFA0A} = {4A183140-3153-4F7E-A692-F4E3EF2CFA0A}
 		{7E796695-4174-471A-BBE8-3CAF39904588} = {7E796695-4174-471A-BBE8-3CAF39904588}
+		{B7FAC89A-4E75-4EAC-BBC3-BBDB89C94B8A} = {B7FAC89A-4E75-4EAC-BBC3-BBDB89C94B8A}
 		{F7AD2BB5-D2B0-4697-BDDB-4CC26152A6B6} = {F7AD2BB5-D2B0-4697-BDDB-4CC26152A6B6}
 		{0A06B3EA-5934-4373-854A-B4D6E7E1FE16} = {0A06B3EA-5934-4373-854A-B4D6E7E1FE16}
 		{81B3A7F0-F8E4-45D0-BE69-B869C9B1803E} = {81B3A7F0-F8E4-45D0-BE69-B869C9B1803E}

diff --git a/ExternalBinaries/BulletSharp.dll b/ExternalBinaries/BulletSharp.dll
diff --git a/src/Engine/Common/ICollisionShapeImp.cs b/src/Engine/Common/ICollisionShapeImp.cs
@@ -2,12 +2,14 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using Fusee.Math;
 
 namespace Fusee.Engine
 {
     public interface ICollisionShapeImp
     {
         float Margin { get; set; }
+        float3 LocalScaling { get; set; }
         object UserObject { get; set; }
     }
 }
diff --git a/src/Engine/Common/IDynamicWorldImp.cs b/src/Engine/Common/IDynamicWorldImp.cs
@@ -8,6 +8,7 @@ namespace Fusee.Engine
 {
     public interface IDynamicWorldImp
     {
+        float3 Gravity { get; set; }
 
         IRigidBodyImp AddRigidBody(float mass, float3 position, float3 orientation, ICollisionShapeImp colShape/*, float3 intertia*/);
         IRigidBodyImp GetRigidBody(int i);
@@ -17,7 +18,7 @@ public interface IDynamicWorldImp
         IPoint2PointConstraintImp AddPoint2PointConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA);
         IPoint2PointConstraintImp AddPoint2PointConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 pivotInA, float3 pivotInB);
 
-        IPoint2PointConstraintImp GetConstraint(int i);
+        //IPoint2PointConstraintImp GetConstraint(int i);
 
         IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA);
         IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA, float3 axisInA, bool useReferenceFrameA);
@@ -56,7 +57,7 @@ public interface IDynamicWorldImp
         IEmptyShapeImp AddEmptyShape();
 
         IConvexHullShapeImp AddConvexHullShape();
-        IConvexHullShapeImp AddConvexHullShape(float3[] points);
+        IConvexHullShapeImp AddConvexHullShape(float3[] points, bool optimized);
 
         IStaticPlaneShapeImp AddStaticPlaneShape(float3 planeNormal, float planeConstant);
 

diff --git a/src/Engine/Common/IRigidBodyImp.cs b/src/Engine/Common/IRigidBodyImp.cs
@@ -34,13 +34,17 @@ public interface IRigidBodyImp
         float3 AngularFactor { get; set; }
 
         //"physic Matrial"
-        float Bounciness { get; set; }
+        float Restitution { get; set; }
         float Friction { get; set; }
 
+        void SetDrag(float linearDrag, float anglularDrag);
+        float LinearDrag { get; }
+        float AngularDrag { get; }
+
         ICollisionShapeImp CollisionShape { get; set; }
 
         object UserObject { get; set; }
 
-        void OnCollision();
+        void OnCollision(IRigidBodyImp other);
     }
 }
diff --git a/src/Engine/Core/BoxShape.cs b/src/Engine/Core/BoxShape.cs
@@ -29,7 +29,7 @@ public float3 HalfExtents
         }
 
         //Inherited
-        public virtual float Margin
+        public float Margin
         {
 
             get

diff --git a/src/Engine/Core/CapsuleShape.cs b/src/Engine/Core/CapsuleShape.cs
@@ -2,14 +2,15 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using Fusee.Math;
 
 namespace Fusee.Engine
 {
     public class CapsuleShape : CollisionShape
     {
         internal ICapsuleShapeImp CapsuleShapeImp;
 
-        public virtual float Margin
+        public float Margin
         {
             get
             {
@@ -23,6 +24,20 @@ public virtual float Margin
             }
         }
 
+        public float3 LocalScaling
+        {
+            get
+            {
+                var retval = CapsuleShapeImp.LocalScaling;
+                return retval;
+            }
+            set
+            {
+                var o = (CapsuleShape)CapsuleShapeImp.UserObject;
+                o.CapsuleShapeImp.LocalScaling = value;
+            }
+        }
+
         public float HalfHeight
         {
             get

diff --git a/src/Engine/Core/CollisionShape.cs b/src/Engine/Core/CollisionShape.cs
@@ -2,15 +2,16 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using Fusee.Math;
 
 namespace Fusee.Engine
 {
     public class CollisionShape
     {
         internal ICollisionShapeImp ICollisionShapeImp;
+
 
-
-        public float Margin
+        public virtual float Margin
         {
             get { return ICollisionShapeImp.Margin; }
             set
@@ -19,5 +20,15 @@ public float Margin
                 o.ICollisionShapeImp.Margin = value; 
             }
         }
+
+        public virtual float3 LocalScaling
+        {
+            get { return ICollisionShapeImp.LocalScaling; }
+            set
+            {
+                var o = (CollisionShape)ICollisionShapeImp.UserObject;
+                o.ICollisionShapeImp.LocalScaling = value;
+            }
+        }
     }
 }
diff --git a/src/Engine/Core/CompoundShape.cs b/src/Engine/Core/CompoundShape.cs
@@ -67,7 +67,7 @@ public void CalculatePrincipalAxisTransform(float[] masses, float4x4 principal,
         }
 
         //Inherited
-        public virtual float Margin
+        public float Margin
         {
 
             get

diff --git a/src/Engine/Core/ConeShape.cs b/src/Engine/Core/ConeShape.cs
@@ -2,14 +2,15 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using Fusee.Math;
 
 namespace Fusee.Engine
 {
     public class ConeShape : CollisionShape
     {
         internal IConeShapeImp ConeShapeImp;
 
-        public virtual float Margin
+        public float Margin
         {
             get
             {
@@ -23,6 +24,20 @@ public virtual float Margin
             }
         }
 
+        public float3 LocalScaling
+        {
+            get
+            {
+                var retval = ConeShapeImp.LocalScaling;
+                return retval;
+            }
+            set
+            {
+                var o = (ConeShape) ConeShapeImp.UserObject;
+                o.ConeShapeImp.LocalScaling = value;
+            }
+        }
+
         public int ConeUpIndex
         {
             get

diff --git a/src/Engine/Core/ConvexHullShape.cs b/src/Engine/Core/ConvexHullShape.cs
@@ -43,7 +43,7 @@ public int GetNumPoints()
             return ConvexHullShapeImp.GetNumPoints();
         }
 
-        public virtual float Margin
+        public float Margin
         {
             get
             {
@@ -57,6 +57,8 @@ public virtual float Margin
             }
         }
 
+
+
         public float3 LocalScaling
         {
             get { return ConvexHullShapeImp.LocalScaling; }

diff --git a/src/Engine/Core/CylinderShape.cs b/src/Engine/Core/CylinderShape.cs
@@ -10,7 +10,7 @@ public class CylinderShape : CollisionShape
     {
         internal ICylinderShapeImp CylinderShapeImp;
 
-        public virtual float Margin
+        public float Margin
         {
             get
             {
@@ -19,8 +19,22 @@ public virtual float Margin
             }
             set
             {
-                var o = (CapsuleShape)CylinderShapeImp.UserObject;
-                o.CapsuleShapeImp.Margin = value;
+                var o = (CylinderShape)CylinderShapeImp.UserObject;
+                o.CylinderShapeImp.Margin = value;
+            }
+        }
+
+        public float3 LocalScaling
+        {
+            get
+            {
+                var retval = CylinderShapeImp.LocalScaling;
+                return retval;
+            }
+            set
+            {
+                var o = (CylinderShape)CylinderShapeImp.UserObject;
+                o.CylinderShapeImp.LocalScaling = value;
             }
         }
 

diff --git a/src/Engine/Core/DynamicWorld.cs b/src/Engine/Core/DynamicWorld.cs
@@ -17,6 +17,11 @@ public DynamicWorld()
             _dwi = ImpFactory.CreateIDynamicWorldImp();
         }
 
+        public float3 Gravity
+        {
+            get { return _dwi.Gravity; }
+            set { _dwi.Gravity = value; }
+        }
 
         public RigidBody AddRigidBody(float mass, float3 position, float3 orientation, CollisionShape colShape/*, float3 inertia*/)
         {
@@ -140,12 +145,12 @@ public Point2PointConstraint AddPoint2PointConstraint(RigidBody rigidBodyA, Rigi
             ip2pci.UserObject = retval;
             return retval;
         }
-        public Point2PointConstraint GetConstraint(int i)
+      /*  public Point2PointConstraint GetConstraint(int i)
         {
             //Point2PointConstraint tp2pci = _dwi.GetConstraint(i).UserObject;
             var retval = (Point2PointConstraint)_dwi.GetConstraint(i).UserObject;
             return retval;
-        }
+        }*/
 
         //HingeConstraint
         public HingeConstraint AddHingeConstraint(RigidBody rigidBodyA, float4x4 frameInA, bool useReferenceFrameA = false)
@@ -370,9 +375,9 @@ public ConvexHullShape AddConvexHullShape()
             return retval;
         }
 
-        public ConvexHullShape AddConvexHullShape(float3[] points)
+        public ConvexHullShape AddConvexHullShape(float3[] points, bool optimized = true)
         {
-            IConvexHullShapeImp iConvexHullShapeImp = _dwi.AddConvexHullShape(points);
+            IConvexHullShapeImp iConvexHullShapeImp = _dwi.AddConvexHullShape(points, optimized);
             var retval = new ConvexHullShape();
             retval.ConvexHullShapeImp = iConvexHullShapeImp;
             iConvexHullShapeImp.UserObject = retval;

diff --git a/src/Engine/Core/MultiSphereShape.cs b/src/Engine/Core/MultiSphereShape.cs
@@ -10,7 +10,7 @@ public class MultiSphereShape : CollisionShape
     {
         internal IMultiSphereShapeImp MultiSphereShapeImp;
 
-        public virtual float Margin
+        public float Margin
         {
             get
             {
-Original file line number
+Diff line change
@@ Expand Up / @@ -29,7 +29,7 @@ public float3 HalfExtents @@
             }
             //Inherited
-            public virtual float Margin
+            public float Margin
             {
                 get
@@ Expand Down @@