Physics: update BepuPhysics to latest version

phr00t · Jan 29, 2020 · dd104b0 · dd104b0
1 parent 86a5044
commit dd104b0
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Showing 11 changed files with 47 additions and 26 deletions.
diff --git a/deps/bepuphysics2/BepuPhysics.dll b/deps/bepuphysics2/BepuPhysics.dll
diff --git a/deps/bepuphysics2/BepuPhysics.pdb b/deps/bepuphysics2/BepuPhysics.pdb
diff --git a/deps/bepuphysics2/BepuUtilities.dll b/deps/bepuphysics2/BepuUtilities.dll
diff --git a/deps/bepuphysics2/BepuUtilities.pdb b/deps/bepuphysics2/BepuUtilities.pdb
diff --git a/deps/bepuphysics2/Debug/BepuPhysics.dll b/deps/bepuphysics2/Debug/BepuPhysics.dll
diff --git a/deps/bepuphysics2/Debug/BepuPhysics.pdb b/deps/bepuphysics2/Debug/BepuPhysics.pdb
diff --git a/deps/bepuphysics2/Debug/BepuUtilities.dll b/deps/bepuphysics2/Debug/BepuUtilities.dll
diff --git a/deps/bepuphysics2/Debug/BepuUtilities.pdb b/deps/bepuphysics2/Debug/BepuUtilities.pdb
diff --git a/sources/engine/Xenko.Physics/Bepu/BepuHelpers.cs b/sources/engine/Xenko.Physics/Bepu/BepuHelpers.cs
@@ -489,15 +489,36 @@ public static unsafe Xenko.Core.Mathematics.Vector3 ToXenko(System.Numerics.Vect
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static unsafe Xenko.Core.Mathematics.Quaternion ToXenko(BepuUtilities.Quaternion q)
+        public static Xenko.Core.Mathematics.Quaternion ToXenko(System.Numerics.Quaternion q)
         {
-            return *((Xenko.Core.Mathematics.Quaternion*)(void*)&q);
+            return new Quaternion(q.X, q.Y, q.Z, q.W);
         }
 
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
-        public static unsafe BepuUtilities.Quaternion ToBepu(Xenko.Core.Mathematics.Quaternion q)
+        public static System.Numerics.Quaternion ToBepu(Xenko.Core.Mathematics.Quaternion q)
         {
-            return *((BepuUtilities.Quaternion*)(void*)&q);
+            return new System.Numerics.Quaternion(q.X, q.Y, q.Z, q.W);
         }
+
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ToXenko(ref System.Numerics.Quaternion qin, ref Xenko.Core.Mathematics.Quaternion qout)
+        {
+            qout.X = qin.X;
+            qout.Y = qin.Y;
+            qout.Z = qin.Z;
+            qout.W = qin.W;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ToBepu(ref Xenko.Core.Mathematics.Quaternion qin, ref Xenko.Core.Mathematics.Quaternion qout)
+        {
+            qout.X = qin.X;
+            qout.Y = qin.Y;
+            qout.Z = qin.Z;
+            qout.W = qin.W;
+        }
+
+
     }
 }
diff --git a/sources/engine/Xenko.Physics/Bepu/BepuShapeTest.cs b/sources/engine/Xenko.Physics/Bepu/BepuShapeTest.cs
@@ -83,7 +83,7 @@ public bool LoopBody(CollidableReference reference)
         /// <param name="queryId">Id to use to refer to this query when the collision batcher finishes processing it.</param>
         /// <param name="batcher">Batcher to add the query's tests to.</param>
         static private unsafe void RunQuery(int queryShapeType, void* queryShapeData, int queryShapeSize, in Vector3 queryBoundsMin,
-                                                  in Vector3 queryBoundsMax, Vector3 queryPos, BepuUtilities.Quaternion queryRot,
+                                                  in Vector3 queryBoundsMax, Vector3 queryPos, System.Numerics.Quaternion queryRot,
                                                   ref CollisionBatcher<BatcherCallbacks> batcher, CollisionFilterGroupFlags lookingFor)
         {
             var broadPhaseEnumerator = new BroadPhaseOverlapEnumerator { components = new List<BepuPhysicsComponent>(), lookingFor = (uint)lookingFor };
@@ -119,7 +119,7 @@ static public unsafe List<BepuContact> SingleQuery<TShape>(TShape shape, Xenko.C
             List<BepuContact> contacts = new List<BepuContact>();
             var batcher = new CollisionBatcher<BatcherCallbacks>(BepuSimulation.safeBufferPool, BepuSimulation.instance.internalSimulation.Shapes,
                                                                  BepuSimulation.instance.internalSimulation.NarrowPhase.CollisionTaskRegistry, 0f, new BatcherCallbacks() { contactList = contacts });
-            BepuUtilities.Quaternion q = BepuHelpers.ToBepu(rotation);
+            System.Numerics.Quaternion q = BepuHelpers.ToBepu(rotation);
             Vector3 v = BepuHelpers.ToBepu(position);
             shape.ComputeBounds(q, out var boundingBoxMin, out var boundingBoxMax);
             boundingBoxMin += v;

diff --git a/sources/engine/Xenko.Physics/Bepu/BepuSimulation.cs b/sources/engine/Xenko.Physics/Bepu/BepuSimulation.cs
@@ -756,7 +756,7 @@ public void OnHitAtZeroT(ref float maximumT, CollidableReference collidable)
         /// <param name="filterFlags">The collision group that this shape sweep can collide with</param>
         /// <returns></returns>
         /// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
-        public BepuHitResult ShapeSweep(IConvexShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 endpoint, CollisionFilterGroupFlags hitGroups = DefaultFlags, bool skipAtZero = false)
+        public BepuHitResult ShapeSweep<TShape>(TShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 endpoint, CollisionFilterGroupFlags hitGroups = DefaultFlags, bool skipAtZero = false) where TShape : unmanaged, IConvexShape
         {
             Vector3 diff = endpoint - position;
             float length = diff.Length();
@@ -777,7 +777,7 @@ public BepuHitResult ShapeSweep(IConvexShape shape, Vector3 position, Xenko.Core
         /// <param name="filterFlags">The collision group that this shape sweep can collide with</param>
         /// <returns></returns>
         /// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
-        public BepuHitResult ShapeSweep(IConvexShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 direction, float length, CollisionFilterGroupFlags hitGroups = DefaultFlags, bool skipAtZero = false)
+        public BepuHitResult ShapeSweep<TShape>(TShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 direction, float length, CollisionFilterGroupFlags hitGroups = DefaultFlags, bool skipAtZero = false) where TShape : unmanaged, IConvexShape
         {
             SweepTestFirst sshh = new SweepTestFirst()
             {
@@ -811,7 +811,7 @@ public BepuHitResult ShapeSweep(IConvexShape shape, Vector3 position, Xenko.Core
         /// <param name="filterGroup">The collision group of this shape sweep</param>
         /// <param name="filterFlags">The collision group that this shape sweep can collide with</param>
         /// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
-        public void ShapeSweepPenetrating(IConvexShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 endpoint, List<BepuHitResult> output, CollisionFilterGroupFlags hitGroups = DefaultFlags)
+        public void ShapeSweepPenetrating<TShape>(TShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 endpoint, List<BepuHitResult> output, CollisionFilterGroupFlags hitGroups = DefaultFlags) where TShape : unmanaged, IConvexShape
         {
             Vector3 diff = endpoint - position;
             float length = diff.Length();
@@ -832,7 +832,7 @@ public void ShapeSweepPenetrating(IConvexShape shape, Vector3 position, Xenko.Co
         /// <param name="filterGroup">The collision group of this shape sweep</param>
         /// <param name="filterFlags">The collision group that this shape sweep can collide with</param>
         /// <exception cref="System.Exception">This kind of shape cannot be used for a ShapeSweep.</exception>
-        public void ShapeSweepPenetrating(IConvexShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 direction, float length, List<BepuHitResult> output, CollisionFilterGroupFlags hitGroups = DefaultFlags)
+        public void ShapeSweepPenetrating<TShape>(TShape shape, Vector3 position, Xenko.Core.Mathematics.Quaternion rotation, Vector3 direction, float length, List<BepuHitResult> output, CollisionFilterGroupFlags hitGroups = DefaultFlags) where TShape : unmanaged, IConvexShape
         {
             SweepTestAll sshh = new SweepTestAll()
             {