public override void Update()
{
dynamicsWorld.StepSimulation(1 / 60f, 10);
if (Ctx2.Input.keyUp(Key.A))
{
var ballBody = BulletRigidBodyConstructor.CreateBall(10f, 1f, new TGCVector3(0f, 100f, 0f));
ballBodys.Add(ballBody);
dynamicsWorld.AddRigidBody(ballBody);
}
if (Ctx2.Input.keyUp(Key.S))
{
var boxBody = BulletRigidBodyConstructor.CreateBox(new TGCVector3(10, 10, 10), 1f, new TGCVector3(5f, 150f, 5f), MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI, 0.3f);
boxBodys.Add(boxBody);
dynamicsWorld.AddRigidBody(boxBody);
}
if (Ctx2.Input.keyUp(Key.Space))
{
var ballBody = BulletRigidBodyConstructor.CreateBall(10, 1f, new TGCVector3(Ctx2.Camara.Position.X, Ctx2.Camara.Position.Y, Ctx2.Camara.Position.Z));
ballBody.LinearVelocity = new TGCVector3(-Ctx2.Camara.Position.X, -Ctx2.Camara.Position.Y, -Ctx2.Camara.Position.Z).ToBsVector * 0.2f;
ballBody.Restitution = 0.9f;
ballBodys.Add(ballBody);
dynamicsWorld.AddRigidBody(ballBody);
}
}
public void Init(String MediaDir)
{
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -100f, 0).ToBsVector;
//Creamos el terreno
var meshRigidBody = BulletRigidBodyConstructor.CreateSurfaceFromHeighMap(triangleDataVB);
dynamicsWorld.AddRigidBody(meshRigidBody);
//Creamos la esfera del dragon
dragonBall = BulletRigidBodyConstructor.CreateBall(30f, 0.75f, new TGCVector3(100f, 500f, 100f));
dragonBall.SetDamping(0.1f, 0.5f);
dragonBall.Restitution = 1f;
dragonBall.Friction = 1;
dynamicsWorld.AddRigidBody(dragonBall);
var textureDragonBall = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\dragonball.jpg");
sphereMesh = new TGCSphere(1, textureDragonBall, TGCVector3.Empty);
sphereMesh.updateValues();
director = new TGCVector3(1, 0, 0);
}
public override void Update()
{
dynamicsWorld.StepSimulation(1 / 60f, 10);
if (Ctx.Input.keyUp(Key.Space))
{
var ballBody = BulletRigidBodyConstructor.CreateBall(10f, 1f, new TGCVector3(Ctx.Camara.Position.X, Ctx.Camara.Position.Y, Ctx.Camara.Position.Z));
var dir = new TGCVector3(Ctx.Camara.LookAt.X - Ctx.Camara.Position.X, Ctx.Camara.LookAt.Y - Ctx.Camara.Position.Y, Ctx.Camara.LookAt.Z - Ctx.Camara.Position.Z).ToBsVector;
dir.Normalize();
ballBody.LinearVelocity = dir * 900;
ballBody.LinearFactor = TGCVector3.One.ToBsVector;
//ballBody.SetDamping(0.1f, 0.5f);
//ballBody.Restitution = 0.5f;
ballBodys.Add(ballBody);
dynamicsWorld.AddRigidBody(ballBody);
}
if (Ctx.Input.keyUp(Key.Q))
{
var ballBody = BulletRigidBodyConstructor.CreateBall(10f, 10f, new TGCVector3(Ctx.Camara.Position.X, Ctx.Camara.Position.Y, Ctx.Camara.Position.Z));
var dir = new TGCVector3(Ctx.Camara.LookAt.X - Ctx.Camara.Position.X, Ctx.Camara.LookAt.Y - Ctx.Camara.Position.Y, Ctx.Camara.LookAt.Z - Ctx.Camara.Position.Z).ToBsVector;
dir.Normalize();
ballBody.LinearVelocity = dir * 900;
ballBody.LinearFactor = TGCVector3.One.ToBsVector;
//ballBody.SetDamping(0.1f, 0.5f);
//ballBody.Restitution = 0.5f;
ballBodys.Add(ballBody);
dynamicsWorld.AddRigidBody(ballBody);
}
if (Ctx.Input.keyUp(Key.W))
{
var ballBody = BulletRigidBodyConstructor.CreateBall(10f, 0.1f, new TGCVector3(Ctx.Camara.Position.X, Ctx.Camara.Position.Y, Ctx.Camara.Position.Z));
var dir = new TGCVector3(Ctx.Camara.LookAt.X - Ctx.Camara.Position.X, Ctx.Camara.LookAt.Y - Ctx.Camara.Position.Y, Ctx.Camara.LookAt.Z - Ctx.Camara.Position.Z).ToBsVector;
dir.Normalize();
ballBody.LinearVelocity = dir * 900;
ballBody.LinearFactor = TGCVector3.One.ToBsVector;
//ballBody.SetDamping(0.1f, 0.1f);
//ballBody.Restitution = 0.9f;
ballBodys.Add(ballBody);
dynamicsWorld.AddRigidBody(ballBody);
}
}
public override void Init(BulletExample3 ctx)
{
base.Init(ctx);
//Creamos shapes y bodies.
//El piso es un plano estatico se dice que si tiene masa 0 es estatico.
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBsVector, 0);
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
dynamicsWorld.AddRigidBody(floorBody);
var boxBody = BulletRigidBodyConstructor.CreateBox(new TGCVector3(10, 10, 10), 1f, new TGCVector3(10f, 100f, 10f), MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI, 0);
boxBodys.Add(boxBody);
dynamicsWorld.AddRigidBody(boxBody);
var ballBody = BulletRigidBodyConstructor.CreateBall(10f, 1f, new TGCVector3(0f, 50f, 0f));
ballBodys.Add(ballBody);
dynamicsWorld.AddRigidBody(ballBody);
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx2.MediaDir + @"Texturas\granito.jpg");
floorMesh = new TgcPlane(new TGCVector3(-2000, 0, -2000), new TGCVector3(4000, 0f, 4000), TgcPlane.Orientations.XZplane, floorTexture);
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx2.MediaDir + @"MeshCreator\Scenes\Deposito\Textures\boxMetal.jpg");
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
boxMesh = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx2.MediaDir + @"Texturas\pokeball.jpg");
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
sphereMesh = new TGCSphere(1, texture, TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
}
public void Init(String MediaDir)
{
#region world configuration
// Create a physics world using default config
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
var gravity = new TGCVector3(0, -60f, 0).ToBsVector;
dynamicsWorld.Gravity = gravity;
if (UsingHeightmap)
{
var heightMap = BulletRigidBodyConstructor.CreateSurfaceFromHeighMap(triangleDataVB);
heightMap.Restitution = 0;
dynamicsWorld.AddRigidBody(heightMap);
}
#endregion
float radius = 30f;
float mass = 0.75f;
var centerOfMass = new TGCVector3(-50f, 30, -200f);
TGCVector3 size = TGCVector3.Empty;
#region Stone Sphere
ball = BulletRigidBodyConstructor.CreateBall(radius, mass, centerOfMass);
ball.SetDamping(0.1f, 0.5f);
ball.Restitution = 1f;
ball.Friction = 1;
dynamicsWorld.AddRigidBody(ball);
var ballTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, $"{MediaDir}\\Textures\\rockwall.jpg");
sphereMesh = new TGCSphere(radius, ballTexture, TGCVector3.Empty);
sphereMesh.BoundingSphere.setValues(centerOfMass, radius);
sphereMesh.updateValues();
director = new TGCVector3(1, 0, 0);
#endregion
#region BandicootRigidBody
//Cuerpo rigido de una caja basica
var position = new TGCVector3(0, 1, 0);
mass = 1.5f;
bandicootRigidBody = BulletRigidBodyConstructor.CreateCapsule(10, 5, position, mass, false);
//Valores que podemos modificar a partir del RigidBody base
bandicootRigidBody.SetDamping(0.1f, 0f);
bandicootRigidBody.Restitution = 0f;
bandicootRigidBody.Friction = 0.5f;
bandicootRigidBody.InvInertiaDiagLocal = TGCVector3.Empty.ToBsVector;
//Agregamos el RidigBody al World
dynamicsWorld.AddRigidBody(bandicootRigidBody);
#endregion
#region Stairs
mass = 0;
size = new TGCVector3(50, 20, 30);
var platformTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, $"{MediaDir}\\textures\\rockwall.jpg");
float angle = 0.75f * FastMath.PI;
for (float i = 0, x = size.Z, y = size.Y, z = -size.X; i < 10; i++)
{
staticPlatform = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, 0.7f);
staticPlatform.CenterOfMassTransform = TGCMatrix.RotationY(angle).ToBsMatrix *TGCMatrix.Translation(x, y, z).ToBsMatrix;
dynamicsWorld.AddRigidBody(staticPlatform);
staticPlatformMesh = TGCBox.fromSize(2 * size, platformTexture);
staticPlatformMesh.Transform = new TGCMatrix(staticPlatform.InterpolationWorldTransform);
stairsMesh.Add(staticPlatformMesh);
x += 35;
y += 40;
z -= 25;
angle -= 0.1f;
}
#endregion
#region Dynamic Platform
position = new TGCVector3(0, 0, 0);
mass = 1f;
size = new TGCVector3(70, 10, 30);
dynamicPlatform = BulletRigidBodyConstructor.CreateBox(size, mass, position, 0, 0, 0, 2f);
dynamicPlatform.CenterOfMassTransform = TGCMatrix.Translation(-300, 60, -200).ToBsMatrix;
dynamicPlatform.AngularFactor = (new Vector3(0, 0, 0));
dynamicsWorld.AddRigidBody(dynamicPlatform);
// mesh para visualizar plataforma
var platformtexture = TgcTexture.createTexture(D3DDevice.Instance.Device, $"{MediaDir}\\textures\\rockwall.jpg");
dynamicPlatformMesh = TGCBox.fromSize(2 * size, platformtexture);
dynamicPlatformMesh.Transform = new TGCMatrix(dynamicPlatform.InterpolationWorldTransform);
dynamicPlatformMesh.AutoTransformEnable = false;
dynamicPlatformMesh.updateValues();
#endregion
}
public void Init(String MediaDir)
{
#region Configuracion Basica de World
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -100f, 0).ToBsVector;
#endregion Configuracion Basica de World
#region Capsula
//Cuerpo rigido de una capsula basica
capsuleRigidBody = BulletRigidBodyConstructor.CreateCapsule(10, 50, new TGCVector3(200, 500, 200), 10, false);
//Valores que podemos modificar a partir del RigidBody base
capsuleRigidBody.SetDamping(0.1f, 0f);
capsuleRigidBody.Restitution = 0.1f;
capsuleRigidBody.Friction = 1;
//Agregamos el RidigBody al World
dynamicsWorld.AddRigidBody(capsuleRigidBody);
#endregion Capsula
#region Terreno
//Creamos el RigidBody basico del Terreno
var meshRigidBody = BulletRigidBodyConstructor.CreateSurfaceFromHeighMap(triangleDataVB);
//Agregamos algo de friccion al RigidBody ya que este va a interactuar con objetos moviles
//del World
meshRigidBody.Friction = 0.5f;
//Agregamos el RigidBody del terreno al World
dynamicsWorld.AddRigidBody(meshRigidBody);
#endregion Terreno
#region Esfera
//Creamos una esfera para interactuar
pokeball = BulletRigidBodyConstructor.CreateBall(10f, 0.5f, new TGCVector3(100f, 500f, 100f));
pokeball.SetDamping(0.1f, 0.5f);
pokeball.Restitution = 1f;
//Agregamos la pokebola al World
dynamicsWorld.AddRigidBody(pokeball);
//Textura de pokebola
var texturePokeball = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\pokeball.jpg");
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
sphereMesh = new TGCSphere(1, texturePokeball, TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
#endregion Esfera
#region Personaje
//Cargamos personaje
var skeletalLoader = new TgcSkeletalLoader();
personaje = skeletalLoader.loadMeshAndAnimationsFromFile(
MediaDir + "SkeletalAnimations\\Robot\\Robot-TgcSkeletalMesh.xml",
MediaDir + "SkeletalAnimations\\Robot\\",
new[]
{
MediaDir + "SkeletalAnimations\\Robot\\Caminando-TgcSkeletalAnim.xml",
MediaDir + "SkeletalAnimations\\Robot\\Parado-TgcSkeletalAnim.xml"
});
//Le cambiamos la textura para diferenciarlo un poco
personaje.changeDiffuseMaps(new[]
{
TgcTexture.createTexture(D3DDevice.Instance.Device,
MediaDir + "SkeletalAnimations\\Robot\\Textures\\uvwGreen.jpg")
});
//Configurar animacion inicial
personaje.playAnimation("Parado", true);
#endregion Personaje
#region Cajas
var sizeBox = 20f;
//Textura de caja
var textureBox = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"MeshCreator\Textures\Madera\cajaMadera2.jpg");
box = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0, new TGCVector3(0, 12, 0), 0, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(box);
boxMesh = TGCBox.fromSize(new TGCVector3(40f, 40f, 40f), textureBox);
boxMesh.updateValues();
sizeBox = 40f;
boxB = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0, new TGCVector3(100, 40, 0), 0, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(boxB);
boxMeshB = TGCBox.fromSize(new TGCVector3(80f, 80f, 80f), textureBox);
boxMeshB.updateValues();
box45 = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0, new TGCVector3(200, 40, 0), BulletSharp.MathUtil.SIMD_QUARTER_PI, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(box45);
boxPush = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0.5f, new TGCVector3(-200, 60, 0), BulletSharp.MathUtil.SIMD_QUARTER_PI, 0, 0, 0.25f);
dynamicsWorld.AddRigidBody(boxPush);
boxMeshPush = TGCBox.fromSize(new TGCVector3(80f, 80f, 80f), textureBox);
boxMeshPush.updateValues();
#endregion Cajas
#region Escalera
var a = 0;
var textureStones = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\stones.bmp");
//la altura de cualquier cubo que quiera subir una capsula debe ser menor a la mitad del radio
var size = new TGCVector3(50, 4, 20);
escalon = TGCBox.fromSize(size, textureStones);
//Se crean 10 escalonescd d
while (a < 10)
{
escalonRigidBody = BulletRigidBodyConstructor.CreateBox(size, 0, new TGCVector3(200, a * 4 + 10, a * 20 + 100), 0, 0, 0, 0.1f);
escalonesRigidBodies.Add(escalonRigidBody);
dynamicsWorld.AddRigidBody(escalonRigidBody);
a++;
}
#endregion Escalera
#region Plataforma
textureStones = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\cobblestone_quad.jpg");
rigidBodyPlataforma = BulletRigidBodyConstructor.CreateBox(new TGCVector3(50f, 15f, 50f), 0, new TGCVector3(200, 42.5f, 315), 0, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(rigidBodyPlataforma);
plataforma = TGCBox.fromSize(new TGCVector3(50f, 15f, 50f), textureStones);
plataforma.updateValues();
#endregion Plataforma
#region Columna
columnaRigidBody = BulletRigidBodyConstructor.CreateCylinder(new TGCVector3(10, 50, 10), new TGCVector3(100, 50, 100), 0);
dynamicsWorld.AddRigidBody(columnaRigidBody);
var columnaLoader = new TgcSceneLoader();
columnaMesh = columnaLoader.loadSceneFromFile(MediaDir + @"MeshCreator\Meshes\Cimientos\PilarEgipcio\PilarEgipcio-TgcScene.xml", MediaDir + @"MeshCreator\Meshes\Cimientos\PilarEgipcio\").Meshes[0];
columnaMesh.Position = new TGCVector3(100, 7.5f, 100);
columnaMesh.UpdateMeshTransform();
#endregion Columna
director = new TGCVector3(0, 0, 1);
}