public bool m_needcleanup; // Need to run cleanup?
public DbvtBroadphase(IOverlappingPairCache paircache)
{
for (int i = 0; i < m_sets.Length; i++)
m_sets[i] = new Dbvt();
m_deferedcollide = false;
m_needcleanup = true;
m_releasepaircache = (paircache != null) ? false : true;
m_prediction = 0;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;
m_dupdates = 0;
m_cupdates = 10;
m_newpairs = 1;
m_updates_call = 0;
m_updates_done = 0;
m_updates_ratio = 0;
m_paircache = (paircache != null) ? paircache : new HashedOverlappingPairCache();
m_gid = 0;
m_pid = 0;
m_cid = 0;
for (int i = 0; i <= STAGECOUNT; ++i)
{
m_stageRoots[i] = null;
}
#if DBVT_BP_PROFILE
clear(m_profiling);
#endif
}
public DbvtBroadphase(IOverlappingPairCache paircache)
{
m_sets[0] = new Dbvt();
m_sets[1] = new Dbvt();
m_deferedcollide = false;
m_needcleanup = true;
m_releasepaircache = (paircache != null) ? false : true;
m_prediction = 0;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;
m_dupdates = 0;
m_cupdates = 10;
m_newpairs = 1;
m_updates_call = 0;
m_updates_done = 0;
m_updates_ratio = 0;
m_paircache = paircache != null ? paircache : new HashedOverlappingPairCache();
m_gid = 0;
m_pid = 0;
m_cid = 0;
#if DBVT_BP_PROFILE
m_profiling = new ProfileBlock();
m_profiling.clear();
#endif
}
public ClosestNotMeConvexResultCallback(CollisionObject me, ref Vector3 fromA, ref Vector3 toA, IOverlappingPairCache pairCache, IDispatcher dispatcher) :
base(ref fromA, ref toA)
{
m_allowedPenetration = 0.0f;
m_me = me;
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
public MultiSapBroadphase(int maxProxies,IOverlappingPairCache pairCache)
{
m_overlappingPairs = pairCache;
m_optimizedAabbTree = null;
m_ownsPairCache = false;
m_invalidPair = 0;
if (m_overlappingPairs == null)
{
m_ownsPairCache = true;
m_overlappingPairs = new SortedOverlappingPairCache();
}
m_filterCallback = new MultiSapOverlapFilterCallback();
m_overlappingPairs.SetOverlapFilterCallback(m_filterCallback);
// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
}
public SimpleBroadphase(int maxProxies, IOverlappingPairCache overlappingPairCache)
{
if (overlappingPairCache == null)
{
overlappingPairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
m_pHandles = new SimpleBroadphaseProxy[maxProxies];
m_pairCache = overlappingPairCache;
m_maxHandles = maxProxies;
m_numHandles = 0;
m_firstFreeHandle = 0;
m_LastHandleIndex = -1;
for (int i = m_firstFreeHandle; i < maxProxies; i++)
{
m_pHandles[i] = new SimpleBroadphaseProxy(i);
m_pHandles[i].SetNextFree(i + 1);
m_pHandles[i].m_uniqueId = ++m_proxyCounter; ;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
}
m_pHandles[maxProxies - 1].SetNextFree(0);
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(SCALING * 50f);
//string filename = @"e:\users\man\bullet\xna-largemesh-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
//CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 50);
CollisionShape groundShape = BuildLargeMesh();
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 0, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
//IndexedMatrix rotateMatrix = IndexedMatrix.CreateFromYawPitchRoll(0, MathUtil.SIMD_PI / 2.0f, 0);
//IndexedMatrix rotateMatrix = IndexedMatrix.Identity;
IndexedMatrix rotateMatrix = IndexedMatrix.Identity;
rotateMatrix._basis.SetEulerZYX(0, 0, MathUtil.SIMD_PI * 0.7f);
rotateMatrix._origin = IndexedVector3.Zero;
float mass = 0f;
LocalCreateRigidBody(mass, ref rotateMatrix, groundShape);
CollisionShape boxShape = new BoxShape(new IndexedVector3(0.2f, 0.2f, 0.2f));
//CollisionShape boxShape = new SphereShape(0.2f);
//CollisionShape boxShape = new CylinderShapeX(new IndexedVector3(0.2f, 0.4f, 0.2f));
//CollisionShape boxShape = new CapsuleShape(0.2f, 0.4f);
IndexedMatrix boxTransform = IndexedMatrix.Identity;
boxTransform._basis.SetEulerZYX(MathUtil.SIMD_PI * 0.2f, MathUtil.SIMD_PI * 0.4f, MathUtil.SIMD_PI * 0.7f);
boxTransform._origin = new IndexedVector3(0.0f, 5.0f, 0.0f);
LocalCreateRigidBody(1.25f, boxTransform, boxShape);
ClientResetScene();
}
public AxisSweep3(btVector3 worldAabbMin, btVector3 worldAabbMax, ushort maxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
Debug.Assert(maxHandles > 1 && maxHandles < 32767);
Constructor(worldAabbMin, worldAabbMax, 0xfffe, 0xffff, maxHandles, pairCache, disableRaycastAccelerator);
}
public CleanPairCallback(BroadphaseProxy cleanProxy, IOverlappingPairCache pairCache, IDispatcher dispatcher)
{
m_cleanProxy = cleanProxy;
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
public AxisSweep3(btVector3 worldAabbMin, btVector3 worldAabbMax, ushort maxHandles, IOverlappingPairCache pairCache)
{
Debug.Assert(maxHandles > 1 && maxHandles < 32767);
Constructor(worldAabbMin, worldAabbMax, 0xfffe, 0xffff, maxHandles, pairCache, false);
}
public ClosestNotMeConvexResultCallback(CollisionObject me, Vector3 fromA, Vector3 toA, IOverlappingPairCache pairCache, IDispatcher dispatcher)
: this(me, ref fromA, ref toA, pairCache, dispatcher)
{
}
public override void InitializeDemo()
{
//maxiterations = 10;
SetCameraDistance(SCALING * 50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
pairCache = new HashedOverlappingPairCache();
m_broadphase = new DbvtBroadphase(pairCache);
BulletGlobals.gDebugDraw = Game1.Instance.shape_drawer;
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
float mass = 0f;
float topY = 2.5f;
float bottomY = 0.5f;
float diff = 10f;
float left = -(diff / 2f);
float right = -left;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 0f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
RigidBody rb = null;
//startTransform._origin = new IndexedVector3(left, topY, 0);
//collisionTopLeftCorner = BuildCorner(vertices, topLeft);
//rb = LocalCreateRigidBody(0f, startTransform, collisionTopLeftCorner);
//rb.SetUserPointer("TopLeftCorner");
//startTransform._origin = new IndexedVector3(right, topY, 0);
//collisionTopRightCorner = BuildCorner(vertices, topRight);
//rb = LocalCreateRigidBody(0f, startTransform, collisionTopRightCorner);
//rb.SetUserPointer("TopRightCorner");
startTransform._origin = new IndexedVector3(left, bottomY, 0);
collisionBottomLeftCorner = BuildCorner(vertices, bottomLeft);
rb = LocalCreateRigidBody(0f, startTransform, collisionBottomLeftCorner);
rb.SetUserPointer("BottomLeftCorner");
startTransform._origin = new IndexedVector3(right, bottomY, 0);
collisionBottomRightCorner = BuildCorner(vertices, bottomRight);
rb = LocalCreateRigidBody(0f, startTransform, collisionBottomRightCorner);
rb.SetUserPointer("BottomRightCorner");
startTransform._origin = IndexedVector3.Zero;
m_playerSphere = LocalCreateRigidBody(1f, startTransform, new SphereShape(0.25f));
m_playerSphere.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
}
BulletGlobals.gDebugDraw.SetDebugMode(BulletMonogame.LinearMath.DebugDrawModes.DBG_DrawAabb | BulletMonogame.LinearMath.DebugDrawModes.DBG_DrawNormals | BulletMonogame.LinearMath.DebugDrawModes.DBG_DrawContactPoints);
m_dynamicsWorld.SetDebugDrawer(BulletGlobals.gDebugDraw);
//ClientResetScene();
}
public void Constructor(btVector3 worldAabbMin, btVector3 worldAabbMax, UInt16 handleMask, UInt16 handleSentinel, UInt16 userMaxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
m_bpHandleMask = handleMask;
m_handleSentinel = handleSentinel;
m_pairCache = pairCache;
m_userPairCallback = null;
//m_ownsPairCache=false;
m_invalidPair = 0;
m_raycastAccelerator = null;
UInt16 maxHandles = (ushort)(userMaxHandles + 1);//need to add one sentinel handle
if (m_pairCache == null)
{
m_pairCache = new HashedOverlappingPairCache();
//m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_nullPairCache = new NullPairCache();
m_raycastAccelerator = new DbvtBroadphase(m_nullPairCache);//m_pairCache);
m_raycastAccelerator.m_deferedcollide = true;//don't add/remove pairs
}
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;
btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
UInt16 maxInt = m_handleSentinel;
m_quantize = new btVector3(maxInt, maxInt, maxInt) / aabbSize;
// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
m_pHandles = new Handle[maxHandles];
for (int i = 0; i < maxHandles; i++)
m_pHandles[i] = new Handle();
//m_maxHandles = maxHandles;
m_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
m_firstFreeHandle = 1;
{
for (UInt16 i = m_firstFreeHandle; i < m_pHandles.Length; i++)
m_pHandles[i].SetNextFree((ushort)(i + 1));
m_pHandles[m_pHandles.Length - 1].SetNextFree(0);
}
{
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
m_pEdges[i] = new Edge[maxHandles * 2];
}
}
//removed overlap management
// make boundary sentinels
m_pHandles[0].m_clientObject = null;
for (int axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_minEdges[axis] = 0;
m_pHandles[0].m_maxEdges[axis] = 1;
m_pEdges[axis][0].m_pos = 0;
m_pEdges[axis][0].m_handle = 0;
m_pEdges[axis][1].m_pos = m_handleSentinel;
m_pEdges[axis][1].m_handle = 0;
#if DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
public virtual void DispatchAllCollisionPairs(IOverlappingPairCache pairCache, DispatcherInfo dispatchInfo, IDispatcher dispatcher)
{
m_collisionCallback.Initialize(dispatchInfo, this);
pairCache.ProcessAllOverlappingPairs(m_collisionCallback, dispatcher);
m_collisionCallback.cleanup();
}
//public AxisSweep3Internal(ref Vector3 worldAabbMin,ref Vector3 worldAabbMax, int handleMask, int handleSentinel, int maxHandles = 16384, OverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
public AxisSweep3Internal(ref Vector3 worldAabbMin, ref Vector3 worldAabbMax, int handleMask, ushort handleSentinel, ushort userMaxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
m_bpHandleMask = (handleMask);
m_handleSentinel = (handleSentinel);
m_pairCache = (pairCache);
m_userPairCallback = null;
m_ownsPairCache = (false);
m_invalidPair = 0;
m_raycastAccelerator = null;
ushort maxHandles = (ushort)(userMaxHandles+1);//need to add one sentinel handle
if (m_pairCache == null)
{
m_pairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_nullPairCache = new NullPairCache();
m_raycastAccelerator = new DbvtBroadphase(m_nullPairCache);//m_pairCache);
m_raycastAccelerator.m_deferedcollide = true;//don't add/remove pairs
}
//btAssert(bounds.HasVolume());
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;
Vector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
int maxInt = m_handleSentinel;
m_quantize = new Vector3((float)maxInt,(float)maxInt,(float)maxInt) / aabbSize;
// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
m_pHandles = new Handle[maxHandles];
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i] = new Handle();
}
m_maxHandles = maxHandles;
m_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
m_firstFreeHandle = 1;
{
for (ushort i = m_firstFreeHandle; i < maxHandles; i++)
{
ushort nextFree = (ushort)(i + (ushort)1);
m_pHandles[i].SetNextFree(nextFree);
}
m_pHandles[maxHandles - 1].SetNextFree(0);
}
{
m_pEdges = new Edge[3, (maxHandles * 2)];
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < maxHandles * 2; ++j)
{
m_pEdges[i,j] = new Edge();
}
}
}
//removed overlap management
// make boundary sentinels
m_pHandles[0].SetClientObject(null);
for (int axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_minEdges[axis] = 0;
m_pHandles[0].m_maxEdges[axis] = 1;
m_pEdges[axis,0].m_pos = 0;
m_pEdges[axis,0].m_handle = 0;
m_pEdges[axis,1].m_pos = m_handleSentinel;
m_pEdges[axis,1].m_handle = 0;
#if DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
//public AxisSweep3Internal(ref IndexedVector3 worldAabbMin,ref IndexedVector3 worldAabbMax, int handleMask, int handleSentinel, int maxHandles = 16384, OverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
public AxisSweep3Internal(ref IndexedVector3 worldAabbMin, ref IndexedVector3 worldAabbMax, int handleMask, ushort handleSentinel, ushort userMaxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
m_bpHandleMask = (handleMask);
m_handleSentinel = (handleSentinel);
m_pairCache = (pairCache);
m_userPairCallback = null;
m_ownsPairCache = (false);
m_invalidPair = 0;
m_raycastAccelerator = null;
ushort maxHandles = (ushort)(userMaxHandles + 1);//need to add one sentinel handle
if (m_pairCache == null)
{
m_pairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_nullPairCache = new NullPairCache();
m_raycastAccelerator = new DbvtBroadphase(m_nullPairCache); //m_pairCache);
m_raycastAccelerator.m_deferedcollide = true; //don't add/remove pairs
}
//btAssert(bounds.HasVolume());
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;
IndexedVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
int maxInt = m_handleSentinel;
m_quantize = new IndexedVector3((float)maxInt) / aabbSize;
// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
m_pHandles = new Handle[maxHandles];
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i] = new Handle();
}
m_maxHandles = maxHandles;
m_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
m_firstFreeHandle = 1;
{
for (ushort i = m_firstFreeHandle; i < maxHandles; i++)
{
ushort nextFree = (ushort)(i + (ushort)1);
m_pHandles[i].SetNextFree(nextFree);
}
m_pHandles[maxHandles - 1].SetNextFree(0);
}
{
m_pEdges = new Edge[3, (maxHandles * 2)];
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < maxHandles * 2; ++j)
{
m_pEdges[i, j] = new Edge();
}
}
}
//removed overlap management
// make boundary sentinels
m_pHandles[0].SetClientObject(null);
for (int axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_minEdges[axis] = 0;
m_pHandles[0].m_maxEdges[axis] = 1;
m_pEdges[axis, 0].m_pos = 0;
m_pEdges[axis, 0].m_handle = 0;
m_pEdges[axis, 1].m_pos = m_handleSentinel;
m_pEdges[axis, 1].m_handle = 0;
#if DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
public override void InitializeDemo()
{
SetCameraDistance(30f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
int numBlocksTall = 10; //18; //How many 'stories' tall.
float blockWidth = 6f; //Total width/length of the tower.
float blockHeight = 2f;
//create a few dynamic rigidbodies
IndexedVector3 extents = new IndexedVector3(blockWidth / 3, blockHeight, blockWidth);
IndexedVector3 boxHalfExtents = extents * 0.5f;
CollisionShape colShape = new BoxShape(boxHalfExtents);
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f));
//m_collisionShapes.Add(colShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 1f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
colShape.CalculateLocalInertia(mass, out localInertia);
}
//The default number of iterations is 10, which works fine, but this demo
//is all about stability (it's jenga!). Increase the iterations a bit.
//Even though it's using twice as many iterations, it will early-out
//before reaching the limit MOST of the time.
//It's still pretty playable at around 7-8 max iterations, though.
IndexedMatrix transform = IndexedMatrix.Identity;
for (int i = 0; i < numBlocksTall; i++)
{
if (i % 2 == 0)
{
for (int j = 0; j < 3; j++)
{
transform = IndexedMatrix.Identity;
IndexedVector3 position = new IndexedVector3(j * (blockWidth / 3) - blockWidth / 3,
blockHeight / 2 + i * (blockHeight),
0);
//position += boxHalfExtents;
transform._origin = position;
RigidBody rb = LocalCreateRigidBody(mass, transform, colShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
else
{
transform = IndexedMatrix.CreateRotationY(MathUtil.SIMD_HALF_PI);
for (int j = 0; j < 3; j++)
{
IndexedVector3 position = new IndexedVector3(0,
blockHeight / 2 + (i) * (blockHeight),
j * (blockWidth / 3) - blockWidth / 3f);
transform._origin = position;
//position += boxHalfExtents;
transform._origin = position;
RigidBody rb = LocalCreateRigidBody(mass, transform, colShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
}
//game.Camera.Position = new Vector3(0, 5, 15);
}
ClientResetScene();
}
public void Constructor(BroadphaseProxy cleanProxy, IOverlappingPairCache pairCache, IDispatcher dispatcher)
{
m_cleanProxy = cleanProxy;
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
public virtual void Cleanup()
{
if (m_raycastAccelerator != null)
{
m_nullPairCache.Cleanup();
m_nullPairCache = null;
m_raycastAccelerator.Cleanup();
m_raycastAccelerator = null;
}
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i].Cleanup();
}
m_pHandles = null;
if (m_ownsPairCache)
{
m_pairCache = null;
}
}
} // for pool
public ClosestNotMeConvexResultCallback(CollisionObject me, IndexedVector3 fromA, IndexedVector3 toA, IOverlappingPairCache pairCache, IDispatcher dispatcher)
: this(me, ref fromA, ref toA, pairCache, dispatcher)
{
}
public virtual void DispatchAllCollisionPairs(IOverlappingPairCache pairCache, DispatcherInfo dispatchInfo, IDispatcher dispatcher)
{
m_collisionCallback.Initialize(dispatchInfo, this);
pairCache.ProcessAllOverlappingPairs(m_collisionCallback, dispatcher);
m_collisionCallback.cleanup();
}
public virtual void Initialize(CollisionObject me, IndexedVector3 fromA, IndexedVector3 toA, IOverlappingPairCache pairCache, IDispatcher dispatcher)
{
base.Initialize(ref fromA, ref toA);
m_allowedPenetration = 0.0f;
m_me = me;
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
public CleanPairCallback(BroadphaseProxy cleanProxy, IOverlappingPairCache pairCache, IDispatcher dispatcher)
{
m_cleanProxy = cleanProxy;
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
public ClosestNotMeConvexResultCallback(CollisionObject me, ref IndexedVector3 fromA, ref IndexedVector3 toA, IOverlappingPairCache pairCache, IDispatcher dispatcher) :
base(ref fromA, ref toA)
{
m_allowedPenetration = 0.0f;
m_me = me;
m_pairCache = pairCache;
m_dispatcher = dispatcher;
}
public override void InitializeDemo()
{
//maxiterations = 10;
SetCameraDistance(SCALING * 50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
//create a few dynamic rigidbodies
CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING));
//CollisionShape colShape = BuildCorner();
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f));
m_collisionShapes.Add(colShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 1f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
colShape.CalculateLocalInertia(mass, out localInertia);
}
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
for (int k = 0; k < ARRAY_SIZE_Y; k++)
{
for (int i = 0; i < ARRAY_SIZE_X; i++)
{
for (int j = 0; j < ARRAY_SIZE_Z; j++)
{
startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
//body.SetActivationState(ActivationState.ISLAND_SLEEPING);
m_dynamicsWorld.AddRigidBody(body);
//body.SetActivationState(ActivationState.ISLAND_SLEEPING);
body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j));
}
}
}
}
//ClientResetScene();
}
public virtual void dispatchAllCollisionPairs(IOverlappingPairCache pairCache, DispatcherInfo dispatchInfo, IDispatcher dispatcher)
{
collisionCallback.Constructor(dispatchInfo, this);
pairCache.processAllOverlappingPairs(collisionCallback, dispatcher);
}