/*private void MyTickCallBack(ManifoldPoint cp, CollisionObjectWrapper colobj0wrap, int partid0, int index0, CollisionObjectWrapper colobj1wrap, int partid1, int index1) { Debug.WriteLine("MyTickCallBack"); int numManifolds = BtWorld.Dispatcher.NumManifolds; RigidBodyImp myRb; //Debug.WriteLine("numManifolds: " + numManifolds); for (int i = 0; i < numManifolds; i++) { PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i); int numContacts = contactManifold.NumContacts; if (numContacts > 0) { CollisionObject obA = (CollisionObject) contactManifold.Body0; CollisionObject obB = (CollisionObject) contactManifold.Body1; // Debug.WriteLine(numContacts); var pnA = obA.UserObject; for (int j = 0; j < numContacts; j++) { ManifoldPoint pt = contactManifold.GetContactPoint(j); } } } }*/ public IRigidBodyImp AddRigidBody(float mass, float3 worldTransform, float3 orientation, ICollisionShapeImp colShape/*, float3 intertia*/) { // Use bullet to do what needs to be done: var btMatrix = Matrix.RotationX(orientation.x) * Matrix.RotationY(orientation.y) * Matrix.RotationZ(orientation.z) * Matrix.Translation(worldTransform.x, worldTransform.y, worldTransform.z); var btMotionState = new DefaultMotionState(btMatrix); var shapeType = colShape.GetType().ToString(); CollisionShape btColShape; var isStatic = false; switch (shapeType) { //Primitives case "Fusee.Engine.BoxShapeImp": var box = (BoxShapeImp) colShape; var btBoxHalfExtents = Translater.Float3ToBtVector3(box.HalfExtents); btColShape = new BoxShape(btBoxHalfExtents); break; case "Fusee.Engine.CapsuleShapeImp": var capsule = (CapsuleShapeImp) colShape; btColShape = new CapsuleShape(capsule.Radius, capsule.HalfHeight); break; case "Fusee.Engine.ConeShapeImp": var cone = (ConeShapeImp) colShape; btColShape = new ConeShape(cone.Radius, cone.Height); break; case "Fusee.Engine.CylinderShapeImp": var cylinider = (CylinderShapeImp) colShape; var btCylinderHalfExtents = Translater.Float3ToBtVector3(cylinider.HalfExtents); btColShape = new CylinderShape(btCylinderHalfExtents); break; case "Fusee.Engine.MultiSphereShapeImp": var multiSphere = (MultiSphereShapeImp) colShape; var btPositions = new Vector3[multiSphere.SphereCount]; var btRadi = new float[multiSphere.SphereCount]; for (int i = 0; i < multiSphere.SphereCount; i++) { var pos = Translater.Float3ToBtVector3(multiSphere.GetSpherePosition(i)); btPositions[i] = pos; btRadi[i] = multiSphere.GetSphereRadius(i); } btColShape = new MultiSphereShape(btPositions, btRadi); break; case "Fusee.Engine.SphereShapeImp": var sphere = (SphereShapeImp) colShape; var btRadius = sphere.Radius; btColShape = new SphereShape(btRadius); break; //Misc case "Fusee.Engine.CompoundShapeImp": var compShape = (CompoundShapeImp) colShape; btColShape = new CompoundShape(true); btColShape = compShape.BtCompoundShape; break; case "Fusee.Engine.EmptyShapeImp": btColShape = new EmptyShape(); break; //Meshes case "Fusee.Engine.ConvexHullShapeImp": var convHull = (ConvexHullShapeImp) colShape; var btPoints= new Vector3[convHull.GetNumPoints()]; for (int i = 0; i < convHull.GetNumPoints(); i++) { var point = convHull.GetScaledPoint(i); btPoints[i] = Translater.Float3ToBtVector3(point); } btColShape = new ConvexHullShape(btPoints); //btColShape.LocalScaling = new Vector3(3,3,3); break; case "Fusee.Engine.StaticPlaneShapeImp": var staticPlane = (StaticPlaneShapeImp) colShape; Debug.WriteLine("staticplane: " + staticPlane.Margin); var btNormal = Translater.Float3ToBtVector3(staticPlane.PlaneNormal); btColShape = new StaticPlaneShape(btNormal, staticPlane.PlaneConstant); isStatic = true; //btColShape.Margin = 0.04f; //Debug.WriteLine("btColshape" + btColShape.Margin); break; case "Fusee.Engine.GImpactMeshShapeImp": var gImpMesh = (GImpactMeshShapeImp)colShape; gImpMesh.BtGImpactMeshShape.UpdateBound(); var btGimp = new GImpactMeshShape(gImpMesh.BtGImpactMeshShape.MeshInterface); btGimp.UpdateBound(); btColShape = btGimp; break; //Default default: Debug.WriteLine("defaultImp"); btColShape = new EmptyShape(); break; } var btLocalInertia = btColShape.CalculateLocalInertia(mass); // btLocalInertia *= (10.0f*10); RigidBodyConstructionInfo btRbcInfo = new RigidBodyConstructionInfo(mass, btMotionState, btColShape, btLocalInertia); var btRigidBody = new RigidBody(btRbcInfo); btRigidBody.Restitution = 0.2f; btRigidBody.Friction = 0.2f; btRigidBody.CollisionFlags = CollisionFlags.CustomMaterialCallback; BtWorld.AddRigidBody(btRigidBody); btRbcInfo.Dispose(); var retval = new RigidBodyImp(); retval._rbi = btRigidBody; btRigidBody.UserObject = retval; return retval; }
public IStaticPlaneShapeImp AddStaticPlaneShape(float3 planeNormal, float planeConstant) { var btPlaneNormal = Translater.Float3ToBtVector3(planeNormal); var btStaticPlaneShape = new StaticPlaneShape(btPlaneNormal, planeConstant); btStaticPlaneShape.Margin = 0.04f; BtCollisionShapes.Add(btStaticPlaneShape); Debug.WriteLine("btStaticPlaneShape.Margin" + btStaticPlaneShape.Margin); var retval = new StaticPlaneShapeImp(); retval.BtStaticPlaneShape = btStaticPlaneShape; btStaticPlaneShape.UserObject = retval; return retval; }
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).ToBulletVector3(); #endregion Configuracion Basica de World strength = 5.8f; angle = 0.5f; foreach (var mesh in meshes) { var childTriangleMesh = construirTriangleMeshShape(mesh); var buildingbody = construirRigidBodyDeChildTriangleMeshShape(childTriangleMesh, mesh.Position, mesh.Scale); //buildingbody.Translate(mesh.Position.ToBulletVector3()); dynamicsWorld.AddRigidBody(buildingbody); } //Se crea un plano ya que esta escena tiene problemas //con la definición de triangulos para el suelo var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBulletVector3(), 10); floorShape.LocalScaling = new TGCVector3().ToBulletVector3(); var floorMotionState = new DefaultMotionState(); var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape); floorBody = new RigidBody(floorInfo); floorBody.Friction = 0.5f; floorBody.RollingFriction = 1; floorBody.Restitution = 1f; floorBody.UserObject = "floorBody"; dynamicsWorld.AddRigidBody(floorBody); var meshRigidBody = BulletRigidBodyFactory.Instance.CreateSurfaceFromHeighMap(terreno.getData()); dynamicsWorld.AddRigidBody(meshRigidBody); var loader = new TgcSceneLoader(); //Se crea el cuerpo rígido de la caja, en la definicio de CreateBox el ultimo parametro representa si se quiere o no //calcular el momento de inercia del cuerpo. No calcularlo lo que va a hacer es que la caja que representa el personaje //no rote cuando colicione contra el mundo. personajeBody = BulletRigidBodyFactory.Instance.CreateCapsule(10, 10, personaje.Position, 2.55f, false); personajeBody.Gravity = new TGCVector3(0, -100, 0).ToBulletVector3(); personajeBody.SetDamping(0.3f, 0f); personajeBody.Restitution = 0.1f; personajeBody.Friction = 1; personajeBody.ActivationState = ActivationState.IslandSleeping; dynamicsWorld.AddRigidBody(personajeBody); director = new TGCVector3(-1, 0, 0); }