public override btConstraintSolver getConstraintSolver()
{
global::System.IntPtr cPtr = BulletPINVOKE.btDiscreteDynamicsWorld_getConstraintSolver(swigCPtr);
btConstraintSolver ret = (cPtr == global::System.IntPtr.Zero) ? null : new btConstraintSolver(cPtr, false);
return(ret);
}
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
mesher = meshmerizer;
// m_config = config;
/*
* if (Environment.OSVersion.Platform == PlatformID.Unix)
* {
* m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
* Thread.Sleep(5000);
* Environment.Exit(0);
* }
*/
m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_solver = new btSequentialImpulseConstraintSolver();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_world.setGravity(m_gravity);
EnableCollisionInterface();
}
public btDiscreteDynamicsWorld(btDispatcher dispatcher, btBroadphaseInterface pairCache, btConstraintSolver constraintSolver, btCollisionConfiguration collisionConfiguration) : this(BulletPINVOKE.new_btDiscreteDynamicsWorld(btDispatcher.getCPtr(dispatcher), btBroadphaseInterface.getCPtr(pairCache), btConstraintSolver.getCPtr(constraintSolver), btCollisionConfiguration.getCPtr(collisionConfiguration)), true)
{
}
public override void setConstraintSolver(btConstraintSolver solver)
{
BulletPINVOKE.btDiscreteDynamicsWorld_setConstraintSolver(swigCPtr, btConstraintSolver.getCPtr(solver));
}
public virtual void setConstraintSolver(btConstraintSolver solver)
{
BulletPINVOKE.btDynamicsWorld_setConstraintSolver(swigCPtr, btConstraintSolver.getCPtr(solver));
}
public override void PostInitialise(IConfigSource config)
{
//m_config = config;
if (config != null)
{
IConfig physicsconfig = config.Configs["BulletPhysicsSettings"];
if (physicsconfig != null)
{
gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
avDensity = physicsconfig.GetFloat("av_density", 80f);
avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
//contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 4);
geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
if (Environment.OSVersion.Platform == PlatformID.Unix)
{
avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 65f);
avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 25);
avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 2000000f);
bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 2f);
}
else
{
avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 65f);
avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 25);
avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 2000000f);
bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 2f);
}
forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
}
}
lock (BulletLock)
{
worldAabbMax = new btVector3(m_region.RegionSizeX + 10f, m_region.RegionSizeY + 10f, m_region.RegionSizeZ);
m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_solver = new btSequentialImpulseConstraintSolver();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_world.setGravity(m_gravity);
EnableCollisionInterface();
}
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(btConstraintSolver obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
