public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, int shapeTypeA,
int shapeTypeB, float marginA, float marginB, VoronoiSimplexSolver simplexSolver,
ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btGjkPairDetector_new2(objectA._native, objectB._native, shapeTypeA,
shapeTypeB, marginA, marginB, simplexSolver._native, (penetrationDepthSolver != null) ? penetrationDepthSolver._native : IntPtr.Zero))
{
}
protected override void OnInitializePhysics()
{
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// Objects
//colShape = new BoxShape(1);
Vector3[] points0 = {
new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1)
};
Vector3[] points1 = {
new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1), new Vector3(0,0,-1), new Vector3(-1,-1,0)
};
colShape0 = new ConvexHullShape(points0);
colShape1 = new ConvexHullShape(points1);
CollisionShapes.Add(colShape0);
CollisionShapes.Add(colShape1);
body2 = LocalCreateRigidBody(0, body2Position, colShape1);
rotBody = LocalCreateRigidBody(0, rotBodyPosition, colShape0);
rotBody.CollisionFlags |= CollisionFlags.KinematicObject;
rotBody.ActivationState = ActivationState.DisableDeactivation;
}
public KinematicCharacterController(PairCachingGhostObject ghostObject, ConvexShape convexShape, float stepHeight, int upAxis = 1)
{
m_upAxis = upAxis;
m_addedMargin = 0.02f;
m_walkDirection = Vector3.Zero;
m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_stepHeight = stepHeight;
m_turnAngle = 0f;
m_convexShape = convexShape;
m_useWalkDirection = true; // use walk direction by default, legacy behavior
m_velocityTimeInterval = 0.0f;
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
Gravity = 9.8f * 3; // 3G acceleration.
m_fallSpeed = 55.0f; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = 10.0f; // ?
m_wasOnGround = false;
m_wasJumping = false;
m_interpolateUp = true;
MaxSlope = MathUtil.DegToRadians(45.0f);
m_currentStepOffset = 0;
full_drop = false;
bounce_fix = false;
}
public bool CalcPenDepth(VoronoiSimplexSolver simplexSolver, ConvexShape convexA,
ConvexShape convexB, Matrix transA, Matrix transB, out Vector3 v, out Vector3 pa,
out Vector3 pb, IDebugDraw debugDraw)
{
return btConvexPenetrationDepthSolver_calcPenDepth(_native, simplexSolver._native,
convexA._native, convexB._native, ref transA, ref transB, out v, out pa,
out pb, DebugDraw.GetUnmanaged(debugDraw));
}
public unsafe static void ConvexSweepTest(this GhostObject obj, ConvexShape castShape, ref OpenTK.Matrix4 convexFromWorld, ref OpenTK.Matrix4 convexToWorld, ConvexResultCallback resultCallback, float allowedCcdPenetration)
{
fixed (OpenTK.Matrix4* convexFromWorldPtr = &convexFromWorld)
{
fixed (OpenTK.Matrix4* convexToWorldPtr = &convexToWorld)
{
obj.ConvexSweepTest(castShape, ref *(BulletSharp.Math.Matrix*)convexFromWorldPtr, ref *(BulletSharp.Math.Matrix*)convexToWorldPtr, resultCallback, allowedCcdPenetration);
}
}
}
public TriangleConvexcastCallback(ConvexShape convexShape, ref Matrix convexShapeFrom, ref Matrix convexShapeTo, ref Matrix triangleToWorld, float triangleCollisionMargin)
{
ConvexShape = convexShape;
ConvexShapeFrom = convexShapeFrom;
ConvexShapeTo = convexShapeTo;
TriangleToWorld = triangleToWorld;
TriangleCollisionMargin = triangleCollisionMargin;
AllowedPenetration = 0.0f;
HitFraction = 1.0f;
}
public KinematicCharacterController(PairCachingGhostObject ghostObject, ConvexShape convexShape, float stepHeight, int upAxis = 1)
{
m_addedMargin = 0.02f;
m_walkDirection = Vector3.Zero;
m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_stepHeight = stepHeight;
m_convexShape = convexShape;
m_useWalkDirection = true; // use walk direction by default, legacy behavior
m_velocityTimeInterval = 0.0f;
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
Gravity = 9.8f * 3; // 3G acceleration.
m_fallSpeed = 55.0f; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = 10.0f; // ?
m_wasOnGround = false;
m_wasJumping = false;
m_interpolateUp = true;
MaxSlope = MathUtil.DegToRadians(45.0f);
m_currentStepOffset = 0;
full_drop = false;
bounce_fix = false;
_callback = new KinematicClosestNotMeConvexResultCallback(m_ghostObject, -Vector3.UnitY, 0.7071f);
}
public void ConvexSweepTest(ConvexShape castShape, Matrix convexFromWorld, Matrix convexToWorld, ConvexResultCallback resultCallback)
{
btGhostObject_convexSweepTest(_native, castShape._native, ref convexFromWorld, ref convexToWorld, resultCallback._native);
}
public void ConvexSweepTest(ConvexShape castShape, Matrix convexFromWorld,
Matrix convexToWorld, ConvexResultCallback resultCallback, double allowedCcdPenetration = 0)
{
btGhostObject_convexSweepTest(Native, castShape.Native, ref convexFromWorld,
ref convexToWorld, resultCallback.Native, allowedCcdPenetration);
}
public ContinuousConvexCollision(ConvexShape shapeA, StaticPlaneShape plane)
: base(btContinuousConvexCollision_new2(shapeA._native, plane._native))
{
}
public ContinuousConvexCollision(ConvexShape shapeA, StaticPlaneShape plane)
: base(btContinuousConvexCollision_new2(shapeA.Native, plane.Native))
{
}
public void SetMinkowskiA(ConvexShape minkA)
{
btGjkPairDetector_setMinkowskiA(_native, minkA._native);
}
public GjkConvexCast(ConvexShape convexA, ConvexShape convexB, VoronoiSimplexSolver simplexSolver)
: base(btGjkConvexCast_new(convexA._native, convexB._native, simplexSolver._native))
{
}
public Convex2DShape(ConvexShape convexChildShape)
: base(btConvex2dShape_new(convexChildShape._native))
{
_childShape = convexChildShape;
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, int shapeTypeA, int shapeTypeB, float marginA, float marginB, VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btGjkPairDetector_new2(objectA._native, objectB._native, shapeTypeA, shapeTypeB, marginA, marginB, simplexSolver._native, (penetrationDepthSolver != null) ? penetrationDepthSolver._native : IntPtr.Zero))
{
}
public void SetMinkowskiA(ConvexShape minkA)
{
btGjkPairDetector_setMinkowskiA(_native, minkA._native);
}
public ShapeHull(ConvexShape shape)
{
_native = btShapeHull_new(shape._native);
_shape = shape;
}
public GjkConvexCast(ConvexShape convexA, ConvexShape convexB, VoronoiSimplexSolver simplexSolver)
: base(btGjkConvexCast_new(convexA._native, convexB._native, simplexSolver._native))
{
}
public ShapeHull(ConvexShape shape)
{
_native = btShapeHull_new(shape._native);
//_shape = shape;
}
public GjkConvexCast(ConvexShape convexA, ConvexShape convexB, VoronoiSimplexSolver simplexSolver)
{
IntPtr native = btGjkConvexCast_new(convexA.Native, convexB.Native, simplexSolver.Native);
InitializeUserOwned(native);
}
public ContinuousConvexCollision(ConvexShape shapeA, StaticPlaneShape plane)
{
IntPtr native = btContinuousConvexCollision_new2(shapeA.Native, plane.Native);
InitializeUserOwned(native);
}
public unsafe static OpenTK.Vector3 LocalGetSupportVertexWithoutMarginNonVirtual(this ConvexShape obj, ref OpenTK.Vector3 vec)
{
fixed(OpenTK.Vector3 *vecPtr = &vec)
{
return(obj.LocalGetSupportVertexWithoutMarginNonVirtual(ref *(BulletSharp.Math.Vector3 *)vecPtr).ToOpenTK());
}
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btGjkPairDetector_new(objectA._native, objectB._native, simplexSolver._native, (penetrationDepthSolver != null) ? penetrationDepthSolver._native : IntPtr.Zero))
{
}
public ShapeHull(ConvexShape shape)
{
Native = btShapeHull_new(shape.Native);
_shape = shape;
}
public void SetMinkowskiB(ConvexShape minkB)
{
btGjkPairDetector_setMinkowskiB(_native, minkB._native);
}
public MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB)
: base(btMinkowskiSumShape_new(shapeA.Native, shapeB.Native))
{
ShapeA = shapeA;
ShapeB = shapeB;
}
public UniformScalingShape(ConvexShape convexChildShape, float uniformScalingFactor)
: base(btUniformScalingShape_new(convexChildShape._native, uniformScalingFactor))
{
_convexChildShape = convexChildShape;
}
public void ConvexSweepTestRef(ConvexShape castShape, ref Matrix convexFromWorld, ref Matrix convexToWorld, ConvexResultCallback resultCallback)
{
btGhostObject_convexSweepTest(_native, castShape._native, ref convexFromWorld, ref convexToWorld, resultCallback._native);
}
public UniformScalingShape(ConvexShape convexChildShape, float uniformScalingFactor)
: base(btUniformScalingShape_new(convexChildShape._native, uniformScalingFactor))
{
_convexChildShape = convexChildShape;
}
public void ConvexSweepTestRef(ConvexShape castShape, ref Matrix convexFromWorld, ref Matrix convexToWorld, ConvexResultCallback resultCallback, float allowedCcdPenetration)
{
btGhostObject_convexSweepTest2(_native, castShape._native, ref convexFromWorld, ref convexToWorld, resultCallback._native, allowedCcdPenetration);
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, VoronoiSimplexSolver simplexSolver,
ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btGjkPairDetector_new(objectA._native, objectB._native, simplexSolver._native,
(penetrationDepthSolver != null) ? penetrationDepthSolver._native : IntPtr.Zero))
{
}
public void ConvexSweepTest(ConvexShape castShape, Matrix from, Matrix to,
ConvexResultCallback resultCallback)
{
btCollisionWorld_convexSweepTest(_native, castShape._native, ref from,
ref to, resultCallback._native);
}
public void SetMinkowskiB(ConvexShape minkB)
{
btGjkPairDetector_setMinkowskiB(_native, minkB._native);
}
public void ConvexSweepTest(ConvexShape castShape, Matrix from, Matrix to,
ConvexResultCallback resultCallback, float allowedCcdPenetration)
{
btCollisionWorld_convexSweepTest2(_native, castShape._native, ref from,
ref to, resultCallback._native, allowedCcdPenetration);
}
public ContinuousConvexCollision(ConvexShape shapeA, ConvexShape shapeB, VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btContinuousConvexCollision_new(shapeA._native, shapeB._native, simplexSolver._native, penetrationDepthSolver._native))
{
}
public static void ObjectQuerySingle(ConvexShape castShape, Matrix rayFromTrans,
Matrix rayToTrans, CollisionObject collisionObject, CollisionShape collisionShape,
Matrix colObjWorldTransform, ConvexResultCallback resultCallback, float allowedPenetration)
{
btCollisionWorld_objectQuerySingle(castShape._native, ref rayFromTrans,
ref rayToTrans, collisionObject._native, collisionShape._native, ref colObjWorldTransform,
resultCallback._native, allowedPenetration);
}
public ContinuousConvexCollision(ConvexShape shapeA, ConvexShape shapeB,
VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btContinuousConvexCollision_new(shapeA.Native, shapeB.Native,
simplexSolver.Native, penetrationDepthSolver.Native))
{
}
public static void ObjectQuerySingleInternal(ConvexShape castShape, Matrix convexFromTrans,
Matrix convexToTrans, CollisionObjectWrapper colObjWrap, ConvexResultCallback resultCallback,
float allowedPenetration)
{
btCollisionWorld_objectQuerySingleInternal(castShape._native, ref convexFromTrans,
ref convexToTrans, colObjWrap._native, resultCallback._native, allowedPenetration);
}
public MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB)
: base(btMinkowskiSumShape_new(shapeA._native, shapeB._native))
{
_shapeA = shapeA;
_shapeB = shapeB;
}
public UniformScalingShape(ConvexShape convexChildShape, double uniformScalingFactor)
: base(btUniformScalingShape_new(convexChildShape.Native, uniformScalingFactor))
{
ChildShape = convexChildShape;
}
public void ConvexSweepTest(ConvexShape castShape, Matrix convexFromWorld, Matrix convexToWorld, ConvexResultCallback resultCallback, float allowedCcdPenetration)
{
btGhostObject_convexSweepTest2(_native, castShape._native, ref convexFromWorld, ref convexToWorld, resultCallback._native, allowedCcdPenetration);
}
public Convex2DShape(ConvexShape convexChildShape)
: base(btConvex2dShape_new(convexChildShape.Native))
{
ChildShape = convexChildShape;
}
public bool CalcPenDepth(VoronoiSimplexSolver simplexSolver, ConvexShape convexA, ConvexShape convexB, Matrix transA, Matrix transB, out Vector3 v, out Vector3 pa, out Vector3 pb, IDebugDraw debugDraw)
{
return(btConvexPenetrationDepthSolver_calcPenDepth(_native, simplexSolver._native, convexA._native, convexB._native, ref transA, ref transB, out v, out pa, out pb, DebugDraw.GetUnmanaged(debugDraw)));
}
public unsafe static void ConvexSweepTest(this CollisionWorld obj, ConvexShape castShape, ref OpenTK.Matrix4 from, ref OpenTK.Matrix4 to, ConvexResultCallback resultCallback)
{
fixed (OpenTK.Matrix4* fromPtr = &from)
{
fixed (OpenTK.Matrix4* toPtr = &to)
{
obj.ConvexSweepTest(castShape, ref *(BulletSharp.Math.Matrix*)fromPtr, ref *(BulletSharp.Math.Matrix*)toPtr, resultCallback);
}
}
}
