private void BuildCar()
{
JitterDemo demo = this.Game as JitterDemo;
World world = demo.World;
CompoundShape.TransformedShape lower = new CompoundShape.TransformedShape(
new BoxShape(2.5f, 1f, 6.0f), JMatrix.Identity, JVector.Zero);
CompoundShape.TransformedShape upper = new CompoundShape.TransformedShape(
new BoxShape(2.0f, 0.5f, 3.0f), JMatrix.Identity, JVector.Up * 0.75f + JVector.Backward * 1.0f);
CompoundShape.TransformedShape[] subShapes = { lower, upper };
Shape chassis = new CompoundShape(subShapes);
//chassis = new BoxShape(2.5f, 1f, 6.0f);
carBody = new DefaultCar(world, chassis);
// use the inertia of the lower box.
// adjust some driving values
carBody.SteerAngle = 30; carBody.DriveTorque = 155;
carBody.AccelerationRate = 10;
carBody.SteerRate = 2f;
carBody.AdjustWheelValues();
carBody.Tag = BodyTag.DontDrawMe;
carBody.AllowDeactivation = false;
// place the car two units above the ground.
carBody.Position = new JVector(0, 5, 0);
world.AddBody(carBody);
}
public void AttachBatchedPhysics(CompoundShape shape)
{
var component = _batchedControlFactory.CreatePhysicalBatchedStaticCompoundComponent(shape);
_hierarchy.MoveNode(_node, _hierarchy.Lookup(component));
component.Static = true;
component.StaticAndImmovable = true;
component.Target = PhysicsTarget.Component;
component.Transform.LocalPosition = -shape.Shift.ToXNAVector();
}
public override void Build()
{
AddGround();
List<ConvexHullShape> shapes = BuildFromHACDTestObjFile(@"Content/ConvexDecomposition.obj");
CompoundShape.TransformedShape[] transformedShapes
= new CompoundShape.TransformedShape[shapes.Count];
for (int i = 0; i < shapes.Count; i++)
{
transformedShapes[i] = new CompoundShape.TransformedShape();
transformedShapes[i].Shape = shapes[i];
transformedShapes[i].Orientation = JMatrix.Identity;
transformedShapes[i].Position = -1.0f * shapes[i].Shift;
}
// Create one compound shape
CompoundShape cs = new CompoundShape(transformedShapes);
for (int i = 0; i < 1; i++)
{
RigidBody compoundBody = new RigidBody(cs);
compoundBody.EnableDebugDraw = true;
compoundBody.Position = new JVector(0, 5+ i*10, 0) - cs.Shift;
Demo.World.AddBody(compoundBody);
}
// Create several single bodies.
for (int i = 0; i < shapes.Count; i++)
{
RigidBody body = new RigidBody(shapes[i]);
body.Position = -1.0f * shapes[i].Shift + new JVector(-10, 5, 0);
body.EnableDebugDraw = true;
Demo.World.AddBody(body);
}
for (int i = 0; i < shapes.Count; i++)
{
RigidBody body = new RigidBody(shapes[i]);
body.Position = -1.0f * shapes[i].Shift + new JVector(-20, 5, 0);
body.EnableDebugDraw = true;
body.IsStatic = true;
Demo.World.AddBody(body);
}
}
private void BuildScene()
{
// creating a box shape, representing the ground
// and one to create the compound shape
Shape boxShape = new BoxShape(new JVector(1,1,3));
Shape groundShape = new BoxShape(new JVector(10, 1, 10));
// Build the CompoundShape.TransformedShape structure,
// containing "normal" shapes and position/orientation
// information.
CompoundShape.TransformedShape[] transformedShapes =
new CompoundShape.TransformedShape[2];
// Create a rotation matrix (90°)
JMatrix rotated =
Conversion.ToJitterMatrix(Matrix.CreateRotationX(MathHelper.PiOver2));
// the first "sub" shape. A rotatated boxShape.
transformedShapes[0] = new CompoundShape.TransformedShape(
boxShape,rotated,JVector.Zero);
// the second "sub" shape.
transformedShapes[1] = new CompoundShape.TransformedShape(
boxShape, JMatrix.Identity, JVector.Zero);
// Pass the CompoundShape.TransformedShape structure to the compound shape.
CompoundShape compoundShape = new CompoundShape(transformedShapes);
RigidBody compoundBody = new RigidBody(compoundShape);
compoundBody.Position = new JVector(0, 5, 0);
RigidBody groundBody = new RigidBody(groundShape);
// make the body static, so it can't be moved
groundBody.IsStatic = true;
// add the bodies to the world.
world.AddBody(compoundBody);
world.AddBody(groundBody);
}
public PhysicalBatchedStaticCompoundComponent(INode node, IPhysicsEngine physicsEngine, CompoundShape shape) : base(node, physicsEngine)
{
_shape = shape;
}
protected override void Update(GameTime gameTime)
{
if (codeFormVisible) return;
KeyboardState keyState = Keyboard.GetState();
MouseState mouseState = Mouse.GetState();
if (keyState.IsKeyDown(Keys.Escape)) this.Exit();
bool leftHold = (mouseState.LeftButton == ButtonState.Pressed);
bool spaceHold = (keyState.IsKeyDown(Keys.Space));
bool enterHold = (keyState.IsKeyDown(Keys.Enter));
bool mHold = (keyState.IsKeyDown(Keys.M));
#region Turn multithreading on/off
if (mHold)
{
if (!mClicked) { multithread = !multithread; mClicked = true; }
}
#endregion
#region Object drag & drop
if (leftHold && !leftClicked)
{
JVector ray = Conversion.ToJitterVector(RayTo(mouseState.X, mouseState.Y)); ray.Normalize();
JVector camp = Conversion.ToJitterVector(Camera.Position);
float fraction;
bool result = world.CollisionSystem.Raycast(camp, ray * 100, RaycastCallback, out resBody, out hitNormal, out fraction);
if (result)
{
hitPoint = camp + fraction * ray * 100;
if (wp != null) world.RemoveConstraint(wp);
JVector lanchor = hitPoint - resBody.Position;
lanchor = JVector.Transform(lanchor, JMatrix.Transpose(resBody.Orientation));
wp = new WorldPointConstraint(resBody, lanchor);
world.AddConstraint(wp);
hitDistance = (Conversion.ToXNAVector(hitPoint) - Camera.Position).Length();
scrollWheel = mouseState.ScrollWheelValue;
wp.Anchor = hitPoint;
}
leftClicked = true;
}
if (mouseState.LeftButton == ButtonState.Pressed)
{
hitDistance += (mouseState.ScrollWheelValue - scrollWheel) * 0.001f;
scrollWheel = mouseState.ScrollWheelValue;
if (resBody != null)
{
Vector3 ray = RayTo(mouseState.X, mouseState.Y); ray.Normalize();
wp.Anchor = Conversion.ToJitterVector(Camera.Position + ray * hitDistance);
}
}
else
{
resBody = null;
if (wp != null) world.RemoveConstraint(wp);
}
#endregion
#region Show code form
if (enterHold && !enterClicked && gameTime.TotalGameTime.TotalSeconds > 0.1f)
{
display.DisplayText[5] = string.Empty;
System.Windows.Forms.Form form =
(System.Windows.Forms.Form)System.Windows.Forms.Control.FromHandle(this.Window.Handle);
codeFormVisible = true;
System.Windows.Forms.DialogResult result = codeForm.ShowDialog(form);
codeFormVisible = false;
enterClicked = true;
}
#endregion
#region Spawn random primitive
if (spaceHold && !spaceClicked)
{
int rndn = random.Next(6);
RigidBody body;
if (rndn == 0)
{
body = new RigidBody(new ConeShape((float)random.Next(5, 50) / 20.0f, (float)random.Next(10, 20) / 20.0f));
}
else if (rndn == 1)
{
body = new RigidBody(new BoxShape(new JVector(
(float)random.Next(10, 30) / 20.0f,
(float)random.Next(10, 30) / 20.0f, (float)random.Next(10, 30) / 20.0f)));
}
else if (rndn == 2)
{
body = new RigidBody(new SphereShape((float)random.Next(30,100) /100.0f));
}
else if (rndn == 3)
{
body = new RigidBody(new CylinderShape(1.0f, 0.5f));
}
else if (rndn == 4)
{
body = new RigidBody(new CapsuleShape(1.0f, 0.5f));
}
else
{
Shape b1 = new BoxShape(new JVector(3, 1, 1));
Shape b2 = new BoxShape(new JVector(1, 1, 3));
Shape b3 = new CylinderShape(2.0f, 0.5f);
CompoundShape.TransformedShape t1 = new CompoundShape.TransformedShape(b1, JMatrix.Identity, JVector.Zero);
CompoundShape.TransformedShape t2 = new CompoundShape.TransformedShape(b2, JMatrix.Identity, JVector.Zero);
CompoundShape.TransformedShape t3 = new CompoundShape.TransformedShape(b3, JMatrix.Identity, new JVector(0, 0, 0));
CompoundShape ms = new CompoundShape(new CompoundShape.TransformedShape[3] { t1, t2, t3 });
body = new RigidBody(ms);
}
world.AddBody(body);
body.Position = Conversion.ToJitterVector(Camera.Position);
body.LinearVelocity = Conversion.ToJitterVector((Camera.Target - Camera.Position) * 40.0f);
body.Update();
spaceClicked = true;
}
#endregion
spaceClicked = spaceHold;
leftClicked = leftHold;
enterClicked = enterHold;
mClicked = mHold;
int contactCount = 0;
foreach (Arbiter ar in world.ArbiterMap.Values)
contactCount += ar.ContactList.Count;
display.DisplayText[0] = "Arbitercount: " + world.ArbiterMap.Values.Count.ToString() + ";" + " Contactcount: " + contactCount.ToString();
display.DisplayText[2] = "Bodycount: " + world.RigidBodies.Count;
display.DisplayText[3] = (multithread) ? "Multithreaded" : "Single Threaded";
float elapsedTime = (float)gameTime.ElapsedGameTime.TotalSeconds;
if (elapsedTime > 1.0f / 100.0f) elapsedTime = 1.0f / 100.0f;
world.Step(elapsedTime, multithread);
base.Update(gameTime);
}
protected override Multishape CreateWorkingClone()
{
CompoundShape clone = new CompoundShape();
clone.shapes = this.shapes;
return clone;
}
private void SpawnRandomPrimitive(JVector position, JVector velocity)
{
RigidBody body = null;
int rndn = random.Next(7);
// less of the more advanced objects
if (rndn == 5 || rndn == 6) rndn = random.Next(7);
switch (rndn)
{
case 0:
body = new RigidBody(new ConeShape((float)random.Next(5, 50) / 20.0f, (float)random.Next(10, 20) / 20.0f));
break;
case 1:
body = new RigidBody(new BoxShape((float)random.Next(10, 30) / 20.0f, (float)random.Next(10, 30) / 20.0f, (float)random.Next(10, 30) / 20.0f));
break;
case 2:
body = new RigidBody(new SphereShape(1.0f));
break;
case 3:
body = new RigidBody(new CylinderShape(1.0f, 0.5f));
break;
case 4:
body = new RigidBody(new CapsuleShape(1.0f, 0.5f));
break;
case 5:
Shape b1 = new BoxShape(new JVector(3, 1, 1));
Shape b2 = new BoxShape(new JVector(1, 1, 3));
Shape b3 = new CylinderShape(3.0f, 0.5f);
CompoundShape.TransformedShape t1 = new CompoundShape.TransformedShape(b1, JMatrix.Identity, JVector.Zero);
CompoundShape.TransformedShape t2 = new CompoundShape.TransformedShape(b2, JMatrix.Identity, JVector.Zero);
CompoundShape.TransformedShape t3 = new CompoundShape.TransformedShape(b3, JMatrix.Identity, new JVector(0, 0, 0));
CompoundShape ms = new CompoundShape(new CompoundShape.TransformedShape[3] { t1, t2, t3 });
body = new RigidBody(ms);
break;
case 6:
ConvexHullObject obj2 = new ConvexHullObject(this);
Components.Add(obj2);
body = obj2.body;
body.Material.Restitution = 0.2f;
body.Material.StaticFriction = 0.8f;
break;
}
World.AddBody(body);
body.Position = position;
body.LinearVelocity = velocity;
//body.EnableDebugDraw = true;
lastBody = body;
}