protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
using (var cci = new DefaultCollisionConstructionInfo()
{
DefaultMaxPersistentManifoldPoolSize = 32768
})
{
CollisionConf = new DefaultCollisionConfiguration(cci);
}
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500);
//Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
_scenes[SceneIndex]();
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
// Initialize TriangleIndexVertexArray with float array
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
gImpactMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
// Initialize TriangleIndexVertexArray with Vector3 array
Vector3[] torusVertices = new Vector3[TorusMesh.Vertices.Length / 3];
for (int i = 0; i < torusVertices.Length; i++)
{
torusVertices[i] = new Vector3(
TorusMesh.Vertices[i * 3],
TorusMesh.Vertices[i * 3 + 1],
TorusMesh.Vertices[i * 3 + 2]);
}
indexVertexArray2 = new TriangleIndexVertexArray(TorusMesh.Indices, torusVertices);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray2, true);
// CalculateLocalInertia must fail for static shapes (shapes based on TriangleMeshShape)
//triangleMeshShape.CalculateLocalInertia(1.0f);
triangleMesh = CreateBody(0.0f, triangleMeshShape, Vector3.Zero);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldAabbMin = new Vector3(-10000, -10000, -10000);
Vector3 worldAabbMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SetInternalTickCallback(MotorPreTickCallback, this, true);
// create the ground
CollisionShape groundShape = new BoxShape(200, 10, 200);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -10, 0), groundShape);
ground.UserObject = "Ground";
fCyclePeriod = 2000.0f;
fMuscleStrength = 0.5f;
m_Time = 0;
SpawnTestRig(new Vector3(1, 0.5f, 0), false);
SpawnTestRig(new Vector3(-2, 0.5f, 0), true);
}
public ConvexDecompositionDemoSimulation(bool enableSat)
{
_enableSat = enableSat;
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
ManifoldPoint.ContactAdded += MyContactCallback;
//CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
string path = Path.Combine("data", "file.obj");
var wavefrontModel = WavefrontObj.Load(path);
if (wavefrontModel.Indices.Count == 0)
{
return;
}
var localScaling = new Vector3(6, 6, 6);
_triangleMesh = CreateTriangleMesh(wavefrontModel.Indices, wavefrontModel.Vertices, localScaling);
// Convex hull approximation
ConvexHullShape convexShape = CreateHullApproximation(_triangleMesh);
float mass = 1.0f;
PhysicsHelper.CreateBody(mass, Matrix.Translation(0, 2, 14), convexShape, World);
// Non-moving body
var objectOffset = new Vector3(10, 0, 0);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(_triangleMesh, useQuantization);
PhysicsHelper.CreateStaticBody(Matrix.Translation(objectOffset), concaveShape, World);
Hacd hacd = ComputeHacd(wavefrontModel);
hacd.Save("output.wrl", false);
var compoundShape = CreateCompoundShape(hacd, localScaling);
mass = 10.0f;
objectOffset = new Vector3(-10, 0, -6);
var body2 = PhysicsHelper.CreateBody(mass, Matrix.Translation(objectOffset), compoundShape, World);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
objectOffset.Z += 6;
body2 = PhysicsHelper.CreateBody(mass, Matrix.Translation(objectOffset), compoundShape, World);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
objectOffset.Z += 6;
body2 = PhysicsHelper.CreateBody(mass, Matrix.Translation(objectOffset), compoundShape, World);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
}
public BenchmarkDemoSimulation()
{
using (var cci = new DefaultCollisionConstructionInfo()
{
DefaultMaxPersistentManifoldPoolSize = 32768
})
{
CollisionConfiguration = new DefaultCollisionConfiguration(cci);
}
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// The maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
var worldAabbMin = new Vector3(-1000, -1000, -1000);
var worldAabbMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
_scenes = new Action[] {
Create3KBoxes, CreateStructures, CreateTaruStack, CreateShapesGravity, CreateTaruGravity
};
_scenes[_scene]();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000), maxProxies);
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = Vector3.Zero,
Gravity = new Vector3(0, -10, 0),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DispatchInfo.EnableSpu = true;
World.SetInternalTickCallback(PickingPreTickCallback, this, true);
InitializeDemo();
}
public Physics()
{
demos = new DemoConstructor[] { Init_Cloth, Init_Pressure, Init_Volume, Init_Ropes, Init_RopeAttach,
Init_ClothAttach, Init_Sticks, Init_Collide, Init_Collide2, Init_Collide3, Init_Impact, Init_Aero,
Init_Aero2, Init_Friction, Init_Torus, Init_TorusMatch, Init_Bunny, Init_BunnyMatch, Init_Cutting1,
Init_ClusterDeform, Init_ClusterCollide1, Init_ClusterCollide2, Init_ClusterSocket, Init_ClusterHinge,
Init_ClusterCombine, Init_ClusterCar, Init_ClusterRobot, Init_ClusterStackSoft, Init_ClusterStackMixed,
Init_TetraCube, Init_TetraBunny };
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000), maxProxies);
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = Vector3.Zero;
softBodyWorldInfo.Gravity = new Vector3(0, -10, 0);
softBodyWorldInfo.Dispatcher = Dispatcher;
softBodyWorldInfo.Broadphase = Broadphase;
softBodyWorldInfo.SparseSdf.Initialize();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DispatchInfo.EnableSpu = true;
InitializeDemo();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
//World.DispatchInfo.UseConvexConservativeDistanceUtil = true;
//World.DispatchInfo.ConvexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
CollisionShape groundShape = new BoxShape(100, 10, 100);
Matrix groundTransform = Matrix.Translation(0, -10, 0);
RigidBody ground = LocalCreateRigidBody(0, groundTransform, groundShape);
ground.UserObject = "Ground";
// Spawn one ragdoll
SpawnRagdoll(new Vector3(1, 0.5f, 0));
SpawnRagdoll(new Vector3(-1, 0.5f, 0));
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
groundShape = new BoxShape(30, 1, 30);
ground = CreateBody(0, Matrix.Translation(0, -5, 0), groundShape);
ground.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
compoundShape = new CompoundShape();
boxShape = new BoxShape(1, 1, 1);
compoundShape.AddChildShape(Matrix.Identity, boxShape);
boxShape2 = new BoxShape(1, 1, 1);
compoundShape.AddChildShape(Matrix.Translation(0, -1, 0), boxShape2);
boxShape3 = new BoxShape(1, 1, 1);
compoundShape.AddChildShape(Matrix.Translation(0, -2, 0), boxShape3);
compoundShape2 = new CompoundShape();
compoundShape2.AddChildShape(Matrix.Identity, compoundShape);
compound = CreateBody(1, Matrix.Translation(0, 0, 0), compoundShape2);
ManifoldPoint.ContactAdded += ContactAdded;
}
/*
* void MyContactCallback(object sender, ContactAddedEventArgs e)
* {
* if (e.CollisionObject0Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
* {
* CompoundShape compound = e.CollisionObject0Wrapper.CollisionObject.CollisionShape as CompoundShape;
* CollisionShape childShape = compound.GetChildShape(e.Index0);
* }
*
* if (e.CollisionObject1Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
* {
* CompoundShape compound = e.CollisionObject1Wrapper.CollisionObject.CollisionShape as CompoundShape;
* CollisionShape childShape = compound.GetChildShape(e.Index1);
* }
*
* e.IsContactModified = true;
* }
*/
public void SetupEmptyDynamicsWorld()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
//Broadphase = new SimpleBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
// create the ground
CollisionShape groundShape = new BoxShape(30, 2, 30);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -4.5f, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
}
public void SetupEmptyDynamicsWorld()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
}
private void SetupEmptyDynamicsWorld()
{
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
CreateGround();
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
private void SetAxisSweepBroadphaseInfo(AxisSweep3 axisSweepBroadphase, TreeNode broadphaseNode)
{
broadphaseNode.Nodes.Clear();
for (int i = 0; i < axisSweepBroadphase.NumHandles; i++)
{
// axisSweepBroadphase.GetHandle(i);
broadphaseNode.Nodes.Add("Handle");
}
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
boxShape = new BoxShape(1);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
body1 = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
body2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
}
public void SetUp()
{
conf = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
solver = new DefaultSoftBodySolver();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, conf, solver);
softBodyWorldInfo = new SoftBodyWorldInfo();
softBody = new SoftBody(softBodyWorldInfo);
world.AddSoftBody(softBody);
}
public CollisionManager(Program debug)
{
var defaultCollisionConfiguration = new DefaultCollisionConfiguration( );
var collisionDispatcher = new CollisionDispatcher(defaultCollisionConfiguration);
var broadphase = new AxisSweep3(new Vector3(-100, -100, -100), new Vector3(100, 100, 100));
World = new CollisionWorld(collisionDispatcher, broadphase, defaultCollisionConfiguration);
if (debug != null)
{
this.World.DebugDrawer = new BulletDebugDrawer(debug);
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
//string filename = UnityEngine.Application.dataPath + "/BulletUnity/Examples/Scripts/BulletSharpDemos/CharacterDemo/data/BspDemo.bsp";
UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("BspDemo");
System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes);
bspLoader.LoadBspFile(byteStream);
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
Vector3 v1 = new Vector3(0f, 0f, 0f);
Vector3 v2 = new Vector3(0f, 0f, 0f);
convexResultCallback = new ClosestConvexResultCallback(ref v1, ref v2);
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
action = new Action();
world.AddAction(action);
world.AddAction(action);
world.RemoveAction(action);
world.RemoveAction(action);
world.AddAction(action);
}
public RagdollDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
//World.DispatchInfo.UseConvexConservativeDistanceUtil = true;
//World.DispatchInfo.ConvexConservativeDistanceThreshold = 0.01f;
CreateGround();
SpawnRagdoll(new Vector3(1, 0.5f, 0));
SpawnRagdoll(new Vector3(-1, 0.5f, 0));
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
var groundShape = new BoxShape(30, 1, 30);
var ground = LocalCreateRigidBody(0, Matrix.Translation(0, -5, 0), groundShape);
ground.UserObject = "metal.wav";
ground = LocalCreateRigidBody(0, Matrix.Translation(0, 0, 0) * Matrix.RotationZ((float)-Math.PI / 4), groundShape);
ground.UserObject = "metal.wav";
var groundShape2 = new BoxShape(5, 1, 30);
ground = LocalCreateRigidBody(0, Matrix.Translation(25, -3, 0), groundShape2);
ground.UserObject = "metal.wav";
var boxShape = new BoxShape(1, 0.5f, 2);
for (int i = 0; i < 4; i++)
{
var box = LocalCreateRigidBody(1, Matrix.Translation(i * 1.5f, i * 3 + 10, i * 3), boxShape);
box.UserObject = "metal.wav";
}
var sphereShape = new SphereShape(1);
for (int i = 0; i < 4; i++)
{
var sphere = LocalCreateRigidBody(1, Matrix.Translation(i, i * 3 + 20, 0), sphereShape);
sphere.UserObject = "rubber.wav";
}
var cylinderShape = new CylinderShape(0.5f, 1, 0.5f);
for (int i = 0; i < 4; i++)
{
var cylinder = LocalCreateRigidBody(1, Matrix.Translation(i, i * 3 + 20, 3), cylinderShape);
cylinder.UserObject = "can.wav";
}
ManifoldPoint.ContactAdded += ContactAdded;
}
public ConcaveRaycastDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(_worldMin, _worldMax);
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SolverInfo.SplitImpulse = 1;
_raycastBar = new RaycastBar(4000.0f, 0.0f, -1000.0f, 10);
//_raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
CreateBoxes();
CreateGround();
}
public static void CreateInstance()
{
var CollisionConfiguration = new DefaultCollisionConfiguration();
var Dispatcher = new CollisionDispatcher(CollisionConfiguration);
var Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
var World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.Gravity = new Vector3(0, 0, -9.8f);
//set debug draw
World.DebugDrawer = new PhysicsDebugDraw(new OpenGLDrawContext());
World.DebugDrawer.DebugMode = DebugDrawModes.All;
Debug.LogLine("Debug Draw Mode: {0}", World.DebugDrawer.DebugMode.ToString());
Instance = World;
}
public ConcaveConvexCastDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(_worldMin, _worldMax);
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SolverInfo.SplitImpulse = 1;
_convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
_callback = new ClosestConvexResultCallback();
CreateGround();
CreateBoxes();
}
public VehicleDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Vector3 worldMin = new Vector3(-10000, -10000, -10000);
Vector3 worldMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldMin, worldMax);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SetInternalTickCallback(PickingPreTickCallback, this, true);
CreateScene();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
bspLoader.LoadBspFile("data/BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
Vector3 zero = Vector3.Zero;
convexResultCallback = new ClosestConvexResultCallback(ref zero, ref zero);
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
/*
* void MyContactCallback(object sender, ContactAddedEventArgs e)
* {
* if (e.CollisionObject0Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
* {
* CompoundShape compound = e.CollisionObject0Wrapper.CollisionObject.CollisionShape as CompoundShape;
* CollisionShape childShape = compound.GetChildShape(e.Index0);
* }
*
* if (e.CollisionObject1Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
* {
* CompoundShape compound = e.CollisionObject1Wrapper.CollisionObject.CollisionShape as CompoundShape;
* CollisionShape childShape = compound.GetChildShape(e.Index1);
* }
*
* e.IsContactModified = true;
* }
*/
public void SetupEmptyDynamicsWorld()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
// create the ground
CollisionShape groundShape = new BoxShape(30, 2, 30);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -4.5f, 0), groundShape);
ground.UserObject = "Ground";
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(
new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
renderCallback = new DrawingResult(World);
var boxA = new BoxShape(1.0f)
{
Margin = 0
};
var boxB = new BoxShape(0.5f)
{
Margin = 0
};
CollisionShapes.Add(boxA);
CollisionShapes.Add(boxB);
Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f);
rotA.Normalize();
objectA = new CollisionObject
{
CollisionShape = boxA,
WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0)
};
objectB = new CollisionObject
{
CollisionShape = boxB,
WorldTransform = Matrix.Translation(0, 4.248f, 0)
};
//World.AddCollisionObject(objectA);
World.AddCollisionObject(objectB);
}
public MotorDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
var worldAabbMin = new Vector3(-10000, -10000, -10000);
var worldAabbMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax);
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SetInternalTickCallback(MotorPreTickCallback, this, true);
CreateGround();
SpawnTestRig(new Vector3(1, 0.5f, 0), false);
SpawnTestRig(new Vector3(-2, 0.5f, 0), true);
}
