public static RigidBody CreateRigidBodyFromTgcMesh(TgcMesh mesh, TGCVector3 position, float mass, float friction)
{
var meshAxisRadius = mesh.BoundingBox.calculateAxisRadius().ToBsVector;
var boxShape = new BoxShape(meshAxisRadius);
var transformationMatrix = TGCMatrix.RotationYawPitchRoll(0, 0, 0).ToBsMatrix;
transformationMatrix.Origin = position.ToBsVector;
DefaultMotionState motionState = new DefaultMotionState(transformationMatrix);
var boxLocalInertia = boxShape.CalculateLocalInertia(mass);
var bodyInfo = new RigidBodyConstructionInfo(mass, motionState, boxShape, boxLocalInertia);
var rigidBody = new RigidBody(bodyInfo)
{
LinearFactor = TGCVector3.One.ToBsVector,
Friction = friction,
RollingFriction = 1f,
AngularFactor = new Vector3(1f, 0.2f, 1f),
SpinningFriction = 0.7f
};
return(rigidBody);
}
/*
* 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);
}
private void CreateBoxes()
{
const float mass = 1.0f;
var colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
for (int y = 0; y < ArraySizeY; y++)
{
for (int x = 0; x < ArraySizeX; x++)
{
for (int z = 0; z < ArraySizeZ; z++)
{
Vector3 position = startPosition + 2 * new Vector3(x, y, z);
// make it drop from a height
position += new Vector3(0, 10, 0);
// using MotionState is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(Matrix.Translation(position));
var body = new RigidBody(rbInfo);
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
void CreateTowerCircle(Vector3 offsetPosition, int stackSize, int rotSize, Vector3 boxSize)
{
BoxShape blockShape = new BoxShape(boxSize[0] - collisionRadius, boxSize[1] - collisionRadius, boxSize[2] - collisionRadius);
float mass = 1.0f;
Vector3 localInertia;
blockShape.CalculateLocalInertia(mass, out localInertia);
float radius = 1.3f * rotSize * boxSize[0] / (float)Math.PI;
// create active boxes
float posY = boxSize[1];
float rot = 0;
for (int i = 0; i < stackSize; i++)
{
for (int j = 0; j < rotSize; j++)
{
Matrix trans = Matrix.Translation(0, 0, radius);
trans *= Matrix.RotationY(rot);
trans *= Matrix.Translation(offsetPosition + new Vector3(0, posY, 0));
LocalCreateRigidBody(mass, trans, blockShape);
rot += (2.0f * (float)Math.PI) / rotSize;
}
posY += boxSize[1] * 2.0f;
rot += (float)Math.PI / (float)rotSize;
}
}
private void CreateBoxes()
{
const float mass = 1.0f;
var shape = new BoxShape(Scale);
Vector3 localInertia = shape.CalculateLocalInertia(mass);
var bodyInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
for (int y = 0; y < NumBoxesY; y++)
{
for (int x = 0; x < NumBoxesX; x++)
{
for (int z = 0; z < NumBoxesZ; z++)
{
Vector3 position = _startPosition + Scale * 2 * new Vector3(x, y, z);
// make it drop from a height
position += new Vector3(0, Scale * 10, 0);
// using MotionState is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
bodyInfo.MotionState = new DefaultMotionState(Matrix.Translation(position));
var body = new RigidBody(bodyInfo);
World.AddRigidBody(body);
}
}
}
bodyInfo.Dispose();
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, 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);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
MultiBody CreateFeatherstoneMultiBody(MultiBodyDynamicsWorld world, int numLinks,
Vector3 basePosition, Vector3 baseHalfExtents, Vector3 linkHalfExtents, bool spherical, bool floating)
{
float mass = 1;
Vector3 inertia = Vector3.Zero;
if (mass != 0)
{
using (var box = new BoxShape(baseHalfExtents))
{
box.CalculateLocalInertia(mass, out inertia);
}
}
var mb = new MultiBody(numLinks, mass, inertia, !floating, false);
//body.HasSelfCollision = false;
//body.BaseVelocity = Vector3.Zero;
mb.BasePosition = basePosition;
//body.WorldToBaseRot = new Quaternion(0, 0, 1, -0.125f * (float)Math.PI);
mb.WorldToBaseRot = Quaternion.Identity;
float linkMass = 1;
Vector3 linkInertia = Vector3.Zero;
if (linkMass != 0)
{
using (var box = new BoxShape(linkHalfExtents))
{
box.CalculateLocalInertia(linkMass, out linkInertia);
}
}
//y-axis assumed up
Vector3 parentComToCurrentCom = new Vector3(0, -linkHalfExtents[1] * 2.0f, 0); //par body's COM to cur body's COM offset
Vector3 currentPivotToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
for (int i = 0; i < numLinks; i++)
{
if (spherical)
{
mb.SetupSpherical(i, linkMass, linkInertia, i - 1,
Quaternion.Identity, parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
else
{
Vector3 hingeJointAxis = new Vector3(1, 0, 0);
mb.SetupRevolute(i, linkMass, linkInertia, i - 1,
Quaternion.Identity, hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
}
mb.FinalizeMultiDof();
(World as MultiBodyDynamicsWorld).AddMultiBody(mb);
return(mb);
}
void CreateWall(Vector3 offsetPosition, int stackSize, Vector3 boxSize)
{
BoxShape blockShape = new BoxShape(boxSize[0] - collisionRadius, boxSize[1] - collisionRadius, boxSize[2] - collisionRadius);
float mass = 1.0f;
Vector3 localInertia;
blockShape.CalculateLocalInertia(mass, out localInertia);
// float diffX = boxSize[0] * 1.0f;
float diffY = boxSize[1] * 1.0f;
float diffZ = boxSize[2] * 1.0f;
float offset = -stackSize * (diffZ * 2.0f) * 0.5f;
Vector3 pos = new Vector3(0.0f, diffY, 0.0f);
while (stackSize > 0)
{
for (int i = 0; i < stackSize; i++)
{
pos[2] = offset + (float)i * (diffZ * 2.0f);
LocalCreateRigidBody(mass, Matrix.Translation(offsetPosition + pos), blockShape);
}
offset += diffZ;
pos[1] += (diffY * 2.0f);
stackSize--;
}
}
public override void Init(BulletExampleWall ctx)
{
base.Init(ctx);
//Creamos shapes y bodies.
//El piso es un plano estatico se dice que si tiene masa 0 es estatico.
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBulletVector3(), 0);
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
dynamicsWorld.AddRigidBody(floorBody);
//Se crea una caja de tamaño 20 con rotaciones y origien en 10,100,10 y 1kg de masa.
var boxShape = new BoxShape(10, 10, 10);
var boxTransform = TGCMatrix.RotationYawPitchRoll(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI).ToBsMatrix;
boxTransform.Origin = new TGCVector3(10, 100, 10).ToBulletVector3();
DefaultMotionState boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(1f);
var boxInfo = new RigidBodyConstructionInfo(1f, boxMotionState, boxShape, boxLocalInertia);
boxBody = new RigidBody(boxInfo);
dynamicsWorld.AddRigidBody(boxBody);
//Crea una bola de radio 10 origen 50 de 1 kg.
var ballShape = new SphereShape(10);
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = new TGCVector3(0, 50, 0);
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
//Podriamos no calcular la inercia para que no rote, pero es correcto que rote tambien.
var ballLocalInertia = ballShape.CalculateLocalInertia(1f);
var ballInfo = new RigidBodyConstructionInfo(1, ballMotionState, ballShape, ballLocalInertia);
ballBody = new RigidBody(ballInfo);
dynamicsWorld.AddRigidBody(ballBody);
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"Texturas\granito.jpg");
floorMesh = new TgcPlane(new TGCVector3(-200, 0, -200), new TGCVector3(400, 0f, 400), TgcPlane.Orientations.XZplane, floorTexture);
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"Texturas\madera.jpg");
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
boxMesh = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
sphereMesh = new TGCSphere(1, texture.Clone(), TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
}
public void AddRigidBody(Physics3DRigidBody rb, Components.RigidBodyDesc desc)
{
MotionState motionState;
Matrix4x4 mat = MatrixExt.Transform(desc.Position, desc.Rotation);
rb.defaultPosition = desc.Position;
rb.defaultRotation = desc.Rotation;
motionState = new DefaultMotionState(GetMatrix(mat));
CollisionShape collisionShape;
switch (desc.Shape)
{
case Components.RigidBodyShape.Sphere:
collisionShape = new SphereShape(desc.Dimemsions.X);
break;
case Components.RigidBodyShape.Capsule:
collisionShape = new CapsuleShape(desc.Dimemsions.X, desc.Dimemsions.Y);
break;
case Components.RigidBodyShape.Box:
default:
collisionShape = new BoxShape(GetVector3(desc.Dimemsions));
break;
}
float mass = desc.Mass;
BulletSharp.Math.Vector3 localInertia = new BulletSharp.Math.Vector3();
if (desc.Type == 0)
{
mass = 0;
}
else
{
collisionShape.CalculateLocalInertia(mass, out localInertia);
}
var rigidbodyInfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
rigidbodyInfo.Friction = desc.Friction;
rigidbodyInfo.LinearDamping = desc.LinearDamping;
rigidbodyInfo.AngularDamping = desc.AngularDamping;
rigidbodyInfo.Restitution = desc.Restitution;
rb.rigidBody = new RigidBody(rigidbodyInfo);
rb.rigidBody.ActivationState = ActivationState.DisableDeactivation;
rb.rigidBody.SetSleepingThresholds(0, 0);
if (desc.Type == Components.RigidBodyType.Kinematic)
{
rb.rigidBody.CollisionFlags |= CollisionFlags.KinematicObject;
}
world.AddRigidBody(rb.rigidBody, 1 << desc.CollisionGroup, desc.CollisionMask);
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
_collisionConf = new DefaultCollisionConfiguration();
_dispatcher = new CollisionDispatcher(_collisionConf);
_broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(_dispatcher, _broadphase, null, _collisionConf);
// create the ground
var groundShape = new BoxShape(50, 50, 50);
_collisionShapes.Add(groundShape);
CollisionObject ground = CreateStaticBody(Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
var colShape = new BoxShape(1);
_collisionShapes.Add(colShape);
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
for (int y = 0; y < ArraySizeY; y++)
{
for (int x = 0; x < ArraySizeX; x++)
{
for (int z = 0; z < ArraySizeZ; z++)
{
Matrix startTransform = Matrix.Translation(
_startPosition + 2 * new Vector3(x, y, z));
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
var body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 15, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
public static RigidBody crearBodyCubico(float masa, TGCVector3 escala, TGCVector3 origen)
{
#region CAJA
var boxShape = new BoxShape(escala.X, escala.Y, escala.Z);
//var boxTransform = TGCMatrix.RotationYawPitchRoll(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI).ToBsMatrix;
//boxTransform.Origin = origen.ToBsVector;
DefaultMotionState boxMotionState = new DefaultMotionState(Matrix.Translation(origen.X, origen.Y, origen.Z));// boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(masa);
var boxInfo = new RigidBodyConstructionInfo(masa, boxMotionState, boxShape, boxLocalInertia);
return(new RigidBody(boxInfo));
#endregion
}
/// <summary>
/// Se crea una caja con una masa (si se quiere que sea estatica la masa debe ser 0),
/// con dimensiones x(ancho) ,y(alto) ,z(profundidad), Rotacion de ejes Yaw, Pitch, Roll y un coeficiente de rozamiento.
/// </summary>
/// <param name="size">Tamaño de la Cajas</param>
/// <param name="mass">Masa de la Caja</param>
/// <param name="position">Posicion de la Caja</param>
/// <param name="yaw">Rotacion de la Caja respecto del eje x</param>
/// <param name="pitch">Rotacion de la Caja respecto del eje z</param>
/// <param name="roll">Rotacion de la Caja respecto del eje y</param>
/// <param name="friction">Coeficiente de rozamiento de la Caja</param>
/// <returns>Rigid Body de la caja</returns>
public static RigidBody CreateBox(TGCVector3 size, float mass, TGCVector3 position, float yaw, float pitch, float roll, float friction)
{
var boxShape = new BoxShape(size.X, size.Y, size.Z);
var boxTransform = TGCMatrix.RotationYawPitchRoll(yaw, pitch, roll).ToBsMatrix;
boxTransform.Origin = position.ToBsVector;
DefaultMotionState boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(mass);
var boxInfo = new RigidBodyConstructionInfo(mass, boxMotionState, boxShape, boxLocalInertia);
var boxBody = new RigidBody(boxInfo);
boxBody.LinearFactor = TGCVector3.One.ToBsVector;
boxBody.Friction = friction;
return(boxBody);
}
static void TestAlignment()
{
const float mass = 1.0f;
Vector3WriteTest vTest = new Vector3WriteTest();
vTest.Value1 = 2.0f;
vTest.Value2 = 3.0f;
using (BoxShape shape = new BoxShape(1))
{
shape.CalculateLocalInertia(mass, out vTest.Vector);
}
if (vTest.Value1 != 2.0f || vTest.Value2 != 3.0f)
{
Console.WriteLine("Vector3 value was overwritten with padding!");
}
}
public RigidBody AddFallingRigidBody(Vector3 location, float mass)
{
//CollisionShape fallShape = new SphereShape(1);
CollisionShape fallShape = new BoxShape(2.5f, 2.5f, 2.5f);
BulletSharp.Math.Vector3 fallInertia = new BulletSharp.Math.Vector3(0, 0, 0);
fallShape.CalculateLocalInertia(mass, out fallInertia);
RigidBodyConstructionInfo fallRigidBodyCI = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), fallShape, BulletSharp.Math.Vector3.Zero);
RigidBody fallRigidBody = new RigidBody(fallRigidBodyCI);
fallRigidBody.Translate(new BulletSharp.Math.Vector3(location.X, location.Y, location.Z));
dynamicsWorld.AddRigidBody(fallRigidBody);
return(fallRigidBody);
}
public void ReadVector3WithMarginTest()
{
const float mass = 1.0f;
var vectorStruct = new Vector3WithPadding
{
LeftPadding = 2.0f,
RightPadding = 3.0f
};
using (BoxShape shape = new BoxShape(1))
{
shape.CalculateLocalInertia(mass, out vectorStruct.Vector);
}
Assert.That(vectorStruct.LeftPadding, Is.EqualTo(2.0f));
Assert.That(vectorStruct.RightPadding, Is.EqualTo(3.0f));
}
public Caja(GameLogic logica)//GamePhysics world)
{
body = FactoryBody.crearBodyCubico(masa, new TGCVector3(10, 10, 10), new TGCVector3(0, 600, 0));
var d3dDevice = D3DDevice.Instance.Device;
// physicWorld = world;
#region configurarEfecto
efecto = TgcShaders.loadEffect(GameModel.shadersDir + "shaderPlanta.fx");
#endregion
#region configurarObjeto
planta = new TgcSceneLoader().loadSceneFromFile(GameModel.mediaDir + "modelos\\PLANTA-TgcScene.xml").Meshes[0];
planta.Scale = new TGCVector3(35.5f, 35.5f, 35.5f);
planta.Position = new TGCVector3(0, 600f, 0);
planta.Effect = efecto;
planta.Technique = "RenderScene";
objetos.Add(planta);
//glowObjects.Add(planta);
#endregion
#region CAJA
//Se crea una caja de tamaño 20 con rotaciones y origien en 10,100,10 y 1kg de masa.
var boxShape = new BoxShape(10, 10, 10);
var boxTransform = TGCMatrix.RotationYawPitchRoll(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI).ToBsMatrix;
boxTransform.Origin = new TGCVector3(0, 600, 0).ToBsVector;
DefaultMotionState boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(1f);
var boxInfo = new RigidBodyConstructionInfo(1f, boxMotionState, boxShape, boxLocalInertia);
body = new RigidBody(boxInfo);
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "texturas\\terrain\\NormalMapMar.png");
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
// boxMesh = TGCBox.fromSize(new TGCVector3(50, 50, 50), texture);
#endregion
callback = new CollisionCallback(logica, this);
// objetos.Add(boxMesh);
}
private void CreateBoxes()
{
const float mass = 1.0f;
var shape = new BoxShape(Scale);
Vector3 localInertia = shape.CalculateLocalInertia(mass);
using (var bodyInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia))
{
for (int x = 0; x < NumStacksX; x++)
{
for (int z = 0; z < NumStacksZ; z++)
{
Vector3 offset = _startPosition + new Vector3(x * StackSpacingX, 0, z * StackSpacingZ);
CreateStack(offset, bodyInfo);
}
}
}
}
/// <summary>
/// Se crea una caja con una masa (si se quiere que sea estatica la masa debe ser 0),
/// con dimensiones x(ancho) ,y(alto) ,z(profundidad), Rotacion de ejes Yaw, Pitch, Roll y un coeficiente de rozamiento.
/// </summary>
/// <param name="size"></param>
/// <param name="mass"></param>
/// <param name="position"></param>
/// <param name="yaw"></param>
/// <param name="pitch"></param>
/// <param name="roll"></param>
/// <param name="friction"></param>
/// <returns></returns>
public static RigidBody CreateBox(TGCVector3 size, float mass, TGCVector3 position, float yaw, float pitch, float roll, float friction, float?inertia = null)
{
var boxShape = new BoxShape(size.X, size.Y, size.Z);
var boxTransform = TGCMatrix.RotationYawPitchRoll(yaw, pitch, roll).ToBsMatrix;
boxTransform.Origin = position.ToBsVector;
var boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
//Si se quiere que no rote el objeto hay que considerar la masa 0Kg
var boxLocalInertia = boxShape.CalculateLocalInertia(inertia.HasValue ? inertia.Value :mass);
var boxInfo = new RigidBodyConstructionInfo(mass, boxMotionState, boxShape, boxLocalInertia);
var boxBody = new RigidBody(boxInfo);
boxBody.LinearFactor = TGCVector3.One.ToBsVector;
//boxBody.SetDamping(0.7f, 0.9f);
//boxBody.Restitution = 1f;
boxBody.Friction = friction;
return(boxBody);
}
void AddBoxes()
{
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
3 * i + startX,
3 * k + startY,
3 * j + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia))
{
var body = new RigidBody(rbInfo);
World.AddRigidBody(body);
}
}
}
}
}
public MachinegunBullet(DiscreteDynamicsWorld world, Character origin) : base(3f, origin)
{
var boxRadius = new TGCVector3(0.093f, 0.093f, 0.836f);
var tgcBox = TGCBox.fromSize(boxRadius, Color.FromArgb(255, 255, 249, 56));
mesh = tgcBox.ToMesh("MachinegunBullet");
tgcBox.Dispose();
var boxShape = new BoxShape(boxRadius.ToBsVector * 0.5f);
var boxTransform = TGCMatrix.RotationYawPitchRoll(0, 0, 0).ToBsMatrix;
boxTransform.Origin = new TGCVector3(0, -100, 0).ToBsVector;
var boxMotionState = new DefaultMotionState(boxTransform);
var boxLocalInertia = boxShape.CalculateLocalInertia(0.5f);
var boxInfo = new RigidBodyConstructionInfo(0.5f, boxMotionState, boxShape, boxLocalInertia);
rigidBody = new RigidBody(boxInfo);
rigidBody.ForceActivationState(ActivationState.DisableDeactivation);
rigidBody.Flags = RigidBodyFlags.DisableWorldGravity;
rigidBody.CollisionFlags = CollisionFlags.NoContactResponse;
world.AddCollisionObject(rigidBody);
}
public PowerMissile(DiscreteDynamicsWorld world, Character origin) : base(15f, origin)
{
var loader = new TgcSceneLoader();
var xmlPath = Game.Default.MediaDirectory + Game.Default.ItemsDirectory + "power-missile-TgcScene.xml";
mesh = loader.loadSceneFromFile(xmlPath).Meshes[0];
mesh.AutoTransform = false;
var meshAxisRadius = mesh.BoundingBox.calculateAxisRadius().ToBsVector;
var boxShape = new BoxShape(meshAxisRadius);
var boxTransform = TGCMatrix.RotationYawPitchRoll(0, 0, 0).ToBsMatrix;
boxTransform.Origin = new TGCVector3(0, -100, 0).ToBsVector;
var boxMotionState = new DefaultMotionState(boxTransform);
var boxLocalInertia = boxShape.CalculateLocalInertia(0.5f);
var boxInfo = new RigidBodyConstructionInfo(0.5f, boxMotionState, boxShape, boxLocalInertia);
rigidBody = new RigidBody(boxInfo);
rigidBody.ForceActivationState(ActivationState.DisableDeactivation);
rigidBody.Flags = RigidBodyFlags.DisableWorldGravity;
rigidBody.CollisionFlags = CollisionFlags.NoContactResponse;
world.AddCollisionObject(rigidBody);
}
public static RigidBody CreateRigidBodyFromTgcMesh(TgcMesh mesh, TGCVector3 position)
{
var meshAxisRadius = mesh.BoundingBox.calculateAxisRadius().ToBsVector;
var boxShape = new BoxShape(meshAxisRadius);
var transformationMatrix = TGCMatrix.RotationYawPitchRoll(0, 0, 0).ToBsMatrix;
transformationMatrix.Origin = position.ToBsVector;
DefaultMotionState motionState = new DefaultMotionState(transformationMatrix);
var boxLocalInertia = boxShape.CalculateLocalInertia(0);
var qwe = new TriangleMesh();
var asd = new BvhTriangleMeshShape(qwe, false);
var bodyInfo = new RigidBodyConstructionInfo(0, motionState, asd, boxLocalInertia);
var rigidBody = new RigidBody(bodyInfo);
rigidBody.Friction = 0.4f;
rigidBody.RollingFriction = 1;
// ballBody.SetDamping(0.1f, 0.9f);
rigidBody.Restitution = 1f;
return(rigidBody);
}
void CreatePyramid(Vector3 offsetPosition, int stackSize, Vector3 boxSize)
{
float space = 0.0001f;
Vector3 pos = new Vector3(0.0f, boxSize[1], 0.0f);
BoxShape blockShape = new BoxShape(boxSize[0] - collisionRadius, boxSize[1] - collisionRadius, boxSize[2] - collisionRadius);
float mass = 1.0f;
Vector3 localInertia;
blockShape.CalculateLocalInertia(mass, out localInertia);
float diffX = boxSize[0] * 1.02f;
float diffY = boxSize[1] * 1.02f;
float diffZ = boxSize[2] * 1.02f;
float offsetX = -stackSize * (diffX * 2.0f + space) * 0.5f;
float offsetZ = -stackSize * (diffZ * 2.0f + space) * 0.5f;
while (stackSize > 0)
{
for (int j = 0; j < stackSize; j++)
{
pos[2] = offsetZ + (float)j * (diffZ * 2.0f + space);
for (int i = 0; i < stackSize; i++)
{
pos[0] = offsetX + (float)i * (diffX * 2.0f + space);
RigidBody body = LocalCreateRigidBody(mass, Matrix.Translation(offsetPosition + pos), blockShape);
}
}
offsetX += diffX;
offsetZ += diffZ;
pos[1] += (diffY * 2.0f + space);
stackSize--;
}
}
public override void InitializeDemo()
{
//maxiterations = 10;
SetCameraDistance(SCALING * 50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
//create a few dynamic rigidbodies
CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING));
//CollisionShape colShape = BuildCorner();
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f));
m_collisionShapes.Add(colShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 1f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
colShape.CalculateLocalInertia(mass, out localInertia);
}
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
for (int k = 0; k < ARRAY_SIZE_Y; k++)
{
for (int i = 0; i < ARRAY_SIZE_X; i++)
{
for (int j = 0; j < ARRAY_SIZE_Z; j++)
{
startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
//body.SetActivationState(ActivationState.ISLAND_SLEEPING);
m_dynamicsWorld.AddRigidBody(body);
//body.SetActivationState(ActivationState.ISLAND_SLEEPING);
body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j));
}
}
}
}
//ClientResetScene();
}
void Start()
{
//Create a World
Debug.Log("Initialize physics");
List<CollisionShape> CollisionShapes = new List<CollisionShape>();
DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration();
CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf);
DbvtBroadphase Broadphase = new DbvtBroadphase();
DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new BulletSharp.Math.Vector3(0, -10, 0);
// create a few dynamic rigidbodies
const float mass = 1.0f;
//Add a single cube
RigidBody fallRigidBody;
BoxShape shape = new BoxShape(1f, 1f, 1f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
shape.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
fallRigidBody = new RigidBody(rbInfo);
rbInfo.Dispose();
Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f));
fallRigidBody.WorldTransform = st;
World.AddRigidBody(fallRigidBody);
//Step the simulation 300 steps
for (int i = 0; i < 300; i++)
{
World.StepSimulation(1f / 60f, 10);
Matrix trans;
fallRigidBody.GetWorldTransform(out trans);
Debug.Log("box height: " + trans.Origin);
}
//Clean up.
World.RemoveRigidBody(fallRigidBody);
fallRigidBody.Dispose();
UnityEngine.Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape ss in CollisionShapes)
ss.Dispose();
CollisionShapes.Clear();
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
BoxShape groundShape = new BoxShape(50, 1, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
for (int k = 0; k < ArraySizeY; k++)
{
for (int i = 0; i < ArraySizeX; i++)
{
for (int j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + startX,
2 * k + startY,
2 * j + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(20, 50, 10);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0,
Matrix.RotationAxis(new Vector3(0, 0, 1), (float)Math.PI * 0.03f) * Matrix.Translation(0, -50, 0),
groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
groundShape = new BoxShape(100, 50, 100);
CollisionShapes.Add(groundShape);
ground = LocalCreateRigidBody(0, Matrix.Translation(0, -54, 0), groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const int NUM_SHAPES = 10;
CollisionShape[] colShapes = new CollisionShape[NUM_SHAPES] {
new SphereShape(1),
new CapsuleShape(0.5f, 1),
new CapsuleShapeX(0.5f, 1),
new CapsuleShapeZ(0.5f, 1),
new ConeShape(0.5f, 1),
new ConeShapeX(0.5f, 1),
new ConeShapeZ(0.5f, 1),
new CylinderShape(new Vector3(0.5f, 1, 0.5f)),
new CylinderShapeX(new Vector3(1, 0.5f, 0.5f)),
new CylinderShapeZ(new Vector3(0.5f, 0.5f, 1)),
};
foreach (var collisionShape in colShapes)
{
CollisionShapes.Add(collisionShape);
}
const float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const float start_z = StartPosZ - ArraySizeZ / 2;
int shapeIndex = 0;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + start_x,
2 * k + start_y + 20,
2 * j + start_z
);
shapeIndex++;
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBody body;
using (var rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShapes[shapeIndex % NUM_SHAPES], localInertia))
{
body = new RigidBody(rbInfo);
}
body.Friction = 1;
body.RollingFriction = 0.3f;
body.SetAnisotropicFriction(colShape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.RollingFriction);
World.AddRigidBody(body);
}
}
}
}
/*
* ThreadSupportInterface CreateSolverThreadSupport(int maxNumThreads)
* {
* //#define SEQUENTIAL
* /* if (SEQUENTIAL)
* {
* SequentialThreadSupport::SequentialThreadConstructionInfo tci("solverThreads",SolverThreadFunc,SolverlsMemoryFunc);
* SequentialThreadSupport* threadSupport = new SequentialThreadSupport(tci);
* threadSupport->startSPU();
* }
* else * /
*
* Win32ThreadConstructionInfo threadConstructionInfo = new Win32ThreadConstructionInfo("solverThreads",
* Win32ThreadFunc.SolverThreadFunc, Win32LSMemorySetupFunc.SolverLSMemoryFunc, maxNumThreads);
* Win32ThreadSupport threadSupport = new Win32ThreadSupport(threadConstructionInfo);
* threadSupport.StartSpu();
* return threadSupport;
* }
*/
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
if (UseParallelDispatcherBenchmark)
{
//int maxNumOutstandingTasks = 4;
/*Win32ThreadConstructionInfo info = new Win32ThreadConstructionInfo("collision",
* Win32ThreadFunc.ProcessCollisionTask, Win32LSMemorySetupFunc.CreateCollisionLocalStoreMemory,
* maxNumOutstandingTasks);
*
* Win32ThreadSupport threadSupportCollision = new Win32ThreadSupport(info);
* Dispatcher = new SpuGatheringCollisionDispatcher(threadSupportCollision, 1, CollisionConf);*/
}
else
{
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);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
if (UseParallelDispatcherBenchmark)
{
//ThreadSupportInterface thread = CreateSolverThreadSupport(4);
//Solver = new ParallelConstraintSolver(thread);
}
else
{
Solver = new SequentialImpulseConstraintSolver();
}
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
if (UseParallelDispatcherBenchmark)
{
((DiscreteDynamicsWorld)World).SimulationIslandManager.SplitIslands = false;
}
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 localInertia;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
blockShape.CalculateLocalInertia(mass, out localInertia);
for (int k = 0; k < 47; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
convexHullShape.CalculateLocalInertia(mass, out localInertia);
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
convexHullShape.CalculateLocalInertia(mass, out localInertia);
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
public void Init()
{
#region MUNDO_FISICO //Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration)
{
Gravity = new TGCVector3(0, -20f, 0).ToBsVector
};
#endregion
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "texturas\\terrain\\NormalMapMar.png");
//Creamos shapes y bodies.
#region PISO
//El piso es un plano estatico se dice que si tiene masa 0 es estatico.
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBsVector, 0);
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
dynamicsWorld.AddRigidBody(floorBody);
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "modelos\\Textures\\Canionero.jpg");
floorMesh = new TgcPlane(new TGCVector3(0, 500, 0), new TGCVector3(400, 0f, 400), TgcPlane.Orientations.XZplane, floorTexture);
#endregion
#region CAJA
//Se crea una caja de tamaño 20 con rotaciones y origien en 10,100,10 y 1kg de masa.
var boxShape = new BoxShape(10, 10, 10);
var boxTransform = TGCMatrix.RotationYawPitchRoll(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI).ToBsMatrix;
boxTransform.Origin = new TGCVector3(0, 600, 0).ToBsVector;
DefaultMotionState boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(1f);
var boxInfo = new RigidBodyConstructionInfo(1f, boxMotionState, boxShape, boxLocalInertia);
boxBody = new RigidBody(boxInfo);
dynamicsWorld.AddRigidBody(boxBody);
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
boxMesh = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
#endregion
#region BOLA
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
//Crea una bola de radio 10 origen 50 de 1 kg.
var ballShape = new SphereShape(10);
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = new TGCVector3(0, 200, 0);
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
//Podriamos no calcular la inercia para que no rote, pero es correcto que rote tambien.
var ballLocalInertia = ballShape.CalculateLocalInertia(1f);
var ballInfo = new RigidBodyConstructionInfo(1, ballMotionState, ballShape, ballLocalInertia);
ballBody = new RigidBody(ballInfo);
dynamicsWorld.AddRigidBody(ballBody);
sphereMesh = new TGCSphere(1, texture.Clone(), TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
#endregion
callback = new MyContactResultCallback(dispatcher, dynamicsWorld, floorBody);// boxBody);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new MultiBodyConstraintSolver();
World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
BoxShape groundShape = new BoxShape(50, 50, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
3 * i + start_x,
3 * k + start_y,
3 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
World.AddRigidBody(body);
}
}
}
var settings = new MultiBodySettings()
{
BasePosition = new Vector3(60, 29.5f, -2) * Scaling,
CanSleep = true,
CreateConstraints = true,
DisableParentCollision = true, // the self-collision has conflicting/non-resolvable contact normals
IsFixedBase = false,
NumLinks = 2,
UsePrismatic = true
};
var multiBodyA = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.NumLinks = 10;
settings.BasePosition = new Vector3(0, 29.5f, -settings.NumLinks * 4);
settings.IsFixedBase = true;
settings.UsePrismatic = false;
var multiBodyB = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.BasePosition = new Vector3(-20 * Scaling, 29.5f * Scaling, -settings.NumLinks * 4 * Scaling);
settings.IsFixedBase = false;
var multiBodyC = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.BasePosition = new Vector3(-20, 9.5f, -settings.NumLinks * 4);
settings.IsFixedBase = true;
settings.UsePrismatic = true;
settings.DisableParentCollision = true;
var multiBodyPrim = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
}
