Ejemplo n.º 1
0
        public void Evaluate(int SpreadMax)
        {
            if (FInVehicle.IsConnected)
            {
                FOutTransform.SliceCount = this.FInVehicle.SliceCount;

                for (int i = 0; i < this.FInVehicle.SliceCount; i++)
                {
                    this.FOutTransform[i].SliceCount = this.FInVehicle[i].NumWheels;

                    RaycastVehicle v = this.FInVehicle[i];

                    for (int j = 0; j < v.NumWheels; j++)
                    {
                        WheelInfo wi = v.GetWheelInfo(j);

                        Matrix m = wi.WorldTransform;

                        Matrix4x4 mn = new Matrix4x4(m.M11, m.M12, m.M13, m.M14,
                                                     m.M21, m.M22, m.M23, m.M24, m.M31, m.M32, m.M33, m.M34,
                                                     m.M41, m.M42, m.M43, m.M44);
                        this.FOutTransform[i][j] = mn;
                    }
                }
            }
            else
            {
                this.FOutTransform.SliceCount = 0;
            }
        }
Ejemplo n.º 2
0
        public void Evaluate(int SpreadMax)
        {
            if (FInVehicle.PluginIO.IsConnected)
            {
                FOutSkidInfo.SliceCount = this.FInVehicle.SliceCount;
                FOutSuspensionRelativeVelocity.SliceCount = this.FInVehicle.SliceCount;
                FOutSuspensionsForce.SliceCount           = this.FInVehicle.SliceCount;

                for (int i = 0; i < this.FInVehicle.SliceCount; i++)
                {
                    int numWheels = this.FInVehicle[i].NumWheels;
                    this.FOutSkidInfo[i].SliceCount = numWheels;
                    FOutSuspensionRelativeVelocity[i].SliceCount = numWheels;
                    FOutSuspensionsForce[i].SliceCount           = numWheels;

                    RaycastVehicle v = this.FInVehicle[i];
                    for (int j = 0; j < v.NumWheels; j++)
                    {
                        WheelInfo wi = v.GetWheelInfo(j);

                        this.FOutSkidInfo[i][j] = wi.SkidInfo;
                        this.FOutSuspensionRelativeVelocity[i][j] = wi.SuspensionRelativeVelocity;
                        this.FOutSuspensionsForce[i][j]           = wi.WheelsSuspensionForce;
                    }
                }
            }
            else
            {
                this.FOutSkidInfo.SliceCount = 0;
                FOutSuspensionRelativeVelocity.SliceCount = 0;
                FOutSuspensionsForce.SliceCount           = 0;
            }
        }
Ejemplo n.º 3
0
        public void Evaluate(int SpreadMax)
        {
            if (FInVehicle.PluginIO.IsConnected)
            {
                FOutTransform.SliceCount = this.FInVehicle[0].NumWheels;
                Fskidinfo.SliceCount     = this.FInVehicle[0].NumWheels;
                RaycastVehicle v = this.FInVehicle[0];

                for (int i = 0; i < v.NumWheels; i++)
                {
                    WheelInfo wi = v.GetWheelInfo(i);
                    skidinfos    = wi.SkidInfo;
                    Fskidinfo[i] = skidinfos;

                    Matrix m = wi.WorldTransform;

                    Matrix4x4 mn = new Matrix4x4(m.M11, m.M12, m.M13, m.M14,
                                                 m.M21, m.M22, m.M23, m.M24, m.M31, m.M32, m.M33, m.M34,
                                                 m.M41, m.M42, m.M43, m.M44);
                    FvSpeed[0] = v.CurrentSpeedKmHour;

                    this.FOutTransform[i] = mn;
                }
            }
        }
Ejemplo n.º 4
0
        protected void AddWheels(Vector3 halfExtents, RaycastVehicle vehicle, VehicleTuning tuning, float wheelRadius)
        {
            //The direction of the raycast, the btRaycastVehicle uses raycasts instead of simiulating the wheels with rigid bodies
            Vector3 wheelDirectionCS0 = new Vector3(0, -1, 0);

            //The axis which the wheel rotates arround
            Vector3 wheelAxleCS = new Vector3(-1, 0, 0);

            //All the wheel configuration assumes the vehicle is centered at the origin and a right handed coordinate system is used
            Vector4 points = contactInfoByChassis(mesh.Name);

            points.Y += suspensionLength + meshAxisRadius.Y - (meshRealHeight / 2f);

            //Adds the rear wheels
            Vector3 wheelConnectionPoint = new Vector3(points.X, points.Y - rearWheelsHeight, points.Z);

            vehicle.AddWheel(wheelConnectionPoint, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, false);
            vehicle.AddWheel(wheelConnectionPoint * new Vector3(-1, 1, 1), wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, false);

            //Adds the front wheels
            wheelConnectionPoint = new Vector3(points.X, points.Y - frontWheelsHeight, points.W);
            vehicle.AddWheel(wheelConnectionPoint * new Vector3(1, 1, -1), wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, true);
            vehicle.AddWheel(wheelConnectionPoint * new Vector3(-1, 1, -1), wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, true);

            //Configures each wheel of our vehicle, setting its friction, damping compression, etc.
            //For more details on what each parameter does, refer to the docs
            for (int i = 0; i < vehicle.NumWheels; i++)
            {
                WheelInfo wheel = vehicle.GetWheelInfo(i);
                wheel.MaxSuspensionForce = 700000;
                //wheel.MaxSuspensionTravelCm = 80;
                wheel.SuspensionStiffness      = suspensionStiffness;
                wheel.WheelsDampingCompression = dampingCompression * 2 * FastMath.Sqrt(wheel.SuspensionStiffness);
                wheel.WheelsDampingRelaxation  = dampingRelaxation * 2 * FastMath.Sqrt(wheel.SuspensionStiffness);
                wheel.FrictionSlip             = frictionSlip;
                wheel.RollInfluence            = rollInfluence;
            }
        }
Ejemplo n.º 5
0
        public void Evaluate(int SpreadMax)
        {
            if (FInVehicle.PluginIO.IsConnected)
            {
                FOutTransform.SliceCount = this.FInVehicle[0].NumWheels;

                RaycastVehicle v = this.FInVehicle[0];

                for (int i = 0; i < v.NumWheels; i++)
                {
                    WheelInfo wi = v.GetWheelInfo(i);

                    Matrix m = wi.WorldTransform;

                    Matrix4x4 mn = new Matrix4x4(m.M11, m.M12, m.M13, m.M14,
                                                 m.M21, m.M22, m.M23, m.M24, m.M31, m.M32, m.M33, m.M34,
                                                 m.M41, m.M42, m.M43, m.M44);
                    //wi.r

                    this.FOutTransform[i] = mn;
                }
            }
        }
Ejemplo n.º 6
0
        public Physics(VehicleDemo game)
        {
            CollisionShape groundShape = new BoxShape(50, 3, 50);

            CollisionShapes.Add(groundShape);

            CollisionConf = new DefaultCollisionConfiguration();
            Dispatcher    = new CollisionDispatcher(CollisionConf);
            Solver        = new SequentialImpulseConstraintSolver();

            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, Solver, CollisionConf);

            int    i;
            Matrix tr;
            Matrix vehicleTr;

            if (UseTrimeshGround)
            {
                const float scale = 20.0f;

                //create a triangle-mesh ground
                int vertStride  = Vector3.SizeInBytes;
                int indexStride = 3 * sizeof(int);

                const int NUM_VERTS_X = 20;
                const int NUM_VERTS_Y = 20;
                const int totalVerts  = NUM_VERTS_X * NUM_VERTS_Y;

                const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);

                TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
                IndexedMesh mesh = new IndexedMesh();
                mesh.Allocate(totalVerts, vertStride, totalTriangles, indexStride, PhyScalarType.Int32, PhyScalarType.Single);

                BulletSharp.DataStream data = mesh.LockVerts();
                for (i = 0; i < NUM_VERTS_X; i++)
                {
                    for (int j = 0; j < NUM_VERTS_Y; j++)
                    {
                        float wl     = .2f;
                        float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));

                        data.Write((i - NUM_VERTS_X * 0.5f) * scale);
                        data.Write(height);
                        data.Write((j - NUM_VERTS_Y * 0.5f) * scale);
                    }
                }

                int      index = 0;
                IntArray idata = mesh.TriangleIndices;
                for (i = 0; i < NUM_VERTS_X - 1; i++)
                {
                    for (int j = 0; j < NUM_VERTS_Y - 1; j++)
                    {
                        idata[index++] = j * NUM_VERTS_X + i;
                        idata[index++] = j * NUM_VERTS_X + i + 1;
                        idata[index++] = (j + 1) * NUM_VERTS_X + i + 1;

                        idata[index++] = j * NUM_VERTS_X + i;
                        idata[index++] = (j + 1) * NUM_VERTS_X + i + 1;
                        idata[index++] = (j + 1) * NUM_VERTS_X + i;
                    }
                }

                vertexArray.AddIndexedMesh(mesh);
                groundShape = new BvhTriangleMeshShape(vertexArray, true);

                tr        = Matrix.Identity;
                vehicleTr = Matrix.Translation(0, -2, 0);
            }
            else
            {
                // Use HeightfieldTerrainShape

                int width = 40, length = 40;
                //int width = 128, length = 128; // Debugging is too slow for this
                float   maxHeight   = 10.0f;
                float   heightScale = maxHeight / 256.0f;
                Vector3 scale       = new Vector3(20.0f, maxHeight, 20.0f);

                //PhyScalarType scalarType = PhyScalarType.PhyUChar;
                //FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);

                // Use float data
                PhyScalarType scalarType = PhyScalarType.Single;
                byte[]        terr       = new byte[width * length * 4];
                MemoryStream  file       = new MemoryStream(terr);
                BinaryWriter  writer     = new BinaryWriter(file);
                for (i = 0; i < width; i++)
                {
                    for (int j = 0; j < length; j++)
                    {
                        writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
                    }
                }
                writer.Flush();
                file.Position = 0;

                HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
                                                                                         file, heightScale, 0, maxHeight, upIndex, scalarType, false);
                heightterrainShape.SetUseDiamondSubdivision(true);

                groundShape = heightterrainShape;
                groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);

                tr        = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
                vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));


                // Create graphics object

                file.Position = 0;
                BinaryReader reader = new BinaryReader(file);

                int totalTriangles = (width - 1) * (length - 1) * 2;
                int totalVerts     = width * length;

                game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
                                           MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
                SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
                for (i = 0; i < width; i++)
                {
                    for (int j = 0; j < length; j++)
                    {
                        float height;
                        if (scalarType == PhyScalarType.Single)
                        {
                            // heightScale isn't applied internally for float data
                            height = reader.ReadSingle();
                        }
                        else if (scalarType == PhyScalarType.Byte)
                        {
                            height = file.ReadByte() * heightScale;
                        }
                        else
                        {
                            height = 0.0f;
                        }

                        data.Write((j - length * 0.5f) * scale.X);
                        data.Write(height);
                        data.Write((i - width * 0.5f) * scale.Z);

                        // Normals will be calculated later
                        data.Position += 12;
                    }
                }
                game.groundMesh.UnlockVertexBuffer();
                file.Close();

                data = game.groundMesh.LockIndexBuffer(LockFlags.None);
                for (i = 0; i < width - 1; i++)
                {
                    for (int j = 0; j < length - 1; j++)
                    {
                        // Using diamond subdivision
                        if ((j + i) % 2 == 0)
                        {
                            data.Write(j * width + i);
                            data.Write((j + 1) * width + i + 1);
                            data.Write(j * width + i + 1);

                            data.Write(j * width + i);
                            data.Write((j + 1) * width + i);
                            data.Write((j + 1) * width + i + 1);
                        }
                        else
                        {
                            data.Write(j * width + i);
                            data.Write((j + 1) * width + i);
                            data.Write(j * width + i + 1);

                            data.Write(j * width + i + 1);
                            data.Write((j + 1) * width + i);
                            data.Write((j + 1) * width + i + 1);
                        }

                        /*
                         * // Not using diamond subdivision
                         * data.Write(j * width + i);
                         * data.Write((j + 1) * width + i);
                         * data.Write(j * width + i + 1);
                         *
                         * data.Write(j * width + i + 1);
                         * data.Write((j + 1) * width + i);
                         * data.Write((j + 1) * width + i + 1);
                         */
                    }
                }
                game.groundMesh.UnlockIndexBuffer();

                game.groundMesh.ComputeNormals();
            }

            CollisionShapes.Add(groundShape);


            //create ground object
            RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);

            ground.UserObject = "Ground";


            CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);

            CollisionShapes.Add(chassisShape);

            CompoundShape compound = new CompoundShape();

            CollisionShapes.Add(compound);

            //localTrans effectively shifts the center of mass with respect to the chassis
            Matrix localTrans = Matrix.Translation(Vector3.UnitY);

            compound.AddChildShape(localTrans, chassisShape);
            RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound);

            carChassis.UserObject = "Chassis";
            //carChassis.SetDamping(0.2f, 0.2f);

            //CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius);


            // clientResetScene();

            // create vehicle
            RaycastVehicle.VehicleTuning tuning           = new RaycastVehicle.VehicleTuning();
            IVehicleRaycaster            vehicleRayCaster = new DefaultVehicleRaycaster(World);

            vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);

            carChassis.ActivationState = ActivationState.DisableDeactivation;
            World.AddAction(vehicle);


            float connectionHeight = 1.2f;
            bool  isFrontWheel     = true;

            // choose coordinate system
            vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);

            Vector3   connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
            WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            isFrontWheel       = false;
            connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);


            for (i = 0; i < vehicle.NumWheels; i++)
            {
                WheelInfo wheel = vehicle.GetWheelInfo(i);
                wheel.SuspensionStiffness      = suspensionStiffness;
                wheel.WheelsDampingRelaxation  = suspensionDamping;
                wheel.WheelsDampingCompression = suspensionCompression;
                wheel.FrictionSlip             = wheelFriction;
                wheel.RollInfluence            = rollInfluence;
            }

            vehicle.RigidBody.WorldTransform = vehicleTr;
        }
Ejemplo n.º 7
0
        public Character(DiscreteDynamicsWorld world, Vehiculo vehiculo, TGCVector3 position, float rotation, GameModel gameModel)
        {
            //Cargar sonido
            turboSound = new TgcStaticSound();
            turboSound.loadSound(Game.Default.MediaDirectory + Game.Default.FXDirectory + "turbo.wav", gameModel.DirectSound.DsDevice);

            this.vehiculo = vehiculo;

            var loader = new TgcSceneLoader();

            this.mesh  = loader.loadSceneFromFile(vehiculo.ChassisXmlPath).Meshes[0];
            this.wheel = loader.loadSceneFromFile(vehiculo.WheelsXmlPath).Meshes[0];

            Vehiculo.ChangeTextureColor(this.mesh, vehiculo.Color);

            this.mesh.AutoTransform  = false;
            this.wheel.AutoTransform = false;

            maxHitPoints         = float.Parse(mesh.UserProperties["maxHitPoints"], CultureInfo.InvariantCulture);
            engineForce          = -float.Parse(mesh.UserProperties["engineForce"], CultureInfo.InvariantCulture);
            brakeForce           = float.Parse(mesh.UserProperties["brakeForce"], CultureInfo.InvariantCulture);
            steeringAngle        = -float.Parse(mesh.UserProperties["steeringAngle"], CultureInfo.InvariantCulture);
            turboImpulse         = float.Parse(mesh.UserProperties["turboImpulse"], CultureInfo.InvariantCulture);
            frictionSlip         = float.Parse(mesh.UserProperties["frictionSlip"], CultureInfo.InvariantCulture);
            rollInfluence        = float.Parse(mesh.UserProperties["rollInfluence"], CultureInfo.InvariantCulture);
            rearWheelsHeight     = float.Parse(mesh.UserProperties["rearWheelsHeight"], CultureInfo.InvariantCulture);
            frontWheelsHeight    = float.Parse(mesh.UserProperties["frontWheelsHeight"], CultureInfo.InvariantCulture);
            suspensionRestLength = float.Parse(mesh.UserProperties["suspensionRestLength"], CultureInfo.InvariantCulture);
            suspensionStiffness  = float.Parse(mesh.UserProperties["suspensionStiffness"], CultureInfo.InvariantCulture);
            dampingCompression   = float.Parse(mesh.UserProperties["dampingCompression"], CultureInfo.InvariantCulture);
            dampingRelaxation    = float.Parse(mesh.UserProperties["dampingRelaxation"], CultureInfo.InvariantCulture);

            meshAxisRadius = this.mesh.BoundingBox.calculateAxisRadius().ToBsVector;
            var wheelRadius = this.wheel.BoundingBox.calculateAxisRadius().Y;

            //The btBoxShape is centered at the origin
            CollisionShape chassisShape = new BoxShape(meshAxisRadius.X, meshRealHeight, meshAxisRadius.Z);

            //A compound shape is used so we can easily shift the center of gravity of our vehicle to its bottom
            //This is needed to make our vehicle more stable
            CompoundShape compound = new CompoundShape();

            //The center of gravity of the compound shape is the origin. When we add a rigidbody to the compound shape
            //it's center of gravity does not change. This way we can add the chassis rigidbody one unit above our center of gravity
            //keeping it under our chassis, and not in the middle of it
            var localTransform = Matrix.Translation(0, (meshAxisRadius.Y * 1.75f) - (meshRealHeight / 2f), 0);

            compound.AddChildShape(localTransform, chassisShape);
            //Creates a rigid body
            this.rigidBody = CreateChassisRigidBodyFromShape(compound, position, rotation);

            //Adds the vehicle chassis to the world
            world.AddRigidBody(this.rigidBody);
            worldID = world.CollisionObjectArray.IndexOf(this.rigidBody);

            //RaycastVehicle
            DefaultVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(world);
            VehicleTuning           tuning           = new VehicleTuning();

            //Creates a new instance of the raycast vehicle
            vehicle = new RaycastVehicle(tuning, this.rigidBody, vehicleRayCaster);

            //Never deactivate the vehicle
            this.rigidBody.ActivationState = ActivationState.DisableDeactivation;

            //Adds the vehicle to the world
            world.AddAction(vehicle);

            //Adds the wheels to the vehicle
            AddWheels(meshAxisRadius, vehicle, tuning, wheelRadius);

            //Inicializo puntos
            hitPoints       = maxHitPoints;
            specialPoints   = maxSpecialPoints;
            timerMachineGun = 0f;
        }
Ejemplo n.º 8
0
        public override void Evaluate(int SpreadMax)
        {
            for (int i = 0; i < SpreadMax; i++)
            {
                if (this.CanCreate(i))
                {
                    wheelRadius       = FwheelRadius[0];
                    wheelWidth        = FwheelWidth[0];
                    CUBE_HALF_EXTENTS = FwheelDistance[0];

                    RaycastVehicle vehicle;

                    AbstractRigidShapeDefinition shapedef = this.FShapes[i];
                    ShapeCustomData sc = new ShapeCustomData();
                    sc.ShapeDef = shapedef;


                    CompoundShape compound = new CompoundShape();



                    CollisionShape chassisShape = shapedef.GetShape(sc);
                    Matrix         localTrans   = Matrix.Translation(Vector3.UnitY);
                    compound.AddChildShape(localTrans, chassisShape);

                    float mass = shapedef.Mass;

                    bool isDynamic = (mass != 0.0f);
                    isFrontWheel = true;

                    Vector3 localInertia = Vector3.Zero;
                    if (isDynamic)
                    {
                        chassisShape.CalculateLocalInertia(mass, out localInertia);
                    }

                    Vector3D pos = this.FPosition[i];
                    Vector4D rot = this.FRotation[i];

                    DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);


                    RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, compound, localInertia);
                    RigidBody carChassis             = new RigidBody(rbInfo);

                    BodyCustomData bd = new BodyCustomData();

                    carChassis.UserObject = bd;
                    bd.Id     = this.FWorld[0].GetNewBodyId();
                    bd.Custom = this.FCustom[i];

                    this.FWorld[0].Register(carChassis);


                    RaycastVehicle.VehicleTuning tuning           = new RaycastVehicle.VehicleTuning();
                    VehicleRaycaster             vehicleRayCaster = new DefaultVehicleRaycaster(this.FWorld[0].World);
                    vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);



                    carChassis.ActivationState = ActivationState.DisableDeactivation;
                    this.FWorld[0].World.AddAction(vehicle);



                    // choose coordinate system
                    vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);

                    Vector3   connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), FconnectionHeight[0], 2 * CUBE_HALF_EXTENTS - wheelRadius);
                    WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);

                    connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), FconnectionHeight[0], 2 * CUBE_HALF_EXTENTS - wheelRadius);
                    vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);

                    isFrontWheel       = false;
                    connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), FconnectionHeight[0], -2 * CUBE_HALF_EXTENTS + wheelRadius);
                    vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);

                    connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), FconnectionHeight[0], -2 * CUBE_HALF_EXTENTS + wheelRadius);
                    vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, FsuspensionRestLength[0], wheelRadius, tuning, isFrontWheel);


                    for (i = 0; i < vehicle.NumWheels; i++)
                    {
                        WheelInfo wheel = vehicle.GetWheelInfo(i);
                        wheel.SuspensionStiffness     = FsuspensionStiffness[0];
                        wheel.WheelDampingRelaxation  = FDampingRelaxation[0];
                        wheel.WheelDampingCompression = FDampingCompression[0];
                        wheel.FrictionSlip            = FwheelFriction[0];
                        wheel.RollInfluence           = FrollInfluence[0];
                        wheel.MaxSuspensionTravelCm   = FmaxSuspensionTravelCm[0];
                        wheel.MaxSuspensionForce      = FmaxSuspensionForce[0];
                    }

                    FOutVehicle.SliceCount = 1;
                    FOutVehicle[0]         = vehicle;
                }
            }
        }
Ejemplo n.º 9
0
        public void Evaluate(int SpreadMax)
        {
            IRigidBulletWorld inputWorld = this.worldInput[0];

            SpreadMax = 1;

            if (inputWorld != null)
            {
                this.persistedList.UpdateWorld(inputWorld);

                if (this.chassisShape.IsConnected)
                {
                    for (int i = 0; i < SpreadMax; i++)
                    {
                        if (this.doCreate[i])
                        {
                            RigidBodyPose       initialPose = this.initialPoseInput.IsConnected ? this.initialPoseInput[i] : RigidBodyPose.Default;
                            RigidBodyProperties properties  = this.initialProperties.IsConnected ? this.initialProperties[i] : RigidBodyProperties.Default;

                            ShapeCustomData            shapeData = new ShapeCustomData();
                            DynamicShapeDefinitionBase chassisShapeDefinition = this.chassisShape[i];

                            CollisionShape chassisShape = chassisShapeDefinition.GetShape(shapeData);
                            shapeData.ShapeDef = chassisShapeDefinition;

                            RaycastVehicle vehicle;
                            CompoundShape  compoundShape = new CompoundShape();

                            Matrix localTrans = Matrix.Translation(Vector3.UnitY);
                            compoundShape.AddChildShape(localTrans, chassisShape);

                            //Build mass for dynamic object
                            Vector3 localInertia = Vector3.Zero;
                            if (chassisShapeDefinition.Mass > 0.0f)
                            {
                                compoundShape.CalculateLocalInertia(chassisShapeDefinition.Mass, out localInertia);
                            }

                            Tuple <RigidBody, int> createBodyResult = inputWorld.CreateRigidBody(chassisShape, ref initialPose, ref properties, ref localInertia, chassisShapeDefinition.Mass, this.customString[i]);
                            RigidBody carChassis = createBodyResult.Item1;

                            RaycastVehicle.VehicleTuning tuning           = new RaycastVehicle.VehicleTuning();
                            DefaultVehicleRaycaster      vehicleRayCaster = new DefaultVehicleRaycaster(inputWorld.World);
                            vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
                            vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);

                            carChassis.ActivationState = ActivationState.DisableDeactivation;
                            inputWorld.World.AddAction(vehicle);

                            int wheelCount = this.wheelConstruction.SliceCount;

                            //Add wheels
                            for (int j = 0; j < this.wheelConstruction[i].SliceCount; j++)
                            {
                                WheelConstructionProperties wcs = this.wheelConstruction[i][j];
                                Vector3   connectionPointCS0    = wcs.localPosition.ToBulletVector();
                                WheelInfo wheel = vehicle.AddWheel(connectionPointCS0, wcs.wheelDirection.ToBulletVector(), wcs.wheelAxis.ToBulletVector(), wcs.SuspensionRestLength, wcs.WheelRadius, tuning, wcs.isFrontWheel);
                            }

                            //Set Wheel Properties
                            WheelProperties wis = this.wheelInfoSettings[i] != null ? this.wheelInfoSettings[i] : new WheelProperties();
                            for (int j = 0; j < vehicle.NumWheels; j++)
                            {
                                WheelInfo wheel = vehicle.GetWheelInfo(j);
                                wheel.SuspensionStiffness      = wis.SuspensionStiffness;
                                wheel.WheelsDampingRelaxation  = wis.WheelsDampingRelaxation;
                                wheel.WheelsDampingCompression = wis.WheelsDampingCompression;
                                wheel.FrictionSlip             = wis.FrictionSlip;
                                wheel.RollInfluence            = wis.RollInfluence;
                            }

                            BodyCustomData bd = (BodyCustomData)carChassis.UserObject;
                            bd.Vehicle = vehicle;

                            this.persistedList.Append(createBodyResult.Item1, createBodyResult.Item2);
                        }
                    }


                    List <RigidBody> bodies = this.persistedList.Bodies;
                    this.vehicleOutput.SliceCount = bodies.Count;
                    this.chassisOutput.SliceCount = bodies.Count;
                    for (int i = 0; i < bodies.Count; i++)
                    {
                        BodyCustomData bd = (BodyCustomData)bodies[i].UserObject;
                        this.vehicleOutput[i] = bd.Vehicle;
                        this.chassisOutput[i] = bodies[i];
                    }
                }
            }
            else
            {
                this.vehicleOutput.SliceCount = 0;
                this.chassisOutput.SliceCount = 0;
            }
        }
Ejemplo n.º 10
0
        //----------------------------------------------------------------------------------------------------------------

        public override void InitializeDemo()
        {
            CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 0.1f, 50));

            IndexedVector3 wheelDimensions = new IndexedVector3(wheelWidth, wheelRadius, wheelRadius);

            m_wheelShape = new CylinderShapeX(ref wheelDimensions);

            m_collisionShapes.Add(groundShape);
            m_collisionConfiguration = new DefaultCollisionConfiguration();
            m_dispatcher             = new CollisionDispatcher(m_collisionConfiguration);
            IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
            IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000);

            m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);

            m_constraintSolver = new SequentialImpulseConstraintSolver();
            m_dynamicsWorld    = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);

            IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0);

            LocalCreateRigidBody(0f, ref tr, groundShape);

#if true
            CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f));
            //CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 1.0f));
            m_collisionShapes.Add(chassisShape);

            CompoundShape compound = new CompoundShape();
            m_collisionShapes.Add(compound);
            //localTrans effectively shifts the center of mass with respect to the chassis
            IndexedMatrix localTrans = IndexedMatrix.CreateTranslation(0, 1, 0);

            compound.AddChildShape(ref localTrans, chassisShape);

            {
                CollisionShape suppShape = new BoxShape(new IndexedVector3(0.5f, 0.1f, 0.5f));
                //localTrans effectively shifts the center of mass with respect to the chassis
                IndexedMatrix suppLocalTrans = IndexedMatrix.CreateTranslation(0f, 1.0f, 2.5f);
                compound.AddChildShape(ref suppLocalTrans, suppShape);
            }

            tr._origin = IndexedVector3.Zero;

            m_carChassis = LocalCreateRigidBody(800f, ref tr, compound);//chassisShape);
#endif

            {
#if true
                CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
                m_collisionShapes.Add(liftShape);
                m_liftStartPos = new IndexedVector3(0.0f, 2.5f, 3.05f);
                IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos);
                m_liftBody = LocalCreateRigidBody(10f, ref liftTrans, liftShape);

                IndexedMatrix localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
                localA._origin = new IndexedVector3(0f, 1.0f, 3.05f);

                IndexedMatrix localB = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
                localB._origin = new IndexedVector3(0f, -1.5f, -0.05f);

                m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB);
                MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge aFrame", m_liftHinge.GetAFrame());
                MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge bFrame", m_liftHinge.GetBFrame());

                m_liftHinge.SetLimit(0.0f, 0.0f);
                m_dynamicsWorld.AddConstraint(m_liftHinge, true);

                CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
                m_collisionShapes.Add(forkShapeA);
                CompoundShape forkCompound = new CompoundShape();
                m_collisionShapes.Add(forkCompound);
                IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
                forkCompound.AddChildShape(ref forkLocalTrans, forkShapeA);

                CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
                m_collisionShapes.Add(forkShapeB);
                forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f);
                forkCompound.AddChildShape(ref forkLocalTrans, forkShapeB);

                CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
                m_collisionShapes.Add(forkShapeC);
                forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f);
                forkCompound.AddChildShape(ref forkLocalTrans, forkShapeC);

                m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f);
                IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos);

                m_forkBody = LocalCreateRigidBody(5f, ref forkTrans, forkCompound);

                localA = IndexedMatrix.Identity;
                localB = IndexedMatrix.Identity;
                localA._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
                localB._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f);

                m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true);
                m_forkSlider.SetLowerLinLimit(0.1f);
                m_forkSlider.SetUpperLinLimit(0.1f);
                //		m_forkSlider.setLowerAngLimit(-LIFT_EPS);
                //		m_forkSlider.setUpperAngLimit(LIFT_EPS);
                m_forkSlider.SetLowerAngLimit(0.0f);
                m_forkSlider.SetUpperAngLimit(0.0f);
                m_dynamicsWorld.AddConstraint(m_forkSlider, true);
#endif
#if true
                CompoundShape loadCompound = new CompoundShape(false);
                m_collisionShapes.Add(loadCompound);
                CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f));
                m_collisionShapes.Add(loadShapeA);
                IndexedMatrix loadTrans = IndexedMatrix.Identity;
                loadCompound.AddChildShape(ref loadTrans, loadShapeA);
                CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
                m_collisionShapes.Add(loadShapeB);
                loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f);
                loadCompound.AddChildShape(ref loadTrans, loadShapeB);
                CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
                m_collisionShapes.Add(loadShapeC);
                loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f);
                loadCompound.AddChildShape(ref loadTrans, loadShapeC);
                m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f);
                loadTrans      = IndexedMatrix.CreateTranslation(m_loadStartPos);

                m_loadBody = LocalCreateRigidBody(4f, ref loadTrans, loadCompound);
#endif
            }
            //m_carChassis.setDamping(0.2f, 0.2f);

            ClientResetScene();

            /// create vehicle
            {
                m_vehicleRayCaster = new DefaultVehicleRaycaster(m_dynamicsWorld);
                m_vehicle          = new RaycastVehicle(m_tuning, m_carChassis, m_vehicleRayCaster);

                ///never deactivate the vehicle
                m_carChassis.SetActivationState(ActivationState.DISABLE_DEACTIVATION);

                m_dynamicsWorld.AddVehicle(m_vehicle);

                float connectionHeight = 1.2f;

                bool isFrontWheel = true;

                //choose coordinate system
                m_vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);

                IndexedVector3 connectionPointCS0 = IndexedVector3.Zero;
                //connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS, connectionHeight, CUBE_HALF_EXTENTS);
                //m_vehicle.addWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                //isFrontWheel = false;
                connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                for (int i = 0; i < m_vehicle.GetNumWheels(); i++)
                {
                    WheelInfo wheel = m_vehicle.GetWheelInfo(i);
                    wheel.m_suspensionStiffness      = suspensionStiffness;
                    wheel.m_wheelsDampingRelaxation  = suspensionDamping;
                    wheel.m_wheelsDampingCompression = suspensionCompression;
                    wheel.m_frictionSlip             = wheelFriction;
                    wheel.m_rollInfluence            = rollInfluence;
                }
            }

            SetCameraDistance(36.0f);
            SetTexturing(true);
            SetShadows(true);
        }