void CreateGear(Vector3 pos, float speed)
{
Matrix startTransform = Matrix.Translation(pos);
CompoundShape shape = new CompoundShape();
#if true
shape.AddChildShape(Matrix.Identity, new BoxShape(5, 1, 6));
shape.AddChildShape(Matrix.RotationZ((float)Math.PI), new BoxShape(5, 1, 6));
#else
shape.AddChildShape(Matrix.Identity, new CylinderShapeZ(5,1,7));
shape.AddChildShape(Matrix.RotationZ((float)Math.PI), new BoxShape(4,1,8));
#endif
RigidBody body = LocalCreateRigidBody(10, startTransform, shape);
body.Friction = 1;
HingeConstraint hinge = new HingeConstraint(body, Matrix.Identity);
if (speed != 0) hinge.EnableAngularMotor(true, speed, 3);
World.AddConstraint(hinge);
}
public CarScene()
{
Object3dInfo waterInfo = Object3dGenerator.CreateGround(new Vector2(-200, -200), new Vector2(200, 200), new Vector2(100, 100), Vector3.UnitY);
var color = GenericMaterial.FromMedia("checked.png", "183_norm.JPG");
Mesh3d water = new Mesh3d(waterInfo, color);
water.SetMass(0);
water.Translate(0, -10, 0);
water.SetCollisionShape(new BulletSharp.StaticPlaneShape(Vector3.UnitY, 0));
World.Root.Add(water);
var lod1 = Object3dInfo.LoadFromRaw(Media.Get("lucy_lod1.vbo.raw"), Media.Get("lucy_lod1.indices.raw"));
var mat = new GenericMaterial(new Vector4(0, 0, 1, 1f));
var dragon = new Mesh3d(lod1, mat);
dragon.Transformation.Scale(2);
Add(dragon);
var rand = new Random();
var grasslod0 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod1 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod2 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod2.obj"));
var grasslod3 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod3.obj"));
var grasscolor = new GenericMaterial(Color.DarkGreen);
var grassInstanced = new InstancedMesh3d(grasslod2, grasscolor);
for(int x = -15; x < 15; x++)
{
for(int y = -15; y < 15; y++)
{
grassInstanced.Transformations.Add(new TransformationManager(new Vector3(x, 0, y), Quaternion.FromAxisAngle(Vector3.UnitY, (float)rand.NextDouble() * MathHelper.Pi), new Vector3(1, 1, 1)));
grassInstanced.Instances++;
}
}
grassInstanced.UpdateMatrix();
Add(grassInstanced);
ProjectionLight redConeLight = new ProjectionLight(new Vector3(1, 25, 1), Quaternion.Identity, 5000, 5000, MathHelper.PiOver2, 1.0f, 10000.0f);
redConeLight.LightColor = new Vector4(1, 1, 1, 1);
redConeLight.BuildOrthographicProjection(500, 500, -100, 100);
redConeLight.camera.LookAt(Vector3.Zero);
LightPool.Add(redConeLight);
var wheel3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarwheel.obj"));
var car3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarbody.obj"));
var car = new Mesh3d(car3dInfo, new GenericMaterial(Color.LightGreen));
car.SetMass(200);
//car.Translate(0, 3.76f, 0);
car.SetCollisionShape(new BoxShape(0.5f, 0.5f, 0.5f));
car.CreateRigidBody(new Vector3(0, -25, 0), true);
car.PhysicalBody.SetSleepingThresholds(0, 0);
car.PhysicalBody.ContactProcessingThreshold = 0;
car.PhysicalBody.CcdMotionThreshold = 0;
CurrentCar = car;
World.Root.Add(car);
GLThread.OnUpdate += (o, e) =>
{
redConeLight.SetPosition(car.GetPosition() + new Vector3(0, 15, 0));
};
var shape = new SphereShape(0.5f);
//var shape = wheel3dInfo.GetAccurateCollisionShape();
var wheelLF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLF.SetMass(100);
wheelLF.Translate(1.640539f, 0.48866f, -1.94906f);
wheelLF.SetCollisionShape(shape);
wheelLF.CreateRigidBody();
World.Root.Add(wheelLF);
var wheelRF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRF.SetMass(100);
wheelRF.Translate(1.640539f, 0.48866f, 1.94906f);
wheelRF.SetCollisionShape(shape);
wheelRF.CreateRigidBody();
World.Root.Add(wheelRF);
var wheelLR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLR.SetMass(100);
wheelLR.Translate(-1.640539f, 0.48866f, -1.94906f);
wheelLR.SetCollisionShape(shape);
wheelLR.CreateRigidBody();
World.Root.Add(wheelLR);
var wheelRR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRR.SetMass(100);
wheelRR.Translate(-1.640539f, 0.48866f, 1.94906f);
wheelRR.SetCollisionShape(shape);
wheelRR.CreateRigidBody();
World.Root.Add(wheelRR);
wheelLF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLF.PhysicalBody.ContactProcessingThreshold = 0;
wheelLF.PhysicalBody.CcdMotionThreshold = 0;
wheelRF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRF.PhysicalBody.ContactProcessingThreshold = 0;
wheelRF.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelRR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRR.PhysicalBody.ContactProcessingThreshold = 0;
wheelRR.PhysicalBody.CcdMotionThreshold = 0;
wheelLF.PhysicalBody.Friction = 1200;
wheelRF.PhysicalBody.Friction = 1200;
wheelLR.PhysicalBody.Friction = 1200;
wheelRR.PhysicalBody.Friction = 1200;
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLR.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRR.PhysicalBody, true);
// location left rear x -5.27709 y 1.56474 z -3.13906
// location right rear x -5.27709 y 1.56474 z 3.13906
// location left front x 5.500539 y 1.56474 z -3.13906
// location right front x 5.500539 y 1.56474 z 3.13906
//public HingeConstraint(RigidBody rigidBodyA, RigidBody rigidBodyB, Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB);
var frontAxis = new HingeConstraint(wheelLF.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, 0.48866f, 1.94906f), new Vector3(1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var rearAxis = new HingeConstraint(wheelLR.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, 0.48866f, 1.94906f), new Vector3(-1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis1 = new HingeConstraint(car.PhysicalBody, wheelLF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis2 = new HingeConstraint(car.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis3 = new HingeConstraint(car.PhysicalBody, wheelLR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis4 = new HingeConstraint(car.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
centerAxis1.SetLimit(0, 10, 0, 0, 0);
centerAxis2.SetLimit(0, 10, 0, 0, 0);
centerAxis3.SetLimit(0, 10, 0, 0, 0);
centerAxis4.SetLimit(0, 10, 0, 0, 0);
//World.Root.PhysicalWorld.AddConstraint(frontAxis);
// World.Root.PhysicalWorld.AddConstraint(rearAxis);
// centerAxis1.SetLimit(0, 0.01f);
// centerAxis2.SetLimit(0, 0.01f);
//centerAxis3.SetLimit(0, 0.01f);
//centerAxis4.SetLimit(0, 0.01f);
World.Root.PhysicalWorld.AddConstraint(centerAxis1);
World.Root.PhysicalWorld.AddConstraint(centerAxis2);
World.Root.PhysicalWorld.AddConstraint(centerAxis3);
World.Root.PhysicalWorld.AddConstraint(centerAxis4);
GLThread.OnKeyDown += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.R)
{
car.SetOrientation(Quaternion.Identity);
}
if(e.Key == OpenTK.Input.Key.Space)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, -100.0f, 10.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, -100.0f, 10.0f);
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, 100.0f, 6.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, 100.0f, 6.0f);
}
if(e.Key == OpenTK.Input.Key.Left)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(1, 0, 1));
//centerAxis4.SetAxis(new Vector3(1, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(-1, 0, 1));
//centerAxis4.SetAxis(new Vector3(-1, 0, 1));
}
};
GLThread.OnKeyUp += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Left)
{
centerAxis3.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
centerAxis3.SetFrames( Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
};
}
protected override void OnInitializePhysics()
{
SetupEmptyDynamicsWorld();
IsDebugDrawEnabled = true;
CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShape groundShape = new StaticPlaneShape(Vector3.UnitY, 40);
CollisionShapes.Add(groundShape);
RigidBody body = LocalCreateRigidBody(0, Matrix.Translation(0, -16, 0), groundShape);
body.UserObject = "Ground";
CollisionShape shape = new BoxShape(new Vector3(CubeHalfExtents));
CollisionShapes.Add(shape);
const float THETA = (float)Math.PI/4.0f;
float L_1 = 2 - (float)Math.Tan(THETA);
float L_2 = 1 / (float)Math.Cos(THETA);
float RATIO = L_2/L_1;
RigidBody bodyA;
RigidBody bodyB;
CollisionShape cylA = new CylinderShape(0.2f, 0.25f, 0.2f);
CollisionShape cylB = new CylinderShape(L_1, 0.025f, L_1);
CompoundShape cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
float mass = 6.28f;
Vector3 localInertia;
cyl0.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
ci.StartWorldTransform = Matrix.Translation(-8, 1, -8);
body = new RigidBody(ci); //1,0,cyl0,localInertia);
World.AddRigidBody(body);
body.LinearFactor = Vector3.Zero;
body.AngularFactor = new Vector3(0, 1, 0);
bodyA = body;
cylA = new CylinderShape(0.2f, 0.26f, 0.2f);
cylB = new CylinderShape(L_2, 0.025f, L_2);
cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
mass = 6.28f;
cyl0.CalculateLocalInertia(mass, out localInertia);
ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
Quaternion orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
ci.StartWorldTransform = Matrix.RotationQuaternion(orn) * Matrix.Translation(-10, 2, -8);
body = new RigidBody(ci);//1,0,cyl0,localInertia);
body.LinearFactor = Vector3.Zero;
HingeConstraint hinge = new HingeConstraint(body, Vector3.Zero, new Vector3(0, 1, 0), true);
World.AddConstraint(hinge);
bodyB = body;
body.AngularVelocity = new Vector3(0, 3, 0);
World.AddRigidBody(body);
Vector3 axisA = new Vector3(0, 1, 0);
Vector3 axisB = new Vector3(0, 1, 0);
orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
Matrix mat = Matrix.RotationQuaternion(orn);
axisB = new Vector3(mat.M21, mat.M22, mat.M23);
GearConstraint gear = new GearConstraint(bodyA, bodyB, axisA, axisB, RATIO);
World.AddConstraint(gear, true);
mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), shape);
RigidBody body1 = null;//LocalCreateRigidBody(mass, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), shape);
//RigidBody body1 = LocalCreateRigidBody(0, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), null);
//body1.ActivationState = ActivationState.DisableDeactivation;
//body1.SetDamping(0.3f, 0.3f);
Vector3 pivotInA = new Vector3(CubeHalfExtents, -CubeHalfExtents, -CubeHalfExtents);
Vector3 axisInA = new Vector3(0, 0, 1);
Vector3 pivotInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
}
else
{
pivotInB = pivotInA;
}
Vector3 axisInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
axisInB = Vector3.TransformCoordinate(axisInA, transform);
}
else
{
axisInB = Vector3.TransformCoordinate(axisInA, body0.CenterOfMassTransform);
}
#if P2P
{
TypedConstraint p2p = new Point2PointConstraint(body0, pivotInA);
//TypedConstraint p2p = new Point2PointConstraint(body0, body1, pivotInA, pivotInB);
//TypedConstraint hinge = new HingeConstraint(body0, body1, pivotInA, pivotInB, axisInA, axisInB);
World.AddConstraint(p2p);
p2p.DebugDrawSize = 5;
}
#else
{
hinge = new HingeConstraint(body0, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
const float targetVelocity = 1.0f;
const float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
World.AddConstraint(hinge);
hinge.DebugDrawSize = 5;
}
#endif
RigidBody pRbA1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbA1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbA1.ActivationState = ActivationState.DisableDeactivation;
// add dynamic rigid body B1
RigidBody pRbB1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbB1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbB1.ActivationState = ActivationState.DisableDeactivation;
// create slider constraint between A1 and B1 and add it to world
SliderConstraint spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, true);
//spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, false);
spSlider1.LowerLinearLimit = -15.0f;
spSlider1.UpperLinearLimit = -5.0f;
spSlider1.LowerLinearLimit = 5.0f;
spSlider1.UpperLinearLimit = 15.0f;
spSlider1.LowerLinearLimit = -10.0f;
spSlider1.UpperLinearLimit = -10.0f;
spSlider1.LowerAngularLimit = -(float)Math.PI / 3.0f;
spSlider1.UpperAngularLimit = (float)Math.PI / 3.0f;
World.AddConstraint(spSlider1, true);
spSlider1.DebugDrawSize = 5.0f;
//create a slider, using the generic D6 constraint
Vector3 sliderWorldPos = new Vector3(0, 10, 0);
Vector3 sliderAxis = Vector3.UnitX;
const float angle = 0; //SIMD_RADS_PER_DEG * 10.f;
Matrix trans = Matrix.RotationAxis(sliderAxis, angle) * Matrix.Translation(sliderWorldPos);
d6body0 = LocalCreateRigidBody(mass, trans, shape);
d6body0.ActivationState = ActivationState.DisableDeactivation;
RigidBody fixedBody1 = LocalCreateRigidBody(0, trans, null);
World.AddRigidBody(fixedBody1);
Matrix frameInA = Matrix.Translation(0, 5, 0);
Matrix frameInB = Matrix.Translation(0, 5, 0);
//bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
const bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, frameInA, frameInB, useLinearReferenceFrameA)
{
LinearLowerLimit = lowerSliderLimit,
LinearUpperLimit = hiSliderLimit,
//range should be small, otherwise singularities will 'explode' the constraint
//AngularLowerLimit = new Vector3(-1.5f,0,0),
//AngularUpperLimit = new Vector3(1.5f,0,0),
//AngularLowerLimit = new Vector3(0,0,0),
//AngularUpperLimit = new Vector3(0,0,0),
AngularLowerLimit = new Vector3((float)-Math.PI, 0, 0),
AngularUpperLimit = new Vector3(1.5f, 0, 0)
};
//spSlider6Dof.TranslationalLimitMotor.EnableMotor[0] = true;
spSlider6Dof.TranslationalLimitMotor.TargetVelocity = new Vector3(-5.0f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
World.AddConstraint(spSlider6Dof);
spSlider6Dof.DebugDrawSize = 5;
// create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(pDoorShape);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, Matrix.Translation(-5.0f, -2.0f, 0.0f), pDoorShape);
pDoorBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 btPivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
Vector3 btAxisA = Vector3.UnitY; // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, btPivotA, btAxisA);
//spDoorHinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//spDoorHinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//spDoorHinge.SetLimit(1, -1);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//spDoorHinge.SetLimit(0, 0);
World.AddConstraint(spDoorHinge);
spDoorHinge.DebugDrawSize = 5;
RigidBody pDropBody = LocalCreateRigidBody(10.0f, Matrix.Translation(-5.0f, 2.0f, 0.0f), shape);
// create a generic 6DOF constraint
//RigidBody pBodyA = LocalCreateRigidBody(mass, Matrix.Translation(10.0f, 6.0f, 0), shape);
RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), shape);
//RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), null);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody pBodyB = LocalCreateRigidBody(mass, Matrix.Translation(0, 6, 0), shape);
//RigidBody pBodyB = LocalCreateRigidBody(0, Matrix.Translation(0, 6, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(-5, 0, 0);
frameInB = Matrix.Translation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
//Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, false);
pGen6DOF.LinearLowerLimit = new Vector3(-10, -2, -1);
pGen6DOF.LinearUpperLimit = new Vector3(10, 2, 1);
//pGen6DOF.LinearLowerLimit = new Vector3(-10, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(10, 0, 0);
//pGen6DOF.LinearLowerLimit = new Vector3(0, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(0, 0, 0);
//pGen6DOF.TranslationalLimitMotor.EnableMotor[0] = true;
//pGen6DOF.TranslationalLimitMotor.TargetVelocity = new Vector3(5, 0, 0);
//pGen6DOF.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, (float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, -(float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, 0, -(float)Math.PI);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0, (float)Math.PI);
pGen6DOF.AngularLowerLimit = new Vector3(-(float)Math.PI / 4, -0.75f, -(float)Math.PI * 0.4f);
pGen6DOF.AngularUpperLimit = new Vector3((float)Math.PI / 4, 0.75f, (float)Math.PI * 0.4f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.75f, (float)Math.PI * 0.8f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.75f, -(float)Math.PI * 0.8f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -(float)Math.PI * 0.8f, (float)Math.PI * 1.98f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, (float)Math.PI * 0.8f, -(float)Math.PI * 1.98f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, -0.5f, -0.5f);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0.5f, 0.5f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.7f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.7f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(-1, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(1, 0, 0);
// create a ConeTwist constraint
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), shape);
//pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), shape);
//pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), shape);
frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
coneTwist = new ConeTwistConstraint(pBodyA, pBodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
World.AddConstraint(coneTwist, true);
coneTwist.DebugDrawSize = 5;
// Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
RigidBody pBody = LocalCreateRigidBody(1.0f, Matrix.Identity, shape);
pBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pivotA = new Vector3(10.0f, 0.0f, 0.0f);
btAxisA = new Vector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, pivotA, btAxisA);
//pHinge.EnableAngularMotor(true, -1.0f, 0.165f); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
World.AddConstraint(pHinge);
pHinge.DebugDrawSize = 5;
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some (arbitrary) data to build constraint frames
Vector3 parentAxis = new Vector3(1, 0, 0);
Vector3 childAxis = new Vector3(0, 0, 1);
Vector3 anchor = new Vector3(20, 2, 0);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pUniv.SetLowerLimit(-(float)Math.PI / 4, -(float)Math.PI / 4);
pUniv.SetUpperLimit((float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.DebugDrawSize = 5;
World.AddConstraint(pGen6DOF, true);
pGen6DOF.DebugDrawSize = 5;
// create a generic 6DOF constraint with springs
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(10, 0, 0);
frameInB = Matrix.Identity;
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, frameInA, frameInB, true)
{
LinearUpperLimit = new Vector3(5, 0, 0),
LinearLowerLimit = new Vector3(-5, 0, 0),
AngularLowerLimit = new Vector3(0, 0, -1.5f),
AngularUpperLimit = new Vector3(0, 0, 1.5f),
DebugDrawSize = 5
};
World.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
parentAxis = new Vector3(0, 1, 0);
childAxis = new Vector3(1, 0, 0);
anchor = new Vector3(-20, 0, 0);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pHinge2.SetLowerLimit(-(float)Math.PI / 4);
pHinge2.SetUpperLimit((float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.DebugDrawSize = 5;
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB:
pBodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
axisA = new Vector3(0, 1, 0);
axisB = new Vector3(0, 1, 0);
Vector3 pivotA2 = new Vector3(-5, 0, 0);
Vector3 pivotB = new Vector3(5, 0, 0);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, pivotA2, pivotB, axisA, axisB);
spHingeDynAB.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.DebugDrawSize = 5;
}
public Physics()
{
SetupEmptyDynamicsWorld();
CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShape groundShape = new StaticPlaneShape(Vector3.UnitY, 40);
CollisionShapes.Add(groundShape);
RigidBody body = LocalCreateRigidBody(0, Matrix.Translation(0, -16, 0), groundShape);
body.UserObject = "Ground";
CollisionShape shape = new BoxShape(new Vector3(CubeHalfExtents));
CollisionShapes.Add(shape);
float mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), shape);
RigidBody body1 = null;//LocalCreateRigidBody(mass, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), shape);
//RigidBody body1 = LocalCreateRigidBody(0, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), null);
//body1.ActivationState = ActivationState.DisableDeactivation;
//body1.SetDamping(0.3f, 0.3f);
Vector3 pivotInA = new Vector3(CubeHalfExtents, -CubeHalfExtents, -CubeHalfExtents);
Vector3 axisInA = new Vector3(0, 0, 1);
Vector3 pivotInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
}
else
{
pivotInB = pivotInA;
}
Vector3 axisInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
axisInB = Vector3.TransformCoordinate(axisInA, transform);
}
else
{
axisInB = Vector3.TransformCoordinate(axisInA, body0.CenterOfMassTransform);
}
if (P2P)
{
TypedConstraint p2p = new Point2PointConstraint(body0, pivotInA);
//TypedConstraint p2p = new Point2PointConstraint(body0,body1,pivotInA,pivotInB);
//TypedConstraint hinge = new HingeConstraint(body0,body1,pivotInA,pivotInB,axisInA,axisInB);
World.AddConstraint(p2p);
p2p.DebugDrawSize = 5;
}
else
{
HingeConstraint hinge = new HingeConstraint(body0, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.0f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
World.AddConstraint(hinge);
hinge.DebugDrawSize = 5;
}
//create a slider, using the generic D6 constraint
Vector3 sliderWorldPos = new Vector3(0, 10, 0);
Vector3 sliderAxis = Vector3.UnitX;
float angle = 0;//SIMD_RADS_PER_DEG * 10.f;
Matrix trans = Matrix.RotationAxis(sliderAxis, angle) * Matrix.Translation(sliderWorldPos);
d6body0 = LocalCreateRigidBody(mass, trans, shape);
d6body0.ActivationState = ActivationState.DisableDeactivation;
RigidBody fixedBody1 = LocalCreateRigidBody(0, trans, null);
World.AddRigidBody(fixedBody1);
Matrix frameInA = Matrix.Translation(0, 5, 0);
Matrix frameInB = Matrix.Translation(0, 5, 0);
//bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, frameInA, frameInB, useLinearReferenceFrameA);
spSlider6Dof.LinearLowerLimit = lowerSliderLimit;
spSlider6Dof.LinearUpperLimit = hiSliderLimit;
//range should be small, otherwise singularities will 'explode' the constraint
//spSlider6Dof.AngularLowerLimit = new Vector3(-1.5f,0,0);
//spSlider6Dof.AngularUpperLimit = new Vector3(1.5f,0,0);
//spSlider6Dof.AngularLowerLimit = new Vector3(0,0,0);
//spSlider6Dof.AngularUpperLimit = new Vector3(0,0,0);
spSlider6Dof.AngularLowerLimit = new Vector3((float)-Math.PI, 0, 0);
spSlider6Dof.AngularUpperLimit = new Vector3(1.5f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.EnableMotor[0] = true;
spSlider6Dof.TranslationalLimitMotor.TargetVelocity = new Vector3(-5.0f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
World.AddConstraint(spSlider6Dof);
spSlider6Dof.DebugDrawSize = 5;
// create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(pDoorShape);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, Matrix.Translation(-5.0f, -2.0f, 0.0f), pDoorShape);
pDoorBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 btPivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
Vector3 btAxisA = Vector3.UnitY; // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, btPivotA, btAxisA);
//spDoorHinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//spDoorHinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//spDoorHinge.SetLimit(1, -1);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//spDoorHinge.SetLimit(0, 0);
World.AddConstraint(spDoorHinge);
spDoorHinge.DebugDrawSize = 5;
RigidBody pDropBody = LocalCreateRigidBody(10.0f, Matrix.Translation(-5.0f, 2.0f, 0.0f), shape);
// create a generic 6DOF constraint
//RigidBody pBodyA = LocalCreateRigidBody(mass, Matrix.Translation(10.0f, 6.0f, 0), shape);
RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), shape);
//RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), null);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody pBodyB = LocalCreateRigidBody(mass, Matrix.Translation(0, 6, 0), shape);
//RigidBody pBodyB = LocalCreateRigidBody(0, Matrix.Translation(0, 6, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(-5, 0, 0);
frameInB = Matrix.Translation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
//Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, false);
pGen6DOF.LinearLowerLimit = new Vector3(-10, -2, -1);
pGen6DOF.LinearUpperLimit = new Vector3(10, 2, 1);
//pGen6DOF.LinearLowerLimit = new Vector3(-10, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(10, 0, 0);
//pGen6DOF.LinearLowerLimit = new Vector3(0, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(0, 0, 0);
//pGen6DOF.TranslationalLimitMotor.EnableMotor[0] = true;
//pGen6DOF.TranslationalLimitMotor.TargetVelocity = new Vector3(5, 0, 0);
//pGen6DOF.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, (float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, -(float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, 0, -(float)Math.PI);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0, (float)Math.PI);
pGen6DOF.AngularLowerLimit = new Vector3(-(float)Math.PI / 4, -0.75f, -(float)Math.PI * 0.4f);
pGen6DOF.AngularUpperLimit = new Vector3((float)Math.PI / 4, 0.75f, (float)Math.PI * 0.4f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.75f, (float)Math.PI * 0.8f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.75f, -(float)Math.PI * 0.8f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -(float)Math.PI * 0.8f, (float)Math.PI * 1.98f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, (float)Math.PI * 0.8f, -(float)Math.PI * 1.98f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, -0.5f, -0.5f);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0.5f, 0.5f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.7f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.7f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(-1, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(1, 0, 0);
// create a ConeTwist constraint
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), shape);
//pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), shape);
//pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), shape);
frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
coneTwist = new ConeTwistConstraint(pBodyA, pBodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
World.AddConstraint(coneTwist, true);
coneTwist.DebugDrawSize = 5;
// Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
RigidBody pBody = LocalCreateRigidBody(1.0f, Matrix.Identity, shape);
pBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 PivotA = new Vector3(10.0f, 0.0f, 0.0f);
btAxisA = new Vector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, btPivotA, btAxisA);
//pHinge.EnableAngularMotor(true, -1.0f, 0.165f); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
World.AddConstraint(pHinge);
pHinge.DebugDrawSize = 5;
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some (arbitrary) data to build constraint frames
Vector3 parentAxis = new Vector3(1, 0, 0);
Vector3 childAxis = new Vector3(0, 0, 1);
Vector3 anchor = new Vector3(20, 2, 0);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pUniv.SetLowerLimit(-(float)Math.PI / 4, -(float)Math.PI / 4);
pUniv.SetUpperLimit((float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.DebugDrawSize = 5;
World.AddConstraint(pGen6DOF, true);
pGen6DOF.DebugDrawSize = 5;
// create a generic 6DOF constraint with springs
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(10, 0, 0);
frameInB = Matrix.Identity;
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
pGen6DOFSpring.LinearUpperLimit = new Vector3(5, 0, 0);
pGen6DOFSpring.LinearLowerLimit = new Vector3(-5, 0, 0);
pGen6DOFSpring.AngularLowerLimit = new Vector3(0, 0, -1.5f);
pGen6DOFSpring.AngularUpperLimit = new Vector3(0, 0, 1.5f);
World.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.DebugDrawSize = 5;
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
parentAxis = new Vector3(0, 1, 0);
childAxis = new Vector3(1, 0, 0);
anchor = new Vector3(-20, 0, 0);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pHinge2.SetLowerLimit(-(float)Math.PI / 4);
pHinge2.SetUpperLimit((float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.DebugDrawSize = 5;
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB:
pBodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
Vector3 axisA = new Vector3(0, 1, 0);
Vector3 axisB = new Vector3(0, 1, 0);
Vector3 pivotA = new Vector3(-5, 0, 0);
Vector3 pivotB = new Vector3(5, 0, 0);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.DebugDrawSize = 5;
}