public unsafe static void Translate(this RigidBody obj, ref OpenTK.Vector3 v) { fixed(OpenTK.Vector3 *vPtr = &v) { obj.Translate(ref *(BulletSharp.Math.Vector3 *)vPtr); } }
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, 50, 50); collisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix4.CreateTranslation(0, -50, 0), groundShape); ground.UserObject = "Ground"; // create a few dynamic rigidbodies const float mass = 1.0f; CollisionShape colShape = new BoxShape(1); collisionShapes.Add(colShape); Vector3 localInertia = colShape.CalculateLocalInertia(mass); var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia); 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++) { Matrix4 startTransform = Matrix4.CreateTranslation( new Vector3( 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 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(); }
static RigidBody CreateBody(float mass, CollisionShape shape, Vector3 offset) { var constInfo = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), shape, Vector3.Zero); if (mass != 0.0f) { constInfo.LocalInertia = constInfo.CollisionShape.CalculateLocalInertia(mass); } var collisionObject = new RigidBody(constInfo); collisionObject.Translate(offset); world.AddRigidBody(collisionObject); AddToDisposeQueue(constInfo); AddToDisposeQueue(constInfo.MotionState); AddToDisposeQueue(collisionObject); AddToDisposeQueue(shape); return collisionObject; }
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); GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher); string bulletFile; string[] args = Environment.GetCommandLineArgs(); if (args.Length == 1) { bulletFile = "testFile.bullet"; } else { bulletFile = args[1]; } fileLoader = new CustomBulletWorldImporter(World); if (!fileLoader.LoadFile(bulletFile)) { CollisionShape groundShape = new BoxShape(50); CollisionShapes.Add(groundShape); RigidBody ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape); ground.UserObject = "Ground"; // create a few dynamic rigidbodies float mass = 1.0f; Vector3[] positions = new Vector3[2] { new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f) }; float[] radi = new float[2] { 0.3f, 0.4f }; CollisionShape colShape = new MultiSphereShape(positions, radi); //CollisionShape colShape = new CapsuleShapeZ(1, 1); //CollisionShape colShape = new CylinderShapeZ(1, 1, 1); //CollisionShape colShape = new BoxShape(1); //CollisionShape colShape = new SphereShape(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); rbInfo.Dispose(); // make it drop from a height body.Translate(new Vector3(0, 20, 0)); World.AddRigidBody(body); } } } DefaultSerializer serializer = new DefaultSerializer(); serializer.RegisterNameForObject(ground, "GroundName"); for (i = 0; i < CollisionShapes.Count; i++) serializer.RegisterNameForObject(CollisionShapes[i], "name" + i.ToString()); Point2PointConstraint p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2], new Vector3(0, 1, 0)); World.AddConstraint(p2p); serializer.RegisterNameForObject(p2p, "constraintje"); World.Serialize(serializer); BulletSharp.DataStream data = serializer.LockBuffer(); byte[] dataBytes = new byte[data.Length]; data.Read(dataBytes, 0, dataBytes.Length); FileStream file = new FileStream("testFile.bullet", FileMode.Create); file.Write(dataBytes, 0, dataBytes.Length); file.Close(); } }
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); 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 + 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(); }
public Physics(SceneManager sceneMgr) { // 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, Matrix4.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); var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia); 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++) { Matrix4 startTransform = new Matrix4(); startTransform.MakeTrans( new Vector3( 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 int index = (k * ArraySizeX + i) * ArraySizeZ + j; Entity box = sceneMgr.CreateEntity("Box" + index.ToString(), "box.mesh"); box.SetMaterialName("BoxMaterial/Active"); SceneNode boxNode = sceneMgr.RootSceneNode.CreateChildSceneNode("BoxNode" + index.ToString()); boxNode.AttachObject(box); boxNode.Scale(new Vector3(2, 2, 2)); var mogreMotionState = new MogreMotionState(box, boxNode, startTransform); rbInfo.MotionState = mogreMotionState; RigidBody body = new RigidBody(rbInfo); mogreMotionState.Body = body; // make it drop from a height body.Translate(new Vector3(0, 20, 0)); World.AddRigidBody(body); } } } rbInfo.Dispose(); }
/// <summary> /// Just move the RigidBody without Physics, just translate in 3d space /// </summary> /// <param name="direction"></param> public void MoveNoPhysics(Vector3 direction) { rigidBodyObject.Translate(direction); }
RigidBody CreateBody(float mass, CollisionShape shape, Vector3 offset) { using (var info = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), shape, Vector3.Zero)) { if (mass != 0.0f) { info.LocalInertia = info.CollisionShape.CalculateLocalInertia(mass); } var collisionObject = new RigidBody(info); collisionObject.Translate(offset); world.AddRigidBody(collisionObject); return collisionObject; } }
public override void TranslateAA(Vector3 distance) { HasMoved = Moved(distance); RigidBody.ActivationState = BulletSharpPhysics.ActivationState.ActiveTag; RigidBody.Translate(distance); }