public SimpleBroadphase(int maxProxies, IOverlappingPairCache overlappingPairCache)
{
if (overlappingPairCache == null)
{
overlappingPairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
m_pHandles = new SimpleBroadphaseProxy[maxProxies];
m_pairCache = overlappingPairCache;
m_maxHandles = maxProxies;
m_numHandles = 0;
m_firstFreeHandle = 0;
m_LastHandleIndex = -1;
for (int i = m_firstFreeHandle; i < maxProxies; i++)
{
m_pHandles[i] = new SimpleBroadphaseProxy(i);
m_pHandles[i].SetNextFree(i + 1);
m_pHandles[i].m_uniqueId = ++m_proxyCounter;; //any UID will do, we just avoid too trivial values (0,1) for debugging purposes
}
m_pHandles[maxProxies - 1].SetNextFree(0);
}
public SimpleBroadphase(int maxProxies, IOverlappingPairCache overlappingPairCache)
{
if (overlappingPairCache == null)
{
overlappingPairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
m_pHandles = new SimpleBroadphaseProxy[maxProxies];
m_pairCache = overlappingPairCache;
m_maxHandles = maxProxies;
m_numHandles = 0;
m_firstFreeHandle = 0;
m_LastHandleIndex = -1;
for (int i = m_firstFreeHandle; i < maxProxies; i++)
{
m_pHandles[i] = new SimpleBroadphaseProxy(i);
m_pHandles[i].SetNextFree(i + 1);
m_pHandles[i].m_uniqueId = ++m_proxyCounter; ;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
}
m_pHandles[maxProxies - 1].SetNextFree(0);
}
public PairCachingGhostObject()
{
m_hashPairCache = new HashedOverlappingPairCache();
}
public PairCachingGhostObject()
{
m_hashPairCache = new HashedOverlappingPairCache();
}
public override void InitializeDemo()
{
//maxiterations = 10;
SetCameraDistance(SCALING * 50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
pairCache = new HashedOverlappingPairCache();
m_broadphase = new DbvtBroadphase(pairCache);
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
float mass = 0f;
float topY = 2.5f;
float bottomY = 0.5f;
float diff = 10f;
float left = -(diff / 2f);
float right = -left;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 0f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
RigidBody rb = null;
//startTransform._origin = new IndexedVector3(left, topY, 0);
//collisionTopLeftCorner = BuildCorner(vertices, topLeft);
//rb = LocalCreateRigidBody(0f, startTransform, collisionTopLeftCorner);
//rb.SetUserPointer("TopLeftCorner");
//startTransform._origin = new IndexedVector3(right, topY, 0);
//collisionTopRightCorner = BuildCorner(vertices, topRight);
//rb = LocalCreateRigidBody(0f, startTransform, collisionTopRightCorner);
//rb.SetUserPointer("TopRightCorner");
startTransform._origin = new IndexedVector3(left, bottomY, 0);
collisionBottomLeftCorner = BuildCorner(vertices, bottomLeft);
rb = LocalCreateRigidBody(0f, startTransform, collisionBottomLeftCorner);
rb.SetUserPointer("BottomLeftCorner");
startTransform._origin = new IndexedVector3(right, bottomY, 0);
collisionBottomRightCorner = BuildCorner(vertices, bottomRight);
rb = LocalCreateRigidBody(0f, startTransform, collisionBottomRightCorner);
rb.SetUserPointer("BottomRightCorner");
startTransform._origin = IndexedVector3.Zero;
m_playerSphere = LocalCreateRigidBody(1f, startTransform, new SphereShape(0.25f));
m_playerSphere.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
}
BulletGlobals.gDebugDraw.SetDebugMode(BulletXNA.LinearMath.DebugDrawModes.DBG_DrawAabb | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawNormals | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawContactPoints);
m_dynamicsWorld.SetDebugDrawer(BulletGlobals.gDebugDraw);
//ClientResetScene();
}
