public void InitializeWorld()
{
mGameObjects = new List <NetGameObject>();
//mWorldMap = new WorldMap();
#if _USE_BEPU_PHYSICS
space = new BEPUphysics.Space();
space.ForceUpdater.Gravity = new BEPUutilities.Vector3(0, -9.81f, 0);
#elif _USE_BULLET_SHARP
Broadphase = new BulletSharp.AxisSweep3(new BulletSharp.Math.Vector3(-1000, -1000, -1000), new BulletSharp.Math.Vector3(1000, 1000, 1000));
var conf = new BulletSharp.DefaultCollisionConfiguration();
var dispatcher = new BulletSharp.CollisionDispatcher(conf);
world = new BulletSharp.MultiBodyDynamicsWorld(dispatcher, Broadphase, new BulletSharp.MultiBodyConstraintSolver(), conf);
world.Gravity = new BulletSharp.Math.Vector3(0, -9.81f, 0);
var box = new BulletSharp.BoxShape(50f, 1f, 50f);
//box.Margin = 0f;
floor = new BulletSharp.RigidBody(new BulletSharp.RigidBodyConstructionInfo(0f, new BulletSharp.DefaultMotionState(), box, new BulletSharp.Math.Vector3(0, -2f, 0)));
floor.CollisionFlags = BulletSharp.CollisionFlags.KinematicObject;
BulletSharp.Math.Matrix worldTrans = new BulletSharp.Math.Matrix();
worldTrans.M41 = 0f;
worldTrans.M42 = -2f;
worldTrans.M43 = 0;
floor.WorldTransform = worldTrans;
//floor.Friction = 0.5f;
world.AddRigidBody(floor, BulletSharp.CollisionFilterGroups.DefaultFilter, //BulletSharp.CollisionFilterGroups.Everything);
(BulletSharp.CollisionFilterGroups.DefaultFilter
| BulletSharp.CollisionFilterGroups.StaticFilter
| BulletSharp.CollisionFilterGroups.KinematicFilter
| BulletSharp.CollisionFilterGroups.DebrisFilter
| BulletSharp.CollisionFilterGroups.SensorTrigger
| BulletSharp.CollisionFilterGroups.CharacterFilter
)
);
#elif _USE_BEPU_PHYSICS_V2
characters = new BepuPhysics.CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new BepuPhysics.CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new System.Numerics.Vector3(0, -10, 0)));
Simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(0, 0, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(50, 1, 50)), 0.1f)));
#endif
}
/// <summary>
/// Initializes the Physics engine using the specified flags.
/// </summary>
/// <param name="processor"></param>
/// <param name="flags">The flags.</param>
/// <exception cref="System.NotImplementedException">SoftBody processing is not yet available</exception>
internal Simulation(PhysicsProcessor processor, PhysicsEngineFlags flags = PhysicsEngineFlags.None)
{
this.processor = processor;
if (flags == PhysicsEngineFlags.None)
{
if (OnSimulationCreation != null)
{
flags = OnSimulationCreation();
}
}
MaxSubSteps = 1;
FixedTimeStep = 1.0f / 60.0f;
collisionConfiguration = new BulletSharp.DefaultCollisionConfiguration();
dispatcher = new BulletSharp.CollisionDispatcher(collisionConfiguration);
broadphase = new BulletSharp.DbvtBroadphase();
//this allows characters to have proper physics behavior
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new BulletSharp.GhostPairCallback());
//2D pipeline
var simplex = new BulletSharp.VoronoiSimplexSolver();
var pdSolver = new BulletSharp.MinkowskiPenetrationDepthSolver();
var convexAlgo = new BulletSharp.Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo); //this is the ONLY one that we are actually using
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo);
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, convexAlgo);
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, new BulletSharp.Box2DBox2DCollisionAlgorithm.CreateFunc());
//~2D pipeline
//default solver
var solver = new BulletSharp.SequentialImpulseConstraintSolver();
if (flags.HasFlag(PhysicsEngineFlags.CollisionsOnly))
{
collisionWorld = new BulletSharp.CollisionWorld(dispatcher, broadphase, collisionConfiguration);
}
else if (flags.HasFlag(PhysicsEngineFlags.SoftBodySupport))
{
//mSoftRigidDynamicsWorld = new BulletSharp.SoftBody.SoftRigidDynamicsWorld(mDispatcher, mBroadphase, solver, mCollisionConf);
//mDiscreteDynamicsWorld = mSoftRigidDynamicsWorld;
//mCollisionWorld = mSoftRigidDynamicsWorld;
throw new NotImplementedException("SoftBody processing is not yet available");
}
else
{
discreteDynamicsWorld = new BulletSharp.DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
collisionWorld = discreteDynamicsWorld;
}
if (discreteDynamicsWorld != null)
{
solverInfo = discreteDynamicsWorld.SolverInfo; //we are required to keep this reference, or the GC will mess up
dispatchInfo = discreteDynamicsWorld.DispatchInfo;
solverInfo.SolverMode |= BulletSharp.SolverModes.CacheFriendly; //todo test if helps with performance or not
if (flags.HasFlag(PhysicsEngineFlags.ContinuosCollisionDetection))
{
CanCcd = true;
solverInfo.SolverMode |= BulletSharp.SolverModes.Use2FrictionDirections | BulletSharp.SolverModes.RandomizeOrder;
dispatchInfo.UseContinuous = true;
}
}
}
private void LoadPhysics()
{
var defaultCollisionConfiguration = new BulletSharp.DefaultCollisionConfiguration();
var collisionDispatcher = new BulletSharp.CollisionDispatcher();
var worldAabbMin = new Vector3(-1000, -1000, -1000);
var worldAabbMax = new Vector3(1000, 1000, 1000);
var broadphase = new BulletSharp.AxisSweep3(worldAabbMin, worldAabbMax);
this.collisionWorld = new BulletSharp.CollisionWorld(collisionDispatcher, broadphase, defaultCollisionConfiguration);
this.collisionWorld.DebugDrawer = new BulletDebugDrawer(this.viewscreenProgram);
foreach (var collisionObject in mousePole.ContactObjects)
{
collisionWorld.AddCollisionObject(collisionObject);
}
}
/// <summary>
/// Initializes the Physics engine using the specified flags.
/// </summary>
/// <param name="flags">The flags.</param>
/// <exception cref="System.NotImplementedException">SoftBody processing is not yet available</exception>
internal Simulation(PhysicsEngineFlags flags = PhysicsEngineFlags.None)
{
MaxSubSteps = 1;
FixedTimeStep = 1.0f / 60.0f;
collisionConfiguration = new BulletSharp.DefaultCollisionConfiguration();
dispatcher = new BulletSharp.CollisionDispatcher(collisionConfiguration);
broadphase = new BulletSharp.DbvtBroadphase();
//this allows characters to have proper physics behavior
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new BulletSharp.GhostPairCallback());
//2D pipeline
var simplex = new BulletSharp.VoronoiSimplexSolver();
var pdSolver = new BulletSharp.MinkowskiPenetrationDepthSolver();
var convexAlgo = new BulletSharp.Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo); //this is the ONLY one that we are actually using
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Convex2DShape, convexAlgo);
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Convex2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, convexAlgo);
dispatcher.RegisterCollisionCreateFunc(BulletSharp.BroadphaseNativeType.Box2DShape, BulletSharp.BroadphaseNativeType.Box2DShape, new BulletSharp.Box2DBox2DCollisionAlgorithm.CreateFunc());
//~2D pipeline
//default solver
var solver = new BulletSharp.SequentialImpulseConstraintSolver();
if (flags.HasFlag(PhysicsEngineFlags.CollisionsOnly))
{
collisionWorld = new BulletSharp.CollisionWorld(dispatcher, broadphase, collisionConfiguration);
}
else if (flags.HasFlag(PhysicsEngineFlags.SoftBodySupport))
{
//mSoftRigidDynamicsWorld = new BulletSharp.SoftBody.SoftRigidDynamicsWorld(mDispatcher, mBroadphase, solver, mCollisionConf);
//mDiscreteDynamicsWorld = mSoftRigidDynamicsWorld;
//mCollisionWorld = mSoftRigidDynamicsWorld;
throw new NotImplementedException("SoftBody processing is not yet available");
}
else
{
discreteDynamicsWorld = new BulletSharp.DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
collisionWorld = discreteDynamicsWorld;
}
if (discreteDynamicsWorld != null)
{
solverInfo = discreteDynamicsWorld.SolverInfo; //we are required to keep this reference, or the GC will mess up
dispatchInfo = discreteDynamicsWorld.DispatchInfo;
solverInfo.SolverMode |= BulletSharp.SolverModes.CacheFriendly; //todo test if helps with performance or not
if (flags.HasFlag(PhysicsEngineFlags.ContinuosCollisionDetection))
{
canCcd = true;
solverInfo.SolverMode |= BulletSharp.SolverModes.Use2FrictionDirections | BulletSharp.SolverModes.RandomizeOrder;
dispatchInfo.UseContinuous = true;
}
}
BulletSharp.PersistentManifold.ContactProcessed += PersistentManifoldContactProcessed;
BulletSharp.PersistentManifold.ContactDestroyed += PersistentManifoldContactDestroyed;
}
