public void Cast(CollisionWorld cw, float frameDelta)
{
using (var cb = new ClosestConvexResultCallback())
{
for (int i = 0; i < NumRays; i++)
{
cb.ClosestHitFraction = 1.0f;
cb.ConvexFromWorld = _source[i];
cb.ConvexToWorld = _destination[i];
Matrix from = _fromRotation * Matrix.Translation(_source[i]);
Matrix to = _toRotation * Matrix.Translation(_destination[i]);
cw.ConvexSweepTestRef(_boxShape, ref from, ref to, cb);
if (cb.HasHit)
{
_hitPoint[i] = cb.HitPointWorld;
Vector3.Lerp(ref _source[i], ref _destination[i], cb.ClosestHitFraction, out _hitCenterOfMass[i]);
_hitFraction[i] = cb.ClosestHitFraction;
_normal[i] = cb.HitNormalWorld;
_normal[i].Normalize();
}
else
{
_hitCenterOfMass[i] = _destination[i];
_hitPoint[i] = _destination[i];
_hitFraction[i] = 1.0f;
_normal[i] = new Vector3(1.0f, 0.0f, 0.0f);
}
}
}
_time += frameDelta;
_frameCount++;
if (_frameCount > 50)
{
if (_time < _timeMin)
{
_timeMin = _time;
}
if (_time > _timeMax)
{
_timeMax = _time;
}
_timeTotal += _time;
_sampleCount++;
float timeMean = _timeTotal / _sampleCount;
Console.WriteLine("{0} rays in {1} s, min {2}, max {3}, mean {4}",
NumRays * _frameCount,
_time.ToString("0.000", CultureInfo.InvariantCulture),
_timeMin.ToString("0.000", CultureInfo.InvariantCulture),
_timeMax.ToString("0.000", CultureInfo.InvariantCulture),
timeMean.ToString("0.000", CultureInfo.InvariantCulture));
_time = 0;
_frameCount = 0;
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
//string filename = UnityEngine.Application.dataPath + "/BulletUnity/Examples/Scripts/BulletSharpDemos/CharacterDemo/data/BspDemo.bsp";
UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("BspDemo");
System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes);
bspLoader.LoadBspFile(byteStream);
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
Vector3 v1 = new Vector3(0f, 0f, 0f);
Vector3 v2 = new Vector3(0f, 0f, 0f);
convexResultCallback = new ClosestConvexResultCallback(ref v1, ref v2);
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
public ConcaveConvexCastDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(_worldMin, _worldMax);
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SolverInfo.SplitImpulse = 1;
_convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
_callback = new ClosestConvexResultCallback();
CreateGround();
CreateBoxes();
}
public void Cast(CollisionWorld cw, ClosestConvexResultCallback callback, float frameDelta)
{
foreach (var ray in _rays)
{
callback.ClosestHitFraction = 1.0f;
callback.ConvexFromWorld = ray.Source;
callback.ConvexToWorld = ray.Destination;
Matrix from = _fromRotation * Matrix.Translation(ray.Source);
Matrix to = _toRotation * Matrix.Translation(ray.Destination);
cw.ConvexSweepTestRef(_boxShape, ref from, ref to, callback);
if (callback.HasHit)
{
ray.HitPoint = callback.HitPointWorld;
Vector3.Lerp(ref ray.Source, ref ray.Destination, callback.ClosestHitFraction, out ray.HitCenterOfMass);
ray.HitFraction = callback.ClosestHitFraction;
ray.Normal = callback.HitNormalWorld;
ray.Normal.Normalize();
}
else
{
ray.HitCenterOfMass = ray.Destination;
ray.HitPoint = ray.Destination;
ray.HitFraction = 1.0f;
ray.Normal = new Vector3(1.0f, 0.0f, 0.0f);
}
}
_time += frameDelta;
_frameCount++;
if (_frameCount > 50)
{
if (_time < _timeMin)
{
_timeMin = _time;
}
if (_time > _timeMax)
{
_timeMax = _time;
}
_timeTotal += _time;
_sampleCount++;
PrintStats();
_time = 0;
_frameCount = 0;
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
bspLoader.LoadBspFile("data/BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
Vector3 zero = Vector3.Zero;
convexResultCallback = new ClosestConvexResultCallback(ref zero, ref zero);
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
public void Cast(CollisionWorld cw)
{
Vector3 zero = Vector3.Zero;
var cb = new ClosestConvexResultCallback(ref zero, ref zero);
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
cb.ClosestHitFraction = 1.0f;
cb.ConvexFromWorld = source[i];
cb.ConvexToWorld = dest[i];
Quaternion qFrom = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.0f);
Quaternion qTo = Quaternion.RotationAxis(new Vector3(1.0f, 0.0f, 0.0f), 0.7f);
Matrix from = Matrix.RotationQuaternion(qFrom) * Matrix.Translation(source[i]);
Matrix to = Matrix.RotationQuaternion(qTo) * Matrix.Translation(dest[i]);
cw.ConvexSweepTest(boxShape, from, to, cb);
if (cb.HasHit)
{
hit_surface[i] = cb.HitPointWorld;
hit_com[i] = Vector3.Lerp(source[i], dest[i], cb.ClosestHitFraction);
hit_fraction[i] = cb.ClosestHitFraction;
normal[i] = cb.HitNormalWorld;
normal[i].Normalize();
}
else
{
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = new Vector3(1.0f, 0.0f, 0.0f);
}
}
frame_counter++;
if (frame_counter > 50)
{
min_ms = ms < min_ms ? ms : min_ms;
max_ms = ms > max_ms ? ms : max_ms;
sum_ms += ms;
sum_ms_samples++;
float mean_ms = (float)sum_ms / (float)sum_ms_samples;
Console.WriteLine("{0} rays in {1} ms {2} {3} {4}", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
ms = 0;
frame_counter = 0;
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
callback = new ClosestConvexResultCallback();
CreateGround();
CreateBoxes();
}
public void InitPhysics()
{
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SolverMode |= SolverModes.Use2FrictionDirections | SolverModes.RandomizeOrder;
World.SolverInfo.NumIterations = 20;
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
World.DispatchInfo.UseContinuous = true;
World.Gravity = new Vector3(0, -600, 0);
ClosestConvexResult = new ClosestConvexResultCallback();
EntPhysics MapPhysics = new EntPhysics(libTechCollisionShape.FromVerticesConcave(GetModels().First().GetMeshes().SelectMany(M => M.GetVertices().Select(V => V.Position))), 0);
SpawnEntity(MapPhysics);
}
public CharacterDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
CreateCharacter();
var path = Path.Combine("data", "BspDemo.bsp");
var bspLoader = new BspLoader();
bspLoader.LoadBspFile(path);
var bsp2Bullet = new BspToBulletConverter(World);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
ConvexResultCallback = new ClosestConvexResultCallback();
ConvexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
CameraSphere = new SphereShape(0.2f);
}
public override void OnHandleInput()
{
Matrix xform = ghostObject.WorldTransform;
Vector3 forwardDir = new Vector3(xform.M31, xform.M32, xform.M33);
//Console.Write("forwardDir={0},{1},{2}\n", forwardDir[0], forwardDir[1], forwardDir[2]);
Vector3 upDir = new Vector3(xform.M21, xform.M22, xform.M23);
forwardDir.Normalize();
upDir.Normalize();
Vector3 pos = xform.Origin;
Vector3 walkDirection = Vector3.Zero;
const float walkVelocity = 1.1f * 4.0f;
float walkSpeed = walkVelocity * FrameDelta * 10;// * 0.0001f;
float turnSpeed = FrameDelta * 3;
if (Input.KeysDown.Contains(Keys.Left))
{
Matrix orn = xform;
orn.Row4 = new Vector4(0, 0, 0, 1);
orn *= Matrix.RotationAxis(upDir, -turnSpeed);
orn.Row4 = new Vector4(pos.X, pos.Y, pos.Z, 1);
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Right))
{
Matrix orn = xform;
orn.Row4 = new Vector4(0, 0, 0, 1);
orn *= Matrix.RotationAxis(upDir, turnSpeed);
orn.Row4 = new Vector4(pos.X, pos.Y, pos.Z, 1);
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Up))
{
walkDirection += forwardDir;
}
if (Input.KeysDown.Contains(Keys.Down))
{
walkDirection -= forwardDir;
}
Vector3 cameraPos = pos - forwardDir * 12 + upDir * 5;
//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
SphereShape cameraSphere = new SphereShape(0.2f);
ClosestConvexResultCallback cb = new ClosestConvexResultCallback(ref pos, ref cameraPos);
cb.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
Matrix posMatrix = Matrix.Translation(pos);
Matrix cameraPosMatrix = Matrix.Translation(cameraPos);
World.ConvexSweepTestRef(cameraSphere, ref posMatrix, ref cameraPosMatrix, cb);
cameraSphere.Dispose();
if (cb.HasHit)
{
cameraPos = Vector3.Lerp(pos, cameraPos, cb.ClosestHitFraction);
}
cb.Dispose();
Freelook.SetEyeTarget(cameraPos, pos);
character.SetWalkDirection(walkDirection * walkSpeed);
base.OnHandleInput();
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(ClosestConvexResultCallback obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
