public void NearCallback(BroadphasePair collisionPair, CollisionDispatcher dispatcher, DispatcherInfo dispatchInfo)
{
CollisionObject colObj0 = (CollisionObject)collisionPair.m_pProxy0.GetClientObject();
CollisionObject colObj1 = (CollisionObject)collisionPair.m_pProxy1.GetClientObject();
if (dispatcher.NeedsCollision(colObj0,colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (collisionPair.m_algorithm == null)
{
collisionPair.m_algorithm = dispatcher.FindAlgorithm(colObj0,colObj1,null);
}
if (collisionPair.m_algorithm != null)
{
ManifoldResult contactPointResult = new ManifoldResult(colObj0,colObj1);
if (dispatchInfo.GetDispatchFunc() == DispatchFunc.DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm.ProcessCollision(colObj0,colObj1,dispatchInfo,contactPointResult);
}
else
{
//continuous collision detection query, time of impact (toi)
float toi = collisionPair.m_algorithm.CalculateTimeOfImpact(colObj0,colObj1,dispatchInfo,contactPointResult);
if (dispatchInfo.GetTimeOfImpact() > toi)
{
dispatchInfo.SetTimeOfImpact(toi);
}
}
}
}
}
void SetupEmptyDynamicsWorld()
{
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
public void Init(string MediaDir)
{
#region Configuracion Basica de World
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -100f, 0).ToBulletVector3();
#endregion Configuracion Basica de World
foreach (var mesh in meshes)
{
var buildingbody = BulletRigidBodyFactory.Instance.CreateRigidBodyFromTgcMesh(mesh);
dynamicsWorld.AddRigidBody(buildingbody);
}
//Se crea un plano ya que esta escena tiene problemas
//con la definición de triangulos para el suelo
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBulletVector3(), 10);
floorShape.LocalScaling = new TGCVector3().ToBulletVector3();
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
floorBody.Friction = 1;
floorBody.RollingFriction = 1;
floorBody.Restitution = 1f;
floorBody.UserObject = "floorBody";
dynamicsWorld.AddRigidBody(floorBody);
var loader = new TgcSceneLoader();
///Se crea una caja para que haga las veces del Hummer dentro del modelo físico
TgcTexture texture = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"\MeshCreator\Scenes\Deposito\Textures\box4.jpg");
TGCBox boxMesh1 = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
boxMesh1.Position = new TGCVector3(0, 10, 0);
hummer = boxMesh1.ToMesh("box");
boxMesh1.Dispose();
//Se crea el cuerpo rígido de la caja, en la definicio de CreateBox el ultimo parametro representa si se quiere o no
//calcular el momento de inercia del cuerpo. No calcularlo lo que va a hacer es que la caja que representa el Hummer
//no rote cuando colicione contra el mundo.
hummerBody = BulletRigidBodyFactory.Instance.CreateBox(new TGCVector3(55, 20, 80), 10, hummer.Position, 0, 0, 0, 0.55f, false);
hummerBody.Restitution = 0;
hummerBody.Gravity = new TGCVector3(0, -100, 0).ToBulletVector3();
dynamicsWorld.AddRigidBody(hummerBody);
//Se carga el modelo del Hummer
hummer = loader.loadSceneFromFile(MediaDir + @"MeshCreator\\Meshes\\Vehiculos\\Hummer\\Hummer-TgcScene.xml").Meshes[0];
leftright = new TGCVector3(1, 0, 0);
fowardback = new TGCVector3(0, 0, 1);
}
public BasicDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
CreateBoxes();
}
public override void InitializeDemo()
{
// Setup the basic world
SetTexturing(true);
SetShadows(true);
SetCameraDistance(5.0f);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldAabbMin = new IndexedVector3(-10000, -10000, -10000);
IndexedVector3 worldAabbMax = new IndexedVector3(10000, 10000, 10000);
m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, true);
//m_broadphase = new SimpleBroadphase(1000, null);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
//m_dynamicsWorld.getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld.getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(200.0f, 10.0f, 200.0f));
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0, -10, 0);
CollisionObject fixedGround = new CollisionObject();
fixedGround.SetCollisionShape(groundShape);
fixedGround.SetWorldTransform(ref groundTransform);
fixedGround.SetUserPointer("Ground");
m_dynamicsWorld.AddCollisionObject(fixedGround);
}
// Spawn one ragdoll
IndexedVector3 startOffset = new IndexedVector3(1, 0.5f, 0);
//string filename = @"c:\users\man\bullet\xna-ragdoll-constraints-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
SpawnRagdoll(ref startOffset, BulletGlobals.g_streamWriter);
//startOffset = new IndexedVector3(-1,0.5f,0);
//spawnRagdoll(ref startOffset);
ClientResetScene();
}
public UrdfDemoSimulation(string urdfFileName)
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
LoadUrdf(urdfFileName);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
boxShape = new BoxShape(1);
}
public Physics()
{
_Main = this;
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
_World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
_World.Gravity = new Vector3(0, -10, 0);
}
public virtual void Init(BulletExampleWall ctx)
{
Ctx = ctx;
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -20f, 0).ToBsVector;
}
public override void Init(GameModel env)
{
Env = env;
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
//GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
//constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, null, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -10f, 0).ToBsVector;
}
private void Init()
{
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration)
{
Gravity = gravityZero
};
}
public PhysicsWorld()
{
collisionConf = new DefaultCollisionConfiguration();
btDispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
btWorld = new DiscreteDynamicsWorld(btDispatcher, broadphase, null, collisionConf);
btWorld.Gravity = BM.Vector3.Zero;
pointObj = new CollisionObject();
pointObj.CollisionShape = new SphereShape(1);
}
public PhysicsDriver()
{
// Collision configuration contains default setup for memory, collision setup
_collision_config = new DefaultCollisionConfiguration();
_dispatcher = new CollisionDispatcher(_collision_config);
_broadphase = new DbvtBroadphase();
_solver = new SequentialImpulseConstraintSolver();
_physics_world = new PhysicsWorld(_gravity, _dispatcher, _broadphase, _solver, _collision_config);
;
_picking_distance_minimum = 10.0f;
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
body1 = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
body2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
}
public void InitializeWorld()
{
DbvtBroadphase broadphase = new DbvtBroadphase();
DefaultCollisionConfiguration conf = new DefaultCollisionConfiguration();
CollisionDispatcher dispacher = new CollisionDispatcher(conf);
SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();
dynamicsWorld = new DiscreteDynamicsWorld(dispacher, broadphase, solver, conf);
BulletSharp.Math.Vector3 gravity = new BulletSharp.Math.Vector3(0, -10, 0);
dynamicsWorld.SetGravity(ref gravity);
}
protected override void Init()
{
collisionShapes = new List <CollisionShape>();
collidersToUpdate = new List <ICollider>();
collisionConf = new DefaultCollisionConfiguration();
broadphase = new DbvtBroadphase();
dispatcher = new CollisionDispatcher(collisionConf);
//ManifoldPoint.ContactAdded += Callback_ContactAdded;
//PersistentManifold.ContactProcessed += Callback_ContactProcessed;
//PersistentManifold.ContactDestroyed += Callback_ContactDestroyed;
}
public BspDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.Gravity = Up * -10.0f;
LoadBspFile();
}
public CollisionManager(Program debug)
{
var defaultCollisionConfiguration = new DefaultCollisionConfiguration();
var collisionDispatcher = new CollisionDispatcher(defaultCollisionConfiguration);
var broadphase = new DbvtBroadphase();
this.World = new CollisionWorld(collisionDispatcher, broadphase, defaultCollisionConfiguration);
if (debug != null)
{
this.World.DebugDrawer = new BulletDebugDrawer(debug);
}
}
public ChCollisionSystemBullet(uint max_objects, double scene_size)
{
// btDefaultCollisionConstructionInfo conf_info(...); ***TODO***
bt_collision_configuration = new DefaultCollisionConfiguration();
bt_dispatcher = new CollisionDispatcher(bt_collision_configuration);
//((btDefaultCollisionConfiguration*)bt_collision_configuration)->setConvexConvexMultipointIterations(4,4);
//***OLD***
float sscene_size = (float)scene_size;
IndexedVector3 worldAabbMin = new IndexedVector3(-sscene_size, -sscene_size, -sscene_size);
IndexedVector3 worldAabbMax = -worldAabbMin;//new IndexedVector3(sscene_size, sscene_size, sscene_size);
// bt_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax, max_objects, 0, true); // true for disabling
// raycast accelerator
//***NEW***
bt_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, false);
//bt_broadphase = new DbvtBroadphase();
bt_collision_world = new CollisionWorld(bt_dispatcher, bt_broadphase, bt_collision_configuration);
// TO DO!!!
// custom collision for 2D arc-segment case
/* CollisionAlgorithmCreateFunc m_collision_arc_seg = new ArcSegmentCollisionAlgorithm.CreateFunc;
* btCollisionAlgorithmCreateFunc* m_collision_seg_arc = new btArcSegmentCollisionAlgorithm::CreateFunc;
* m_collision_seg_arc->m_swapped = true;
* bt_dispatcher->registerCollisionCreateFunc(ARC_SHAPE_PROXYTYPE, SEGMENT_SHAPE_PROXYTYPE, m_collision_arc_seg);
* bt_dispatcher->registerCollisionCreateFunc(SEGMENT_SHAPE_PROXYTYPE, ARC_SHAPE_PROXYTYPE, m_collision_seg_arc);
*
* // custom collision for 2D arc-arc case
* btCollisionAlgorithmCreateFunc* m_collision_arc_arc = new btArcArcCollisionAlgorithm::CreateFunc;
* bt_dispatcher->registerCollisionCreateFunc(ARC_SHAPE_PROXYTYPE, ARC_SHAPE_PROXYTYPE, m_collision_arc_arc);*/
// custom collision for C::E triangles:
// CollisionAlgorithmCreateFunc m_collision_cetri_cetri = new CEtriangleShapeCollisionAlgorithm.CreateFunc;
// bt_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.CE_TRIANGLE_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.CE_TRIANGLE_SHAPE_PROXYTYPE, m_collision_cetri_cetri);
// custom collision for point-point case (in point clouds, just never create point-point contacts)
//btCollisionAlgorithmCreateFunc* m_collision_point_point = new btPointPointCollisionAlgorithm::CreateFunc;
/* void* mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc), 16);
* btCollisionAlgorithmCreateFunc* m_emptyCreateFunc = new (mem) btEmptyAlgorithm::CreateFunc;
* bt_dispatcher->registerCollisionCreateFunc(POINT_SHAPE_PROXYTYPE, POINT_SHAPE_PROXYTYPE, m_emptyCreateFunc);
* bt_dispatcher->registerCollisionCreateFunc(POINT_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE, bt_collision_configuration->getCollisionAlgorithmCreateFunc(SPHERE_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE)); // just for speedup
* bt_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE, POINT_SHAPE_PROXYTYPE, bt_collision_configuration->getCollisionAlgorithmCreateFunc(BOX_SHAPE_PROXYTYPE, SPHERE_SHAPE_PROXYTYPE)); // just for speedup
*
* // custom collision for GIMPACT mesh case too
* btGImpactCollisionAlgorithm::registerAlgorithm(bt_dispatcher);*/
}
public override void InitializeDemo()
{
SetCameraDistance(50f);
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);
//m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
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));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
CollisionShape shape = SetupShape();
IndexedMatrix objTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 2, 0));
LocalCreateRigidBody(mass, ref objTransform, shape);
//ClientResetScene();
}
public BulletPhysicWorld(Vector3 gravity)
{
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
constraintSolver = new SequentialImpulseConstraintSolver();
objs = new List <IPhysicObject>();
ctns = new List <IPhysicConstraint>();
world = new DiscreteDynamicsWorld(Dispatcher, Broadphase, constraintSolver, collisionConf);
world.Gravity = gravity;
}
public CollisionManager(Program debug)
{
var defaultCollisionConfiguration = new DefaultCollisionConfiguration( );
var collisionDispatcher = new CollisionDispatcher(defaultCollisionConfiguration);
var broadphase = new AxisSweep3(new Vector3(-100, -100, -100), new Vector3(100, 100, 100));
World = new CollisionWorld(collisionDispatcher, broadphase, defaultCollisionConfiguration);
if (debug != null)
{
this.World.DebugDrawer = new BulletDebugDrawer(debug);
}
}
public BulletXmlImportDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
_importer = new BulletXmlWorldImporter(World);
if (!_importer.LoadFile(Path.Combine("data", "bullet_basic.xml")))
{
//throw new FileNotFoundException();
}
}
public void SetUp()
{
conf = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
solver = new DefaultSoftBodySolver();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, conf, solver);
softBodyWorldInfo = new SoftBodyWorldInfo();
softBody = new SoftBody(softBodyWorldInfo);
world.AddSoftBody(softBody);
}
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 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);
// create the ground
var groundShape = new BoxShape(50, 50, 50);
_collisionShapes.Add(groundShape);
CollisionObject ground = CreateStaticBody(Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
var colShape = new BoxShape(1);
_collisionShapes.Add(colShape);
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
for (int y = 0; y < ArraySizeY; y++)
{
for (int x = 0; x < ArraySizeX; x++)
{
for (int z = 0; z < ArraySizeZ; z++)
{
Matrix startTransform = Matrix.Translation(
_startPosition + 2 * new Vector3(x, y, z));
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
var body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 15, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
public override void InitializeDemo()
{
m_maxIterations = 500;
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);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//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, -52, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
CreateScene5(20);
ClientResetScene();
}
public FeatherStoneDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
_solver = new MultiBodyConstraintSolver();
MultiBodyWorld = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, _solver, CollisionConfiguration);
CreateGround();
int numLinks = 5;
bool spherical = true;
bool floatingBase = false;
var basePosition = new Vector3(-0.4f, 3.0f, 0.0f);
var baseHalfExtents = new Vector3(0.05f, 0.37f, 0.1f);
var linkHalfExtents = new Vector3(0.05f, 0.37f, 0.1f);
var multiBody = CreateFeatherstoneMultiBody(MultiBodyWorld, numLinks, basePosition, baseHalfExtents, linkHalfExtents, spherical, floatingBase);
bool damping = true;
if (damping)
{
multiBody.LinearDamping = 0.1f;
multiBody.AngularDamping = 0.9f;
}
else
{
multiBody.LinearDamping = 0;
multiBody.AngularDamping = 0;
}
if (numLinks > 0)
{
float q0 = 45.0f * (float)Math.PI / 180.0f;
if (spherical)
{
Quaternion quat0 = Quaternion.RotationAxis(Vector3.Normalize(new Vector3(1, 1, 0)), q0);
quat0.Normalize();
multiBody.SetJointPosMultiDof(0, new float[] { quat0.X, quat0.Y, quat0.Z, quat0.W });
}
else
{
multiBody.SetJointPosMultiDof(0, new float[] { q0 });
}
}
CreateColliders(multiBody, baseHalfExtents, linkHalfExtents);
CreateRigidBody(1, Matrix.Translation(0, -0.95f, 0), new BoxShape(0.5f, 0.5f, 0.5f));
}
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);
CreateGround();
CreateBoxes();
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
action = new Action();
world.AddAction(action);
world.AddAction(action);
world.RemoveAction(action);
world.RemoveAction(action);
world.AddAction(action);
}
private static void Main(string[] args)
{
var collisionConfig = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(collisionConfig);
var pairCache = new DbvtBroadphase();
var solver = new SequentialImpulseConstraintSolver();
var dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, pairCache, solver, collisionConfig);
dynamicsWorld.Gravity = new Vector3(0, -10, 0);
var groundShape = new BoxShape(new Vector3(50, 50, 50));
var groundTransform = Matrix.CreateTranslation(0, -56, 0);
{
float mass = 0;
bool isDynamic = mass != 0;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
localInertia = groundShape.CalculateLocalInertia(mass);
var motionState = new DefaultMotionState(groundTransform);
var rbinfo = new RigidBodyConstructionInfo(mass, motionState, groundShape, localInertia);
var body = new RigidBody(rbinfo);
dynamicsWorld.AddRigidBody(body);
}
{
var collisionShape = new SphereShape(1);
var transform = Matrix.Identity;
float mass = 1;
bool isDynamic = mass != 0;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
localInertia = collisionShape.CalculateLocalInertia(mass);
transform.Translation = new Vector3(2, 10, 0);
var motionState = new DefaultMotionState(transform);
var rbinfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
var body = new RigidBody(rbinfo);
dynamicsWorld.AddRigidBody(body);
}
Console.WriteLine("Starting simulation");
for (int i = 0; i < 100; i++)
{
dynamicsWorld.StepSimulation(1f / 60f, 10);
for (int j = dynamicsWorld.GetNumCollisionObjects() - 1; j >= 0; j--)
{
var obj = dynamicsWorld.GetCollisionObjectArray()[j];
var body = (RigidBody)obj;
if (body != null && body.GetMotionState() != null)
{
Matrix transform = Matrix.Identity;
body.GetMotionState().GetWorldTransform(ref transform);
Console.WriteLine("Object@{0} Position={1}", body.GetHashCode(), transform.Translation);
}
}
}
Console.Read();
}
public CollisionPairCallback(DispatcherInfo dispatchInfo,CollisionDispatcher dispatcher)
{
m_dispatchInfo = dispatchInfo;
m_dispatcher = dispatcher;
}
