//----------------------------------------------------------------------------------------------
public override void ClientResetScene()
{
//#ifdef SHOW_NUM_DEEP_PENETRATIONS
gNumDeepPenetrationChecks = 0;
gNumGjkChecks = 0;
//#endif //SHOW_NUM_DEEP_PENETRATIONS
gNumClampedCcdMotions = 0;
int numObjects = 0;
foreach (DiscreteDynamicsWorld world in m_worlds)
{
// Prefer a better place for this...
world.SetDebugDrawer(m_debugDraw);
numObjects = world.GetNumCollisionObjects();
IList <CollisionObject> copyArray = world.GetCollisionObjectArray();
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = copyArray[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.GetMotionState() != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.GetMotionState();
myMotionState.m_graphicsWorldTrans = myMotionState.m_startWorldTrans;
body.SetCenterOfMassTransform(ref myMotionState.m_graphicsWorldTrans);
colObj.SetInterpolationWorldTransform(ref myMotionState.m_startWorldTrans);
if (colObj.GetActivationState() != ActivationState.DISABLE_DEACTIVATION)
{
colObj.ForceActivationState(ActivationState.ACTIVE_TAG);
colObj.Activate();
colObj.SetDeactivationTime(0);
}
//colObj.setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
world.GetBroadphase().GetOverlappingPairCache().CleanProxyFromPairs(colObj.GetBroadphaseHandle(), world.GetDispatcher());
if (!body.IsStaticObject())
{
IndexedVector3 zero = IndexedVector3.Zero;
body.SetLinearVelocity(ref zero);
body.SetAngularVelocity(ref zero);
}
}
}
///reset some internal cached data in the broadphase
world.GetBroadphase().ResetPool(world.GetDispatcher());
world.GetConstraintSolver().Reset();
}
}
/// <summary>
/// Called when the game has determined that game logic needs to be processed.
/// </summary>
/// <param name="gameTime">Time passed since the last call to this function.</param>
protected override void Update(GameTime gameTime)
{
MouseState mouseState = Mouse.GetState();
Vector3 rayTo = getRayTo(mouseState.X, mouseState.Y);
if (mouseState.LeftButton == ButtonState.Pressed && _prevMouseState.LeftButton == ButtonState.Released)
{
shootBox(rayTo);
}
if (mouseState.MiddleButton == ButtonState.Pressed && _prevMouseState.MiddleButton == ButtonState.Released)
{
if (_world != null)
{
CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(_camera.Position, rayTo);
_world.RayTest(_camera.Position, rayTo, rayCallback);
if (rayCallback.HasHit)
{
RigidBody body = RigidBody.Upcast(rayCallback.CollisionObject);
if (body != null)
{
//other exclusions?
if (!(body.IsStaticObject || body.IsKinematicObject))
{
_pickedBody = body;
_pickedBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pickPos = rayCallback.HitPointWorld;
Vector3 localPivot = Vector3.Transform(pickPos, XnaDevRu.BulletX.MathHelper.InvertMatrix(body.CenterOfMassTransform));
Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);
_world.AddConstraint(p2p);
_pickConstraint = p2p;
//save mouse position for dragging
_oldPickingPos = rayTo;
Vector3 eyePos = new Vector3(_camera.Position.X, _camera.Position.Y, _camera.Position.Z);
_oldPickingDist = (eyePos - pickPos).Length();
//very weak constraint for picking
p2p.Settings.Tau = 1.1f;
}
}
}
}
}
else if (mouseState.MiddleButton == ButtonState.Released && _prevMouseState.MiddleButton == ButtonState.Pressed)
{
if (_pickConstraint != null && _world != null)
{
_world.RemoveConstraint(_pickConstraint);
_pickConstraint = null;
_pickedBody.ForceActivationState(ActivationState.Active);
_pickedBody.DeactivationTime = 0f;
_pickedBody = null;
}
}
if (_pickConstraint != null)
{
//move the constraint pivot
Point2PointConstraint p2p = _pickConstraint as Point2PointConstraint;
if (p2p != null)
{
//keep it at the same picking distance
Vector3 dir = rayTo - _camera.Position;
dir.Normalize();
dir *= _oldPickingDist;
Vector3 newPos = _camera.Position + dir;
p2p.PivotInB = newPos;
}
}
_prevMouseState = mouseState;
if (Keyboard.GetState().IsKeyDown(Keys.Space))
{
//world.stepSimulation(1.0f/60.0f,0);
int numObjects = _world.CollisionObjectsCount;
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = _world.CollisionObjects[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null)
{
if (body.MotionState != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.MotionState;
myMotionState.GraphicsWorldTransform = myMotionState.StartWorldTransform;
colObj.WorldTransform = myMotionState.GraphicsWorldTransform;
colObj.InterpolationWorldTransform = myMotionState.StartWorldTransform;
colObj.Activate();
}
//removed cached contact points
_world.Broadphase.CleanProxyFromPairs(colObj.Broadphase);
if (body != null && !body.IsStaticObject)
{
RigidBody.Upcast(colObj).LinearVelocity = new Vector3(0, 0, 0);
RigidBody.Upcast(colObj).AngularVelocity = new Vector3(0, 0, 0);
}
}
}
}
else if (Keyboard.GetState().IsKeyDown(Keys.Escape) || GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed)
{
Exit();
}
else
{
//world.stepSimulation(1.0f / 60.0f, 1);
}
base.Update(gameTime);
}