public void Initialize() { if (World != null) // check if we are already initialized { return; } enabled = true; CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); // Select Brodphase Broadphase = new DbvtBroadphase(); //Broadphase = new AxisSweep3(new Vector3(-1000.0f, -1000.0f, -30.0f), new Vector3(2000.0f, 3000.0f, 1000.0f), 32766); DantzigSolver dtsolver = new DantzigSolver(); Solver = new MlcpSolver(dtsolver); //Create a collision world of your choice, for now pass null as the constraint solver World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); var si = World.SolverInfo; si.NumIterations = 2; si.TimeStep = 0.001f; World.SetGravity(ref _gravityVec); ghostPairCallback = new GhostPairCallback(); World.PairCache.SetInternalGhostPairCallback(ghostPairCallback); }
/// <summary> /// Default Constructor /// </summary> public Physics() { DantzigSolver mlcp = new DantzigSolver(); collisionConf = new SoftBodyRigidBodyCollisionConfiguration(); dispatcher = new CollisionDispatcher(new DefaultCollisionConfiguration()); solver = new DefaultSoftBodySolver(); ConstraintSolver cSolver = new MultiBodyConstraintSolver(); broadphase = new DbvtBroadphase(); World = new SoftRigidDynamicsWorld(dispatcher, broadphase, cSolver, collisionConf, solver); //Actual scaling is unknown, this gravity is probably not right World.Gravity = new Vector3(0, -98.1f, 0); World.SetInternalTickCallback(new DynamicsWorld.InternalTickCallback((w, f) => DriveJoints.UpdateAllMotors(Skeleton, cachedArgs))); //Roobit RigidNode_Base.NODE_FACTORY = (Guid guid) => new BulletRigidNode(guid); string RobotPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Robots\"; string dir = RobotPath; GetFromDirectory(RobotPath, s => { Skeleton = (BulletRigidNode)BXDJSkeleton.ReadSkeleton(s + "skeleton.bxdj"); dir = s; }); List <RigidNode_Base> nodes = Skeleton.ListAllNodes(); for (int i = 0; i < nodes.Count; i++) { BulletRigidNode bNode = (BulletRigidNode)nodes[i]; bNode.CreateRigidBody(dir + bNode.ModelFileName); bNode.CreateJoint(); if (bNode.joint != null) { World.AddConstraint(bNode.joint, true); } World.AddCollisionObject(bNode.BulletObject); collisionShapes.Add(bNode.BulletObject.CollisionShape); } //Field string fieldPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Fields\"; GetFromDirectory(fieldPath, s => f = BulletFieldDefinition.FromFile(s)); foreach (RigidBody b in f.Bodies) { World.AddRigidBody(b); collisionShapes.Add(b.CollisionShape); } }
/* * Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation. */ public bool CreatePhysicsWorld(out CollisionWorld world, out CollisionConfiguration collisionConfig, out CollisionDispatcher dispatcher, out BroadphaseInterface broadphase, out ConstraintSolver solver, out SoftBodyWorldInfo softBodyWorldInfo) { bool success = true; if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf) { Debug.LogError("For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching"); m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf; success = false; } collisionConfig = null; if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf) { collisionConfig = new DefaultCollisionConfiguration(); } else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf) { collisionConfig = new SoftBodyRigidBodyCollisionConfiguration(); } dispatcher = new CollisionDispatcher(collisionConfig); if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase) { broadphase = new DbvtBroadphase(); } else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase) { broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); } else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit) { broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); } else { broadphase = null; } world = null; softBodyWorldInfo = null; solver = null; if (m_worldType == WorldType.CollisionOnly) { world = new CollisionWorld(dispatcher, broadphase, collisionConfig); } else if (m_worldType == WorldType.RigidBodyDynamics) { switch (solverType) { case SolverType.MLCP: DantzigSolver dtsolver = new DantzigSolver(); solver = new MlcpSolver(dtsolver); break; default: break; } world = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfig); } else if (m_worldType == WorldType.MultiBodyWorld) { MultiBodyConstraintSolver mbConstraintSolver = null; switch (solverType) { /* case SolverType.MLCP: * DantzigSolver dtsolver = new DantzigSolver(); * mbConstraintSolver = new MultiBodyMLCPConstraintSolver(dtsolver); * break;*/ default: mbConstraintSolver = new MultiBodyConstraintSolver(); break; } world = new MultiBodyDynamicsWorld(dispatcher, broadphase, mbConstraintSolver, collisionConfig); } else if (m_worldType == WorldType.SoftBodyAndRigidBody) { SequentialImpulseConstraintSolver siConstraintSolver = new SequentialImpulseConstraintSolver(); constraintSolver = siConstraintSolver; siConstraintSolver.RandSeed = sequentialImpulseConstraintSolverRandomSeed; m_world = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, siConstraintSolver, CollisionConf); _ddWorld = (DiscreteDynamicsWorld)m_world;; SoftRigidDynamicsWorld _sworld = (SoftRigidDynamicsWorld)m_world; m_world.DispatchInfo.EnableSpu = true; _sworld.WorldInfo.SparseSdf.Initialize(); _sworld.WorldInfo.SparseSdf.Reset(); _sworld.WorldInfo.AirDensity = 1.2f; _sworld.WorldInfo.WaterDensity = 0; _sworld.WorldInfo.WaterOffset = 0; _sworld.WorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero; _sworld.WorldInfo.Gravity = m_gravity.ToBullet(); } if (world is DiscreteDynamicsWorld) { ((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet(); } if (_doDebugDraw) { DebugDrawUnity db = new DebugDrawUnity(); db.DebugMode = _debugDrawMode; world.DebugDrawer = db; } return(success); }