private void PickRigidBody(RigidBody body, ref Vector3 pickPosition)
{
if (body.IsStaticObject || body.IsKinematicObject)
{
return;
}
_pickedBody = body;
_pickedBody.ActivationState = ActivationState.DisableDeactivation;
DiscreteDynamicsWorld world = _demo.Simulation.World;
Vector3 localPivot = Vector3.TransformCoordinate(pickPosition, Matrix.Invert(body.CenterOfMassTransform));
if (_demo.Input.KeysDown.Contains(Keys.ShiftKey))
{
var dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false)
{
LinearLowerLimit = Vector3.Zero,
LinearUpperLimit = Vector3.Zero,
AngularLowerLimit = Vector3.Zero,
AngularUpperLimit = Vector3.Zero
};
world.AddConstraint(dof6);
_rigidBodyPickConstraint = dof6;
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5);
}
else
{
var p2p = new Point2PointConstraint(body, localPivot);
world.AddConstraint(p2p);
_rigidBodyPickConstraint = p2p;
p2p.Setting.ImpulseClamp = 30;
//very weak constraint for picking
p2p.Setting.Tau = 0.001f;
/*
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 0);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 1);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 2);
*/
}
}
protected void Add(PhyBody phyBody)
{
_AddPhyBody(phyBody);
AddBulletPhysicsTransform(phyBody);
phyBody.SetWorldTransform(phyBody.matrix);
if (phyBody.Constraint != null)
{
World.AddConstraint(phyBody.Constraint);
}
}
void InstalizeJoints(JointContainer[] jcons)
{
joints = new Joint[jcons.Length];
for (int i = 0; i < jcons.Length; i++)
{
joints[i] = new Joint(jcons[i], rigitBodies);
if (joints[i].Constraint != null)
{
World.AddConstraint(joints[i].Constraint, true);
}
}
}
void CreateParticles()
{
//ZeroBody zb = new ZeroShape();
BoxShape brick = new BoxShape(0.1, 0.1, 0.1);
RigidBody fix = CreateBody(0, brick, new Vector3(0, 0, 0));
fix.SetSleepingThresholds(0, 0);
fix.SetAnisotropicFriction(Vector3.Zero, AnisotropicFrictionFlags.FrictionDisabled);
fix.Friction = 0;
fix.SetDamping(0, 0);
Random rand = new Random();
SphereShape ss = new SphereShape(particleSize);
for (int xx = 0; xx < 115; xx++)
{
for (int yy = 0; yy < 90; yy++)
{
RigidBody r = CreateBody(1, ss,
new Vector3(5 + xx * 0.51, 5 + yy * 0.51, 0));
r.Friction = 0.0;
r.Restitution = 1;
r.RollingFriction = 0;
r.SetDamping(0.01, 0.1);
Particles.Add(r);
r.SetSleepingThresholds(0, 0);
r.SetAnisotropicFriction(Vector3.Zero, AnisotropicFrictionFlags.FrictionDisabled);
var c = new Generic6DofConstraint(fix, r, Matrix.Translation(1, 0, 0), Matrix.Translation(1, 0, 0), true);
//c.BreakingImpulseThreshold = 999999999999999;
c.SetLimit(0, 0, 150);
c.SetLimit(1, 0, 100);
c.SetLimit(2, 0, 0);
c.SetLimit(3, 0, 0);
c.SetLimit(4, 0, 0);
c.SetLimit(5, 0, 0);
//r.ApplyCentralImpulse(new Vector3(10, 10, 0));
//r.ApplyCentralForce(new Vector3(5, 5, 0));
world.AddConstraint(c);
}
}
Console.WriteLine("Created");
}
//Register a constraint with the simulation
public override void Register(TypedConstraint constraint)
{
if (!_initlialized)
{
InitializeWorld(BulletUpdate);
Debug.LogWarning("A Constraint attempted to register with the simulation before it was initialized!\n" +
"Please check your script execution order");
}
//Check if already registered and warn the user
if (_bulletConstraints.Contains(constraint))
{
Debug.LogError("Specified Constraint has already been registered with the simulation!\n");
return;
}
//Register the Bullet RigidBody with the simulation and list for tracking
_bulletConstraints.Add(constraint);
_dynamicsWorld.AddConstraint(constraint);
}
public void AddJoint(Physics3DJoint joint, Physics3DRigidBody r1, Physics3DRigidBody r2, Components.JointDesc desc)
{
var t0 = MatrixExt.Transform(desc.Position, ToQuaternion(desc.Rotation));
Matrix4x4.Invert(t0, out var res);
Matrix4x4.Invert(MatrixExt.Transform(r1.defaultPosition, r1.defaultRotation), out var t1);
Matrix4x4.Invert(MatrixExt.Transform(r2.defaultPosition, r2.defaultRotation), out var t2);
t1 = t0 * t1;
t2 = t0 * t2;
var j = new Generic6DofSpringConstraint(r1.rigidBody, r2.rigidBody, GetMatrix(t1), GetMatrix(t2), true);
joint.constraint = j;
j.LinearLowerLimit = GetVector3(desc.PositionMinimum);
j.LinearUpperLimit = GetVector3(desc.PositionMaximum);
j.AngularLowerLimit = GetVector3(desc.RotationMinimum);
j.AngularUpperLimit = GetVector3(desc.RotationMaximum);
S(0, desc.PositionSpring.X);
S(1, desc.PositionSpring.Y);
S(2, desc.PositionSpring.Z);
S(3, desc.RotationSpring.X);
S(4, desc.RotationSpring.Y);
S(5, desc.RotationSpring.Z);
void S(int index, float f)
{
if (f != 0.0f)
{
j.EnableSpring(index, true);
j.SetStiffness(index, f);
}
else
{
j.EnableSpring(index, false);
}
}
world.AddConstraint(joint.constraint);
}
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);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
string bulletFile;
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bulletFile = "testFile.bullet";
}
else
{
bulletFile = args[1];
}
fileLoader = new CustomBulletWorldImporter(World);
if (!fileLoader.LoadFile(bulletFile))
{
CollisionShape groundShape = new BoxShape(50);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new Vector3[2] {
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f)
};
float[] radi = new float[2] {
0.3f, 0.4f
};
CollisionShape colShape = new MultiSphereShape(positions, radi);
//CollisionShape colShape = new CapsuleShapeZ(1, 1);
//CollisionShape colShape = new CylinderShapeZ(1, 1, 1);
//CollisionShape colShape = new BoxShape(1);
//CollisionShape colShape = new SphereShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
DefaultSerializer serializer = new DefaultSerializer();
serializer.RegisterNameForObject(ground, "GroundName");
for (i = 0; i < CollisionShapes.Count; i++)
{
serializer.RegisterNameForObject(CollisionShapes[i], "name" + i.ToString());
}
Point2PointConstraint p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2], new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
BulletSharp.DataStream data = serializer.LockBuffer();
byte[] dataBytes = new byte[data.Length];
data.Read(dataBytes, 0, dataBytes.Length);
FileStream file = new FileStream("testFile.bullet", FileMode.Create);
file.Write(dataBytes, 0, dataBytes.Length);
file.Close();
}
}
//Point2point
public IPoint2PointConstraintImp AddPoint2PointConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btP2PConstraint = new Point2PointConstraint(btRigidBodyA, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z));
BtWorld.AddConstraint(btP2PConstraint);
var retval = new Point2PointConstraintImp();
retval._p2pci = btP2PConstraint;
btP2PConstraint.UserObject = retval;
return(retval);
}
public override void AddPoser(Poser poser)
{
var model = poser.Model;
if (_rigidBodies.ContainsKey(poser))
{
return;
}
poser.ResetPosing();
var motionStates = new List <PoserMotionState>();
_motionStates.Add(poser, motionStates);
var rigidBodies = new List <RigidBody>();
_rigidBodies.Add(poser, rigidBodies);
var constraints = new List <Generic6DofSpringConstraint>();
_constraints.Add(poser, constraints);
foreach (var body in model.Rigidbodies)
{
var bodyDimension = body.Dimemsions;
CollisionShape btShape = null;
var btMass = 0.0f;
var btLocalInertia = new Vector3(0.0f, 0.0f, 0.0f);
switch (body.Shape)
{
case MmdRigidBody.RigidBodyShape.RigidShapeSphere:
btShape = new SphereShape(bodyDimension.x);
break;
case MmdRigidBody.RigidBodyShape.RigidShapeBox:
btShape = new BoxShape(new Vector3(bodyDimension.x, bodyDimension.y,
bodyDimension.z));
break;
case MmdRigidBody.RigidBodyShape.RigidShapeCapsule:
btShape = new CapsuleShape(bodyDimension.x, bodyDimension.y);
break;
default:
throw new ArgumentOutOfRangeException();
}
if (body.Type != MmdRigidBody.RigidBodyType.RigidTypeKinematic)
{
btMass = body.Mass;
btShape.CalculateLocalInertia(btMass, out btLocalInertia);
}
var bodyTransform = MathUtil.QuaternionToMatrix4X4(MathUtil.YxzToQuaternion(body.Rotation));
MathUtil.SetTransToMatrix4X4(body.Position, ref bodyTransform);
var btBodyTransform = new Matrix();
MathUtil.UnityMatrixToBulletMatrix(bodyTransform, ref btBodyTransform);
var btMotionState = new PoserMotionState(poser, body, btBodyTransform);
var btInfo =
new RigidBodyConstructionInfo(btMass, btMotionState, btShape, btLocalInertia)
{
LinearDamping = body.TranslateDamp,
AngularDamping = body.RotateDamp,
Restitution = body.Restitution,
Friction = body.Friction
};
var btRigidBody = new RigidBody(btInfo)
{
ActivationState = ActivationState.DisableDeactivation
};
if (body.Type == MmdRigidBody.RigidBodyType.RigidTypeKinematic)
{
btRigidBody.CollisionFlags = btRigidBody.CollisionFlags | CollisionFlags.KinematicObject;
}
_world.AddRigidBody(btRigidBody, (short)(1 << body.CollisionGroup), (short)body.CollisionMask);
#if MMD_PHYSICS_DEBUG
CreateUnityCollisionObjectProxy(btRigidBody, body.Name);
#endif
motionStates.Add(btMotionState);
rigidBodies.Add(btRigidBody);
}
foreach (var constraint in model.Constraints)
{
var btBody1 = rigidBodies[constraint.AssociatedRigidBodyIndex[0]];
var btBody2 = rigidBodies[constraint.AssociatedRigidBodyIndex[1]];
var positionLowLimit = constraint.PositionLowLimit;
var positionHiLimit = constraint.PositionHiLimit;
var rotationLoLimit = constraint.RotationLowLimit;
var rotationHiLimit = constraint.RotationHiLimit;
var constraintTransform = MathUtil.QuaternionToMatrix4X4(MathUtil.YxzToQuaternion(constraint.Rotation));
MathUtil.SetTransToMatrix4X4(constraint.Position, ref constraintTransform);
var btConstraintTransform = new Matrix();
MathUtil.UnityMatrixToBulletMatrix(constraintTransform, ref btConstraintTransform);
var btLocalizationTransform1 = btConstraintTransform * Matrix.Invert(btBody1.WorldTransform); //TODO 验证这个和mmdlib里算出来的是否一样
var btLocalizationTransform2 = btConstraintTransform * Matrix.Invert(btBody2.WorldTransform);
var btConstraint = new Generic6DofSpringConstraint(btBody1, btBody2, btLocalizationTransform1,
btLocalizationTransform2, true)
{
LinearLowerLimit =
new Vector3(positionLowLimit.x, positionLowLimit.y, positionLowLimit.z),
LinearUpperLimit =
new Vector3(positionHiLimit.x, positionHiLimit.y, positionHiLimit.z),
AngularLowerLimit =
new Vector3(rotationLoLimit.x, rotationLoLimit.y, rotationLoLimit.z),
AngularUpperLimit =
new Vector3(rotationHiLimit.x, rotationHiLimit.y, rotationHiLimit.z)
};
for (var j = 0; j < 3; ++j)
{
btConstraint.SetStiffness(j, constraint.SpringTranslate[j]);
btConstraint.EnableSpring(j, true);
btConstraint.SetStiffness(j + 3, constraint.SpringRotate[j]);
btConstraint.EnableSpring(j + 3, true);
}
_world.AddConstraint(btConstraint);
constraints.Add(btConstraint);
}
}
//----------------------------------------------------------------------------------------------------------------
public override void InitializeDemo()
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 0.1f, 50));
IndexedVector3 wheelDimensions = new IndexedVector3(wheelWidth, wheelRadius, wheelRadius);
m_wheelShape = new CylinderShapeX(ref wheelDimensions);
m_collisionShapes.Add(groundShape);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000);
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0);
LocalCreateRigidBody(0f, ref tr, groundShape);
#if true
CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f));
//CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 1.0f));
m_collisionShapes.Add(chassisShape);
CompoundShape compound = new CompoundShape();
m_collisionShapes.Add(compound);
//localTrans effectively shifts the center of mass with respect to the chassis
IndexedMatrix localTrans = IndexedMatrix.CreateTranslation(0, 1, 0);
compound.AddChildShape(ref localTrans, chassisShape);
{
CollisionShape suppShape = new BoxShape(new IndexedVector3(0.5f, 0.1f, 0.5f));
//localTrans effectively shifts the center of mass with respect to the chassis
IndexedMatrix suppLocalTrans = IndexedMatrix.CreateTranslation(0f, 1.0f, 2.5f);
compound.AddChildShape(ref suppLocalTrans, suppShape);
}
tr._origin = IndexedVector3.Zero;
m_carChassis = LocalCreateRigidBody(800f, ref tr, compound);//chassisShape);
#endif
{
#if true
CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
m_collisionShapes.Add(liftShape);
m_liftStartPos = new IndexedVector3(0.0f, 2.5f, 3.05f);
IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos);
m_liftBody = LocalCreateRigidBody(10f, ref liftTrans, liftShape);
IndexedMatrix localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
localA._origin = new IndexedVector3(0f, 1.0f, 3.05f);
IndexedMatrix localB = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
localB._origin = new IndexedVector3(0f, -1.5f, -0.05f);
m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge aFrame", m_liftHinge.GetAFrame());
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge bFrame", m_liftHinge.GetBFrame());
m_liftHinge.SetLimit(0.0f, 0.0f);
m_dynamicsWorld.AddConstraint(m_liftHinge, true);
CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
m_collisionShapes.Add(forkShapeA);
CompoundShape forkCompound = new CompoundShape();
m_collisionShapes.Add(forkCompound);
IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
forkCompound.AddChildShape(ref forkLocalTrans, forkShapeA);
CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
m_collisionShapes.Add(forkShapeB);
forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f);
forkCompound.AddChildShape(ref forkLocalTrans, forkShapeB);
CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
m_collisionShapes.Add(forkShapeC);
forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f);
forkCompound.AddChildShape(ref forkLocalTrans, forkShapeC);
m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f);
IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos);
m_forkBody = LocalCreateRigidBody(5f, ref forkTrans, forkCompound);
localA = IndexedMatrix.Identity;
localB = IndexedMatrix.Identity;
localA._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
localB._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f);
m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true);
m_forkSlider.SetLowerLinLimit(0.1f);
m_forkSlider.SetUpperLinLimit(0.1f);
// m_forkSlider.setLowerAngLimit(-LIFT_EPS);
// m_forkSlider.setUpperAngLimit(LIFT_EPS);
m_forkSlider.SetLowerAngLimit(0.0f);
m_forkSlider.SetUpperAngLimit(0.0f);
m_dynamicsWorld.AddConstraint(m_forkSlider, true);
#endif
#if true
CompoundShape loadCompound = new CompoundShape(false);
m_collisionShapes.Add(loadCompound);
CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f));
m_collisionShapes.Add(loadShapeA);
IndexedMatrix loadTrans = IndexedMatrix.Identity;
loadCompound.AddChildShape(ref loadTrans, loadShapeA);
CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeB);
loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f);
loadCompound.AddChildShape(ref loadTrans, loadShapeB);
CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeC);
loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f);
loadCompound.AddChildShape(ref loadTrans, loadShapeC);
m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f);
loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos);
m_loadBody = LocalCreateRigidBody(4f, ref loadTrans, loadCompound);
#endif
}
//m_carChassis.setDamping(0.2f, 0.2f);
ClientResetScene();
/// create vehicle
{
m_vehicleRayCaster = new DefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new RaycastVehicle(m_tuning, m_carChassis, m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
m_dynamicsWorld.AddVehicle(m_vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
//choose coordinate system
m_vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
IndexedVector3 connectionPointCS0 = IndexedVector3.Zero;
//connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS, connectionHeight, CUBE_HALF_EXTENTS);
//m_vehicle.addWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
//isFrontWheel = false;
connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
for (int i = 0; i < m_vehicle.GetNumWheels(); i++)
{
WheelInfo wheel = m_vehicle.GetWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
SetCameraDistance(36.0f);
SetTexturing(true);
SetShadows(true);
}
public override void InitializeDemo()
{
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000);
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
SetCameraDistance(26f);
//CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f));
CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.Identity;
groundTransform._origin = new IndexedVector3(0, -56, 0);
RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape);
CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
m_collisionShapes.Add(shape);
IndexedMatrix trans = IndexedMatrix.Identity;
trans._origin = new IndexedVector3(0, 20, 0);
float mass = 1f;
#if true
//point to point constraint (ball socket)
//SEEMS OK
{
RigidBody body0 = LocalCreateRigidBody(mass, ref trans, shape);
trans._origin = new IndexedVector3(2 * CUBE_HALF_EXTENTS, 20, 0);
mass = 1f;
RigidBody body1 = null; //localCreateRigidBody( mass,trans,shape);
IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS);
IndexedVector3 axisInA = new IndexedVector3(0, 0, 1);
IndexedVector3 pivotInB = body1 != null?body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA;
IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis *axisInA)) :
body0.GetCenterOfMassTransform()._basis *axisInA;
HingeConstraint hinge = new HingeConstraint(body0, ref pivotInA, ref axisInA, false);
float targetVelocity = 1f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
m_dynamicsWorld.AddConstraint(hinge); //p2p);
hinge.SetDbgDrawSize(5f);
}
#endif
#if true
//create a slider, using the generic D6 constraint
// SEEMS OK
{
mass = 1f;
IndexedVector3 sliderWorldPos = new IndexedVector3(0, 10, 0);
IndexedVector3 sliderAxis = new IndexedVector3(1, 0, 0);
float angle = 0f;//SIMD_RADS_PER_DEG * 10.f;
IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(Quaternion.CreateFromAxisAngle(sliderAxis.ToVector3(), angle));
trans = IndexedMatrix.Identity;
trans._origin = sliderWorldPos;
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = LocalCreateRigidBody(mass, ref trans, shape);
d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
RigidBody fixedBody1 = LocalCreateRigidBody(0, ref trans, null);
m_dynamicsWorld.AddRigidBody(fixedBody1);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.Identity;
frameInB = IndexedMatrix.Identity;
frameInA._origin = new IndexedVector3(0, 5, 0);
frameInB._origin = new IndexedVector3(0, 5, 0);
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, ref frameInA, ref frameInB, useLinearReferenceFrameA);
spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit);
spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
IndexedVector3 angularLower = new IndexedVector3(-1.5f, 0, 0);
IndexedVector3 angularUpper = -angularLower;
spSlider6Dof.SetAngularLowerLimit(ref angularLower);
spSlider6Dof.SetAngularUpperLimit(ref angularUpper);
// slider.setAngularLowerLimit(IndexedVector3(0,0,0));
// slider.setAngularUpperLimit(IndexedVector3(0,0,0));
spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f;
spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f;
m_dynamicsWorld.AddConstraint(spSlider6Dof);
spSlider6Dof.SetDbgDrawSize(5f);
}
#endif
#if true
{ // create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.Add(pDoorShape);
IndexedMatrix doorTrans = IndexedMatrix.Identity;
doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, ref doorTrans, pDoorShape);
pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3(10f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
IndexedVector3 btAxisA = new IndexedVector3(0.0f, 1.0f, 0.0f); // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, ref btPivotA, ref btAxisA, false);
spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f);
m_dynamicsWorld.AddConstraint(spDoorHinge);
spDoorHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a generic 6DOF constraint
// SEEMS OK - But debug draw a bit wrong?
IndexedMatrix tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(10f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
// RigidBody pBodyA = localCreateRigidBody( mass, tr, shape);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
// RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(0f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.CreateTranslation(-5, 0, 0);
frameInB = IndexedMatrix.CreateTranslation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1);
pGen6DOF.SetLinearLowerLimit(ref linearLower);
IndexedVector3 linearUpper = new IndexedVector3(10, 2, 1);
pGen6DOF.SetLinearUpperLimit(ref linearUpper);
// ? why again?
//linearLower = new IndexedVector3(-10,0,0);
//pGen6DOF.setLinearLowerLimit(ref linearLower);
// pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.));
// pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true;
// pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
// pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI));
IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f);
IndexedVector3 angularUpper = -angularLower;
pGen6DOF.SetAngularLowerLimit(ref angularLower);
pGen6DOF.SetAngularUpperLimit(ref angularUpper);
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.));
m_dynamicsWorld.AddConstraint(pGen6DOF, true);
pGen6DOF.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a ConeTwist constraint
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10, 5, 0);
RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.CreateTranslation(-10, -5, 0);
RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape);
IndexedMatrix frameInA, frameInB;
frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInA._origin = new IndexedVector3(0, -5, 0);
frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInB._origin = new IndexedVector3(0, 5, 0);
ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB);
pCT.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 1.0f, 0.3f, 1.0f); // soft limit == hard limit
m_dynamicsWorld.AddConstraint(pCT, true);
pCT.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
// WORKS OK
IndexedMatrix tr = IndexedMatrix.Identity;
RigidBody pBody = LocalCreateRigidBody(1.0f, ref tr, shape);
pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3(10.0f, 0.0f, 0.0f);
IndexedVector3 btAxisA = new IndexedVector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA, false);
// pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld.AddConstraint(pHinge);
pHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(20, 4, 0);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(20, 0, 0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f);
IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f);
pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.SetDbgDrawSize(5.0f);
}
#endif
#if true
// WORKS OK
{ // create a generic 6DOF constraint with springs
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 16f, 0f);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
tr = IndexedMatrix.CreateTranslation(-10, 16, 0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f, 0f, 0f);
IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f, 0f, 0f);
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f));
pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f));
pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f));
pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f));
m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.SetDbgDrawSize(5.0f);
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
}
#endif
#if true
{
// WORKS OK
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 4f, 0f);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(-20f, 0f, 0f);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f);
pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, -2f, 0f);
RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB:
tr = IndexedMatrix.CreateTranslation(-30f, -2f, 0f);
RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f);
IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB);
spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.SetDbgDrawSize(5.0f);
}
#endif
}
public SerializeDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
string bulletFile;
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bulletFile = "testFile.bullet";
}
else
{
bulletFile = args[1];
}
_fileLoader = new CustomBulletWorldImporter(World);
if (!_fileLoader.LoadFile(bulletFile))
{
var groundShape = new BoxShape(50);
_collisionShapes.Add(groundShape);
RigidBody ground = PhysicsHelper.CreateStaticBody(Matrix.Translation(0, -50, 0), groundShape, World);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new[] { new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f) };
float[] radi = new float[2] {
0.3f, 0.4f
};
var colShape = new MultiSphereShape(positions, radi);
//var colShape = new CapsuleShapeZ(1, 1);
//var colShape = new CylinderShapeZ(1, 1, 1);
//var colShape = new BoxShape(1);
//var colShape = new SphereShape(1);
_collisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float startX = StartPosX - NumObjectsX / 2;
float startY = StartPosY;
float startZ = StartPosZ - NumObjectsZ / 2;
for (int y = 0; y < NumObjectsY; y++)
{
for (int x = 0; x < NumObjectsX; x++)
{
for (int z = 0; z < NumObjectsZ; z++)
{
Matrix startTransform = Matrix.Translation(
2 * x + startX,
2 * y + startY,
2 * z + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
using (var serializer = new DefaultSerializer())
{
serializer.RegisterNameForObject(ground, "GroundName");
for (int i = 0; i < _collisionShapes.Count; i++)
{
serializer.RegisterNameForObject(_collisionShapes[i], "name" + i.ToString());
}
var p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2],
new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
byte[] dataBytes = new byte[serializer.CurrentBufferSize];
Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length);
using (var file = new FileStream("testFile.bullet", FileMode.Create))
{
file.Write(dataBytes, 0, dataBytes.Length);
}
}
}
}
public override void InitializeDemo()
{
//string filename = @"E:\users\man\bullet\xna-constraint-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
//maxiterations = 100;
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000,-1000,-1000);
IndexedVector3 worldMax = new IndexedVector3(1000,1000,1000);
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
SetCameraDistance(26f);
//CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f));
CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.Identity;
groundTransform._origin = new IndexedVector3(0, -56, 0);
RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape);
CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
m_collisionShapes.Add(shape);
IndexedMatrix trans = IndexedMatrix.Identity;
trans._origin = new IndexedVector3(0, 20, 0);
float mass = 1f;
#if true
//point to point constraint with a breaking threshold
{
trans = IndexedMatrix.Identity;
trans._origin = new IndexedVector3(1,30,-5);
LocalCreateRigidBody( mass,trans,shape);
trans._origin = new IndexedVector3(0,0,-5);
RigidBody body0 = LocalCreateRigidBody( mass,trans,shape);
trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0);
mass = 1.0f;
RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape);
IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA);
m_dynamicsWorld.AddConstraint(p2p);
p2p.SetBreakingImpulseThreshold(10.2f);
p2p.SetDbgDrawSize(5.0f);
}
#endif
#if true
//point to point constraint (ball socket)
//SEEMS OK
{
//trans = IndexedMatrix.Identity;
RigidBody body0 = LocalCreateRigidBody( mass,ref trans,shape);
trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0);
mass = 1f;
RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape);
IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
IndexedVector3 axisInA = new IndexedVector3(0,0,1);
IndexedVector3 pivotInB = body1 != null ? body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA;
IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis * axisInA)) :
body0.GetCenterOfMassTransform()._basis * axisInA;
#if P2P
TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld.AddConstraint(p2p);
p2p.SetDbgDrawSize(5.0f);
#else
HingeConstraint hinge = new HingeConstraint(body0,ref pivotInA,ref axisInA,false);
float targetVelocity = 1f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld.AddConstraint(hinge);//p2p);
hinge.SetDbgDrawSize(5f);
#endif
}
#endif
#if true
//create a slider, using the generic D6 constraint
// SEEMS OK
{
mass = 1f;
IndexedVector3 sliderWorldPos = new IndexedVector3(0,10,0);
IndexedVector3 sliderAxis = new IndexedVector3(1,0,0);
float angle=0f;//SIMD_RADS_PER_DEG * 10.f;
IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(new IndexedQuaternion(sliderAxis,angle));
trans = IndexedMatrix.Identity;
trans._origin = sliderWorldPos;
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = LocalCreateRigidBody( mass,ref trans,shape);
d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
RigidBody fixedBody1 = LocalCreateRigidBody(0,ref trans,null);
m_dynamicsWorld.AddRigidBody(fixedBody1);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.Identity;
frameInB = IndexedMatrix.Identity;
frameInA._origin = new IndexedVector3(0, 5, 0);
frameInB._origin = new IndexedVector3(0, 5, 0);
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0,ref frameInA,ref frameInB,useLinearReferenceFrameA);
spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit);
spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
IndexedVector3 angularLower = new IndexedVector3(-1.5f,0,0);
IndexedVector3 angularUpper = -angularLower;
spSlider6Dof.SetAngularLowerLimit(ref angularLower);
spSlider6Dof.SetAngularUpperLimit(ref angularUpper);
// slider.setAngularLowerLimit(IndexedVector3(0,0,0));
// slider.setAngularUpperLimit(IndexedVector3(0,0,0));
spSlider6Dof.SetAngularLowerLimit(new IndexedVector3(-MathUtil.SIMD_PI, 0, 0));
spSlider6Dof.SetAngularUpperLimit(new IndexedVector3(1.5f, 0, 0));
spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f;
spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f;
m_dynamicsWorld.AddConstraint(spSlider6Dof);
spSlider6Dof.SetDbgDrawSize(5f);
}
#endif
#if true
{ // create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.Add(pDoorShape);
IndexedMatrix doorTrans = IndexedMatrix.Identity;
doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f);
RigidBody pDoorBody = LocalCreateRigidBody( 1.0f, ref doorTrans, pDoorShape);
pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3( 10f+2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint( pDoorBody, ref btPivotA, ref btAxisA,false );
spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f);
m_dynamicsWorld.AddConstraint(spDoorHinge);
spDoorHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a generic 6DOF constraint
// SEEMS OK - But debug draw a bit wrong?
IndexedMatrix tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(10f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
// RigidBody pBodyA = localCreateRigidBody( mass, tr, shape);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
// RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(0f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.CreateTranslation(-5,0,0);
frameInB = IndexedMatrix.CreateTranslation(5,0,0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1);
pGen6DOF.SetLinearLowerLimit(ref linearLower);
IndexedVector3 linearUpper = new IndexedVector3(10,2,1);
pGen6DOF.SetLinearUpperLimit(ref linearUpper);
// ? why again?
//linearLower = new IndexedVector3(-10,0,0);
//pGen6DOF.setLinearLowerLimit(ref linearLower);
// pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.));
// pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true;
// pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
// pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI));
IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f);
IndexedVector3 angularUpper = -angularLower;
pGen6DOF.SetAngularLowerLimit(ref angularLower);
pGen6DOF.SetAngularUpperLimit(ref angularUpper);
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.));
m_dynamicsWorld.AddConstraint(pGen6DOF, true);
pGen6DOF.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a ConeTwist constraint
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10,5,0);
RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.CreateTranslation(-10,-5,0);
RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape);
IndexedMatrix frameInA, frameInB;
frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInA._origin = new IndexedVector3(0, -5, 0);
frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInB._origin = new IndexedVector3(0, 5, 0);
ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB);
pCT.SetLimit(MathUtil.SIMD_QUARTER_PI * 0.6f, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 0.5f); // soft limit == hard limit
m_dynamicsWorld.AddConstraint(pCT, true);
pCT.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
// WORKS OK
IndexedMatrix tr = IndexedMatrix.Identity;
RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3( 10.0f, 0.0f, 0.0f );
IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 0.0f, 1.0f );
HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA,false);
// pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld.AddConstraint(pHinge);
pHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(20,4,0);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(20,0,0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f);
IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f);
pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.SetDbgDrawSize(5.0f);
}
#endif
#if true
// WORKS OK
{ // create a generic 6DOF constraint with springs
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,16f,0f);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
tr = IndexedMatrix.CreateTranslation(-10,16,0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f,0f,0f);
IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f,0f,0f);
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f));
pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f));
pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f));
pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f));
m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.SetDbgDrawSize(5.0f);
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
}
#endif
#if true
{
// WORKS OK
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,4f,0f);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(-20f,0f,0f);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f);
pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,-2f,0f);
RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB:
tr = IndexedMatrix.CreateTranslation(-30f,-2f,0f);
RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f);
IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB);
spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // 6DOF connected to the world, with motor
IndexedMatrix tr = IndexedMatrix.CreateTranslation(10,-15,0);
RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameB = IndexedMatrix.Identity;
Generic6DofConstraint pGen6Dof = new Generic6DofConstraint(pBody, ref frameB, false );
m_dynamicsWorld.AddConstraint(pGen6Dof);
pGen6Dof.SetDbgDrawSize(5.0f);
pGen6Dof.SetAngularLowerLimit(new IndexedVector3(0,0,0));
pGen6Dof.SetAngularUpperLimit(new IndexedVector3(0,0,0));
pGen6Dof.SetLinearLowerLimit(new IndexedVector3(-10.0f, 0, 0));
pGen6Dof.SetLinearUpperLimit(new IndexedVector3(10.0f, 0, 0));
pGen6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
pGen6Dof.GetTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
pGen6Dof.GetTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
}
#endif
}
/// <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);
}
/// <summary>
/// 剛体に空間上の点への拘束を追加
/// </summary>
/// <param name="body">剛体</param>
/// <param name="pivot">拘束する点</param>
public void AddPointToPointConstraint(RigidBody body, ref Vector3 pivot)
{
dynamicsWorld.AddConstraint(new Point2PointConstraint(body, pivot));
}
