public static void defaultNearCallback(btBroadphasePair collisionPair, btCollisionDispatcher dispatcher, btDispatcherInfo dispatchInfo)
{
BulletPINVOKE.btCollisionDispatcher_defaultNearCallback(btBroadphasePair.getCPtr(collisionPair), btCollisionDispatcher.getCPtr(dispatcher), btDispatcherInfo.getCPtr(dispatchInfo));
if (BulletPINVOKE.SWIGPendingException.Pending)
{
throw BulletPINVOKE.SWIGPendingException.Retrieve();
}
}
protected override void OnCreate(Bundle bundle)
{
base.OnCreate(bundle);
// Set our view from the "main" layout resource
SetContentView(Resource.Layout.Main);
btBroadphaseInterface broadphase = new btDbvtBroadphase();
btDefaultCollisionConfiguration collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher dispatcher = new btCollisionDispatcher(collisionConfiguration);
btSequentialImpulseConstraintSolver solver = new btSequentialImpulseConstraintSolver();
btDiscreteDynamicsWorld dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
dynamicsWorld.setGravity(new btVector3(0, -10, 0));
btCollisionShape groundShape = new btStaticPlaneShape(new btVector3(0, 1, 0), 1);
btDefaultMotionState groundMotionState = new btDefaultMotionState(new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, -1, 0)));
btRigidBody.btRigidBodyConstructionInfo groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo(0, groundMotionState, groundShape, new btVector3(0, 0, 0));
btRigidBody groundRigidBody = new btRigidBody(groundRigidBodyCI);
dynamicsWorld.addRigidBody(groundRigidBody);
btDefaultMotionState fallMotionState = new btDefaultMotionState(new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, 50, 0)));
btVector3 fallInertia = new btVector3(0, 0, 0);
btCollisionShape fallShape = new btSphereShape(1);
fallShape.calculateLocalInertia(1, fallInertia);
btRigidBody.btRigidBodyConstructionInfo fallRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo(1, fallMotionState, fallShape, fallInertia);
btRigidBody fallRigidBody = new btRigidBody(fallRigidBodyCI);
dynamicsWorld.addRigidBody(fallRigidBody);
for (int i = 0; i < 300; i++)
{
dynamicsWorld.stepSimulation(1 / 60.0f, 10);
btTransform trans = new btTransform();
fallRigidBody.getMotionState().getWorldTransform(trans);
Console.WriteLine("sphere height: " + trans.getOrigin().getY());
}
}
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
mesher = meshmerizer;
// m_config = config;
/*
* if (Environment.OSVersion.Platform == PlatformID.Unix)
* {
* m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
* Thread.Sleep(5000);
* Environment.Exit(0);
* }
*/
m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_solver = new btSequentialImpulseConstraintSolver();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_world.setGravity(m_gravity);
EnableCollisionInterface();
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(btCollisionDispatcher obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
public override void PostInitialise(IConfigSource config)
{
//m_config = config;
if (config != null)
{
IConfig physicsconfig = config.Configs["BulletPhysicsSettings"];
if (physicsconfig != null)
{
gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);
avDensity = physicsconfig.GetFloat("av_density", 80f);
avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);
//contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);
geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 4);
geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);
bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);
meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);
if (Environment.OSVersion.Platform == PlatformID.Unix)
{
avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 65f);
avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 25);
avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 2000000f);
bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 2f);
}
else
{
avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 65f);
avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 25);
avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 2000000f);
bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 2f);
}
forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
}
}
lock (BulletLock)
{
worldAabbMax = new btVector3(m_region.RegionSizeX + 10f, m_region.RegionSizeY + 10f, m_region.RegionSizeZ);
m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_solver = new btSequentialImpulseConstraintSolver();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_world.setGravity(m_gravity);
EnableCollisionInterface();
}
}
//! Use this function for register the algorithm externally static void registerAlgorithm(btCollisionDispatcher * dispatcher);
static void Main(string[] args)
{
btVector3 testvec = new btVector3(-2, 1, 0);
Console.WriteLine(String.Format("Original: {0}", testvec.testStr()));
btVector3 testvec2 = testvec.absolute();
Console.WriteLine(String.Format("absolute: {0}", testvec2.testStr()));
Console.WriteLine(String.Format("angle:{0}", testvec.angle(testvec2)));
Console.WriteLine(String.Format("closestAxis(orig):{0}", testvec.closestAxis()));
btVector3 testvec3 = testvec.cross(testvec2);
Console.WriteLine(String.Format("cross: {0}", testvec3.testStr()));
Console.WriteLine(String.Format("distance: {0}", testvec.distance(testvec2)));
Console.WriteLine(String.Format("distance2: {0}", testvec.distance2(testvec2)));
Console.WriteLine(String.Format("dot: {0}", testvec.dot(testvec2)));
Console.WriteLine(String.Format("furthestAxis(orig): {0}", testvec.furthestAxis()));
btVector3 testvec4 = testvec.normalized();
Console.WriteLine(String.Format("normalized: {0}", testvec4.testStr()));
testvec4.setInterpolate3(testvec, testvec2, 0.5f);
Console.WriteLine(String.Format("interpolate3: {0}", testvec4.testStr()));
testvec4.setValue(7f, -0.09f, 2.5f);
Console.WriteLine(String.Format("setvec: {0}", testvec4.testStr()));
testvec4.setX(5.0f);
testvec4.setY(-0.25f);
testvec4.setZ(90f);
testvec.setValue(0, 0, -1024);
testvec2.setValue(256, 256, 1024);
Console.WriteLine(String.Format("setvecIndividual: {0}", testvec4.testStr()));
btAxisSweep3 testbtAxisSweep3 = new btAxisSweep3(testvec, testvec2, 50);
btDefaultCollisionConfiguration colconfig = new btDefaultCollisionConfiguration();
btCollisionDispatcher coldisp = new btCollisionDispatcher(colconfig);
btSequentialImpulseConstraintSolver seqimpconssol = new btSequentialImpulseConstraintSolver();
btDiscreteDynamicsWorld dynamicsWorld = new btDiscreteDynamicsWorld(coldisp, testbtAxisSweep3, seqimpconssol,
colconfig);
dynamicsWorld.setGravity(new btVector3(0, 0, -9.87f));
Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
btQuaternion testquat = new btQuaternion(50, 0, 0, 1);
btQuaternion testquatnorm = testquat.normalized();
Console.WriteLine(String.Format("testquat: {0}", testquat.testStr()));
Console.WriteLine(String.Format("testquatnormalize: {0}", testquatnorm.testStr()));
Console.WriteLine(String.Format("testquatLength: {0}", testquat.length()));
Console.WriteLine(String.Format("testquatnormalizeLength: {0}", testquatnorm.length()));
float[] heightdata = new float[256 * 256];
for (int j = 0; j < 256 * 256; j++)
{
if (j % 2 == 0)
{
heightdata[j] = 21f;
}
else
{
heightdata[j] = 28f;
}
}
btHeightfieldTerrainShape obj = new btHeightfieldTerrainShape(256, 256, heightdata, 1.0f, 0, 256,
(int)btHeightfieldTerrainShape.UPAxis.Z,
(int)btHeightfieldTerrainShape.PHY_ScalarType.
PHY_FLOAT, false);
btCapsuleShape cap = new btCapsuleShape(0.23f, 3);
btTriangleMesh testMesh = new btTriangleMesh(true, false);
testMesh.addTriangle(new btVector3(1, 0, 1), new btVector3(1, 0, -1), new btVector3(-1, 0, -1), false);
testMesh.addTriangle(new btVector3(1, -1, 1), new btVector3(1, -1, -1), new btVector3(-1, -1, -1), false);
testMesh.addTriangle(new btVector3(1, -1, 1), new btVector3(1, 0, 1), new btVector3(-1, -1, -1), false);
testMesh.addTriangle(new btVector3(1, 0, 1), new btVector3(1, -1, -1), new btVector3(-1, 0, -1), false);
testMesh.addTriangle(new btVector3(1, -1, -1), new btVector3(-1, 0, -1), new btVector3(-1, -1, -1), false);
testMesh.addTriangle(new btVector3(1, -1, -1), new btVector3(1, 0, -1), new btVector3(-1, 0, -1), false);
testMesh.addTriangle(new btVector3(1, 0, 1), new btVector3(1, -1, -1), new btVector3(1, 0, -1), false);
testMesh.addTriangle(new btVector3(1, -1, 1), new btVector3(1, -1, -1), new btVector3(1, 0, 1), false);
btGImpactMeshShape meshtest = new btGImpactMeshShape(testMesh);
meshtest.updateBound();
btRigidBody groundbody = new btRigidBody(0,
new btDefaultMotionState(
new btTransform(new btQuaternion(0, 0, 0, 1),
new btVector3(128, 128, 256f / 2f))), obj,
new btVector3(0, 0, 0));
btRigidBody capbody = new btRigidBody(200,
new btDefaultMotionState(
new btTransform(new btQuaternion(0, 0, 0, 1),
new btVector3(128, 128, 25))), cap,
new btVector3(0, 0, 0));
btRigidBody meshbody = new btRigidBody(200,
new btDefaultMotionState(
new btTransform(new btQuaternion(0, 0, 0, 1),
new btVector3(128, 128, 29))), meshtest,
new btVector3(0, 0, 0));
btRigidBodyConstructionInfo constructioninfotest = new btRigidBodyConstructionInfo();
constructioninfotest.m_collisionShape = new btBoxShape(new btVector3(0.5f, 0.5f, 0.5f));
constructioninfotest.m_localInertia = new btVector3(0, 0, 0);
constructioninfotest.m_motionState = new btDefaultMotionState(new btTransform(new btQuaternion(0.3f, -0.4f, 0.8f, 0.1f), new btVector3(128.5f, 128, 25)),
new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, 0.25f, 0)));
constructioninfotest.m_startWorldTransform = new btTransform(new btQuaternion(0, 0, 0, 1), new btVector3(0, 0, 0));
constructioninfotest.m_mass = 2000000;
constructioninfotest.m_linearDamping = 0;
constructioninfotest.m_angularDamping = 0;
constructioninfotest.m_friction = 0.1f;
constructioninfotest.m_restitution = 0;
constructioninfotest.m_linearSleepingThreshold = 0.8f;
constructioninfotest.m_angularSleepingThreshold = 1;
constructioninfotest.m_additionalDamping = false;
constructioninfotest.m_additionalDampingFactor = 0.005f;
constructioninfotest.m_additionalLinearDampingThresholdSqr = 0.01f;
constructioninfotest.m_additionalAngularDampingThresholdSqr = 0.01f;
constructioninfotest.m_additionalAngularDampingFactor = 0.01f;
constructioninfotest.commit();
btGImpactCollisionAlgorithm.registerAlgorithm(coldisp);
btRigidBody cubetest = new btRigidBody(constructioninfotest);
dynamicsWorld.addRigidBody(groundbody);
dynamicsWorld.addRigidBody(cubetest);
dynamicsWorld.addRigidBody(capbody);
dynamicsWorld.addRigidBody(meshbody);
int frame = 0;
for (int i = 0; i < 26; i++)
{
int frames = dynamicsWorld.stepSimulation(((i % 60) / 60f), 10, (1f / 60));
frame += frames;
Console.WriteLine(String.Format("Cube: frame {0} frames: {1} POS:{2}, quat:{3}", frame, frames, cubetest.getInterpolationWorldTransform().getOrigin().testStr(), cubetest.getWorldTransform().getRotation().testStr()));
Console.WriteLine(String.Format("Cap: frame {0} frames: {1} POS:{2}, quat:{3}", frame, frames, capbody.getInterpolationWorldTransform().getOrigin().testStr(), capbody.getWorldTransform().getRotation().testStr()));
Console.WriteLine(String.Format("Mesh: frame {0} frames: {1} POS:{2}, quat:{3}", frame, frames, meshbody.getInterpolationWorldTransform().getOrigin().testStr(), meshbody.getWorldTransform().getRotation().testStr()));
}
dynamicsWorld.removeRigidBody(meshbody);
dynamicsWorld.removeRigidBody(capbody);
dynamicsWorld.removeRigidBody(cubetest);
dynamicsWorld.removeRigidBody(groundbody);
cubetest.Dispose();
groundbody.Dispose();
capbody.Dispose();
cap.Dispose();
obj.Dispose();
testbtAxisSweep3.Dispose();
dynamicsWorld.Dispose();
coldisp.Dispose();
colconfig.Dispose();
seqimpconssol.Dispose();
testvec.Dispose();
testvec2.Dispose();
testvec3.Dispose();
testvec4.Dispose();
}
public static void registerAlgorithm(btCollisionDispatcher dispatcher)
{
dispatcher.RegisterGImpact();
}
