public void SerializeTest()
{
var fileLoader = new BulletWorldImporter(_world);
var objects = _world.CollisionObjectArray;
Assert.True(fileLoader.LoadFile("data\\bsp.bullet"));
Assert.AreEqual(127, objects.Count);
Assert.AreEqual(127, fileLoader.NumCollisionShapes);
Assert.True(objects.All(o => o.CollisionShape is ConvexHullShape));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\concaveCompound.bullet"));
Assert.AreEqual(1, fileLoader.NumBvhs);
Assert.AreEqual(6, fileLoader.NumCollisionShapes);
Assert.AreEqual(11, objects.Count);
Assert.AreEqual(10, objects.Count(o => o.CollisionShape is CompoundShape));
var triangleMeshShape =
objects.Select(o => o.CollisionShape).FirstOrDefault(s => s is BvhTriangleMeshShape) as BvhTriangleMeshShape;
Assert.NotNull(triangleMeshShape);
Assert.False(triangleMeshShape.OwnsBvh);
Assert.NotNull(triangleMeshShape.OptimizedBvh);
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\constraints.bullet"));
Assert.AreEqual(10, fileLoader.NumConstraints);
Assert.AreEqual(10, _world.NumConstraints);
Assert.AreEqual(17, objects.Count);
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\convex_decomposition.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\cylinders.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\multibody.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
/*
Assert.True(fileLoader.LoadFile("data\\r2d2_multibody.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
*/
Assert.True(fileLoader.LoadFile("data\\ragdoll_6dof.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\ragdoll_conetwist.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\slope.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\spider.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
Assert.True(fileLoader.LoadFile("data\\testFile.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
/*
Assert.True(fileLoader.LoadFile("data\\testFileFracture.bullet"));
fileLoader.DeleteAllData();
Assert.AreEqual(0, objects.Count);
*/
}
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();
}
}
/// <summary>
/// Imports a collision shape from a .bullet file.
/// </summary>
/// <param name="bulletfile">Part of the filename. "media/physics/" + name + ".bullet"</param>
/// <remarks>
/// This only imports the first collision shape from the file. If it has multiple, they will be ignored.
/// </remarks>
public CollisionShape ImportCollisionShape(string bulletfile)
{
BulletWorldImporter importer = new BulletWorldImporter(LKernel.GetG<PhysicsMain>().World);
string filename;
if (bulletFiles.TryGetValue(bulletfile, out filename)) {
// load that file
if (importer.LoadFile(filename)) {
Launch.Log(string.Concat("[PhysicsMain] Importing ", bulletfile, "..."));
// these should only have one collision shape in them, so we'll just use that
return importer.GetCollisionShapeByIndex(0);
}
else {
// if the file wasn't able to be loaded, throw an exception
throw new IOException(bulletfile + " was unable to be imported!");
}
}
else
throw new FileNotFoundException("That .bullet file was not found!", bulletfile);
}
