private void AddVertexGraph(VertexGraph graph)
{
Individual = graph.Vertices.Select(vertex =>
{
var mass = 10000;
var motionState = new DefaultMotionState();
var collisionShape = new BoxShape(1);
var info = new RigidBodyConstructionInfo(mass, motionState, collisionShape);
var rigidBody = new VertexBoundRigidBody(vertex, info);
return rigidBody;
}).ToList();
foreach (var body in Individual)
{
// Select the 3 nearest vertices, excluding this one
var nearest = Individual.OrderBy(a => a.Binding.DistanceTo(body.Binding))
.Where(a => a != body)
.Take(3);
foreach (var other in nearest)
{
// TODO: What are these matrices supposed to be?
var frameInA = body.MotionState.WorldTransform;
var frameInB = other.MotionState.WorldTransform;
// TODO: How do you specify the spring's springiness?
var constraint = new Generic6DofSpringConstraint(body, other, frameInA, frameInB, true);
// TODO: Now how do I apply this to the bodies?
body.AddConstraintRef(constraint);
other.AddConstraintRef(constraint);
}
}
}
public unsafe static void GetLocalInertia(this RigidBodyConstructionInfo obj, out OpenTK.Vector3 value)
{
fixed(OpenTK.Vector3 *valuePtr = &value)
{
*(BulletSharp.Math.Vector3 *)valuePtr = obj.LocalInertia;
}
}
public unsafe static void SetStartWorldTransform(this RigidBodyConstructionInfo obj, ref OpenTK.Matrix4 value)
{
fixed(OpenTK.Matrix4 *valuePtr = &value)
{
obj.StartWorldTransform = *(BulletSharp.Math.Matrix *)valuePtr;
}
}
public Physics()
{
// 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);
CollisionShapes = new List<CollisionShape>();
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(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.CreateTranslation(
new Vector3(
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);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
public void SetUpBulletPhysicsBody(float mass, BulletSharp.MotionState motionState, BulletSharp.CollisionShape collisionShape, Vector3 localInertia)
{
BulletSharpPhysics.RigidBodyConstructionInfo rbInfo =
new BulletSharpPhysics.RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
RigidBody = new BulletSharpPhysics.RigidBody(rbInfo);
bulletPhysics.World.AddRigidBody(RigidBody, GetCollisionFlags(), GetCollisionMask());
}
static RaycastVehicle()
{
using (var ci = new RigidBodyConstructionInfo(0, null, null))
{
fixedBody = new RigidBody(ci);
fixedBody.SetMassProps(0, Vector3.Zero);
}
}
public void SetUpBulletPhysicsBody(float mass, BulletSharp.MotionState motionState, BulletSharp.CollisionShape collisionShape, Vector3 localInertia)
{
BulletSharpPhysics.RigidBodyConstructionInfo rbInfo =
new BulletSharpPhysics.RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
RigidBody = new BulletSharpPhysics.RigidBody(rbInfo);
bulletPhysics.World.AddRigidBody(RigidBody,GetCollisionFlags(),GetCollisionMask());
}
/// <summary>
/// Applies friction, bounciness, angular damping, and linear damping
/// </summary>
public void ApplyMaterial(RigidBodyConstructionInfo info, string material)
{
PhysicsMaterial mat = GetMaterial(material);
info.Friction = mat.Friction;
info.Restitution = mat.Bounciness;
info.AngularDamping = mat.AngularDamping;
info.LinearDamping = mat.LinearDamping;
}
public RigidBody(RigidBodyConstructionInfo constructionInfo)
: base(ConstructionInfo.Null)
{
IntPtr native = btRigidBody_new(constructionInfo.Native);
InitializeCollisionObject(native);
_collisionShape = constructionInfo.CollisionShape;
_motionState = constructionInfo.MotionState;
}
public static RigidBody GetFixedBody()
{
if (_fixedBody == null)
{
using (var cinfo = new RigidBodyConstructionInfo(0, null, null))
{
_fixedBody = new RigidBody(cinfo);
_fixedBody.SetMassProps(0, Vector3.Zero);
}
}
return(_fixedBody);
}
public void AlignmentTest()
{
const float mass = 1.0f;
for (int i = 0; i < 100; i++)
{
// RigidBodyConstructionInfo without the optional localInertia parameter will
// cause the default value to be passed, which is not aligned to 16 bytes in C++/CLI.
// If BulletSharp doesn't explicitly pass an aligned value and SSE is used,
// an AccessViolationException occurs.
var info = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), boxShape); // , Vector3.Zero
info.Dispose();
}
}
RigidBody CreateBody(float mass, CollisionShape shape, Vector3 offset)
{
using (var info = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), shape, Vector3.Zero))
{
if (mass != 0.0f)
{
info.LocalInertia = info.CollisionShape.CalculateLocalInertia(mass);
}
var collisionObject = new RigidBody(info);
collisionObject.Translate(offset);
world.AddRigidBody(collisionObject);
return collisionObject;
}
}
protected RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
body = new RigidBody(rbInfo);
return body;
}
static RigidBody CreateBody(float mass, CollisionShape shape, Vector3 offset)
{
var constInfo = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), shape, Vector3.Zero);
if (mass != 0.0f)
{
constInfo.LocalInertia = constInfo.CollisionShape.CalculateLocalInertia(mass);
}
var collisionObject = new RigidBody(constInfo);
collisionObject.Translate(offset);
world.AddRigidBody(collisionObject);
AddToDisposeQueue(constInfo);
AddToDisposeQueue(constInfo.MotionState);
AddToDisposeQueue(collisionObject);
AddToDisposeQueue(shape);
return collisionObject;
}
BulletSharp.RigidBody createRigidBody (BulletSharp.CollisionShape shape, UnityEngine.Transform transform, float mass)
{
Matrix4x4 unityMatrix = Matrix4x4.TRS (transform.position, transform.rotation, UnityEngine.Vector3.one);
BulletSharp.Matrix bulletMatrix = new BulletSharp.Matrix (
unityMatrix.m00, unityMatrix.m10, unityMatrix.m20, unityMatrix.m30,
unityMatrix.m01, unityMatrix.m11, unityMatrix.m21, unityMatrix.m31,
unityMatrix.m02, unityMatrix.m12, unityMatrix.m22, unityMatrix.m32,
unityMatrix.m03, unityMatrix.m13, unityMatrix.m23, unityMatrix.m33);
BulletSharp.MotionState motionState = new BulletSharp.DefaultMotionState (bulletMatrix);
BulletSharp.Vector3 inertia = new BulletSharp.Vector3 (0f, 0f, 0f);
if (!Mathf.Approximately (mass, 0f)) {
shape.CalculateLocalInertia (mass, out inertia);
}
BulletSharp.RigidBodyConstructionInfo myRigidBodyCI = new BulletSharp.RigidBodyConstructionInfo (mass, motionState, shape, inertia);
BulletSharp.RigidBody myRigidBody = new BulletSharp.RigidBody (myRigidBodyCI);
myRigidBodyCI.Dispose ();
return myRigidBody;
}
public override RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
body.ContactProcessingThreshold = defaultContactProcessingThreshold;
body.WorldTransform = startTransform;
World.AddRigidBody(body);
return body;
}
public RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBody body;
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia))
{
body = new RigidBody(rbInfo);
}
ownerWorld.AddRigidBody(body);
return body;
}
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);
// create the ground
CollisionShape groundShape = new BoxShape(20, 50, 10);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0,
Matrix.RotationAxis(new Vector3(0, 0, 1), (float)Math.PI * 0.03f) * Matrix.Translation(0, -50, 0),
groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
groundShape = new BoxShape(100, 50, 100);
CollisionShapes.Add(groundShape);
ground = LocalCreateRigidBody(0, Matrix.Translation(0, -54, 0), groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
CollisionShape[] colShapes = {
new SphereShape(1),
new CapsuleShape(0.5f,1),
new CapsuleShapeX(0.5f,1),
new CapsuleShapeZ(0.5f,1),
new ConeShape(0.5f,1),
new ConeShapeX(0.5f,1),
new ConeShapeZ(0.5f,1),
new CylinderShape(new Vector3(0.5f,1,0.5f)),
new CylinderShapeX(new Vector3(1,0.5f,0.5f)),
new CylinderShapeZ(new Vector3(0.5f,0.5f,1)),
};
foreach (var collisionShape in colShapes)
{
CollisionShapes.Add(collisionShape);
}
const float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, null, localInertia);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
int shapeIndex = 0;
for (int k = 0; k < ArraySizeY; k++)
{
for (int i = 0; i < ArraySizeX; i++)
{
for (int j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + startX,
2 * k + startY + 20,
2 * j + startZ
);
shapeIndex++;
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
rbInfo.CollisionShape = colShapes[shapeIndex % colShapes.Length];
RigidBody body = new RigidBody(rbInfo);
body.Friction = 1;
body.RollingFriction = 0.3f;
body.SetAnisotropicFriction(colShape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.RollingFriction);
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
public static OpenTK.Vector3 GetLocalInertia(this RigidBodyConstructionInfo obj)
{
OpenTK.Vector3 value;
GetLocalInertia(obj, out value);
return(value);
}
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);
// create the ground
BoxShape groundShape = new BoxShape(50, 1, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
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 + startX,
2 * k + startY,
2 * j + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new MultiBodyConstraintSolver();
World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
BoxShape groundShape = new BoxShape(50, 50, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const 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(
3 * i + start_x,
3 * k + start_y,
3 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia))
{
var body = new RigidBody(rbInfo);
World.AddRigidBody(body);
}
}
}
}
var settings = new MultiBodySettings()
{
BasePosition = new Vector3(60, 29.5f, -2) * Scaling,
CanSleep = true,
CreateConstraints = true,
DisableParentCollision = true, // the self-collision has conflicting/non-resolvable contact normals
IsFixedBase = false,
NumLinks = 2,
UsePrismatic = true
};
var multiBodyA = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.NumLinks = 10;
settings.BasePosition = new Vector3(0, 29.5f, -settings.NumLinks * 4);
settings.IsFixedBase = true;
settings.UsePrismatic = false;
var multiBodyB = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.BasePosition = new Vector3(-20 * Scaling, 29.5f * Scaling, -settings.NumLinks * 4 * Scaling);
settings.IsFixedBase = false;
var multiBodyC = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.BasePosition = new Vector3(-20, 9.5f, -settings.NumLinks * 4);
settings.IsFixedBase = true;
settings.UsePrismatic = true;
settings.DisableParentCollision = true;
var multiBodyPrim = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
}
/*private void MyTickCallBack(ManifoldPoint cp, CollisionObjectWrapper colobj0wrap, int partid0, int index0, CollisionObjectWrapper colobj1wrap, int partid1, int index1)
{
Debug.WriteLine("MyTickCallBack");
int numManifolds = BtWorld.Dispatcher.NumManifolds;
RigidBodyImp myRb;
//Debug.WriteLine("numManifolds: " + numManifolds);
for (int i = 0; i < numManifolds; i++)
{
PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i);
int numContacts = contactManifold.NumContacts;
if (numContacts > 0)
{
CollisionObject obA = (CollisionObject) contactManifold.Body0;
CollisionObject obB = (CollisionObject) contactManifold.Body1;
// Debug.WriteLine(numContacts);
var pnA = obA.UserObject;
for (int j = 0; j < numContacts; j++)
{
ManifoldPoint pt = contactManifold.GetContactPoint(j);
}
}
}
}*/
public IRigidBodyImp AddRigidBody(float mass, float3 worldTransform, float3 orientation, ICollisionShapeImp colShape/*, float3 intertia*/)
{
// Use bullet to do what needs to be done:
var btMatrix = Matrix.RotationX(orientation.x)
* Matrix.RotationY(orientation.y)
* Matrix.RotationZ(orientation.z)
* Matrix.Translation(worldTransform.x, worldTransform.y, worldTransform.z);
var btMotionState = new DefaultMotionState(btMatrix);
var shapeType = colShape.GetType().ToString();
CollisionShape btColShape;
var isStatic = false;
switch (shapeType)
{
//Primitives
case "Fusee.Engine.BoxShapeImp":
var box = (BoxShapeImp) colShape;
var btBoxHalfExtents = Translater.Float3ToBtVector3(box.HalfExtents);
btColShape = new BoxShape(btBoxHalfExtents);
break;
case "Fusee.Engine.CapsuleShapeImp":
var capsule = (CapsuleShapeImp) colShape;
btColShape = new CapsuleShape(capsule.Radius, capsule.HalfHeight);
break;
case "Fusee.Engine.ConeShapeImp":
var cone = (ConeShapeImp) colShape;
btColShape = new ConeShape(cone.Radius, cone.Height);
break;
case "Fusee.Engine.CylinderShapeImp":
var cylinider = (CylinderShapeImp) colShape;
var btCylinderHalfExtents = Translater.Float3ToBtVector3(cylinider.HalfExtents);
btColShape = new CylinderShape(btCylinderHalfExtents);
break;
case "Fusee.Engine.MultiSphereShapeImp":
var multiSphere = (MultiSphereShapeImp) colShape;
var btPositions = new Vector3[multiSphere.SphereCount];
var btRadi = new float[multiSphere.SphereCount];
for (int i = 0; i < multiSphere.SphereCount; i++)
{
var pos = Translater.Float3ToBtVector3(multiSphere.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = multiSphere.GetSphereRadius(i);
}
btColShape = new MultiSphereShape(btPositions, btRadi);
break;
case "Fusee.Engine.SphereShapeImp":
var sphere = (SphereShapeImp) colShape;
var btRadius = sphere.Radius;
btColShape = new SphereShape(btRadius);
break;
//Misc
case "Fusee.Engine.CompoundShapeImp":
var compShape = (CompoundShapeImp) colShape;
btColShape = new CompoundShape(true);
btColShape = compShape.BtCompoundShape;
break;
case "Fusee.Engine.EmptyShapeImp":
btColShape = new EmptyShape();
break;
//Meshes
case "Fusee.Engine.ConvexHullShapeImp":
var convHull = (ConvexHullShapeImp) colShape;
var btPoints= new Vector3[convHull.GetNumPoints()];
for (int i = 0; i < convHull.GetNumPoints(); i++)
{
var point = convHull.GetScaledPoint(i);
btPoints[i] = Translater.Float3ToBtVector3(point);
}
btColShape = new ConvexHullShape(btPoints);
//btColShape.LocalScaling = new Vector3(3,3,3);
break;
case "Fusee.Engine.StaticPlaneShapeImp":
var staticPlane = (StaticPlaneShapeImp) colShape;
Debug.WriteLine("staticplane: " + staticPlane.Margin);
var btNormal = Translater.Float3ToBtVector3(staticPlane.PlaneNormal);
btColShape = new StaticPlaneShape(btNormal, staticPlane.PlaneConstant);
isStatic = true;
//btColShape.Margin = 0.04f;
//Debug.WriteLine("btColshape" + btColShape.Margin);
break;
case "Fusee.Engine.GImpactMeshShapeImp":
var gImpMesh = (GImpactMeshShapeImp)colShape;
gImpMesh.BtGImpactMeshShape.UpdateBound();
var btGimp = new GImpactMeshShape(gImpMesh.BtGImpactMeshShape.MeshInterface);
btGimp.UpdateBound();
btColShape = btGimp;
break;
//Default
default:
Debug.WriteLine("defaultImp");
btColShape = new EmptyShape();
break;
}
var btLocalInertia = btColShape.CalculateLocalInertia(mass);
// btLocalInertia *= (10.0f*10);
RigidBodyConstructionInfo btRbcInfo = new RigidBodyConstructionInfo(mass, btMotionState, btColShape,
btLocalInertia);
var btRigidBody = new RigidBody(btRbcInfo);
btRigidBody.Restitution = 0.2f;
btRigidBody.Friction = 0.2f;
btRigidBody.CollisionFlags = CollisionFlags.CustomMaterialCallback;
BtWorld.AddRigidBody(btRigidBody);
btRbcInfo.Dispose();
var retval = new RigidBodyImp();
retval._rbi = btRigidBody;
btRigidBody.UserObject = retval;
return retval;
}
public static void SetStartWorldTransform(this RigidBodyConstructionInfo obj, OpenTK.Matrix4 value)
{
SetStartWorldTransform(obj, ref value);
}
float wheelFriction = 1000; //BT_LARGE_FLOAT;
#endregion Fields
#region Methods
public override void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.CanCreate(i))
{
RaycastVehicle vehicle;
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
CompoundShape compound = new CompoundShape();
//List<AbstractRigidShapeDefinition> children = new List<AbstractRigidShapeDefinition>();
CollisionShape chassisShape = shapedef.GetShape(sc);
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
float mass = shapedef.Mass;
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
chassisShape.CalculateLocalInertia(mass, out localInertia);
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, compound, localInertia);
RigidBody carChassis = new RigidBody(rbInfo);
BodyCustomData bd = new BodyCustomData();
carChassis.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
this.FWorld[0].Register(carChassis);
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
VehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(this.FWorld[0].World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
this.FWorld[0].World.AddAction(vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
FOutVehicle.SliceCount = 1;
FOutVehicle[0] = vehicle;
}
}
}
void AddBoxes()
{
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = 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(
3 * i + startX,
3 * k + startY,
3 * j + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia))
{
var body = new RigidBody(rbInfo);
World.AddRigidBody(body);
}
}
}
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConf);
VoronoiSimplexSolver simplex = new VoronoiSimplexSolver();
MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver();
Convex2DConvex2DAlgorithm.CreateFunc convexAlgo2d = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc());
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(150, 7, 150);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
float u = 0.96f;
Vector3[] points = { new Vector3(0, u, 0), new Vector3(-u, -u, 0), new Vector3(u, -u, 0) };
ConvexShape childShape0 = new BoxShape(1, 1, Depth);
ConvexShape colShape = new Convex2DShape(childShape0);
ConvexShape childShape1 = new ConvexHullShape(points);
ConvexShape colShape2 = new Convex2DShape(childShape1);
ConvexShape childShape2 = new CylinderShapeZ(1, 1, Depth);
ConvexShape colShape3 = new Convex2DShape(childShape2);
CollisionShapes.Add(colShape);
CollisionShapes.Add(colShape2);
CollisionShapes.Add(colShape3);
CollisionShapes.Add(childShape0);
CollisionShapes.Add(childShape1);
CollisionShapes.Add(childShape2);
colShape.Margin = 0.03f;
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
Matrix startTransform;
Vector3 x = new Vector3(-ArraySizeX, 8, -20);
Vector3 y = Vector3.Zero;
Vector3 deltaX = new Vector3(1, 2, 0);
Vector3 deltaY = new Vector3(2, 0, 0);
int i, j;
for (i = 0; i < ArraySizeY; i++)
{
y = x;
for (j = 0; j < ArraySizeX; j++)
{
startTransform = Matrix.Translation(y - new Vector3(-10, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo;
switch (j % 3)
{
case 0:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
break;
case 1:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape3, localInertia);
break;
default:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape2, localInertia);
break;
}
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
//body.ActivationState = ActivationState.IslandSleeping;
body.LinearFactor = new Vector3(1, 1, 0);
body.AngularFactor = new Vector3(0, 0, 1);
World.AddRigidBody(body);
y += deltaY;
}
x += deltaX;
}
}
public virtual RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
if (isKinematic) {
body.CollisionFlags = body.CollisionFlags | CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
_world.AddRigidBody(body);
return body;
}
public static void SetLocalInertia(this RigidBodyConstructionInfo obj, OpenTK.Vector3 value)
{
SetLocalInertia(obj, ref value);
}
public bool Build(
FeatureUpdateContext updateContext,
[ParentModel] Point[] Points,
double Size)
{
//-- Upkeep
//--
if( physics == null )
{
physics = new Sutd.Physics( );
}
else
{
Regenerate( );
physics.Reset( );
}
//-- Set Gravity
//--
physics.world.Gravity = new Vec3D( 0, 0, -10 );
//-- Create Ground
//--
var body = new Sutd.Physics.Body( );
{
//-- Define Infinite Plane
//--
var shape = new StaticPlaneShape( new Vec3D( 0, 0, 1 ), 0 );
physics.shapes.Add( shape );
//-- Set Physics State / Bullet
//-- Fixed bodies have zero mass and inertia
//--
var param = new RigidBodyConstructionInfo(
mass: 0.0f, motionState: new DefaultMotionState( Mat4D.Identity ),
collisionShape: shape, localInertia: Vec3D.Zero );
body.rigid = new RigidBody( param );
param.Dispose( );
physics.world.AddRigidBody( body.rigid );
body.matrix = body.rigid.WorldTransform;
//-- Set Visual State / Rhino
//-- Create a very thin but wide finite box
//--
var transform = DTransform3d.Identity;
AddBox( transform, new DVector3d( 50, 50, 0.01 ) );
body.solid = geometry[geometry.Count - 1];
}
physics.bodies.Add( body );
//-- Create 3D Grid of Boxes
//--
float half = (float)( Size * 0.5 );
foreach( var point in Points )
{
body = new Sutd.Physics.Body( );
{
//-- Collision Shape
//--
var shape = new BoxShape( half, half, half );
physics.shapes.Add( shape );
//-- Mass Properties
//--
var inertia = Vec3D.Zero;
shape.CalculateLocalInertia( mass: 1.0f, inertia: out inertia );
//-- Physics State
//--
var param = new RigidBodyConstructionInfo(
mass: 1.0f, motionState: new DefaultMotionState( Mat4D.Identity ),
collisionShape: shape, localInertia: inertia );
body.rigid = new RigidBody( param );
param.Dispose( );
physics.world.AddRigidBody( body.rigid );
body.rigid.Translate( new Vec3D( (float)point.X, (float)point.Y, (float)point.Z ) );
body.matrix = body.rigid.WorldTransform;
//-- Visual State
//--
var transform = DTransform3d.Identity;
transform.Translation = point.DPoint3d;
AddBox( transform, new DVector3d( Size, Size, Size ) );
body.solid = geometry[geometry.Count - 1];
}
physics.bodies.Add( body );
}
return true;
}
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();
}
}
public RigidBody(RigidBodyConstructionInfo constructionInfo)
: base(btRigidBody_new(constructionInfo._native))
{
_collisionShape = constructionInfo.CollisionShape;
_motionState = constructionInfo.MotionState;
}
public static OpenTK.Matrix4 GetStartWorldTransform(this RigidBodyConstructionInfo obj)
{
OpenTK.Matrix4 value;
GetStartWorldTransform(obj, out value);
return(value);
}
static RaycastVehicle()
{
using (var ci = new RigidBodyConstructionInfo(0, null, null))
{
fixedBody = new RigidBody(ci);
fixedBody.SetMassProps(0, Vector3.Zero);
}
}
/// <inheritdoc/>
public override BulletSharp.RigidBody CreateRigidBody(float mass)
{
var ppm = DD.Physics.PhysicsSimulator.PPM;
var mstate = new DefaultMotionState ();
var shape = new BulletSharp.CapsuleShape (radius/ppm, halfHeight/ppm);
var info = new BulletSharp.RigidBodyConstructionInfo (mass, mstate, shape);
return new BulletSharp.RigidBody (info);
}
protected override void OnInitializePhysics()
{
SetupEmptyDynamicsWorld();
IsDebugDrawEnabled = true;
CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShape groundShape = new StaticPlaneShape(Vector3.UnitY, 40);
CollisionShapes.Add(groundShape);
RigidBody body = LocalCreateRigidBody(0, Matrix.Translation(0, -16, 0), groundShape);
body.UserObject = "Ground";
CollisionShape shape = new BoxShape(new Vector3(CubeHalfExtents));
CollisionShapes.Add(shape);
const float THETA = (float)Math.PI/4.0f;
float L_1 = 2 - (float)Math.Tan(THETA);
float L_2 = 1 / (float)Math.Cos(THETA);
float RATIO = L_2/L_1;
RigidBody bodyA;
RigidBody bodyB;
CollisionShape cylA = new CylinderShape(0.2f, 0.25f, 0.2f);
CollisionShape cylB = new CylinderShape(L_1, 0.025f, L_1);
CompoundShape cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
float mass = 6.28f;
Vector3 localInertia;
cyl0.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
ci.StartWorldTransform = Matrix.Translation(-8, 1, -8);
body = new RigidBody(ci); //1,0,cyl0,localInertia);
World.AddRigidBody(body);
body.LinearFactor = Vector3.Zero;
body.AngularFactor = new Vector3(0, 1, 0);
bodyA = body;
cylA = new CylinderShape(0.2f, 0.26f, 0.2f);
cylB = new CylinderShape(L_2, 0.025f, L_2);
cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
mass = 6.28f;
cyl0.CalculateLocalInertia(mass, out localInertia);
ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
Quaternion orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
ci.StartWorldTransform = Matrix.RotationQuaternion(orn) * Matrix.Translation(-10, 2, -8);
body = new RigidBody(ci);//1,0,cyl0,localInertia);
body.LinearFactor = Vector3.Zero;
HingeConstraint hinge = new HingeConstraint(body, Vector3.Zero, new Vector3(0, 1, 0), true);
World.AddConstraint(hinge);
bodyB = body;
body.AngularVelocity = new Vector3(0, 3, 0);
World.AddRigidBody(body);
Vector3 axisA = new Vector3(0, 1, 0);
Vector3 axisB = new Vector3(0, 1, 0);
orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
Matrix mat = Matrix.RotationQuaternion(orn);
axisB = new Vector3(mat.M21, mat.M22, mat.M23);
GearConstraint gear = new GearConstraint(bodyA, bodyB, axisA, axisB, RATIO);
World.AddConstraint(gear, true);
mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), shape);
RigidBody body1 = null;//LocalCreateRigidBody(mass, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), shape);
//RigidBody body1 = LocalCreateRigidBody(0, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), null);
//body1.ActivationState = ActivationState.DisableDeactivation;
//body1.SetDamping(0.3f, 0.3f);
Vector3 pivotInA = new Vector3(CubeHalfExtents, -CubeHalfExtents, -CubeHalfExtents);
Vector3 axisInA = new Vector3(0, 0, 1);
Vector3 pivotInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
}
else
{
pivotInB = pivotInA;
}
Vector3 axisInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
axisInB = Vector3.TransformCoordinate(axisInA, transform);
}
else
{
axisInB = Vector3.TransformCoordinate(axisInA, body0.CenterOfMassTransform);
}
#if P2P
{
TypedConstraint p2p = new Point2PointConstraint(body0, pivotInA);
//TypedConstraint p2p = new Point2PointConstraint(body0, body1, pivotInA, pivotInB);
//TypedConstraint hinge = new HingeConstraint(body0, body1, pivotInA, pivotInB, axisInA, axisInB);
World.AddConstraint(p2p);
p2p.DebugDrawSize = 5;
}
#else
{
hinge = new HingeConstraint(body0, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
const float targetVelocity = 1.0f;
const float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
World.AddConstraint(hinge);
hinge.DebugDrawSize = 5;
}
#endif
RigidBody pRbA1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbA1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbA1.ActivationState = ActivationState.DisableDeactivation;
// add dynamic rigid body B1
RigidBody pRbB1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbB1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbB1.ActivationState = ActivationState.DisableDeactivation;
// create slider constraint between A1 and B1 and add it to world
SliderConstraint spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, true);
//spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, false);
spSlider1.LowerLinearLimit = -15.0f;
spSlider1.UpperLinearLimit = -5.0f;
spSlider1.LowerLinearLimit = 5.0f;
spSlider1.UpperLinearLimit = 15.0f;
spSlider1.LowerLinearLimit = -10.0f;
spSlider1.UpperLinearLimit = -10.0f;
spSlider1.LowerAngularLimit = -(float)Math.PI / 3.0f;
spSlider1.UpperAngularLimit = (float)Math.PI / 3.0f;
World.AddConstraint(spSlider1, true);
spSlider1.DebugDrawSize = 5.0f;
//create a slider, using the generic D6 constraint
Vector3 sliderWorldPos = new Vector3(0, 10, 0);
Vector3 sliderAxis = Vector3.UnitX;
const float angle = 0; //SIMD_RADS_PER_DEG * 10.f;
Matrix trans = Matrix.RotationAxis(sliderAxis, angle) * Matrix.Translation(sliderWorldPos);
d6body0 = LocalCreateRigidBody(mass, trans, shape);
d6body0.ActivationState = ActivationState.DisableDeactivation;
RigidBody fixedBody1 = LocalCreateRigidBody(0, trans, null);
World.AddRigidBody(fixedBody1);
Matrix frameInA = Matrix.Translation(0, 5, 0);
Matrix frameInB = Matrix.Translation(0, 5, 0);
//bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
const bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, frameInA, frameInB, useLinearReferenceFrameA)
{
LinearLowerLimit = lowerSliderLimit,
LinearUpperLimit = hiSliderLimit,
//range should be small, otherwise singularities will 'explode' the constraint
//AngularLowerLimit = new Vector3(-1.5f,0,0),
//AngularUpperLimit = new Vector3(1.5f,0,0),
//AngularLowerLimit = new Vector3(0,0,0),
//AngularUpperLimit = new Vector3(0,0,0),
AngularLowerLimit = new Vector3((float)-Math.PI, 0, 0),
AngularUpperLimit = new Vector3(1.5f, 0, 0)
};
//spSlider6Dof.TranslationalLimitMotor.EnableMotor[0] = true;
spSlider6Dof.TranslationalLimitMotor.TargetVelocity = new Vector3(-5.0f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
World.AddConstraint(spSlider6Dof);
spSlider6Dof.DebugDrawSize = 5;
// create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(pDoorShape);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, Matrix.Translation(-5.0f, -2.0f, 0.0f), pDoorShape);
pDoorBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 btPivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
Vector3 btAxisA = Vector3.UnitY; // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, btPivotA, btAxisA);
//spDoorHinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//spDoorHinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//spDoorHinge.SetLimit(1, -1);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//spDoorHinge.SetLimit(0, 0);
World.AddConstraint(spDoorHinge);
spDoorHinge.DebugDrawSize = 5;
RigidBody pDropBody = LocalCreateRigidBody(10.0f, Matrix.Translation(-5.0f, 2.0f, 0.0f), shape);
// create a generic 6DOF constraint
//RigidBody pBodyA = LocalCreateRigidBody(mass, Matrix.Translation(10.0f, 6.0f, 0), shape);
RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), shape);
//RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), null);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody pBodyB = LocalCreateRigidBody(mass, Matrix.Translation(0, 6, 0), shape);
//RigidBody pBodyB = LocalCreateRigidBody(0, Matrix.Translation(0, 6, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(-5, 0, 0);
frameInB = Matrix.Translation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
//Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, false);
pGen6DOF.LinearLowerLimit = new Vector3(-10, -2, -1);
pGen6DOF.LinearUpperLimit = new Vector3(10, 2, 1);
//pGen6DOF.LinearLowerLimit = new Vector3(-10, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(10, 0, 0);
//pGen6DOF.LinearLowerLimit = new Vector3(0, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(0, 0, 0);
//pGen6DOF.TranslationalLimitMotor.EnableMotor[0] = true;
//pGen6DOF.TranslationalLimitMotor.TargetVelocity = new Vector3(5, 0, 0);
//pGen6DOF.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, (float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, -(float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, 0, -(float)Math.PI);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0, (float)Math.PI);
pGen6DOF.AngularLowerLimit = new Vector3(-(float)Math.PI / 4, -0.75f, -(float)Math.PI * 0.4f);
pGen6DOF.AngularUpperLimit = new Vector3((float)Math.PI / 4, 0.75f, (float)Math.PI * 0.4f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.75f, (float)Math.PI * 0.8f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.75f, -(float)Math.PI * 0.8f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -(float)Math.PI * 0.8f, (float)Math.PI * 1.98f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, (float)Math.PI * 0.8f, -(float)Math.PI * 1.98f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, -0.5f, -0.5f);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0.5f, 0.5f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.7f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.7f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(-1, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(1, 0, 0);
// create a ConeTwist constraint
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), shape);
//pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), shape);
//pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), shape);
frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
coneTwist = new ConeTwistConstraint(pBodyA, pBodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
World.AddConstraint(coneTwist, true);
coneTwist.DebugDrawSize = 5;
// Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
RigidBody pBody = LocalCreateRigidBody(1.0f, Matrix.Identity, shape);
pBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pivotA = new Vector3(10.0f, 0.0f, 0.0f);
btAxisA = new Vector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, pivotA, btAxisA);
//pHinge.EnableAngularMotor(true, -1.0f, 0.165f); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
World.AddConstraint(pHinge);
pHinge.DebugDrawSize = 5;
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some (arbitrary) data to build constraint frames
Vector3 parentAxis = new Vector3(1, 0, 0);
Vector3 childAxis = new Vector3(0, 0, 1);
Vector3 anchor = new Vector3(20, 2, 0);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pUniv.SetLowerLimit(-(float)Math.PI / 4, -(float)Math.PI / 4);
pUniv.SetUpperLimit((float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.DebugDrawSize = 5;
World.AddConstraint(pGen6DOF, true);
pGen6DOF.DebugDrawSize = 5;
// create a generic 6DOF constraint with springs
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(10, 0, 0);
frameInB = Matrix.Identity;
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, frameInA, frameInB, true)
{
LinearUpperLimit = new Vector3(5, 0, 0),
LinearLowerLimit = new Vector3(-5, 0, 0),
AngularLowerLimit = new Vector3(0, 0, -1.5f),
AngularUpperLimit = new Vector3(0, 0, 1.5f),
DebugDrawSize = 5
};
World.AddConstraint(pGen6DOFSpring, true);
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();
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
parentAxis = new Vector3(0, 1, 0);
childAxis = new Vector3(1, 0, 0);
anchor = new Vector3(-20, 0, 0);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pHinge2.SetLowerLimit(-(float)Math.PI / 4);
pHinge2.SetUpperLimit((float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.DebugDrawSize = 5;
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB:
pBodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
axisA = new Vector3(0, 1, 0);
axisB = new Vector3(0, 1, 0);
Vector3 pivotA2 = new Vector3(-5, 0, 0);
Vector3 pivotB = new Vector3(5, 0, 0);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, pivotA2, pivotB, axisA, axisB);
spHingeDynAB.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.DebugDrawSize = 5;
}
public virtual RigidBody CreateRigidBody(bool isDynamic, float mass, ref Matrix startTransform, CollisionShape shape, string bodyName)
{
Vector3 localInertia;
if (mass != 0.0f)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
else
{
localInertia = Vector3.Zero;
}
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
RigidBody body = new RigidBody(info);
info.Dispose();
body.WorldTransform = startTransform;
if (_dynamicsWorld != null)
{
_dynamicsWorld.AddRigidBody(body);
}
if (bodyName != null)
{
_objectNameMap.Add(body, bodyName);
_nameBodyMap.Add(bodyName, body);
}
_allocatedRigidBodies.Add(body);
return body;
}
MultiBody CreateFeatherstoneMultiBody(MultiBodyDynamicsWorld world, MultiBodySettings settings)
{
int nLinks = settings.NumLinks;
float mass = 13.5f * Scaling;
Vector3 inertia = new Vector3(91, 344, 253) * Scaling * Scaling;
var body = new MultiBody(nLinks, mass, inertia, settings.IsFixedBase, settings.CanSleep);
//body.HasSelfCollision = false;
//Quaternion orn = new Quaternion(0, 0, 1, -0.125f * Math.PI);
Quaternion orn = new Quaternion(0, 0, 0, 1);
body.BasePosition = settings.BasePosition;
body.WorldToBaseRot = orn;
body.BaseVelocity = Vector3.Zero;
Vector3 joint_axis_hinge = new Vector3(1, 0, 0);
Vector3 joint_axis_prismatic = new Vector3(0, 0, 1);
Quaternion parent_to_child = orn.Inverse();
Vector3 joint_axis_child_prismatic = parent_to_child.Rotate(joint_axis_prismatic);
Vector3 joint_axis_child_hinge = parent_to_child.Rotate(joint_axis_hinge);
int this_link_num = -1;
int link_num_counter = 0;
Vector3 pos = new Vector3(0, 0, 9.0500002f) * Scaling;
Vector3 joint_axis_position = new Vector3(0, 0, 4.5250001f) * Scaling;
for (int i = 0; i < nLinks; i++)
{
float initial_joint_angle = 0.3f;
if (i > 0)
initial_joint_angle = -0.06f;
int child_link_num = link_num_counter++;
if (settings.UsePrismatic) // i == (nLinks - 1))
{
body.SetupPrismatic(child_link_num, mass, inertia, this_link_num,
parent_to_child, joint_axis_child_prismatic, parent_to_child.Rotate(pos), Vector3.Zero, settings.DisableParentCollision);
}
else
{
body.SetupRevolute(child_link_num, mass, inertia, this_link_num,
parent_to_child, joint_axis_child_hinge, joint_axis_position, parent_to_child.Rotate(pos - joint_axis_position), settings.DisableParentCollision);
}
body.SetJointPos(child_link_num, initial_joint_angle);
this_link_num = i;
/*if (false) //!useGroundShape && i == 4)
{
Vector3 pivotInAworld = new Vector3(0, 20, 46);
Vector3 pivotInAlocal = body.WorldPosToLocal(i, pivotInAworld);
Vector3 pivotInBworld = pivotInAworld;
MultiBodyPoint2Point p2p = new MultiBodyPoint2Point(body, i, TypedConstraint.FixedBody, pivotInAlocal, pivotInBworld);
(World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(p2p);
}*/
if (settings.UsePrismatic)
{
//MultiBodyConstraint con = new MultiBodyJointLimitConstraint(body, nLinks - 1, 2, 3);
if (settings.CreateConstraints)
{
MultiBodyConstraint con = new MultiBodyJointLimitConstraint(body, i, -1, 1);
(World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(con);
}
}
else
{
//if (true)
{
var con = new MultiBodyJointMotor(body, i, 0, 50000);
(World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(con);
}
var con2 = new MultiBodyJointLimitConstraint(body, i, -1, 1);
(World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(con2);
}
}
// Add a collider for the base
Quaternion[] worldToLocal = new Quaternion[nLinks + 1];
Vector3[] localOrigin = new Vector3[nLinks + 1];
worldToLocal[0] = body.WorldToBaseRot;
localOrigin[0] = body.BasePosition;
//Vector3 halfExtents = new Vector3(7.5f, 0.05f, 4.5f);
Vector3 halfExtents = new Vector3(7.5f, 0.45f, 4.5f);
float[] posB = new float[] { localOrigin[0].X, localOrigin[0].Y, localOrigin[0].Z, 1 };
//float[] quatB = new float[] { worldToLocal[0].X, worldToLocal[0].Y, worldToLocal[0].Z, worldToLocal[0].W };
//if (true)
{
CollisionShape box = new BoxShape(halfExtents * Scaling);
var bodyInfo = new RigidBodyConstructionInfo(mass, null, box, inertia);
RigidBody bodyB = new RigidBody(bodyInfo);
var collider = new MultiBodyLinkCollider(body, -1);
collider.CollisionShape = box;
Matrix tr = Matrix.RotationQuaternion(worldToLocal[0].Inverse()) * Matrix.Translation(localOrigin[0]);
collider.WorldTransform = tr;
bodyB.WorldTransform = tr;
World.AddCollisionObject(collider, CollisionFilterGroups.StaticFilter,
CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter);
collider.Friction = Friction;
body.BaseCollider = collider;
}
for (int i = 0; i < body.NumLinks; i++)
{
int parent = body.GetParent(i);
worldToLocal[i + 1] = body.GetParentToLocalRot(i) * worldToLocal[parent + 1];
localOrigin[i + 1] = localOrigin[parent + 1] + (worldToLocal[i + 1].Inverse().Rotate(body.GetRVector(i)));
}
for (int i = 0; i < body.NumLinks; i++)
{
CollisionShape box = new BoxShape(halfExtents * Scaling);
var collider = new MultiBodyLinkCollider(body, i);
collider.CollisionShape = box;
Matrix tr = Matrix.RotationQuaternion(worldToLocal[i + 1].Inverse()) * Matrix.Translation(localOrigin[i + 1]);
collider.WorldTransform = tr;
World.AddCollisionObject(collider, CollisionFilterGroups.StaticFilter,
CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter);
collider.Friction = Friction;
body.GetLink(i).Collider = collider;
//World.DebugDrawer.DrawBox(halfExtents, pos, quat);
}
(World as MultiBodyDynamicsWorld).AddMultiBody(body);
return body;
}
public static RigidBody GetFixedBody()
{
if (_fixedBody == null)
{
using (var cinfo = new RigidBodyConstructionInfo(0, null, null))
{
_fixedBody = new RigidBody(cinfo);
_fixedBody.SetMassProps(0, Vector3.Zero);
}
}
return _fixedBody;
}
public RigidBody LocalCreateRigidBody(float mass, Matrix4 startTransform, CollisionShape shape)
{
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.ZERO;
if (isDynamic)
shape.CalculateLocalInertia(mass, out localInertia);
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBody body;
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia))
{
body = new RigidBody(rbInfo);
}
World.AddRigidBody(body);
return body;
}
static CustomVehicle()
{
var ci = new RigidBodyConstructionInfo(0, null, null);
fixedBody = new RigidBody(ci);
fixedBody.SetMassProps(0, Vector3.Zero);
ci.Dispose();
}
public Physics(SceneManager sceneMgr)
{
// 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);
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix4.IDENTITY, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
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++)
{
Matrix4 startTransform = new Matrix4();
startTransform.MakeTrans(
new Vector3(
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
int index = (k * ArraySizeX + i) * ArraySizeZ + j;
Entity box = sceneMgr.CreateEntity("Box" + index.ToString(), "box.mesh");
box.SetMaterialName("BoxMaterial/Active");
SceneNode boxNode = sceneMgr.RootSceneNode.CreateChildSceneNode("BoxNode" + index.ToString());
boxNode.AttachObject(box);
boxNode.Scale(new Vector3(2, 2, 2));
var mogreMotionState = new MogreMotionState(box, boxNode, startTransform);
rbInfo.MotionState = mogreMotionState;
RigidBody body = new RigidBody(rbInfo);
mogreMotionState.Body = body;
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
