public virtual void SetUpBulletPhysicsBody()
{
if (!IsGhost)
{
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(Mass, MotionState, CollisionShape, Inertia);
RigidBody = new RigidBody(rbInfo);
CollisionObject = RigidBody;
}
else
{
GhostObject = new BulletXNA.BulletCollision.PairCachingGhostObject();
GhostObject.SetCollisionShape(CollisionShape);
CollisionObject = GhostObject;
GhostObject.SetCollisionFlags(BulletXNA.BulletCollision.CollisionFlags.CF_NO_CONTACT_RESPONSE); // We can choose to make it "solid" if we want...
GhostObject.SetWorldTransform(BulletXNA.LinearMath.IndexedMatrix.CreateTranslation(Position));
}
bulletPhysics.AddCollisionObject(CollisionObject, CollisionGroups, CollisionMask);
CollisionObject.SetUserPointer(this);
}
public void RecordGhostCollisions(PairCachingGhostObject obj)
{
IOverlappingPairCache cache = obj.GetOverlappingPairCache();
ObjectArray<BroadphasePair> pairs = cache.GetOverlappingPairArray();
DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world;
PersistentManifoldArray manifoldArray = new PersistentManifoldArray();
BroadphasePair collisionPair;
PersistentManifold contactManifold;
CollisionObject objA;
CollisionObject objB;
ManifoldPoint pt;
int numPairs = pairs.Count;
for (int i = 0; i < numPairs; i++)
{
manifoldArray.Clear();
if (LastCollisionDesc < UpdatedCollisions.Length)
break;
collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1);
if (collisionPair == null)
continue;
collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray);
for (int j = 0; j < manifoldArray.Count; j++)
{
contactManifold = manifoldArray[j];
int numContacts = contactManifold.GetNumContacts();
objA = contactManifold.GetBody0() as CollisionObject;
objB = contactManifold.GetBody1() as CollisionObject;
for (int p = 0; p < numContacts; p++)
{
pt = contactManifold.GetContactPoint(p);
if (pt.GetDistance() < 0.0f)
{
RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance());
break;
}
}
}
}
}
//sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedMatrix bodyTransform = new IndexedMatrix();
bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
GhostObject gObj = new PairCachingGhostObject();
gObj.SetWorldTransform(bodyTransform);
CollisionShape shape = (pShape as BulletShapeXNA).shape;
gObj.SetCollisionShape(shape);
gObj.SetUserPointer(pLocalID);
if (specialCollisionObjects.ContainsKey(pLocalID))
specialCollisionObjects[pLocalID] = gObj;
else
specialCollisionObjects.Add(pLocalID, gObj);
// TODO: Add to Special CollisionObjects!
return new BulletBodyXNA(pLocalID, gObj);
}
public KinematicCharacterController(PairCachingGhostObject ghostObject, ConvexShape convexShape, float stepHeight, int upAxis)
{
m_upAxis = upAxis;
m_addedMargin = 0.02f;
m_walkDirection = IndexedVector3.Zero;
m_useGhostObjectSweepTest = true;
m_ghostObject = ghostObject;
m_stepHeight = stepHeight;
m_turnAngle = 0f;
m_convexShape = convexShape;
m_useWalkDirection = true; // use walk direction by default, legacy behavior
m_velocityTimeInterval = 0.0f;
m_verticalVelocity = 0.0f;
m_verticalOffset = 0.0f;
m_gravity = 9.8f * 3; // 3G acceleration.
m_fallSpeed = 55.0f; // Terminal velocity of a sky diver in m/s.
m_jumpSpeed = 10.0f; // ?
m_wasOnGround = false;
m_wasJumping = false;
SetMaxSlope(MathUtil.DegToRadians(45.0f));
}
//sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
IndexedMatrix bodyTransform = new IndexedMatrix();
bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
GhostObject gObj = new PairCachingGhostObject();
gObj.SetWorldTransform(bodyTransform);
CollisionShape shape = pShape as CollisionShape;
gObj.SetCollisionShape(shape);
gObj.SetUserPointer(pLocalID);
// TODO: Add to Special CollisionObjects!
return gObj;
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3 (-1000,-1000,-1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
#region CharacterController
IndexedMatrix startTransform = IndexedMatrix.Identity;
//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
startTransform._origin = new IndexedVector3(10.210098f,-1.6433364f,16.453260f);
m_ghostObject = new PairCachingGhostObject();
m_ghostObject.SetWorldTransform(startTransform);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
float characterHeight=1.75f;
float characterWidth =1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth,characterHeight);
m_ghostObject.SetCollisionShape (capsule);
m_ghostObject.SetCollisionFlags (CollisionFlags.CF_CHARACTER_OBJECT);
float stepHeight = 0.35f;
int upAxis = 1;
m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight,upAxis);
m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
m_dynamicsWorld.AddAction(m_character);
#endregion
}
public virtual void LoadPlayerController(Entity playerEntity, SceneNode characterNode, object userData, Vector3 mobNodePositionUpdate)
{
//if (!initialized)
//{
// characterToLoad = characterNode;
// characterEntityToLoad = playerEntity;
// JumpHandlerToLoad = jumpHandler;
// MobNodePositionUpdateToLoad = mobNodePositionUpdate;
// userDataToLoad = userData;
// return;
//}
if (playerController != null)
return;
float modelHeight = 2f;// (playerEntity.BoundingBox.Max.Y) / scaleFactor; // AJ: used to subtract minimum from maximum- playerEntity.BoundingBox.Minimum.y
System.Console.WriteLine("Player capsule info: modelheight '{0}', boundingbox max '{1}', bounding box min '{2}' and playerPosition '{3}'",
modelHeight, playerEntity.BoundingBox.Max.Y, playerEntity.BoundingBox.Min.Y, characterNode.Position);
float radius = 1.75f;
float height = 1.75f;
ConvexShape capsule = new CapsuleShape(radius, height);
//ConvexShape capsule = new SphereShape(radius);
ghostObject = new PairCachingGhostObject();
Vector3 position = new Vector3(0, 0, 0);//new Vector3(characterNode.Position.X / scaleFactor, (characterNode.Position.Y + 1500) / scaleFactor, characterNode.Position.Z / scaleFactor);
//IndexedMatrix worldTransform = IndexedMatrix.CreateTranslation(characterNode.Position.X / scaleFactor,
// (characterNode.Position.Y + 1500) / scaleFactor, characterNode.Position.Z / scaleFactor);
IndexedMatrix worldTransform = IndexedMatrix.CreateTranslation(position);
ghostObject.SetWorldTransform(worldTransform);
//broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
ghostObject.SetCollisionShape(capsule);
ghostObject.SetCollisionFlags(CollisionFlags.CF_CHARACTER_OBJECT);
float stepHeight = 0.35f;
playerController = new KinematicCharacterController(ghostObject, capsule, stepHeight, 1);
//characterToLoad = null;
BulletMobState mobMovementState = new BulletMobState(playerController, mobNodePositionUpdate);
//mobMovementState.JumpEvent += jumpHandler;
mobControllers.Add(characterNode, mobMovementState);
//m_dynamicsWorld.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
m_dynamicsWorld.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
//m_dynamicsWorld.AddCollisionObject(ghostObject, CollisionFilterGroups.DefaultFilter, CollisionFilterGroups.AllFilter);
m_dynamicsWorld.AddAction(playerController);
//collisionShapes.Add(capsule);
//frozenTime = 0;
}
protected override void Initialize()
{
base.Initialize();
SetCameraDistance(50.0f);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
//m_collisionConfiguration.setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
// NEW => btGhostPairCallback =================================
m_ghostPairCallback = new GhostPairCallback();
m_dynamicsWorld.GetBroadphase().GetOverlappingPairCache().SetInternalGhostPairCallback(m_ghostPairCallback); // Needed once to enable ghost objects inside Bullet
// NEW => btGhostObject =======================================
m_ghostObject = new GhostObject();
CollisionShape shape = new BoxShape(new IndexedVector3(5f)); // As far as I know only the world aabb of the shape will be used (i.e. a box always parallel to the x,y,z axis of variable size)
m_collisionShapes.Add(shape);
m_ghostObject.SetCollisionShape(shape);
m_ghostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE); // We can choose to make it "solid" if we want...
m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.SensorTrigger, CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.SensorTrigger);
//m_ghostObject.setWorldTransform(btTransform(btQuaternion::getIdentity(),btVector3(0,5,-15)));
IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(quatDeg45Y);
im._origin = new IndexedVector3(0, 5, -15);
m_ghostObject.SetWorldTransform(im);
// NEW => btPairCachingGhostObject ============================
m_pairCachingGhostObject = new PairCachingGhostObject();
shape = new ConeShape(7.0f, 14.0f);
m_collisionShapes.Add(shape);
m_pairCachingGhostObject.SetCollisionShape(shape);
m_pairCachingGhostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE); // We can choose to make it "solid" if we want...
m_dynamicsWorld.AddCollisionObject(m_pairCachingGhostObject, CollisionFilterGroups.SensorTrigger, CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.SensorTrigger);
//m_pairCachingGhostObject.setWorldTransform(btTransform(btQuaternion::getIdentity(),btVector3(0,5,15)));
im._origin = new IndexedVector3(0, 7, 15);
m_pairCachingGhostObject.SetWorldTransform(im);
//=============================================================
///create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(new IndexedVector3(50));
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.Identity;
groundTransform._origin = new IndexedVector3(0, -50, 0);
float mass = 0.0f;
LocalCreateRigidBody(mass, groundTransform, groundShape);
// spawn some cubes (code pasted from appBasicDemo...)
if(true)
{
//create a few dynamic rigidbodies
CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f));
m_collisionShapes.Add(colShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 1f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
colShape.CalculateLocalInertia(mass, out localInertia);
}
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
for (int k = 0; k < ARRAY_SIZE_Y; k++)
{
for (int i = 0; i < ARRAY_SIZE_X; i++)
{
for (int j = 0; j < ARRAY_SIZE_Z; j++)
{
startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
//body.setContactProcessingThreshold(colShape.getContactBreakingThreshold());
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
m_dynamicsWorld.AddRigidBody(body);
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j));
}
}
}
}
ClientResetScene();
}
// Portable static method: prerequisite call: m_dynamicsWorld.getBroadphase().getOverlappingPairCache().setInternalGhostPairCallback(new btGhostPairCallback());
public static void GetCollidingObjectsInsidePairCachingGhostObject(DiscreteDynamicsWorld m_dynamicsWorld, PairCachingGhostObject m_pairCachingGhostObject, ObjectArray<CollisionObject> collisionArrayOut)
{
bool addOnlyObjectsWithNegativeDistance = true; // With "false" things don't change much, and the code is a bit faster and cleaner...
collisionArrayOut.Resize(0);
if (m_pairCachingGhostObject == null || m_dynamicsWorld == null) return;
//#define USE_PLAIN_COLLISION_WORLD // We dispatch all collision pairs of the ghost object every step (slow)
#if USE_PLAIN_COLLISION_WORLD
//======================================================================================================
// I thought this line was no longer needed, but it seems to be necessary (and I believe it's an expensive call):
m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(m_pairCachingGhostObject.getOverlappingPairCache(), m_dynamicsWorld.getDispatchInfo(), m_dynamicsWorld.getDispatcher());
// Maybe the call can be automatically triggered by some other Bullet call (I'm almost sure I could comment it out in another demo I made long ago...)
// So by now the general rule is: in real projects, simply comment it out and see if it works!
//======================================================================================================
// UPDATE: in dynamic worlds, the line above can be commented out and the broadphase pair can be retrieved through the call to findPair(...) below.
// In collision worlds probably the above line is needed only if collision detection for all the bodies hasn't been made... This is something
// I'm still not sure of... the general rule is to try to comment out the line above and try to use findPair(...) and see if it works whenever possible....
//======================================================================================================
#endif //USE_PLAIN_COLLISION_WORLD
ObjectArray<BroadphasePair> collisionPairs = m_pairCachingGhostObject.GetOverlappingPairCache().GetOverlappingPairArray();
int numObjects = collisionPairs.Count;
PersistentManifoldArray m_manifoldArray = new PersistentManifoldArray();
bool added;
for (int i = 0; i < numObjects; i++)
{
m_manifoldArray.Resize(0);
#if USE_PLAIN_COLLISION_WORLD
const btBroadphasePair& collisionPair = collisionPairs[i];
if (collisionPair.m_algorithm) collisionPair.m_algorithm.getAllContactManifolds(m_manifoldArray);
else { // THIS SHOULD NEVER HAPPEN, AND IF IT DOES, PLEASE RE-ENABLE the "call" a few lines above...
printf("No collisionPair.m_algorithm - probably m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(...) must be missing.\n");
}
#else // USE_PLAIN_COLLISION_WORLD
BroadphasePair cPair = collisionPairs[i];
//unless we manually perform collision detection on this pair, the contacts are in the dynamics world paircache:
BroadphasePair collisionPair = m_dynamicsWorld.GetPairCache().FindPair(cPair.m_pProxy0, cPair.m_pProxy1);
if (collisionPair == null)
{
continue;
}
if (collisionPair.m_algorithm != null)
{
collisionPair.m_algorithm.GetAllContactManifolds(m_manifoldArray);
}
else
{ // THIS SHOULD NEVER HAPPEN, AND IF IT DOES, PLEASE RE-ENABLE the "call" a few lines above...
//printf("No collisionPair.m_algorithm - probably m_dynamicsWorld.getDispatcher().dispatchAllCollisionPairs(...) must be missing.\n");
}
#endif //USE_PLAIN_COLLISION_WORLD
added = false;
for (int j = 0; j < m_manifoldArray.Count; j++)
{
PersistentManifold manifold = m_manifoldArray[j];
// Here we are in the narrowphase, but can happen that manifold.getNumContacts()==0:
if (addOnlyObjectsWithNegativeDistance)
{
for (int p = 0, numContacts = manifold.GetNumContacts(); p < numContacts; p++)
{
ManifoldPoint pt = manifold.GetContactPoint(p);
if (pt.GetDistance() < 0.0)
{
// How can I be sure that the colObjs are all distinct ? I use the "added" flag.
collisionArrayOut.Add((CollisionObject)(manifold.GetBody0() == m_pairCachingGhostObject ? manifold.GetBody1() : manifold.GetBody0()));
added = true;
break;
}
}
if (added)
{
break;
}
}
else if (manifold.GetNumContacts() > 0)
{
collisionArrayOut.Add((CollisionObject)(manifold.GetBody0() == m_pairCachingGhostObject ? manifold.GetBody1() : manifold.GetBody0()));
break;
}
}
}
}
