Exemple #1
0
        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 SerializeDemoSimulation()
        {
            CollisionConfiguration = new DefaultCollisionConfiguration();
            Dispatcher             = new CollisionDispatcher(CollisionConfiguration);
            Broadphase             = new DbvtBroadphase();
            World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);

            GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);

            string bulletFile;

            string[] args = Environment.GetCommandLineArgs();
            if (args.Length == 1)
            {
                bulletFile = "testFile.bullet";
            }
            else
            {
                bulletFile = args[1];
            }

            _fileLoader = new CustomBulletWorldImporter(World);
            if (!_fileLoader.LoadFile(bulletFile))
            {
                var groundShape = new BoxShape(50);
                _collisionShapes.Add(groundShape);
                RigidBody ground = PhysicsHelper.CreateStaticBody(Matrix.Translation(0, -50, 0), groundShape, World);
                ground.UserObject = "Ground";

                // create a few dynamic rigidbodies
                float mass = 1.0f;

                Vector3[] positions = new[] { new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f) };
                float[]   radi      = new float[2] {
                    0.3f, 0.4f
                };

                var colShape = new MultiSphereShape(positions, radi);

                //var colShape = new CapsuleShapeZ(1, 1);
                //var colShape = new CylinderShapeZ(1, 1, 1);
                //var colShape = new BoxShape(1);
                //var colShape = new SphereShape(1);
                _collisionShapes.Add(colShape);

                Vector3 localInertia = colShape.CalculateLocalInertia(mass);

                float startX = StartPosX - NumObjectsX / 2;
                float startY = StartPosY;
                float startZ = StartPosZ - NumObjectsZ / 2;

                for (int y = 0; y < NumObjectsY; y++)
                {
                    for (int x = 0; x < NumObjectsX; x++)
                    {
                        for (int z = 0; z < NumObjectsZ; z++)
                        {
                            Matrix startTransform = Matrix.Translation(
                                2 * x + startX,
                                2 * y + startY,
                                2 * z + startZ
                                );

                            // using motionstate is recommended, it provides interpolation capabilities
                            // and only synchronizes 'active' objects
                            DefaultMotionState        myMotionState = new DefaultMotionState(startTransform);
                            RigidBodyConstructionInfo rbInfo        =
                                new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
                            RigidBody body = new RigidBody(rbInfo);
                            rbInfo.Dispose();

                            // make it drop from a height
                            body.Translate(new Vector3(0, 20, 0));

                            World.AddRigidBody(body);
                        }
                    }
                }

                using (var serializer = new DefaultSerializer())
                {
                    serializer.RegisterNameForObject(ground, "GroundName");

                    for (int i = 0; i < _collisionShapes.Count; i++)
                    {
                        serializer.RegisterNameForObject(_collisionShapes[i], "name" + i.ToString());
                    }

                    var p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2],
                                                        new Vector3(0, 1, 0));
                    World.AddConstraint(p2p);
                    serializer.RegisterNameForObject(p2p, "constraintje");

                    World.Serialize(serializer);
                    byte[] dataBytes = new byte[serializer.CurrentBufferSize];
                    Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length);

                    using (var file = new FileStream("testFile.bullet", FileMode.Create))
                    {
                        file.Write(dataBytes, 0, dataBytes.Length);
                    }
                }
            }
        }