/// <summary> /// Allows the game to perform any initialization it needs to before starting to run. /// This is where it can query for any required services and load any non-graphic /// related content. Calling base.Initialize will enumerate through any components /// and initialize them as well. /// </summary> protected override void Initialize() { // TODO: Add your initialization logic here //Initialize the core of physics engine CoreDescription coreDesc = new CoreDescription(); _core = new Core(coreDesc, null); //Create a physics scene _scene = _core.CreateScene(new StillDesign.PhysX.MathPrimitives.Vector3(0, -9.81f, 0), true); _boxActor = new List <Actor>(); _wheel = new List <Actor>(); wheelj = new List <RevoluteJoint>(); boxes = new List <FixedJoint>(); //Create a material MaterialDescription materialDec = new MaterialDescription(); materialDec.DirectionOfAnisotropy = new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1); materialDec.DynamicFriction = 0.5f; materialDec.DynamicFrictionV = 0.5f; materialDec.StaticFriction = 0.5f; materialDec.StaticFrictionV = 0.5f; materialDec.Restitution = 0.8f; materialDec.Flags = MaterialFlag.Ansiotropic; Material material1 = _scene.CreateMaterial(materialDec); ActorDescription boxADec = new ActorDescription(); boxADec.BodyDescription = new BodyDescription(5); boxADec.Shapes.Add(new BoxShapeDescription(2, 2, 2) { LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(0, 1, 0), Material = material1 }); boxADec.Shapes.Add(new BoxShapeDescription(1, 3, 1) { LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(0, 3f, 0), Material = material1 }); boxADec.Shapes.Add(new BoxShapeDescription(3, 1, 1) { LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(-1f, 5, 0), Material = material1 }); boxADec.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(47f, 1f, 6f); _boxActor.Add(_scene.CreateActor(boxADec)); ActorDescription wheel1 = new ActorDescription(); wheel1.BodyDescription = new BodyDescription(5); wheel1.Shapes.Add(new SphereShapeDescription(1) { Material = material1 }); wheel1.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45.3f, 1f, 4.3f); _wheel.Add(_scene.CreateActor(wheel1)); ActorDescription wheel2 = new ActorDescription(); wheel2.BodyDescription = new BodyDescription(5); wheel2.Shapes.Add(new SphereShapeDescription(1) { Material = material1 }); wheel2.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45.3f, 1, 7.8f); _wheel.Add(_scene.CreateActor(wheel2)); ActorDescription wheel3 = new ActorDescription(); wheel3.BodyDescription = new BodyDescription(5); wheel3.Shapes.Add(new SphereShapeDescription(1) { Material = material1 }); wheel3.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48.7f, 1, 4.3f); _wheel.Add(_scene.CreateActor(wheel3)); ActorDescription wheel4 = new ActorDescription(); wheel4.BodyDescription = new BodyDescription(5); wheel4.Shapes.Add(new SphereShapeDescription(1) { Material = material1 }); wheel4.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48.7f, 1, 7.8f); _wheel.Add(_scene.CreateActor(wheel4)); ActorDescription boxADec1 = new ActorDescription(); boxADec1.BodyDescription = new BodyDescription(1000); boxADec1.Shapes.Add(new BoxShapeDescription(35, 10, 1)); boxADec1.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(33f, 5, 12.1f); _boxActor.Add(_scene.CreateActor(boxADec1)); ActorDescription boxADec2 = new ActorDescription(); boxADec2.BodyDescription = new BodyDescription(1000); boxADec2.Shapes.Add(new BoxShapeDescription(1, 10, 25.5f)); boxADec2.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(15f, 5, 24.4f); _boxActor.Add(_scene.CreateActor(boxADec2)); ActorDescription boxADec3 = new ActorDescription(); boxADec3.BodyDescription = new BodyDescription(1000); boxADec3.Shapes.Add(new BoxShapeDescription(4f, 10, 1f)); boxADec3.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(49f, 5, -1f); _boxActor.Add(_scene.CreateActor(boxADec3)); ActorDescription boxADec4 = new ActorDescription(); boxADec4.BodyDescription = new BodyDescription(1000); boxADec4.Shapes.Add(new BoxShapeDescription(1f, 10, 70f)); boxADec4.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(51f, 5, -3f); _boxActor.Add(_scene.CreateActor(boxADec4)); ActorDescription boxADec5 = new ActorDescription(); boxADec5.BodyDescription = new BodyDescription(1000); boxADec5.Shapes.Add(new BoxShapeDescription(105f, 10, 1f)); boxADec5.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(0f, 5, 37.7f); _boxActor.Add(_scene.CreateActor(boxADec5)); ActorDescription boxADec6 = new ActorDescription(); boxADec6.BodyDescription = new BodyDescription(1000); boxADec6.Shapes.Add(new BoxShapeDescription(1, 10, 25.5f)); boxADec6.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-16.6f, 5, 24.4f); _boxActor.Add(_scene.CreateActor(boxADec6)); ActorDescription boxADec7 = new ActorDescription(); boxADec7.BodyDescription = new BodyDescription(1000); boxADec7.Shapes.Add(new BoxShapeDescription(1, 10, 42f)); boxADec7.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-51f, 5, 16.5f); _boxActor.Add(_scene.CreateActor(boxADec7)); ActorDescription boxADec8 = new ActorDescription(); boxADec8.BodyDescription = new BodyDescription(1000); boxADec8.Shapes.Add(new BoxShapeDescription(8.5f, 10, 1f)); boxADec8.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-46.25f, 5, 12.15f); _boxActor.Add(_scene.CreateActor(boxADec8)); ActorDescription boxADec9 = new ActorDescription(); boxADec9.BodyDescription = new BodyDescription(1000); boxADec9.Shapes.Add(new BoxShapeDescription(8.5f, 10, 1f)); boxADec9.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-21f, 5, 12.15f); _boxActor.Add(_scene.CreateActor(boxADec9)); ActorDescription boxADec10 = new ActorDescription(); boxADec10.BodyDescription = new BodyDescription(1); boxADec10.Shapes.Add(new BoxShapeDescription(1, 1, 1)); boxADec10.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-20, 0.5f, 30); _boxActor.Add(_scene.CreateActor(boxADec10)); ActorDescription boxADec11 = new ActorDescription(); boxADec11.BodyDescription = new BodyDescription(5); boxADec11.Shapes.Add(new BoxShapeDescription(1, 1, 1) { Material = material1 }); boxADec11.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45, 4, 6); box11 = _scene.CreateActor(boxADec11); ActorDescription boxADec12 = new ActorDescription(); boxADec12.BodyDescription = new BodyDescription(1000); boxADec12.Shapes.Add(new BoxShapeDescription(4f, 10, 1f)); boxADec12.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(27.5f, 5, -1f); _boxActor.Add(_scene.CreateActor(boxADec12)); ActorDescription boxADec13 = new ActorDescription(); boxADec13.BodyDescription = new BodyDescription(1000); boxADec13.Shapes.Add(new BoxShapeDescription(21.5f, 10, 1f)); boxADec13.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(36f, 5, -26.8f); _boxActor.Add(_scene.CreateActor(boxADec13)); ActorDescription boxADec14 = new ActorDescription(); boxADec14.BodyDescription = new BodyDescription(1000); boxADec14.Shapes.Add(new BoxShapeDescription(4f, 10, 1f)); boxADec14.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(49f, 5, -26.8f); _boxActor.Add(_scene.CreateActor(boxADec14)); ActorDescription boxADec15 = new ActorDescription(); boxADec15.BodyDescription = new BodyDescription(1000); boxADec15.Shapes.Add(new BoxShapeDescription(106f, 10, 1f)); boxADec15.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(0f, 5, -38.1f); _boxActor.Add(_scene.CreateActor(boxADec15)); ActorDescription boxADec16 = new ActorDescription(); boxADec16.BodyDescription = new BodyDescription(1000); boxADec16.Shapes.Add(new BoxShapeDescription(1, 10, 26.8f)); boxADec16.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(25f, 5, -13.9f); _boxActor.Add(_scene.CreateActor(boxADec16)); ActorDescription boxADec17 = new ActorDescription(); boxADec17.BodyDescription = new BodyDescription(1000); boxADec17.Shapes.Add(new BoxShapeDescription(17.2f, 0.25f, 1f)); boxADec17.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.125f, -1f); _boxActor.Add(_scene.CreateActor(boxADec17)); ActorDescription boxADec18 = new ActorDescription(); boxADec18.BodyDescription = new BodyDescription(1000); boxADec18.Shapes.Add(new BoxShapeDescription(25f, 0.25f, 24.5f)); boxADec18.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38f, 0.25f, -14f); _boxActor.Add(_scene.CreateActor(boxADec18)); ActorDescription boxADec19 = new ActorDescription(); boxADec19.BodyDescription = new BodyDescription(1000); boxADec19.Shapes.Add(new BoxShapeDescription(17.2f, 0.25f, 1f)); boxADec19.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.5f, -2f); _boxActor.Add(_scene.CreateActor(boxADec19)); ActorDescription boxADec20 = new ActorDescription(); boxADec20.BodyDescription = new BodyDescription(1000); boxADec20.Shapes.Add(new BoxShapeDescription(17.2f, 0.5f, 1f)); boxADec20.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.5f, -3f); _boxActor.Add(_scene.CreateActor(boxADec20)); ActorDescription boxADec21 = new ActorDescription(); boxADec21.BodyDescription = new BodyDescription(1000); boxADec21.Shapes.Add(new BoxShapeDescription(17.2f, 0.75f, 1f)); boxADec21.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 1f, -4f); _boxActor.Add(_scene.CreateActor(boxADec21)); ActorDescription boxADec22 = new ActorDescription(); boxADec22.BodyDescription = new BodyDescription(1000); boxADec22.Shapes.Add(new BoxShapeDescription(17.2f, 1f, 1f)); boxADec22.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 1.25f, -5f); _boxActor.Add(_scene.CreateActor(boxADec22)); ActorDescription boxADec23 = new ActorDescription(); boxADec23.BodyDescription = new BodyDescription(1000); boxADec23.Shapes.Add(new BoxShapeDescription(25f, 1f, 20.5f)); boxADec23.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38f, 1.5f, -16f); _boxActor.Add(_scene.CreateActor(boxADec23)); ActorDescription boxADec24 = new ActorDescription(); boxADec24.BodyDescription = new BodyDescription(1000); boxADec24.Shapes.Add(new BoxShapeDescription(75f, 10, 1f)); boxADec24.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-13f, 5, -1f); _boxActor.Add(_scene.CreateActor(boxADec24)); ActorDescription boxADec25 = new ActorDescription(); boxADec25.BodyDescription = new BodyDescription(5); boxADec25.Shapes.Add(new BoxShapeDescription(1, 1, 1) { Material = material1 }); boxADec25.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48, 4, 6); box12 = _scene.CreateActor(boxADec25); RevoluteJointDescription jointDec = new RevoluteJointDescription(); jointDec.Actor1 = _boxActor[0]; jointDec.Actor2 = _wheel[0]; jointDec.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(45.3f, 1f, 4.3f)); jointDec.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1)); wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec)); RevoluteJointDescription jointDec1 = new RevoluteJointDescription(); jointDec1.Actor1 = _boxActor[0]; jointDec1.Actor2 = _wheel[1]; jointDec1.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(45.3f, 1, 7.8f)); jointDec1.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, -1)); wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec1)); RevoluteJointDescription jointDec2 = new RevoluteJointDescription(); jointDec2.Actor1 = _boxActor[0]; jointDec2.Actor2 = _wheel[2]; jointDec2.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(48.7f, 1, 4.3f)); jointDec2.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1)); wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec2)); RevoluteJointDescription jointDec3 = new RevoluteJointDescription(); jointDec3.Actor1 = _boxActor[0]; jointDec3.Actor2 = _wheel[3]; jointDec3.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(48.7f, 1, 7.8f)); jointDec3.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, -1)); wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec3)); DistanceJointDescription jointDec4 = new DistanceJointDescription(); jointDec4.Actor1 = _boxActor[10]; jointDec4.Actor2 = box11; jointDec4.MaximumDistance = 1000000; jointDec4.MinimumDistance = 1; jointDec4.Flags = DistanceJointFlag.EnforceMaximumDistance | DistanceJointFlag.EnforceMinimumDistance; boxpick = _scene.CreateJoint <DistanceJoint>(jointDec4); FixedJointDescription jointDec5 = new FixedJointDescription(); jointDec5.Actor1 = _boxActor[0]; jointDec5.Actor2 = box11; boxes.Add(_scene.CreateJoint <FixedJoint>(jointDec5)); FixedJointDescription jointDec6 = new FixedJointDescription(); jointDec6.Actor1 = _boxActor[0]; jointDec6.Actor2 = box12; boxes.Add(_scene.CreateJoint <FixedJoint>(jointDec6)); view1 = graphics.GraphicsDevice.Viewport; view2 = view1; view1.Height = 480; view1.Width = 400; view1.X = 400; view1.Y = 0; view2.Height = 480; view2.Width = 400; view2.X = 0; view2.Y = 0; _camera1 = new Camera("camera1", 1024, 768, 1024f / 768f, 1, 1f, 100000, true, view1); _camera1.Initialize(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(0, 4, 6)); _camera2 = new Camera("camera2", 1024, 768, 1024f / 768f, 1, 1f, 100000, true, view2); _camera2.Initialize(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(100, 4, 6)); this.IsMouseVisible = true; base.Initialize(); }
public PhysxFixedJoint(FixedJointDescription FixedJointDescription) { this.FixedJointDescription = FixedJointDescription; }