private void PickMultiBody(MultiBodyLinkCollider collider, ref Vector3 pickPosition)
{
MultiBody multiBody = collider.MultiBody;
if (multiBody == null)
{
return;
}
_prevCanSleep = multiBody.CanSleep;
multiBody.CanSleep = false;
Vector3 pivotInA = multiBody.WorldPosToLocal(collider.Link, pickPosition);
var p2p = new MultiBodyPoint2Point(multiBody, collider.Link, null, pivotInA, pickPosition)
{
MaxAppliedImpulse = 2
};
var world = _demo.Simulation.World as MultiBodyDynamicsWorld;
world.AddMultiBodyConstraint(p2p);
_multiBodyPickConstraint = p2p;
}
private void HandleMouseInput()
{
if (Input.MousePressed != MouseButtons.None)
{
Vector3 rayTo = GetRayTo(Input.MousePoint, FreeLook.Eye, FreeLook.Target, Graphics.FieldOfView);
if (Input.MousePressed == MouseButtons.Right)
{
Vector3 rayFrom = FreeLook.Eye;
var rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo);
Simulation.World.RayTestRef(ref rayFrom, ref rayTo, rayCallback);
if (rayCallback.HasHit)
{
Vector3 pickPos = rayCallback.HitPointWorld;
RigidBody body = rayCallback.CollisionObject as RigidBody;
if (body != null)
{
if (!(body.IsStaticObject || body.IsKinematicObject))
{
pickedBody = body;
pickedBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform));
if (Input.KeysDown.Contains(Keys.ShiftKey))
{
Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false)
{
LinearLowerLimit = Vector3.Zero,
LinearUpperLimit = Vector3.Zero,
AngularLowerLimit = Vector3.Zero,
AngularUpperLimit = Vector3.Zero
};
Simulation.World.AddConstraint(dof6);
pickConstraint = dof6;
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5);
}
else
{
Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);
Simulation.World.AddConstraint(p2p);
pickConstraint = p2p;
p2p.Setting.ImpulseClamp = 30;
//very weak constraint for picking
p2p.Setting.Tau = 0.001f;
/*
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 0);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 1);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 2);
*/
}
}
}
else
{
var multiCol = rayCallback.CollisionObject as MultiBodyLinkCollider;
if (multiCol != null && multiCol.MultiBody != null)
{
MultiBody mb = multiCol.MultiBody;
prevCanSleep = mb.CanSleep;
mb.CanSleep = false;
Vector3 pivotInA = mb.WorldPosToLocal(multiCol.Link, pickPos);
var p2p = new MultiBodyPoint2Point(mb, multiCol.Link, null, pivotInA, pickPos);
p2p.MaxAppliedImpulse = 2;
(Simulation.World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(p2p);
pickingMultiBodyPoint2Point = p2p;
}
}
oldPickingDist = (pickPos - rayFrom).Length;
}
rayCallback.Dispose();
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
RemovePickingConstraint();
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
MovePickedBody();
}
}
public virtual void OnHandleInput()
{
if (Input.KeysPressed.Count != 0)
{
switch (Input.KeysPressed[0])
{
case Keys.Escape:
case Keys.Q:
Graphics.Form.Close();
return;
case Keys.F1:
MessageBox.Show(
"Move using WASD + shift\n" +
"Left click - point camera\n" +
"Right click - pick up an object using a Point2PointConstraint\n" +
"Right click + shift - pick up an object using a fixed Generic6DofConstraint\n" +
"Space - shoot box\n" +
"Q - quit\n" +
Graphics.InfoText,
"Help");
// Key release won't be captured
Input.KeysDown.Remove(Keys.F1);
break;
case Keys.F3:
IsDebugDrawEnabled = !IsDebugDrawEnabled;
break;
case Keys.F8:
Input.ClearKeyCache();
GraphicsLibraryManager.ExitWithReload = true;
Graphics.Form.Close();
break;
case Keys.F11:
Graphics.IsFullScreen = !Graphics.IsFullScreen;
break;
case (Keys.Control | Keys.F):
const int maxSerializeBufferSize = 1024 * 1024 * 5;
using (var serializer = new DefaultSerializer(maxSerializeBufferSize))
{
World.Serialize(serializer);
byte[] dataBytes = new byte[serializer.CurrentBufferSize];
System.Runtime.InteropServices.Marshal.Copy(serializer.BufferPointer, dataBytes, 0,
dataBytes.Length);
using (var file = new System.IO.FileStream("world.bullet", System.IO.FileMode.Create))
{
file.Write(dataBytes, 0, dataBytes.Length);
}
}
break;
case Keys.G:
//shadowsEnabled = !shadowsEnabled;
break;
case Keys.Space:
ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView));
break;
case Keys.Return:
ClientResetScene();
break;
}
}
if (Input.MousePressed != MouseButtons.None)
{
Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView);
if (Input.MousePressed == MouseButtons.Right)
{
if (World != null)
{
Vector3 rayFrom = Freelook.Eye;
ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo);
World.RayTest(ref rayFrom, ref rayTo, rayCallback);
if (rayCallback.HasHit)
{
Vector3 pickPos = rayCallback.HitPointWorld;
RigidBody body = rayCallback.CollisionObject as RigidBody;
if (body != null)
{
if (!(body.IsStaticObject || body.IsKinematicObject))
{
pickedBody = body;
pickedBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform));
if (Input.KeysDown.Contains(Keys.ShiftKey))
{
Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false)
{
LinearLowerLimit = Vector3.Zero,
LinearUpperLimit = Vector3.Zero,
AngularLowerLimit = Vector3.Zero,
AngularUpperLimit = Vector3.Zero
};
World.AddConstraint(dof6);
pickConstraint = dof6;
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5);
}
else
{
Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);
World.AddConstraint(p2p);
pickConstraint = p2p;
p2p.Setting.ImpulseClamp = 30;
//very weak constraint for picking
p2p.Setting.Tau = 0.001f;
/*
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 0);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 1);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 2);
*/
}
}
}
else
{
MultiBodyLinkCollider multiCol = rayCallback.CollisionObject as MultiBodyLinkCollider;
if (multiCol != null && multiCol.MultiBody != null)
{
MultiBody mb = multiCol.MultiBody;
prevCanSleep = mb.CanSleep;
mb.CanSleep = false;
Vector3 pivotInA = mb.WorldPosToLocal(multiCol.Link, pickPos);
MultiBodyPoint2Point p2p = new MultiBodyPoint2Point(mb, multiCol.Link, null, pivotInA, pickPos);
p2p.MaxAppliedImpulse = 2;
(World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(p2p);
pickingMultiBodyPoint2Point = p2p;
}
}
oldPickingDist = (pickPos - rayFrom).Length;
}
rayCallback.Dispose();
}
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
RemovePickingConstraint();
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
MovePickedBody();
}
}
public virtual void OnHandleInput()
{
if (Input.KeysPressed.Count != 0)
{
switch (Input.KeysPressed[0])
{
case Keys.Escape:
case Keys.Q:
Graphics.Form.Close();
return;
case Keys.F3:
IsDebugDrawEnabled = !IsDebugDrawEnabled;
break;
case Keys.F8:
Input.ClearKeyCache();
GraphicsLibraryManager.ExitWithReload = true;
Graphics.Form.Close();
break;
case Keys.F11:
Graphics.IsFullScreen = !Graphics.IsFullScreen;
break;
case Keys.G:
//shadowsEnabled = !shadowsEnabled;
break;
case Keys.Space:
ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView));
break;
case Keys.Return:
ClientResetScene();
break;
}
}
if (Input.MousePressed != MouseButtons.None)
{
Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView);
if (Input.MousePressed == MouseButtons.Right)
{
if (_world != null)
{
Vector3 rayFrom = Freelook.Eye;
ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo);
_world.RayTest(ref rayFrom, ref rayTo, rayCallback);
if (rayCallback.HasHit)
{
Vector3 pickPos = rayCallback.HitPointWorld;
RigidBody body = rayCallback.CollisionObject as RigidBody;
if (body != null)
{
if (!(body.IsStaticObject || body.IsKinematicObject))
{
pickedBody = body;
pickedBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform));
if (Input.KeysDown.Contains(Keys.ShiftKey))
{
Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false)
{
LinearLowerLimit = Vector3.Zero,
LinearUpperLimit = Vector3.Zero,
AngularLowerLimit = Vector3.Zero,
AngularUpperLimit = Vector3.Zero
};
_world.AddConstraint(dof6);
pickConstraint = dof6;
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4);
dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4);
dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5);
}
else
{
Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot);
_world.AddConstraint(p2p);
pickConstraint = p2p;
p2p.Setting.ImpulseClamp = 30;
//very weak constraint for picking
p2p.Setting.Tau = 0.001f;
/*
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1);
* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 0);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 1);
* p2p.SetParam(ConstraintParams.Erp, 0.1f, 2);
*/
}
}
}
else
{
MultiBodyLinkCollider multiCol = rayCallback.CollisionObject as MultiBodyLinkCollider;
if (multiCol != null && multiCol.MultiBody != null)
{
MultiBody mb = multiCol.MultiBody;
prevCanSleep = mb.CanSleep;
mb.CanSleep = false;
Vector3 pivotInA = mb.WorldPosToLocal(multiCol.Link, pickPos);
MultiBodyPoint2Point p2p = new MultiBodyPoint2Point(mb, multiCol.Link, null, pivotInA, pickPos);
p2p.MaxAppliedImpulse = 2;
(World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(p2p);
pickingMultiBodyPoint2Point = p2p;
}
}
oldPickingDist = (pickPos - rayFrom).Length;
}
rayCallback.Dispose();
}
}
}
else if (Input.MouseReleased == MouseButtons.Right)
{
RemovePickingConstraint();
}
// Mouse movement
if (Input.MouseDown == MouseButtons.Right)
{
MovePickedBody();
}
}
