//Think this is supposed doing the move and slide Riley reffered to.
protected void UpdateTargetPositionBasedOnCollision(ref Vector3 hitNormal, float tangentMag, float normalMag)
{
Vector3 movementDirection = targetPosition - currentPosition;
float movementLength = movementDirection.Length;
if (movementLength > MathUtil.SIMD_EPSILON)
{
movementDirection.Normalize();
Vector3 reflectDir = ComputeReflectionDirection(ref movementDirection, ref hitNormal);
reflectDir.Normalize();
Vector3 perpindicularDir;
perpindicularDir = PerpindicularComponent(ref reflectDir, ref hitNormal);
targetPosition = currentPosition;
if (normalMag != 0.0f)
{
Vector3 perpComponent = perpindicularDir * (normalMag * movementLength);
targetPosition += perpComponent;
}
}
}
public override void SetGravityDirection(Vector3 direction)
{
var d = Vector3.Normalize(direction);
_gravityDirection = d;
var gravity = _gravityDirection * _gravityStrength * 10.0f;
_world.SetGravity(ref gravity);
}
public static void Update(float timeElapsed)
{
colWorld.StepSimulation(timeElapsed);
foreach (var ball in balls)
{
BulletSharp.Math.Vector3 linearVelocity = ball.Ball.LinearVelocity;
linearVelocity.Normalize();
ball.Ball.LinearVelocity = linearVelocity * 180;
}
}
public void Jump(Vector3 dir)
{
if (!OnGround)
{
return;
}
_isJumping = true;
dir.Y = 0;
_jumpDir = dir;
if (dir.LengthSquared < 0.001f)
{
_jumpDir = new Vector3(0, 0, 1);
}
_jumpDir += Vector3.UnitY;
_jumpDir.Normalize();
}
void UpdateTargetPositionBasedOnCollision(ref Vector3 hitNormal)
{
Vector3 movement = targetPosition - currentPosition;
Vector3 movementDirection = movement.normalized();
float movementLength = movement.Length;
if (!Mathf.Approximately(movementLength, 0))
{
Vector3 reflectDir = ComputeReflectionDirection(ref movementDirection, ref hitNormal);
reflectDir.Normalize();
Vector3 perpindicularDir = PerpindicularComponent(ref reflectDir, ref hitNormal);
targetPosition = currentPosition;
Vector3 perpComponent = perpindicularDir * movementLength;
targetPosition += perpComponent;
}
}
public void StepUp(float dt)
{
Matrix transform = RigidBody.MotionState.WorldTransform;
if (!_stepping)
{
_stepping = true;
_steppingTo.Y += CapsuleHalfHeight + CapsuleRadius;
}
/* Bullet reacts with velocity also with kinematic bodies, althogh this
* should not change anything, until we do not go back to dynamic body. */
Vector3 origin = transform.Origin;
float hor = Vector3.Dot(origin - _steppingTo, _steppingInvNormal);
Vector3 stepDir = _steppingTo - origin;
stepDir.Y = 0;
stepDir.Normalize();
float speed = Vector3.Dot(stepDir, Vector3.TransformNormal(_targetSpeed, transform.Basis))
* SteppingSpeed;
origin.Y += speed * dt * 2;
float dv = _steppingTo.Y - origin.Y;
if (dv <= -1 * MaxStepHeight || _targetSpeed.LengthSquared < 0.0001f || speed <= 0)
{
CancelStep();
}
else if (dv < CapsuleRadius)
{
float dh = (float)System.Math.Sqrt(dv * (2 * CapsuleRadius - dv));
if (dh < System.Math.Abs(hor))
{
float advance = System.Math.Min(dh * System.Math.Sign(hor) - hor, speed * dt);
var addVec = _steppingInvNormal * advance;
transform.Origin = transform.Origin + addVec;
}
}
RigidBody.MotionState.WorldTransform = transform;
}
protected void SetupSim()
{
// randomly choose scaling before resetting rigid body
float randomMass = 0;
BulletSharp.Math.Vector3 randomInertia;
if (randomScale)
{
if (varyScale)
{
m_pclScale.x = Random.Range(this.scaleMin, this.scaleMax);
m_pclScale.y = Random.Range(this.scaleMin, this.scaleMax);
m_pclScale.z = Random.Range(this.scaleMin, this.scaleMax);
}
else
{
float uniformScale = Random.Range(this.scaleMin, this.scaleMax);
m_pclScale.x = uniformScale;
m_pclScale.y = uniformScale;
m_pclScale.z = uniformScale;
}
//// z can't be more than thrice or less than half of x scale
//float zmin = Mathf.Max(this.scaleMin, 0.5f * m_pclScale.x);
//float zmax = Mathf.Min(this.scaleMax, 3.0f * m_pclScale.x);
//randomScale = Random.Range(zmin, zmax);
//m_pclScale.z = randomScale;
//// y can't be greater than 2 times the smallest of x and z
//float ymax = 2.0f * Mathf.Min(m_pclScale.x, m_pclScale.z);
//randomScale = Random.Range(this.scaleMin, Mathf.Min(ymax, this.scaleMax));
//m_pclScale.y = randomScale;
if (DEBUG)
{
Debug.Log("Scaling by " + m_pclScale.ToString());
}
// randomMass = m_masses[m_curObjIdx] * m_pclScale.x * m_pclScale.y * m_pclScale.z;
float randomDensity;
if (useConstantDensity)
{
// density is constant so mass must scale with volume
randomDensity = densityMin;
randomMass = randomDensity * m_masses[m_curObjIdx] * m_pclScale.x * m_pclScale.y * m_pclScale.z;
}
else
{
randomDensity = Random.Range(densityMin, densityMax);
randomMass = randomDensity * m_masses[m_curObjIdx];
}
// inertia must scale with volume no matter if the density is constant or not
BulletSharp.Math.Vector3 objInertiaInfo = m_inertias[m_curObjIdx];
float scalexyz = m_pclScale.x * m_pclScale.y * m_pclScale.z;
float scalex2 = m_pclScale.x * m_pclScale.x;
float scaley2 = m_pclScale.y * m_pclScale.y;
float scalez2 = m_pclScale.z * m_pclScale.z;
float inertiax = randomDensity * scalexyz * (scaley2 * objInertiaInfo[1] + scalez2 * objInertiaInfo[2]);
float inertiay = randomDensity * scalexyz * (scalex2 * objInertiaInfo[0] + scalez2 * objInertiaInfo[2]);
float inertiaz = randomDensity * scalexyz * (scalex2 * objInertiaInfo[0] + scaley2 * objInertiaInfo[1]);
randomInertia = new BulletSharp.Math.Vector3(inertiax, inertiay, inertiaz);
// need to completely destory rigid body because need new mass/moment of inertia
DestroySimObj();
DataGenUtils.BulletOBJMesh scaledMesh = m_btmesh.Scale(m_pclScale.x, m_pclScale.y, m_pclScale.z);
var triVtxarray = new TriangleIndexVertexArray(scaledMesh.indices, scaledMesh.vertices);
m_cs = new GImpactMeshShape(triVtxarray);
m_cs.LocalScaling = new BulletSharp.Math.Vector3(1);
m_cs.Margin = bodyMargin;
m_cs.UpdateBound();
AddCollisionShape(m_cs);
// move it up so resting on the ground plane
float miny = float.MaxValue;
float maxz = float.MinValue;
float cury;
float curz;
for (int i = 0; i < scaledMesh.vertices.Length / 3; i++)
{
cury = scaledMesh.vertices[i * 3 + 1];
if (cury < miny)
{
miny = cury;
}
curz = scaledMesh.vertices[i * 3 + 2];
if (curz > maxz)
{
maxz = curz;
}
}
miny = -miny;
m_rbInitTransVec = new BulletSharp.Math.Vector3(0, miny + bodyMargin + m_groundMargin, 0);
m_rbInitTrans = Matrix.Translation(m_rbInitTransVec); //* Matrix.RotationY(Random.Range(0.0f, 360.0f));
//float gtInertiaX = (1.0f / 12.0f) * randomMass * (3.0f * maxz * maxz + (2.0f * miny) * (2.0f * miny));
//float gtInertiaZ = gtInertiaX;
//float gtInertiaY = 0.5f * randomMass * maxz * maxz;
//BulletSharp.Math.Vector3 gtInertia = new BulletSharp.Math.Vector3(gtInertiaX, gtInertiaY, gtInertiaZ);
//Debug.Log("GT INERTIA: " + gtInertia.ToString());
//randomInertia = gtInertia;
m_rb = CreateRigidBody(randomMass, randomInertia, m_rbInitTrans, m_cs, bodyMat, bodyFriction, viz: RENDER_MODE);
//m_rb = CreateRigidBody(randomMass, m_rbInitTrans, m_cs, bodyMat, bodyFriction);
m_rb.AngularFactor = angularFactor;
m_rb.SetSleepingThresholds(linearSleepThresh, angularSleepThresh);
m_mass = randomMass;
m_inertia = randomInertia;
m_density = randomDensity;
}
else
{
// using the same mesh just need to choose a new density
// steps for determinism
// https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=3143
float randomDensity;
if (useConstantDensity)
{
randomDensity = densityMin;
}
else
{
randomDensity = Random.Range(densityMin, densityMax);
}
randomMass = randomDensity * m_masses[m_curObjIdx];
BulletSharp.Math.Vector3 objInertiaInfo = m_inertias[m_curObjIdx];
float inertiax = randomDensity * (objInertiaInfo[1] + objInertiaInfo[2]);
float inertiay = randomDensity * (objInertiaInfo[0] + objInertiaInfo[2]);
float inertiaz = randomDensity * (objInertiaInfo[0] + objInertiaInfo[1]);
randomInertia = new BulletSharp.Math.Vector3(inertiax, inertiay, inertiaz);
m_rb.SetMassProps(randomMass, randomInertia);
m_rbInitTrans = Matrix.Translation(m_rbInitTransVec); // * Matrix.RotationY(Random.Range(0.0f, 360.0f));
m_rb = ResetRigidBody(m_rb, randomMass, randomInertia, m_rbInitTrans, m_cs, bodyFriction);
m_rb.AngularFactor = angularFactor;
m_rb.SetSleepingThresholds(linearSleepThresh, angularSleepThresh);
// HingeConstraint hingeConstraint = new HingeConstraint(m_rb, new BulletSharp.Math.Vector3(0.0f), new BulletSharp.Math.Vector3(0.0f, 1.0f, 0.0f), false);
// m_world.AddConstraint(hingeConstraint);
// DestroySimObj(); // have to do this to set mass properties but can reuse previously calculated everything else
// if (m_cs == null) Debug.Log("NOT NULL");
// m_rb = CreateRigidBody(randomMass, randomInertia, m_rbInitTrans, m_cs, bodyMat, bodyFriction);
// m_rb.AngularFactor = new BulletSharp.Math.Vector3(angularFactor);
// m_rb.SetSleepingThresholds(linearSleepThresh, angularSleepThresh);
m_mass = randomMass;
m_inertia = randomInertia;
m_density = randomDensity;
}
m_stepCount = 0;
m_broadphase.ResetPool(m_colDispatcher);
m_solver.Reset();
float curMass = 1.0f / m_rb.InvMass;
if (DEBUG)
{
Debug.Log("Mass: " + curMass.ToString());
}
if (DEBUG)
{
Debug.Log("LOCAL MOMENT: " + m_rb.LocalInertia.ToString());
}
if (DEBUG)
{
Debug.Log("COM " + m_rb.CenterOfMassPosition.ToString());
}
if (DEBUG)
{
Debug.Log("Density " + m_density.ToString());
}
// determine impulse position
ClosestRayResultCallback cb;
BulletSharp.Math.Vector3 vertexNormal = new BulletSharp.Math.Vector3();
int missCount = 0;
do
{
// choose random vertex to apply force to
// pick a random point around in the plane around y position
float offsetx = UnityEngine.Random.Range(-100.0f, 100.0f);
float offsetz = UnityEngine.Random.Range(-100.0f, 100.0f);
Vector2 offsetvec = new Vector2(offsetx, offsetz);
// offsetvec.Normalize();
//float relForceHeight = 0.75f;
UnityEngine.Vector3 offsetPt = new UnityEngine.Vector3(offsetvec[0],
m_rb.CenterOfMassPosition.Y,
offsetvec[1]);
BulletSharp.Math.Vector3 btOffsetPt = BSExtensionMethods2.ToBullet(offsetPt);
BulletSharp.Math.Vector3 btInnerPt = m_rb.CenterOfMassPosition;
cb = new ClosestRayResultCallback(ref btOffsetPt, ref btInnerPt);
// Debug.DrawLine(BSExtensionMethods2.ToUnity(btInnerPt), offsetPt, Color.red, 2.0f);
m_world.RayTest(btOffsetPt, btInnerPt, cb);
if (cb.HasHit)
{
m_forcePoint = cb.HitPointWorld;
vertexNormal = cb.HitNormalWorld;
}
else
{
missCount++;
//Debug.Log("ERROR - couldn't find point to apply force to. Retrying...");
//return;
}
} while (!cb.HasHit);
if (DEBUG)
{
Debug.Log("Missed impulse " + missCount.ToString() + " times.");
}
if (DEBUG)
{
Debug.LogFormat("ForcePoint: " + m_forcePoint.ToString());
}
// get force vector
// loop until force is applied to outside of object
UnityEngine.Vector3 uForceVec = new UnityEngine.Vector3();
// initialize force vector to coincide with center of mass
BulletSharp.Math.Vector3 btForceVec = m_rb.CenterOfMassPosition - m_forcePoint;
// then randomly vary it within the x/z plane to be within the specified distance
BulletSharp.Math.Vector3 btVariationVec = new BulletSharp.Math.Vector3(-btForceVec[2], 0.0f, btForceVec[0]);
btVariationVec.Normalize();
float varyForce;
BulletSharp.Math.Vector3 proposedForceVec;
do
{
varyForce = UnityEngine.Random.Range(-forceDistMax, forceDistMax);
proposedForceVec = btVariationVec * varyForce + btForceVec;
} while (proposedForceVec.Dot(vertexNormal) >= 0); // must also be on the outside of the object
btForceVec = proposedForceVec;
btForceVec.Normalize();
uForceVec = BSExtensionMethods2.ToUnity(btForceVec);
if (DEBUG)
{
Debug.Log("FORCE DIST: " + varyForce.ToString());
}
//UnityEngine.Vector3 uVtxNormal = BSExtensionMethods2.ToUnity(vertexNormal);
//uVtxNormal.Normalize();
//do
//{
// float forcex = UnityEngine.Random.Range(-1.0f, 1.0f);
// float forcez = UnityEngine.Random.Range(-1.0f, 1.0f);
// uForceVec.Set(forcex, 0.0f, forcez);
// uForceVec.Normalize();
//} while (UnityEngine.Vector3.Dot(uForceVec, uVtxNormal) >= 0);
// random constrained magnitude
float mag = UnityEngine.Random.Range(impulseMin, impulseMax);
//Debug.Log("Vol: " + objectVolume.ToString());
// if (varyScale) {
// mag *= randomMass; // scale impulse t unity
//according to object scale
// } else {
// mag *= curMass;
// }
mag *= m_mass; // scale impulse according to object mass
uForceVec *= mag;
// set directly for debugging
//uForceVec.Set(2.5f, 0.0f, 0.0f);
//m_forcePoint = new BulletSharp.Math.Vector3(0.0f, m_rb.CenterOfMassPosition.Y, -0.15f);
m_forceVec = BSExtensionMethods2.ToBullet(uForceVec);
if (DEBUG)
{
Debug.LogFormat("ForceVec: " + m_forceVec.ToString());
}
if (DEBUG)
{
UnityEngine.Vector3 debugVec = -uForceVec;
debugVec.Scale(new UnityEngine.Vector3(0.5f, 0.5f, 0.5f));
Debug.DrawRay(BSExtensionMethods2.ToUnity(m_forcePoint), debugVec, Color.green, 1.0f);
Debug.DrawLine(BSExtensionMethods2.ToUnity(m_rb.CenterOfMassPosition), BSExtensionMethods2.ToUnity(m_forcePoint), Color.cyan, 1.0f);
Debug.DrawLine(BSExtensionMethods2.ToUnity(m_rb.CenterOfMassPosition), BSExtensionMethods2.ToUnity(m_rb.CenterOfMassPosition) + BSExtensionMethods2.ToUnity(btVariationVec) * varyForce, Color.blue, 1.0f);
}
// apply the random impulse
BulletSharp.Math.Vector3 radius = m_forcePoint - m_rb.CenterOfMassPosition;
m_rb.ApplyImpulse(m_forceVec, radius);
// m_rb.ApplyTorqueImpulse(new BulletSharp.Math.Vector3(0.0f, 1.0f, 0.0f));
// m_rb.ApplyCentralImpulse(new BulletSharp.Math.Vector3(4.0f, 0.0f, 2.0f));
// BulletSharp.Math.Vector3 newAngVel = m_rb.AngularVelocity;
// newAngVel.X = 0.0f;
// newAngVel.Z = 0.0f;
// m_rb.AngularVelocity = newAngVel;
// calculate ground truth for debugging
//BulletSharp.Math.Vector3 gtAngVel = radius.Cross(m_forceVec) / m_inertia;
//BulletSharp.Math.Vector3 gtLinVel = m_forceVec / m_mass;
//Debug.Log("GT LIN VEL: " + gtLinVel.ToString());
//Debug.Log("GT ANG VEL: " + gtAngVel.ToString());
}
//todo(erwincoumans) Quick hack, reference to InvertedPendulumPDControl implementation. Will create a separate header/source file for this.
public static MultiBody createInvertedPendulumMultiBody(float radius, MultiBodyDynamicsWorld world, Matrix baseWorldTrans, bool fixedBase)
{
BulletSharp.Math.Vector4[] colors = new BulletSharp.Math.Vector4[]
{
new BulletSharp.Math.Vector4(1, 0, 0, 1),
new BulletSharp.Math.Vector4(0, 1, 0, 1),
new BulletSharp.Math.Vector4(0, 1, 1, 1),
new BulletSharp.Math.Vector4(1, 1, 0, 1),
};
int curColor = 0;
bool damping = false;
bool gyro = false;
int numLinks = 2;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
BulletSharp.Math.Vector3 linkHalfExtents = new BulletSharp.Math.Vector3(0.05f, 0.37f, 0.1f);
BulletSharp.Math.Vector3 baseHalfExtents = new BulletSharp.Math.Vector3(0.04f, 0.35f, 0.08f);
//mbC.forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
//init the base
BulletSharp.Math.Vector3 baseInertiaDiag = new BulletSharp.Math.Vector3(0.0f, 0.0f, 0.0f);
float baseMass = fixedBase ? 0.0f : 10.0f;
if (baseMass != 0)
{
//CollisionShape *shape = new btSphereShape(baseHalfExtents[0]);// btBoxShape(BulletSharp.Math.Vector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
CollisionShape shape = new BoxShape(new BulletSharp.Math.Vector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
shape.CalculateLocalInertia(baseMass, out baseInertiaDiag);
shape.Dispose();
}
MultiBody pMultiBody = new MultiBody(numLinks, 0, baseInertiaDiag, fixedBase, canSleep);
pMultiBody.BaseWorldTransform = baseWorldTrans;
BulletSharp.Math.Vector3 vel = new BulletSharp.Math.Vector3(0, 0, 0);
// pMultiBody.setBaseVel(vel);
//init the links
BulletSharp.Math.Vector3 hingeJointAxis = new BulletSharp.Math.Vector3(1, 0, 0);
//y-axis assumed up
BulletSharp.Math.Vector3 parentComToCurrentCom = new BulletSharp.Math.Vector3(0, -linkHalfExtents[1] * 2.0f, 0); //par body's COM to cur body's COM offset
BulletSharp.Math.Vector3 currentPivotToCurrentCom = new BulletSharp.Math.Vector3(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
BulletSharp.Math.Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
//////
float q0 = 1.0f * Mathf.PI / 180.0f;
BulletSharp.Math.Quaternion quat0 = new BulletSharp.Math.Quaternion(new BulletSharp.Math.Vector3(1, 0, 0), q0);
quat0.Normalize();
/////
for (int i = 0; i < numLinks; ++i)
{
float linkMass = 1.0f;
//if (i==3 || i==2)
// linkMass= 1000;
BulletSharp.Math.Vector3 linkInertiaDiag = new BulletSharp.Math.Vector3(0.0f, 0.0f, 0.0f);
CollisionShape shape = null;
if (i == 0)
{
shape = new BoxShape(new BulletSharp.Math.Vector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//
}
else
{
shape = new SphereShape(radius);
}
shape.CalculateLocalInertia(linkMass, out linkInertiaDiag);
shape.Dispose();
if (!spherical)
{
//pMultiBody.setupRevolute(i, linkMass, linkInertiaDiag, i - 1, BulletSharp.Math.Quaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
if (i == 0)
{
pMultiBody.SetupRevolute(i, linkMass, linkInertiaDiag, i - 1,
new BulletSharp.Math.Quaternion(0.0f, 0.0f, 0.0f, 1.0f),
hingeJointAxis,
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
}
else
{
parentComToCurrentCom = new BulletSharp.Math.Vector3(0, -radius * 2.0f, 0); //par body's COM to cur body's COM offset
currentPivotToCurrentCom = new BulletSharp.Math.Vector3(0, -radius, 0); //cur body's COM to cur body's PIV offset
parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
pMultiBody.SetupFixed(i, linkMass, linkInertiaDiag, i - 1,
new BulletSharp.Math.Quaternion(0.0f, 0.0f, 0.0f, 1.0f),
parentComToCurrentPivot,
currentPivotToCurrentCom);
}
}
else
{
//pMultiBody.setupPlanar(i, linkMass, linkInertiaDiag, i - 1, BulletSharp.Math.Quaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, BulletSharp.Math.Vector3(1, 0, 0), parentComToCurrentPivot*2, false);
pMultiBody.SetupSpherical(i, linkMass, linkInertiaDiag, i - 1, new BulletSharp.Math.Quaternion(0.0f, 0.0f, 0.0f, 1.0f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
}
pMultiBody.FinalizeMultiDof();
world.AddMultiBody(pMultiBody);
MultiBody mbC = pMultiBody;
mbC.CanSleep = (canSleep);
mbC.HasSelfCollision = (selfCollide);
mbC.UseGyroTerm = (gyro);
//
if (!damping)
{
mbC.LinearDamping = (0.0f);
mbC.AngularDamping = (0.0f);
}
else
{
mbC.LinearDamping = (0.1f);
mbC.AngularDamping = (0.9f);
}
if (numLinks > 0)
{
q0 = 180.0f * Mathf.PI / 180.0f;
if (!spherical)
{
mbC.SetJointPosMultiDof(0, new float[] { q0 });
}
else
{
BulletSharp.Math.Vector3 vv = new BulletSharp.Math.Vector3(1, 1, 0);
vv.Normalize();
quat0 = new BulletSharp.Math.Quaternion(vv, q0);
quat0.Normalize();
float[] quat0fs = new float[] { quat0.X, quat0.Y, quat0.Z, quat0.W };
mbC.SetJointPosMultiDof(0, quat0fs);
}
}
///
BulletSharp.Math.Quaternion[] world_to_local; //btAlignedObjectArray<BulletSharp.Math.Quaternion>
world_to_local = new BulletSharp.Math.Quaternion[pMultiBody.NumLinks + 1];
BulletSharp.Math.Vector3[] local_origin; //btAlignedObjectArray<BulletSharp.Math.Vector3>
local_origin = new BulletSharp.Math.Vector3[pMultiBody.NumLinks + 1];
world_to_local[0] = pMultiBody.WorldToBaseRot;
local_origin[0] = pMultiBody.BasePosition;
// double friction = 1;
{
if (true)
{
CollisionShape shape = new BoxShape(new BulletSharp.Math.Vector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2])); //new btSphereShape(baseHalfExtents[0]);
// guiHelper.createCollisionShapeGraphicsObject(shape);
MultiBodyLinkCollider col = new MultiBodyLinkCollider(pMultiBody, -1);
col.CollisionShape = shape;
Matrix tr = new Matrix();
tr.ScaleVector = BulletSharp.Math.Vector3.One;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
tr.Origin = local_origin[0];
BulletSharp.Math.Quaternion orn = new BulletSharp.Math.Quaternion(new BulletSharp.Math.Vector3(0, 0, 1), 0.25f * 3.1415926538f);
tr.Rotation = (orn);
col.WorldTransform = (tr);
bool isDynamic = (baseMass > 0 && !fixedBase);
CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter ^ CollisionFilterGroups.StaticFilter;
world.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask);//, 2,1+2);
BulletSharp.Math.Vector4 color = new BulletSharp.Math.Vector4(0.0f, 0.0f, 0.5f, 1f);
//guiHelper.createCollisionObjectGraphicsObject(col, color);
// col.setFriction(friction);
pMultiBody.BaseCollider = (col);
}
}
for (int i = 0; i < pMultiBody.NumLinks; ++i)
{
int parent = pMultiBody.GetParent(i);
world_to_local[i + 1] = pMultiBody.GetParentToLocalRot(i) * world_to_local[parent + 1];
BulletSharp.Math.Vector3 vv = world_to_local[i + 1].Inverse.Rotate(pMultiBody.GetRVector(i));
local_origin[i + 1] = local_origin[parent + 1] + vv;
}
for (int i = 0; i < pMultiBody.NumLinks; ++i)
{
BulletSharp.Math.Vector3 posr = local_origin[i + 1];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
float[] quat = new float[] { -world_to_local[i + 1].X, -world_to_local[i + 1].Y, -world_to_local[i + 1].Z, world_to_local[i + 1].W };
CollisionShape shape = null;
if (i == 0)
{
shape = new BoxShape(new BulletSharp.Math.Vector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));//btSphereShape(linkHalfExtents[0]);
}
else
{
shape = new SphereShape(radius);
}
//guiHelper.createCollisionShapeGraphicsObject(shape);
MultiBodyLinkCollider col = new MultiBodyLinkCollider(pMultiBody, i);
col.CollisionShape = (shape);
Matrix tr = new Matrix();
tr.ScaleVector = new BulletSharp.Math.Vector3();
tr.Origin = (posr);
tr.Rotation = (new BulletSharp.Math.Quaternion(quat[0], quat[1], quat[2], quat[3]));
col.WorldTransform = (tr);
// col.setFriction(friction);
bool isDynamic = true;//(linkMass > 0);
CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter ^ CollisionFilterGroups.StaticFilter;
//if (i==0||i>numLinks-2)
{
world.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask);//,2,1+2);
BulletSharp.Math.Vector4 color = colors[curColor];
curColor++;
curColor &= 3;
//guiHelper.createCollisionObjectGraphicsObject(col, color);
pMultiBody.GetLink(i).Collider = col;
}
}
return(pMultiBody);
}
protected void StepForwardAndStrafe(CollisionWorld collisionWorld, ref Vector3 walkMove)
{
Matrix start = Matrix.Identity, end = Matrix.Identity;
targetPosition = currentPosition + walkMove;
float fraction = 1.0f;
float distance2 = (currentPosition - targetPosition).LengthSquared;
// printf("distance2=%f\n",distance2);
if (touchingContact)
{
float dot;
Vector3.Dot(ref normalizedDirection, ref m_touchingNormal, out dot);
if (dot > 0.0f)
{
//interferes with step movement
//UpdateTargetPositionBasedOnCollision(ref m_touchingNormal, 0.0f, 1.0f);
}
}
int maxIter = 10;
while (fraction > 0.01f && maxIter-- > 0)
{
start.Origin = (currentPosition);
end.Origin = (targetPosition);
Vector3 sweepDirNegative = currentPosition - targetPosition;
KinematicClosestNotMeConvexResultCallback callback = new KinematicClosestNotMeConvexResultCallback(ghostObject, sweepDirNegative, 0f);
callback.CollisionFilterGroup = ghostObject.BroadphaseHandle.CollisionFilterGroup;
callback.CollisionFilterMask = ghostObject.BroadphaseHandle.CollisionFilterMask;
float margin = convexShape.Margin;
convexShape.Margin = margin + .02f;
ghostObject.ConvexSweepTestRef(convexShape, ref start, ref end, callback, collisionWorld.DispatchInfo.AllowedCcdPenetration);
convexShape.Margin = margin;
fraction -= callback.ClosestHitFraction;
if (callback.HasHit)
{
// We moved only a fraction
float hitDistance = (callback.HitPointWorld - currentPosition).Length;
Vector3 hitNormalWorld = callback.HitNormalWorld;
UpdateTargetPositionBasedOnCollision(ref hitNormalWorld, 0f, 1f);
Vector3 currentDir = targetPosition - currentPosition;
distance2 = currentDir.LengthSquared;
if (distance2 > MathUtil.SIMD_EPSILON)
{
currentDir.Normalize();
/* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */
float dot;
Vector3.Dot(ref currentDir, ref normalizedDirection, out dot);
if (dot <= 0.0f)
{
break;
}
}
else
{
break;
}
}
else
{
// we moved whole way
currentPosition = targetPosition;
}
}
}
