public WheelInfo AddWheel(Vector3 connectionPointCS, Vector3 wheelDirectionCS0, Vector3 wheelAxleCS, float suspensionRestLength, float wheelRadius, RaycastVehicle.VehicleTuning tuning, bool isFrontWheel)
{
WheelInfoConstructionInfo ci = new WheelInfoConstructionInfo();
ci.ChassisConnectionCS = connectionPointCS;
ci.WheelDirectionCS = wheelDirectionCS0;
ci.WheelAxleCS = wheelAxleCS;
ci.SuspensionRestLength = suspensionRestLength;
ci.WheelRadius = wheelRadius;
ci.SuspensionStiffness = tuning.SuspensionStiffness;
ci.WheelsDampingCompression = tuning.SuspensionCompression;
ci.WheelsDampingRelaxation = tuning.SuspensionDamping;
ci.FrictionSlip = tuning.FrictionSlip;
ci.IsFrontWheel = isFrontWheel;
ci.MaxSuspensionTravelCm = tuning.MaxSuspensionTravelCm;
ci.MaxSuspensionForce = tuning.MaxSuspensionForce;
wheelInfo.Add(new WheelInfo(ci));
ci.Dispose();
WheelInfo wheel = wheelInfo[NumWheels - 1];
UpdateWheelTransformsWS(wheel, false);
UpdateWheelTransform(NumWheels - 1, false);
return wheel;
}
public CustomVehicle(RaycastVehicle.VehicleTuning tuning, RigidBody chassis, VehicleRaycaster raycaster)
{
chassisBody = chassis;
vehicleRaycaster = raycaster;
}
/// <summary>
/// After we create our RigidBody, we turn it into a vehicle
/// </summary>
protected override void PostCreateBody(ThingDefinition def)
{
kartMotionState = MotionState as KartMotionState;
Body.CcdMotionThreshold = 0.001f;
Body.CcdSweptSphereRadius = 0.04f;
Raycaster = new DefaultVehicleRaycaster(LKernel.GetG<PhysicsMain>().World);
Tuning = new RaycastVehicle.VehicleTuning();
_vehicle = new RaycastVehicle(Tuning, Body, Raycaster);
_vehicle.SetCoordinateSystem(0, 1, 2); // I have no idea what this does... I'm assuming something to do with a rotation matrix?
LKernel.GetG<PhysicsMain>().World.AddAction(_vehicle);
var wheelFac = LKernel.GetG<WheelFactory>();
string frontWheelName = def.GetStringProperty("FrontWheel", null);
string backWheelName = def.GetStringProperty("BackWheel", null);
WheelFL = wheelFac.CreateWheel(frontWheelName, WheelID.FrontLeft, this, def.GetVectorProperty("FrontLeftWheelPosition", null), def.GetStringProperty("FrontLeftWheelMesh", null));
WheelFR = wheelFac.CreateWheel(frontWheelName, WheelID.FrontRight, this, def.GetVectorProperty("FrontRightWheelPosition", null), def.GetStringProperty("FrontRightWheelMesh", null));
WheelBL = wheelFac.CreateWheel(backWheelName, WheelID.BackLeft, this, def.GetVectorProperty("BackLeftWheelPosition", null), def.GetStringProperty("BackLeftWheelMesh", null));
WheelBR = wheelFac.CreateWheel(backWheelName, WheelID.BackRight, this, def.GetVectorProperty("BackRightWheelPosition", null), def.GetStringProperty("BackRightWheelMesh", null));
LeftParticleNode.Position -= new Vector3(0, WheelBL.DefaultRadius * 0.7f, 0);
RightParticleNode.Position -= new Vector3(0, WheelBR.DefaultRadius * 0.7f, 0);
Body.LinearVelocity = new Vector3(0, 1, 0);
PhysicsMain.FinaliseBeforeSimulation += FinaliseBeforeSimulation;
RaceCountdown.OnCountdown += OnCountdown;
}
float wheelFriction = 1000; //BT_LARGE_FLOAT;
#endregion Fields
#region Constructors
public Physics(VehicleDemo game)
{
CollisionShape groundShape = new BoxShape(50, 3, 50);
CollisionShapes.Add(groundShape);
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Solver = new SequentialImpulseConstraintSolver();
Vector3 worldMin = new Vector3(-10000, -10000, -10000);
Vector3 worldMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldMin, worldMax);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
int i;
Matrix tr;
Matrix vehicleTr;
if (UseTrimeshGround)
{
const float scale = 20.0f;
//create a triangle-mesh ground
int vertStride = Vector3.SizeInBytes;
int indexStride = 3 * sizeof(int);
const int NUM_VERTS_X = 20;
const int NUM_VERTS_Y = 20;
const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalVerts, vertStride, totalTriangles, indexStride);
BulletSharp.DataStream data = mesh.LockVerts();
for (i = 0; i < NUM_VERTS_X; i++)
{
for (int j = 0; j < NUM_VERTS_Y; j++)
{
float wl = .2f;
float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));
data.Write((i - NUM_VERTS_X * 0.5f) * scale);
data.Write(height);
data.Write((j - NUM_VERTS_Y * 0.5f) * scale);
}
}
int index = 0;
IntArray idata = mesh.TriangleIndices;
for (i = 0; i < NUM_VERTS_X - 1; i++)
{
for (int j = 0; j < NUM_VERTS_Y - 1; j++)
{
idata[index++] = j * NUM_VERTS_X + i;
idata[index++] = j * NUM_VERTS_X + i + 1;
idata[index++] = (j + 1) * NUM_VERTS_X + i + 1;
idata[index++] = j * NUM_VERTS_X + i;
idata[index++] = (j + 1) * NUM_VERTS_X + i + 1;
idata[index++] = (j + 1) * NUM_VERTS_X + i;
}
}
vertexArray.AddIndexedMesh(mesh);
groundShape = new BvhTriangleMeshShape(vertexArray, true);
tr = Matrix.Identity;
vehicleTr = Matrix.Translation(0, -2, 0);
}
else
{
// Use HeightfieldTerrainShape
int width = 40, length = 40;
//int width = 128, length = 128; // Debugging is too slow for this
float maxHeight = 10.0f;
float heightScale = maxHeight / 256.0f;
Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f);
//PhyScalarType scalarType = PhyScalarType.PhyUChar;
//FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);
// Use float data
PhyScalarType scalarType = PhyScalarType.PhyFloat;
byte[] terr = new byte[width * length * 4];
MemoryStream file = new MemoryStream(terr);
BinaryWriter writer = new BinaryWriter(file);
for (i = 0; i < width; i++)
for (int j = 0; j < length; j++)
writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
writer.Flush();
file.Position = 0;
HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
file, heightScale, 0, maxHeight, upIndex, scalarType, false);
heightterrainShape.SetUseDiamondSubdivision(true);
groundShape = heightterrainShape;
groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);
tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));
// Create graphics object
file.Position = 0;
BinaryReader reader = new BinaryReader(file);
int totalTriangles = (width - 1) * (length - 1) * 2;
int totalVerts = width * length;
game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
for (i = 0; i < width; i++)
{
for (int j = 0; j < length; j++)
{
float height;
if (scalarType == PhyScalarType.PhyFloat)
{
// heightScale isn't applied internally for float data
height = reader.ReadSingle();
}
else if (scalarType == PhyScalarType.PhyUChar)
{
height = file.ReadByte() * heightScale;
}
else
{
height = 0.0f;
}
data.Write((j - length * 0.5f) * scale.X);
data.Write(height);
data.Write((i - width * 0.5f) * scale.Z);
// Normals will be calculated later
data.Position += 12;
}
}
game.groundMesh.UnlockVertexBuffer();
file.Close();
data = game.groundMesh.LockIndexBuffer(LockFlags.None);
for (i = 0; i < width - 1; i++)
{
for (int j = 0; j < length - 1; j++)
{
// Using diamond subdivision
if ((j + i) % 2 == 0)
{
data.Write(j * width + i);
data.Write((j + 1) * width + i + 1);
data.Write(j * width + i + 1);
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
else
{
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write(j * width + i + 1);
data.Write(j * width + i + 1);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
/*
// Not using diamond subdivision
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write(j * width + i + 1);
data.Write(j * width + i + 1);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
*/
}
}
game.groundMesh.UnlockIndexBuffer();
game.groundMesh.ComputeNormals();
}
CollisionShapes.Add(groundShape);
//create ground object
RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);
ground.UserObject = "Ground";
CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);
CollisionShapes.Add(chassisShape);
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
//localTrans effectively shifts the center of mass with respect to the chassis
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound);
carChassis.UserObject = "Chassis";
//carChassis.SetDamping(0.2f, 0.2f);
//CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius);
// clientResetScene();
// create vehicle
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
IVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
World.AddAction(vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
vehicle.RigidBody.WorldTransform = vehicleTr;
}
float wheelFriction = 1000; //BT_LARGE_FLOAT;
#endregion Fields
#region Methods
public override void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.CanCreate(i))
{
RaycastVehicle vehicle;
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
CompoundShape compound = new CompoundShape();
//List<AbstractRigidShapeDefinition> children = new List<AbstractRigidShapeDefinition>();
CollisionShape chassisShape = shapedef.GetShape(sc);
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
float mass = shapedef.Mass;
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
chassisShape.CalculateLocalInertia(mass, out localInertia);
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, compound, localInertia);
RigidBody carChassis = new RigidBody(rbInfo);
BodyCustomData bd = new BodyCustomData();
carChassis.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
this.FWorld[0].Register(carChassis);
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
VehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(this.FWorld[0].World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
this.FWorld[0].World.AddAction(vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
FOutVehicle.SliceCount = 1;
FOutVehicle[0] = vehicle;
}
}
}
/// <summary>
/// This should only be used by the WheelFactory
/// </summary>
/// <param name="owner">Which kart is the wheel attached to?</param>
/// <param name="connectionPoint">Where is the wheel attached?</param>
/// <param name="wheelID">ID number of the wheel</param>
/// <param name="dict">The properties and values from the .wheel file this wheel was built from</param>
/// <param name="meshName">The filename of the mesh we should use for this wheel</param>
public Wheel(Kart owner, Vector3 connectionPoint, WheelID wheelID, IDictionary<string, float> dict, string meshName)
{
// set up these
kart = owner;
ID = wheelID;
vehicle = kart.Vehicle;
// set up our readonlies
DefaultRadius = dict["Radius"];
DefaultWidth = dict["Width"];
DefaultSuspensionRestLength = dict["SuspensionRestLength"];
DefaultSpringStiffness = dict["SpringStiffness"];
DefaultSpringCompression = dict["SpringCompression"];
DefaultSpringDamping = dict["SpringDamping"];
Friction = dict["FrictionSlip"];
DefaultRollInfluence = dict["RollInfluence"];
DefaultBrakeForce = dict["BrakeForce"];
DefaultMotorForce = dict["MotorForce"];
DefaultMaxTurnAngle = new Degree(dict["TurnAngle"]).ValueRadians;
DefaultSlowSpeed = dict["SlowSpeed"];
DefaultHighSpeed = dict["HighSpeed"];
DefaultSlowTurnAngleMultiplier = dict["SlowTurnAngleMultiplier"];
DefaultSlowTurnSpeedMultiplier = dict["SlowTurnSpeedMultiplier"];
DefaultDriftingTurnAngle = new Degree(dict["DriftingTurnAngle"]).ValueRadians;
DefaultDriftingTurnSpeed = new Degree(dict["DriftingTurnSpeed"]).ValueRadians;
DefaultSteerIncrementTurn = new Degree(dict["SteerIncrementTurn"]).ValueRadians;
DefaultSteerDecrementTurn = new Degree(dict["SteerDecrementTurn"]).ValueRadians;
// give our fields some default values
AccelerateMultiplier = 0;
TurnMultiplier = 0;
IsBrakeOn = false;
DriftState = WheelDriftState.None;
IntWheelID = (int) wheelID;
DefaultFrictionSlip = Friction;
IdealSteerAngle = 0f;
// need to tell bullet whether it's a front wheel or not
bool isFrontWheel;
if (ID == WheelID.FrontLeft || ID == WheelID.FrontRight)
isFrontWheel = true;
else
isFrontWheel = false;
vehicle.AddWheel(connectionPoint, WheelDirection, WheelAxle, DefaultSuspensionRestLength, DefaultRadius, kart.Tuning, isFrontWheel);
WheelInfo info = vehicle.GetWheelInfo(IntWheelID);
info.SuspensionStiffness = DefaultSpringStiffness;
info.WheelDampingRelaxation = DefaultSpringDamping;
info.WheelDampingCompression = DefaultSpringCompression;
info.FrictionSlip = Friction;
info.RollInfluence = DefaultRollInfluence;
AxlePoint = connectionPoint + new Vector3(0, -DefaultSuspensionRestLength, 0);
// create our node and entity
Node = owner.RootNode.CreateChildSceneNode("wheelNode" + kart.ID + ID, AxlePoint);
Entity = LKernel.GetG<SceneManager>().CreateEntity("wheelNode" + kart.ID + ID, meshName);
Node.AttachObject(Entity);
Node.InheritOrientation = false;
Node.Orientation = kart.ActualOrientation;
// and then hook up to the event
PhysicsMain.PostSimulate += PostSimulate;
}
public override void Load(Vector3 Location)
{
VehicleMesh.MeshColor = PrimaryColors[Global.RNG.Next(PrimaryColors.Length)];
CollisionShape chassisShape = new BoxShape(Dimensions.Y / 2, Dimensions.Z / 2, Dimensions.X / 2);
collisionShape = new CompoundShape();
//localTrans effectively shifts the center of mass with respect to the chassis
Matrix4 localTrans = Matrix4.CreateTranslation(0 * Vector3.UnitY);
((CompoundShape)collisionShape).AddChildShape(localTrans, chassisShape);
collisionShape = VehicleMesh.GetCollisionMesh(true);
vehicleBody = World.CreateRigidBody(Mass, Matrix4.CreateTranslation(Location), collisionShape);
// create vehicle
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
raycastVehicle = new RaycastVehicle(tuning, vehicleBody, new DefaultVehicleRaycaster(World.DynamicsWorld));
vehicleBody.ActivationState = ActivationState.DisableDeactivation;
// choose coordinate system
raycastVehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = FrontWheel.Location +(Vector3.UnitY*SuspensionRestLength); // Front left
raycastVehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, SuspensionRestLength, WheelRadius, tuning, true);
connectionPointCS0 = FrontWheel.Location * new Vector3(-1, 1, 1) + (Vector3.UnitY * SuspensionRestLength); // Front right
raycastVehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, -wheelAxleCS, SuspensionRestLength, WheelRadius, tuning, true);
connectionPointCS0 = RearWheel.Location * new Vector3(-1, 1, 1) + (Vector3.UnitY * SuspensionRestLength); // Rear right
raycastVehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, -wheelAxleCS, SuspensionRestLength, WheelRadius, tuning, false);
connectionPointCS0 = RearWheel.Location + (Vector3.UnitY * SuspensionRestLength); // Rear left
raycastVehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, SuspensionRestLength, WheelRadius, tuning, false);
for (int i = 0; i < raycastVehicle.NumWheels; i++)
{
WheelInfo wheel = raycastVehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = SuspensionStiffness;
wheel.WheelsDampingRelaxation = SuspensionDamping;
wheel.WheelsDampingCompression = SuspensionCompression;
wheel.FrictionSlip = WheelFriction;
wheel.RollInfluence = RollInfluence;
}
World.DynamicsWorld.AddAction(raycastVehicle);
}
