public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null) {
collisionShapePtr = new SphereShape(radius);
}
return collisionShapePtr;
}
/// <summary>
/// Starts the component.
/// </summary>
/// <param name="time">Time snapshot</param>
protected override void OnStart(GameTime time)
{
base.OnStart(time);
this.sphere = new BulletSharp.SphereShape(this.Radius);
this.sphere.UserObject = this;
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null) {
collisionShapePtr = new SphereShape(radius);
((SphereShape)collisionShapePtr).LocalScaling = m_localScaling.ToBullet();
}
return collisionShapePtr;
}
public FreeCamera(float aspectRatio, float fov)
{
Cam = new Camera(new Vector3(20, 20, 20), new Vector3(0, 2, 0), aspectRatio, fov, 1.0f, 10000.0f);
collisionShape = new SphereShape(0.8f);
//collisionShape.LinearDamping = 0.5f;
rigidBody = World.Root.CreateRigidBody(0.01f, Matrix4.CreateTranslation(Cam.Transformation.GetPosition()), collisionShape, null);
rigidBody.SetSleepingThresholds(0, 0);
rigidBody.ContactProcessingThreshold = 0;
rigidBody.CcdMotionThreshold = 0;
World.Root.PhysicalWorld.AddRigidBody(rigidBody);
rigidBody.Gravity = Vector3.Zero;
rigidBody.ApplyGravity();
rigidBody.SetDamping(0.5f, 0.01f);
GLThread.OnUpdate += UpdateSterring;
GLThread.OnMouseMove += OnMouseMove;
}
public Person(Vector3 StartPosition)
{
CameraDefinition defaultCameraDefinition = new CameraDefinition()
{
Distance = 10,
FPV = true,
Offset = Vector3.UnitY,
ViewAngle = Vector2.One,
Style = DrawingStyle.Normal
};
CameraList = new Camera[] { new FirstPersonCamera(defaultCameraDefinition), new ThirdPersonCamera(defaultCameraDefinition) };
CurrentCamera = 0;
SphereShape body = new SphereShape(0.5f);
CharacterBody = World.CreateRigidBody(80, Matrix4.CreateTranslation(StartPosition), body);
}
public PhysicsConvexSweepTestItem(Matrix4 from, Matrix4 to, int collisionFilterGroup, int collisionFilterMask, ModeEnum mode, Sphere sphere)
{
this.originalFrom = from;
this.originalTo = to;
this.CollisionFilterGroup = collisionFilterGroup;
this.CollisionFilterMask = collisionFilterMask;
this.Mode = mode;
transformedFrom = originalFrom;
transformedTo = originalTo;
Vector3 offset = sphere.Origin;
if (offset != Vector3.Zero)
{
transformedFrom.SetTranslation(transformedFrom.GetTranslation() + offset);
transformedTo.SetTranslation(transformedTo.GetTranslation() + offset);
}
Shape = new BulletSharp.SphereShape(sphere.Radius);
ShapeAutoDispose = true;
}
public FreeCamera(float aspectRatio, float fov)
{
Cam = new Camera(new Vector3(20, 20, 20), new Vector3(0, 2, 0), aspectRatio, fov, 0.1f, 10000.0f);
Camera.MainDisplayCamera = Cam;
collisionShape = new SphereShape(0.8f);
//collisionShape.LinearDamping = 0.5f;
rigidBody = World.Root.CreateRigidBody(0.01f, Matrix4.CreateTranslation(Cam.Transformation.GetPosition()), collisionShape, null);
rigidBody.SetSleepingThresholds(0, 0);
rigidBody.ContactProcessingThreshold = 0;
rigidBody.CcdMotionThreshold = 0;
World.Root.PhysicalWorld.AddRigidBody(rigidBody);
rigidBody.Gravity = Vector3.Zero;
rigidBody.ApplyGravity();
rigidBody.SetDamping(0.5f, 0.01f);
GLThread.OnUpdate += UpdateSterring;
GLThread.OnMouseMove += OnMouseMove;
GLThread.OnKeyUp += (o, e) =>
{
if(e.Key == OpenTK.Input.Key.P)
{
GravityEnabled = !GravityEnabled;
if(GravityEnabled)
{
rigidBody.Gravity = new Vector3(0, -9.81f, 0);
rigidBody.ApplyGravity();
rigidBody.SetDamping(0.8f, 0.01f);
}
else
{
rigidBody.Gravity = Vector3.Zero;
rigidBody.ApplyGravity();
rigidBody.SetDamping(0.5f, 0.01f);
}
}
};
}
/// <inheritdoc/>
public override BulletSharp.RigidBody CreateRigidBody(float mass)
{
var ppm = DD.Physics.PhysicsSimulator.PPM;
var mstate = new DefaultMotionState ();
var shape = new BulletSharp.SphereShape (radius / ppm);
var info = new BulletSharp.RigidBodyConstructionInfo (mass, mstate, shape);
return new BulletSharp.RigidBody (info);
}
public static UnityEngine.Vector3[] CreateSphere(SphereShape shape, out int[] indices)
{
return CreateSphere(shape.Radius, out indices);
}
public static void CreateSphere(SphereShape shape, Mesh mesh)
{
mesh.Clear();
float radius = shape.Radius;
// Longitude |||
int nbLong = 24;
// Latitude ---
int nbLat = 16;
#region Vertices
UnityEngine.Vector3[] vertices = new UnityEngine.Vector3[(nbLong + 1) * nbLat + 2];
float _pi = Mathf.PI;
float _2pi = _pi * 2f;
vertices[0] = UnityEngine.Vector3.up * radius;
for (int lat = 0; lat < nbLat; lat++) {
float a1 = _pi * (float)(lat + 1) / (nbLat + 1);
float sin1 = Mathf.Sin(a1);
float cos1 = Mathf.Cos(a1);
for (int lon = 0; lon <= nbLong; lon++) {
float a2 = _2pi * (float)(lon == nbLong ? 0 : lon) / nbLong;
float sin2 = Mathf.Sin(a2);
float cos2 = Mathf.Cos(a2);
vertices[lon + lat * (nbLong + 1) + 1] = new UnityEngine.Vector3(sin1 * cos2, cos1, sin1 * sin2) * radius;
}
}
vertices[vertices.Length - 1] = UnityEngine.Vector3.up * -radius;
#endregion
#region Normales
UnityEngine.Vector3[] normales = new UnityEngine.Vector3[vertices.Length];
for (int n = 0; n < vertices.Length; n++)
normales[n] = vertices[n].normalized;
#endregion
#region UVs
Vector2[] uvs = new Vector2[vertices.Length];
uvs[0] = Vector2.up;
uvs[uvs.Length - 1] = Vector2.zero;
for (int lat = 0; lat < nbLat; lat++)
for (int lon = 0; lon <= nbLong; lon++)
uvs[lon + lat * (nbLong + 1) + 1] = new Vector2((float)lon / nbLong, 1f - (float)(lat + 1) / (nbLat + 1));
#endregion
#region Triangles
int nbFaces = vertices.Length;
int nbTriangles = nbFaces * 2;
int nbIndexes = nbTriangles * 3;
int[] triangles = new int[nbIndexes];
//Top Cap
int i = 0;
for (int lon = 0; lon < nbLong; lon++) {
triangles[i++] = lon + 2;
triangles[i++] = lon + 1;
triangles[i++] = 0;
}
//Middle
for (int lat = 0; lat < nbLat - 1; lat++) {
for (int lon = 0; lon < nbLong; lon++) {
int current = lon + lat * (nbLong + 1) + 1;
int next = current + nbLong + 1;
triangles[i++] = current;
triangles[i++] = current + 1;
triangles[i++] = next + 1;
triangles[i++] = current;
triangles[i++] = next + 1;
triangles[i++] = next;
}
}
//Bottom Cap
for (int lon = 0; lon < nbLong; lon++) {
triangles[i++] = vertices.Length - 1;
triangles[i++] = vertices.Length - (lon + 2) - 1;
triangles[i++] = vertices.Length - (lon + 1) - 1;
}
#endregion
mesh.vertices = vertices;
mesh.normals = normales;
mesh.uv = uvs;
mesh.triangles = triangles;
mesh.RecalculateBounds();
mesh.Optimize();
}
public CarScene()
{
Object3dInfo waterInfo = Object3dGenerator.CreateGround(new Vector2(-200, -200), new Vector2(200, 200), new Vector2(100, 100), Vector3.UnitY);
var color = GenericMaterial.FromMedia("checked.png", "183_norm.JPG");
Mesh3d water = new Mesh3d(waterInfo, color);
water.SetMass(0);
water.Translate(0, -10, 0);
water.SetCollisionShape(new BulletSharp.StaticPlaneShape(Vector3.UnitY, 0));
World.Root.Add(water);
var lod1 = Object3dInfo.LoadFromRaw(Media.Get("lucy_lod1.vbo.raw"), Media.Get("lucy_lod1.indices.raw"));
var mat = new GenericMaterial(new Vector4(0, 0, 1, 1f));
var dragon = new Mesh3d(lod1, mat);
dragon.Transformation.Scale(2);
Add(dragon);
var rand = new Random();
var grasslod0 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod1 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod2 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod2.obj"));
var grasslod3 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod3.obj"));
var grasscolor = new GenericMaterial(Color.DarkGreen);
var grassInstanced = new InstancedMesh3d(grasslod2, grasscolor);
for(int x = -15; x < 15; x++)
{
for(int y = -15; y < 15; y++)
{
grassInstanced.Transformations.Add(new TransformationManager(new Vector3(x, 0, y), Quaternion.FromAxisAngle(Vector3.UnitY, (float)rand.NextDouble() * MathHelper.Pi), new Vector3(1, 1, 1)));
grassInstanced.Instances++;
}
}
grassInstanced.UpdateMatrix();
Add(grassInstanced);
ProjectionLight redConeLight = new ProjectionLight(new Vector3(1, 25, 1), Quaternion.Identity, 5000, 5000, MathHelper.PiOver2, 1.0f, 10000.0f);
redConeLight.LightColor = new Vector4(1, 1, 1, 1);
redConeLight.BuildOrthographicProjection(500, 500, -100, 100);
redConeLight.camera.LookAt(Vector3.Zero);
LightPool.Add(redConeLight);
var wheel3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarwheel.obj"));
var car3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarbody.obj"));
var car = new Mesh3d(car3dInfo, new GenericMaterial(Color.LightGreen));
car.SetMass(200);
//car.Translate(0, 3.76f, 0);
car.SetCollisionShape(new BoxShape(0.5f, 0.5f, 0.5f));
car.CreateRigidBody(new Vector3(0, -25, 0), true);
car.PhysicalBody.SetSleepingThresholds(0, 0);
car.PhysicalBody.ContactProcessingThreshold = 0;
car.PhysicalBody.CcdMotionThreshold = 0;
CurrentCar = car;
World.Root.Add(car);
GLThread.OnUpdate += (o, e) =>
{
redConeLight.SetPosition(car.GetPosition() + new Vector3(0, 15, 0));
};
var shape = new SphereShape(0.5f);
//var shape = wheel3dInfo.GetAccurateCollisionShape();
var wheelLF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLF.SetMass(100);
wheelLF.Translate(1.640539f, 0.48866f, -1.94906f);
wheelLF.SetCollisionShape(shape);
wheelLF.CreateRigidBody();
World.Root.Add(wheelLF);
var wheelRF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRF.SetMass(100);
wheelRF.Translate(1.640539f, 0.48866f, 1.94906f);
wheelRF.SetCollisionShape(shape);
wheelRF.CreateRigidBody();
World.Root.Add(wheelRF);
var wheelLR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLR.SetMass(100);
wheelLR.Translate(-1.640539f, 0.48866f, -1.94906f);
wheelLR.SetCollisionShape(shape);
wheelLR.CreateRigidBody();
World.Root.Add(wheelLR);
var wheelRR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRR.SetMass(100);
wheelRR.Translate(-1.640539f, 0.48866f, 1.94906f);
wheelRR.SetCollisionShape(shape);
wheelRR.CreateRigidBody();
World.Root.Add(wheelRR);
wheelLF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLF.PhysicalBody.ContactProcessingThreshold = 0;
wheelLF.PhysicalBody.CcdMotionThreshold = 0;
wheelRF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRF.PhysicalBody.ContactProcessingThreshold = 0;
wheelRF.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelRR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRR.PhysicalBody.ContactProcessingThreshold = 0;
wheelRR.PhysicalBody.CcdMotionThreshold = 0;
wheelLF.PhysicalBody.Friction = 1200;
wheelRF.PhysicalBody.Friction = 1200;
wheelLR.PhysicalBody.Friction = 1200;
wheelRR.PhysicalBody.Friction = 1200;
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLR.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRR.PhysicalBody, true);
// location left rear x -5.27709 y 1.56474 z -3.13906
// location right rear x -5.27709 y 1.56474 z 3.13906
// location left front x 5.500539 y 1.56474 z -3.13906
// location right front x 5.500539 y 1.56474 z 3.13906
//public HingeConstraint(RigidBody rigidBodyA, RigidBody rigidBodyB, Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB);
var frontAxis = new HingeConstraint(wheelLF.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, 0.48866f, 1.94906f), new Vector3(1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var rearAxis = new HingeConstraint(wheelLR.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, 0.48866f, 1.94906f), new Vector3(-1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis1 = new HingeConstraint(car.PhysicalBody, wheelLF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis2 = new HingeConstraint(car.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis3 = new HingeConstraint(car.PhysicalBody, wheelLR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis4 = new HingeConstraint(car.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
centerAxis1.SetLimit(0, 10, 0, 0, 0);
centerAxis2.SetLimit(0, 10, 0, 0, 0);
centerAxis3.SetLimit(0, 10, 0, 0, 0);
centerAxis4.SetLimit(0, 10, 0, 0, 0);
//World.Root.PhysicalWorld.AddConstraint(frontAxis);
// World.Root.PhysicalWorld.AddConstraint(rearAxis);
// centerAxis1.SetLimit(0, 0.01f);
// centerAxis2.SetLimit(0, 0.01f);
//centerAxis3.SetLimit(0, 0.01f);
//centerAxis4.SetLimit(0, 0.01f);
World.Root.PhysicalWorld.AddConstraint(centerAxis1);
World.Root.PhysicalWorld.AddConstraint(centerAxis2);
World.Root.PhysicalWorld.AddConstraint(centerAxis3);
World.Root.PhysicalWorld.AddConstraint(centerAxis4);
GLThread.OnKeyDown += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.R)
{
car.SetOrientation(Quaternion.Identity);
}
if(e.Key == OpenTK.Input.Key.Space)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, -100.0f, 10.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, -100.0f, 10.0f);
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, 100.0f, 6.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, 100.0f, 6.0f);
}
if(e.Key == OpenTK.Input.Key.Left)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(1, 0, 1));
//centerAxis4.SetAxis(new Vector3(1, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(-1, 0, 1));
//centerAxis4.SetAxis(new Vector3(-1, 0, 1));
}
};
GLThread.OnKeyUp += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Left)
{
centerAxis3.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
centerAxis3.SetFrames( Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
};
}
public CollisionShape CreateSphereShape(float radius)
{
SphereShape shape = new SphereShape(radius);
_allocatedCollisionShapes.Add(shape);
return shape;
}
protected override CollisionShape CreateShape()
{
CollisionShape shape = new SphereShape(this.radius);
//shape.CalculateLocalInertia(this.Mass);
return shape;
}
public Character(uint id)
: base(id)
{
Sphere.Margin = COLLISION_MARGIN_DEFAULT;
ClimbSensor = new SphereShape(ClimbR);
ClimbSensor.Margin = COLLISION_MARGIN_DEFAULT;
RayCb = new BtEngineClosestRayResultCallback(Self, true);
RayCb.CollisionFilterMask = (short) (CollisionFilterGroups.StaticFilter | CollisionFilterGroups.KinematicFilter);
HeightInfo.Cb = RayCb;
ConvexCb = new BtEngineClosestConvexResultCallback(Self, true);
ConvexCb.CollisionFilterMask = (short) (CollisionFilterGroups.StaticFilter | CollisionFilterGroups.KinematicFilter);
HeightInfo.Ccb = ConvexCb;
DirFlag = ENT_MOVE.Stay;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
for (int k = 0; k < 47; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
public override void OnHandleInput()
{
Matrix xform = ghostObject.WorldTransform;
Vector3 forwardDir = new Vector3(xform.M31, xform.M32, xform.M33);
//Console.Write("forwardDir={0},{1},{2}\n", forwardDir[0], forwardDir[1], forwardDir[2]);
Vector3 upDir = new Vector3(xform.M21, xform.M22, xform.M23);
forwardDir.Normalize();
upDir.Normalize();
Vector3 pos = xform.Origin;
Vector3 walkDirection = Vector3.Zero;
const float walkVelocity = 1.1f * 4.0f;
float walkSpeed = walkVelocity * FrameDelta * 10;// * 0.0001f;
float turnSpeed = FrameDelta * 3;
if (Input.KeysDown.Contains(Keys.Left))
{
Matrix orn = xform;
orn.set_Rows(3, new Vector4(0, 0, 0, 1));
orn *= Matrix.RotationAxis(upDir, -turnSpeed);
orn.set_Rows(3, new Vector4(pos.X, pos.Y, pos.Z, 1));
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Right))
{
Matrix orn = xform;
orn.set_Rows(3, new Vector4(0, 0, 0, 1));
orn *= Matrix.RotationAxis(upDir, turnSpeed);
orn.set_Rows(3, new Vector4(pos.X, pos.Y, pos.Z, 1));
ghostObject.WorldTransform = orn;
}
if (Input.KeysDown.Contains(Keys.Up))
{
walkDirection += forwardDir;
}
if (Input.KeysDown.Contains(Keys.Down))
{
walkDirection -= forwardDir;
}
Vector3 cameraPos = pos - forwardDir * 12 + upDir * 5;
//use the convex sweep test to find a safe position for the camera (not blocked by static geometry)
SphereShape cameraSphere = new SphereShape(0.2f);
CollisionWorld.ClosestConvexResultCallback cb = new CollisionWorld.ClosestConvexResultCallback(pos, cameraPos);
cb.CollisionFilterMask = CollisionFilterGroups.StaticFilter;
World.ConvexSweepTest(cameraSphere, Matrix.Translation(pos), Matrix.Translation(cameraPos), cb);
cameraSphere.Dispose();
if (cb.HasHit)
{
cameraPos = Vector3.Lerp(pos, cameraPos, cb.ClosestHitFraction);
}
cb.Dispose();
Freelook.SetEyeTarget(cameraPos, pos);
character.SetWalkDirection(walkDirection * walkSpeed);
base.OnHandleInput();
}
public CollisionShape CopyCollisionShape()
{
SphereShape ss = new SphereShape(radius);
ss.LocalScaling = m_localScaling.ToBullet();
return ss;
}
public static TriggerRegion CreateSphereTriggerRegion(string name, TriggerReportEvent trh, float radius, Vector3 position)
{
var csm = LKernel.GetG<CollisionShapeManager>();
CollisionShape shape;
if (!csm.TryGetShape(name, out shape)) {
shape = new SphereShape(radius);
csm.RegisterShape(name, shape);
}
var tr = new TriggerRegion(name, position, shape);
tr.OnTrigger += trh;
AddToDispose(tr, trh);
return tr;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new MultiBodyConstraintSolver();
World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf);
World.Gravity = new Vector3(0, -9.81f, 0);
const bool floating = false;
const bool gyro = false;
const int numLinks = 1;
const bool canSleep = false;
const bool selfCollide = false;
Vector3 linkHalfExtents = new Vector3(0.05f, 0.5f, 0.1f);
Vector3 baseHalfExtents = new Vector3(0.05f, 0.5f, 0.1f);
Vector3 baseInertiaDiag = Vector3.Zero;
const float baseMass = 0;
multiBody = new MultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
//multiBody.UseRK4Integration = true;
//multiBody.BaseWorldTransform = Matrix.Identity;
//init the links
Vector3 hingeJointAxis = new Vector3(1, 0, 0);
//y-axis assumed up
Vector3 parentComToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0);
Vector3 currentPivotToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0);
Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;
for(int i = 0; i < numLinks; i++)
{
const float linkMass = 10;
Vector3 linkInertiaDiag = Vector3.Zero;
using (var shape = new SphereShape(radius))
{
shape.CalculateLocalInertia(linkMass, out linkInertiaDiag);
}
multiBody.SetupRevolute(i, linkMass, linkInertiaDiag, i - 1, Quaternion.Identity,
hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
multiBody.FinalizeMultiDof();
(World as MultiBodyDynamicsWorld).AddMultiBody(multiBody);
multiBody.CanSleep = canSleep;
multiBody.HasSelfCollision = selfCollide;
multiBody.UseGyroTerm = gyro;
#if PENDULUM_DAMPING
multiBody.LinearDamping = 0.1f;
multiBody.AngularDamping = 0.9f;
#else
multiBody.LinearDamping = 0;
multiBody.AngularDamping = 0;
#endif
for (int i = 0; i < numLinks; i++)
{
var shape = new SphereShape(radius);
CollisionShapes.Add(shape);
var col = new MultiBodyLinkCollider(multiBody, i);
col.CollisionShape = shape;
const bool isDynamic = true;
CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.StaticFilter;
World.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask);
multiBody.GetLink(i).Collider = col;
}
}
/*
Mesh CreateMultiSphereShape(MultiSphereShape shape)
{
Mesh mesh = null;
int i;
for (i = 0; i < shape.SphereCount; i++)
{
Vector3 position = shape.GetSpherePosition(i);
Mesh sphereMesh = Mesh.CreateSphere(device, shape.GetSphereRadius(i), 12, 12);
if (i == 0)
{
Matrix[] transform = new Matrix[] { Matrix.Translation(position) };
mesh = Mesh.Concatenate(device, new Mesh[] { sphereMesh }, MeshFlags.Managed, transform, null);
}
else
{
Mesh multiSphereMeshNew;
Matrix[] transform = new Matrix[] { Matrix.Identity, Matrix.Translation(position) };
multiSphereMeshNew = Mesh.Concatenate(device, new Mesh[] { mesh, sphereMesh }, MeshFlags.Managed, transform, null);
mesh.Dispose();
mesh = multiSphereMeshNew;
}
sphereMesh.Dispose();
}
complexShapes.Add(shape, mesh);
return mesh;
}
*/
ShapeData CreateSphereShape(SphereShape shape)
{
float radius = shape.Radius;
int slices = (int)(radius * 10.0f);
int stacks = (int)(radius * 10.0f);
slices = (slices > 16) ? 16 : (slices < 3) ? 3 : slices;
stacks = (stacks > 16) ? 16 : (stacks < 2) ? 2 : stacks;
float hAngleStep = (float)Math.PI * 2 / slices;
float vAngleStep = (float)Math.PI / stacks;
ShapeData shapeData = new ShapeData();
shapeData.VertexCount = 2 + slices * (stacks - 1);
shapeData.IndexCount = 6 * slices * (stacks - 1);
Vector3[] vertices = new Vector3[shapeData.VertexCount * 2];
ushort[] indices = new ushort[shapeData.IndexCount];
int i = 0, v = 0;
// Vertices
// Top and bottom
vertices[v++] = new Vector3(0, -radius, 0);
vertices[v++] = -Vector3.UnitY;
vertices[v++] = new Vector3(0, radius, 0);
vertices[v++] = Vector3.UnitY;
// Stacks
int j, k;
float angle = 0;
float vAngle = -(float)Math.PI / 2;
Vector3 vTemp;
for (j = 0; j < stacks - 1; j++)
{
vAngle += vAngleStep;
for (k = 0; k < slices; k++)
{
angle += hAngleStep;
vTemp = new Vector3((float)Math.Cos(vAngle) * (float)Math.Sin(angle), (float)Math.Sin(vAngle), (float)Math.Cos(vAngle) * (float)Math.Cos(angle));
vertices[v++] = vTemp * radius;
vertices[v++] = Vector3.Normalize(vTemp);
}
}
// Indices
// Top cap
ushort index = 2;
for (k = 0; k < slices; k++)
{
indices[i++] = index++;
indices[i++] = 0;
indices[i++] = index;
}
indices[i - 1] = 2;
// Stacks
//for (j = 0; j < 1; j++)
int sliceDiff = slices * 3;
for (j = 0; j < stacks - 2; j++)
{
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 2];
indices[i + 1] = index++;
indices[i + 2] = indices[i - sliceDiff];
i += 3;
}
for (k = 0; k < slices; k++)
{
indices[i] = indices[i - sliceDiff + 1];
indices[i + 1] = indices[i - sliceDiff];
indices[i + 2] = indices[i - sliceDiff + 4];
i += 3;
}
indices[i - 1] = indices[i - sliceDiff];
}
// Bottom cap
index--;
for (k = 0; k < slices; k++)
{
indices[i++] = index--;
indices[i++] = 1;
indices[i++] = index;
}
indices[i - 1] = indices[i - sliceDiff];
shapeData.SetVertexBuffer(device, vertices);
shapeData.SetIndexBuffer(device, indices);
return shapeData;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
bspLoader.LoadBspFile("data/BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
convexResultCallback = new ClosestConvexResultCallback();
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
Mesh CreateSphere(SphereShape shape)
{
Mesh mesh = Mesh.CreateSphere(device, shape.Radius, 16, 16);
shapes.Add(shape, mesh);
return mesh;
}
public static void PrimaryMouseDown()
{
var cont = new EngineContainer();
var dbgR = 128.0f;
var v = EngineCamera.Position;
var dir = EngineCamera.ViewDirection;
var localInertia = BulletSharp.Math.Vector3.Zero;
var cshape = new SphereShape(dbgR);
cshape.Margin = COLLISION_MARGIN_DEFAULT;
var startTransform = new Transform();
startTransform.SetIdentity();
var newPos = v;
startTransform.Origin = newPos;
cshape.CalculateLocalInertia(12.0f, out localInertia);
var motionState = new DefaultMotionState(((Matrix4)startTransform).ToBullet());
var body = new RigidBody(new RigidBodyConstructionInfo(12.0f, motionState, cshape, localInertia));
BtEngineDynamicsWorld.AddRigidBody(body);
body.LinearVelocity = (dir * 6000).ToBullet();
cont.Room = Room.FindPosCogerrence(newPos, EngineCamera.CurrentRoom);
cont.ObjectType = OBJECT_TYPE.BulletMisc; // bullet have to destroy this user pointer
body.UserObject = cont;
body.CcdMotionThreshold = dbgR; // disable tunneling effect
body.CcdSweptSphereRadius = dbgR;
}
public override void Run()
{
#region Create renderers
// Note: the renderers take care of creating their own
// device resources and listen for DeviceManager.OnInitialize
// Create a axis-grid renderer
var axisGrid = ToDispose(new AxisGridRenderer());
axisGrid.Initialize(this);
// Create and initialize the mesh renderer
var loadedMesh = Common.Mesh.LoadFromFile("PhysicsScene1.cmo");
List <MeshRenderer> meshes = new List <MeshRenderer>();
meshes.AddRange(from mesh in loadedMesh
select ToDispose(new MeshRenderer(mesh)));
foreach (var m in meshes)
{
m.Initialize(this);
m.World = Matrix.Identity;
}
// Set the first animation as the current animation and start clock
foreach (var m in meshes)
{
if (m.Mesh.Animations != null && m.Mesh.Animations.Any())
{
m.CurrentAnimation = m.Mesh.Animations.First().Value;
}
m.Clock.Start();
}
loadedMesh = Common.Mesh.LoadFromFile("SubdividedPlane.cmo");
var waterMesh = ToDispose(new MeshRenderer(loadedMesh.First()));
waterMesh.Initialize(this);
loadedMesh = Common.Mesh.LoadFromFile("Bataux.cmo");
List <MeshRenderer> shipMeshes = new List <MeshRenderer>();
shipMeshes.AddRange((from mesh in loadedMesh
select ToDispose(new MeshRenderer(mesh))));
foreach (var m in shipMeshes)
{
m.Initialize(this);
m.World = Matrix.Scaling(3) * Matrix.RotationAxis(Vector3.UnitY, -1.57079f);
}
//var anchor = new SphereRenderer(0.05f);
//anchor.Initialize(this);
//var anchorWorld = Matrix.Identity;
//var sphere = new SphereRenderer();
//sphere.Initialize(this);
//var sphereWorld = Matrix.Identity;
// Create and initialize a Direct2D FPS text renderer
var fps = ToDispose(new Common.FpsRenderer("Calibri", Color.CornflowerBlue, new Point(8, 8), 16));
fps.Initialize(this);
// Create and initialize a general purpose Direct2D text renderer
// This will display some instructions and the current view and rotation offsets
var textRenderer = ToDispose(new Common.TextRenderer("Calibri", Color.CornflowerBlue, new Point(8, 40), 12));
textRenderer.Initialize(this);
#endregion
#region Initialize physics engine
CollisionConfiguration defaultConfig = new DefaultCollisionConfiguration();
ConstraintSolver solver = new SequentialImpulseConstraintSolver();
BulletSharp.Dispatcher dispatcher = new CollisionDispatcher(defaultConfig);
BroadphaseInterface broadphase = new DbvtBroadphase();
DynamicsWorld world = null;
Action initializePhysics = () =>
{
RemoveAndDispose(ref world);
world = ToDispose(new BulletSharp.DiscreteDynamicsWorld(dispatcher, broadphase, solver, defaultConfig));
world.Gravity = new Vector3(0, -10, 0);
// For each mesh, create a RigidBody and add to "world" for simulation
meshes.ForEach(m =>
{
// We use the name of the mesh to determine the correct body
if (String.IsNullOrEmpty(m.Mesh.Name))
{
return;
}
var name = m.Mesh.Name.ToLower();
var extent = m.Mesh.Extent;
BulletSharp.CollisionShape shape;
#region Create collision shape
if (name.Contains("box") || name.Contains("cube"))
{
// Assumes the box/cube has an axis-aligned neutral orientation
shape = new BulletSharp.BoxShape(
Math.Abs(extent.Max.Z - extent.Min.Z) / 2.0f,
Math.Abs(extent.Max.Y - extent.Min.Y) / 2.0f,
Math.Abs(extent.Max.X - extent.Min.X) / 2.0f);
}
else if (name.Contains("sphere"))
{
shape = new BulletSharp.SphereShape(extent.Radius);
}
else // use mesh vertices directly
{
// for each SubMesh, retrieve the vertex and index buffers
// to create a TriangleMeshShape for collision detection.
List <Vector3> vertices = new List <Vector3>();
List <int> indices = new List <int>();
int vertexOffset = 0;
foreach (var sm in m.Mesh.SubMeshes)
{
vertexOffset += vertices.Count;
indices.AddRange(
(from indx in m.Mesh.IndexBuffers[(int)sm.IndexBufferIndex]
select vertexOffset + (int)indx));
vertices.AddRange(
(from v in m.Mesh
.VertexBuffers[(int)sm.VertexBufferIndex]
select v.Position - extent.Center));
}
// Create the collision shape
var iva = new BulletSharp.TriangleIndexVertexArray(indices.ToArray(), vertices.ToArray());
shape = new BulletSharp.BvhTriangleMeshShape(iva, true);
}
#endregion
m.World = Matrix.Identity; // Reset mesh location
float mass; Vector3 vec;
shape.GetBoundingSphere(out vec, out mass);
var body = new BulletSharp.RigidBody(
new BulletSharp.RigidBodyConstructionInfo(name.Contains("static") ? 0 : mass,
new MeshMotionState(m),
shape, shape.CalculateLocalInertia(mass)));
if (body.IsStaticObject)
{
body.Restitution = 1f;
body.Friction = 0.4f;
}
// Add to the simulation
world.AddRigidBody(body);
});
#if DEBUG
world.DebugDrawer = ToDispose(new PhysicsDebugDraw(this.DeviceManager));
world.DebugDrawer.DebugMode = DebugDrawModes.DrawAabb | DebugDrawModes.DrawWireframe;
#endif
};
initializePhysics();
// Newton's Cradle
//var box = new Jitter.Dynamics.RigidBody(new Jitter.Collision.Shapes.BoxShape(7, 1, 2));
//box.Position = new Jitter.LinearMath.JVector(0, 8, 0);
//world.AddBody(box);
//box.IsStatic = true;
//var anchorBody = new Jitter.Dynamics.RigidBody(new Jitter.Collision.Shapes.SphereShape(0.05f));
//anchorBody.Position = new Jitter.LinearMath.JVector(0, 4, 0);
//world.AddBody(anchorBody);
//anchorBody.IsStatic = true;
//for (var bodyCount = -3; bodyCount < 4; bodyCount++)
//{
// var testBody = new Jitter.Dynamics.RigidBody(new Jitter.Collision.Shapes.SphereShape(0.501f));
// testBody.Position = new Jitter.LinearMath.JVector(bodyCount, 0, 0);
// world.AddBody(testBody);
// world.AddConstraint(new Jitter.Dynamics.Constraints.PointPointDistance(box, testBody,
// testBody.Position + Jitter.LinearMath.JVector.Up * 8f + Jitter.LinearMath.JVector.Forward * 3f + Jitter.LinearMath.JVector.Down * 0.5f,
// testBody.Position) { Softness = 1.0f, BiasFactor = 0.8f });
// world.AddConstraint(new Jitter.Dynamics.Constraints.PointPointDistance(box, testBody,
// testBody.Position + Jitter.LinearMath.JVector.Up * 8f + Jitter.LinearMath.JVector.Backward * 3f + Jitter.LinearMath.JVector.Down * 0.5f,
// testBody.Position) { Softness = 1.0f, BiasFactor = 0.8f });
// testBody.Material.Restitution = 1.0f;
// testBody.Material.StaticFriction = 1.0f;
//}
#endregion
// Initialize the world matrix
var worldMatrix = Matrix.Identity;
// Set the camera position slightly behind (z)
var cameraPosition = new Vector3(0, 1, 10);
var cameraTarget = Vector3.Zero; // Looking at the origin 0,0,0
var cameraUp = Vector3.UnitY; // Y+ is Up
// Prepare matrices
// Create the view matrix from our camera position, look target and up direction
var viewMatrix = Matrix.LookAtRH(cameraPosition, cameraTarget, cameraUp);
viewMatrix.TranslationVector += new Vector3(0, -0.98f, 0);
// Create the projection matrix
/* FoV 60degrees = Pi/3 radians */
// Aspect ratio (based on window size), Near clip, Far clip
var projectionMatrix = Matrix.PerspectiveFovRH((float)Math.PI / 3f, Width / (float)Height, 0.1f, 100f);
// Maintain the correct aspect ratio on resize
Window.Resize += (s, e) =>
{
projectionMatrix = Matrix.PerspectiveFovRH((float)Math.PI / 3f, Width / (float)Height, 0.1f, 100f);
};
bool debugDraw = false;
bool paused = false;
var simTime = new System.Diagnostics.Stopwatch();
simTime.Start();
float time = 0.0f;
float timeStep = 0.0f;
#region Rotation and window event handlers
// Create a rotation vector to keep track of the rotation
// around each of the axes
var rotation = new Vector3(0.0f, 0.0f, 0.0f);
// We will call this action to update text
// for the text renderer
Action updateText = () =>
{
textRenderer.Text =
String.Format("Rotation ({0}) (Up/Down Left/Right Wheel+-)\nView ({1}) (A/D, W/S, Shift+Wheel+-)"
//+ "\nPress 1,2,3,4,5,6,7,8 to switch shaders"
+ "\nTime: {2:0.00} (P to toggle, R to reset scene)"
+ "\nPhysics debug draw: {3} (E to toggle)"
+ "\nBackspace: toggle between Physics and Waves",
rotation,
viewMatrix.TranslationVector,
simTime.Elapsed.TotalSeconds,
debugDraw);
};
Dictionary <Keys, bool> keyToggles = new Dictionary <Keys, bool>();
keyToggles[Keys.Z] = false;
keyToggles[Keys.F] = false;
keyToggles[Keys.Back] = false;
// Support keyboard/mouse input to rotate or move camera view
var moveFactor = 0.02f; // how much to change on each keypress
var shiftKey = false;
var ctrlKey = false;
var background = Color.White;
var showNormals = false;
var enableNormalMap = true;
Window.KeyDown += (s, e) =>
{
var context = DeviceManager.Direct3DContext;
shiftKey = e.Shift;
ctrlKey = e.Control;
switch (e.KeyCode)
{
// WASD -> pans view
case Keys.A:
viewMatrix.TranslationVector += new Vector3(moveFactor * 2, 0f, 0f);
break;
case Keys.D:
viewMatrix.TranslationVector -= new Vector3(moveFactor * 2, 0f, 0f);
break;
case Keys.S:
if (shiftKey)
{
viewMatrix.TranslationVector += new Vector3(0f, moveFactor * 2, 0f);
}
else
{
viewMatrix.TranslationVector -= new Vector3(0f, 0f, 1) * moveFactor * 2;
}
break;
case Keys.W:
if (shiftKey)
{
viewMatrix.TranslationVector -= new Vector3(0f, moveFactor * 2, 0f);
}
else
{
viewMatrix.TranslationVector += new Vector3(0f, 0f, 1) * moveFactor * 2;
}
break;
// Up/Down and Left/Right - rotates around X / Y respectively
// (Mouse wheel rotates around Z)
case Keys.Down:
worldMatrix *= Matrix.RotationX(moveFactor);
rotation += new Vector3(moveFactor, 0f, 0f);
break;
case Keys.Up:
worldMatrix *= Matrix.RotationX(-moveFactor);
rotation -= new Vector3(moveFactor, 0f, 0f);
break;
case Keys.Left:
worldMatrix *= Matrix.RotationY(moveFactor);
rotation += new Vector3(0f, moveFactor, 0f);
break;
case Keys.Right:
worldMatrix *= Matrix.RotationY(-moveFactor);
rotation -= new Vector3(0f, moveFactor, 0f);
break;
case Keys.T:
fps.Show = !fps.Show;
textRenderer.Show = !textRenderer.Show;
break;
case Keys.B:
if (background == Color.White)
{
background = new Color(30, 30, 34);
}
else
{
background = Color.White;
}
break;
case Keys.G:
axisGrid.Show = !axisGrid.Show;
break;
case Keys.P:
paused = !paused;
if (paused)
{
simTime.Stop();
}
else
{
simTime.Start();
}
// Pause or resume mesh animation
meshes.ForEach(m => {
if (m.Clock.IsRunning)
{
m.Clock.Stop();
}
else
{
m.Clock.Start();
}
});
updateText();
break;
case Keys.X:
// To test for correct resource recreation
// Simulate device reset or lost.
System.Diagnostics.Debug.WriteLine(SharpDX.Diagnostics.ObjectTracker.ReportActiveObjects());
DeviceManager.Initialize(DeviceManager.Dpi);
System.Diagnostics.Debug.WriteLine(SharpDX.Diagnostics.ObjectTracker.ReportActiveObjects());
break;
case Keys.Z:
keyToggles[Keys.Z] = !keyToggles[Keys.Z];
if (keyToggles[Keys.Z])
{
context.PixelShader.Set(depthPixelShader);
}
else
{
context.PixelShader.Set(pixelShader);
}
break;
case Keys.F:
keyToggles[Keys.F] = !keyToggles[Keys.F];
RasterizerStateDescription rasterDesc;
if (context.Rasterizer.State != null)
{
rasterDesc = context.Rasterizer.State.Description;
}
else
{
rasterDesc = new RasterizerStateDescription()
{
CullMode = CullMode.None,
FillMode = FillMode.Solid
}
};
if (keyToggles[Keys.F])
{
rasterDesc.FillMode = FillMode.Wireframe;
context.Rasterizer.State = ToDispose(new RasterizerState(context.Device, rasterDesc));
}
else
{
rasterDesc.FillMode = FillMode.Solid;
context.Rasterizer.State = ToDispose(new RasterizerState(context.Device, rasterDesc));
}
break;
case Keys.N:
if (!shiftKey)
{
showNormals = !showNormals;
}
else
{
enableNormalMap = !enableNormalMap;
}
break;
case Keys.E:
debugDraw = !debugDraw;
break;
case Keys.R:
//world = new Jitter.World(new Jitter.Collision.CollisionSystemSAP());
initializePhysics();
if (simTime.IsRunning)
{
simTime.Restart();
}
else
{
simTime.Reset();
}
break;
case Keys.D1:
context.PixelShader.Set(pixelShader);
break;
case Keys.D2:
context.PixelShader.Set(lambertShader);
break;
case Keys.D3:
context.PixelShader.Set(phongShader);
break;
case Keys.D4:
context.PixelShader.Set(blinnPhongShader);
break;
case Keys.Back:
keyToggles[Keys.Back] = !keyToggles[Keys.Back];
break;
}
updateText();
};
Window.KeyUp += (s, e) =>
{
// Clear the shift/ctrl keys so they aren't sticky
if (e.KeyCode == Keys.ShiftKey)
{
shiftKey = false;
}
if (e.KeyCode == Keys.ControlKey)
{
ctrlKey = false;
}
};
Window.MouseWheel += (s, e) =>
{
if (shiftKey)
{
// Zoom in/out
viewMatrix.TranslationVector += new Vector3(0f, 0f, (e.Delta / 120f) * moveFactor * 2);
}
else
{
// rotate around Z-axis
viewMatrix *= Matrix.RotationZ((e.Delta / 120f) * moveFactor);
rotation += new Vector3(0f, 0f, (e.Delta / 120f) * moveFactor);
}
updateText();
};
var lastX = 0;
var lastY = 0;
Window.MouseDown += (s, e) =>
{
if (e.Button == MouseButtons.Left)
{
lastX = e.X;
lastY = e.Y;
}
};
Window.MouseMove += (s, e) =>
{
if (e.Button == MouseButtons.Left)
{
var yRotate = lastX - e.X;
var xRotate = lastY - e.Y;
lastY = e.Y;
lastX = e.X;
// Mouse move changes
viewMatrix *= Matrix.RotationX(-xRotate * moveFactor);
viewMatrix *= Matrix.RotationY(-yRotate * moveFactor);
updateText();
}
};
// Display instructions with initial values
updateText();
#endregion
var clock = new System.Diagnostics.Stopwatch();
clock.Start();
#region Render loop
// Create and run the render loop
RenderLoop.Run(Window, () =>
{
// Update simulation, at 60fps
if (!paused)
{
if ((float)simTime.Elapsed.TotalSeconds < time)
{
time = 0;
timeStep = 0;
}
timeStep = ((float)simTime.Elapsed.TotalSeconds - time);
time = (float)simTime.Elapsed.TotalSeconds;
world.StepSimulation(timeStep, 7);
// For how to choose the maxSubSteps see:
// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Stepping_The_World
}
updateText();
// Start of frame:
// Retrieve immediate context
var context = DeviceManager.Direct3DContext;
// Clear depth stencil view
context.ClearDepthStencilView(DepthStencilView, DepthStencilClearFlags.Depth | DepthStencilClearFlags.Stencil, 1.0f, 0);
// Clear render target view
context.ClearRenderTargetView(RenderTargetView, background);
// Create viewProjection matrix
var viewProjection = Matrix.Multiply(viewMatrix, projectionMatrix);
// Extract camera position from view
var camPosition = Matrix.Transpose(Matrix.Invert(viewMatrix)).Column4;
cameraPosition = new Vector3(camPosition.X, camPosition.Y, camPosition.Z);
var perFrame = new ConstantBuffers.PerFrame();
perFrame.Light.Color = new Color(0.8f, 0.8f, 0.8f, 1.0f);
var lightDir = Vector3.Transform(new Vector3(1f, -1f, -1f), worldMatrix);
perFrame.Light.Direction = new Vector3(lightDir.X, lightDir.Y, lightDir.Z);
perFrame.CameraPosition = cameraPosition;
perFrame.Time = (float)simTime.Elapsed.TotalSeconds; // Provide simulation time to shader
context.UpdateSubresource(ref perFrame, perFrameBuffer);
// Render each object
var perMaterial = new ConstantBuffers.PerMaterial();
perMaterial.Ambient = new Color4(0.2f);
perMaterial.Diffuse = Color.White;
perMaterial.Emissive = new Color4(0);
perMaterial.Specular = Color.White;
perMaterial.SpecularPower = 20f;
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
var perObject = new ConstantBuffers.PerObject();
// MESH
if (!keyToggles[Keys.Back])
{
meshes.ForEach((m) =>
{
perObject.World = m.World * worldMatrix;
// Provide the material constant buffer to the mesh renderer
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
m.PerMaterialBuffer = perMaterialBuffer;
m.PerArmatureBuffer = perArmatureBuffer;
m.Render();
if (showNormals)
{
using (var prevPixelShader = context.PixelShader.Get())
{
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
context.PixelShader.Set(pixelShader);
context.GeometryShader.Set(debugNormals);
m.Render();
context.PixelShader.Set(prevPixelShader);
context.GeometryShader.Set(null);
}
}
});
if (debugDraw)
{
perObject.World = Matrix.Identity;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
(world.DebugDrawer as PhysicsDebugDraw).DrawDebugWorld(world);
context.VertexShader.Set(vertexShader);
context.PixelShader.Set(pixelShader);
context.InputAssembler.InputLayout = vertexLayout;
}
}
else
{
perObject.World = waterMesh.World * worldMatrix;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
waterMesh.EnableNormalMap = enableNormalMap;
waterMesh.PerMaterialBuffer = perMaterialBuffer;
waterMesh.PerArmatureBuffer = perArmatureBuffer;
context.VertexShader.Set(waterVertexShader);
waterMesh.Render();
if (showNormals)
{
using (var prevPixelShader = context.PixelShader.Get())
{
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
context.PixelShader.Set(pixelShader);
context.GeometryShader.Set(debugNormals);
waterMesh.Render();
context.PixelShader.Set(prevPixelShader);
context.GeometryShader.Set(null);
}
}
context.VertexShader.Set(vertexShader);
foreach (var m in shipMeshes)
{
perObject.World = m.World * worldMatrix;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
// Provide the material constant buffer to the mesh renderer
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
m.PerMaterialBuffer = perMaterialBuffer;
m.PerArmatureBuffer = perArmatureBuffer;
m.Render();
if (showNormals)
{
using (var prevPixelShader = context.PixelShader.Get())
{
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
context.PixelShader.Set(pixelShader);
context.GeometryShader.Set(debugNormals);
m.Render();
context.PixelShader.Set(prevPixelShader);
context.GeometryShader.Set(null);
}
}
}
}
perMaterial.Ambient = new Color4(0.2f);
perMaterial.Diffuse = Color.White;
perMaterial.Emissive = new Color4(0);
perMaterial.Specular = Color.White;
perMaterial.SpecularPower = 20f;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
// AXIS GRID
context.HullShader.Set(null);
context.DomainShader.Set(null);
context.GeometryShader.Set(null);
using (var prevPixelShader = context.PixelShader.Get())
using (var prevVertexShader = context.VertexShader.Get())
{
context.VertexShader.Set(vertexShader);
context.PixelShader.Set(pixelShader);
perObject.World = worldMatrix;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
axisGrid.Render();
context.PixelShader.Set(prevPixelShader);
context.VertexShader.Set(prevVertexShader);
}
// Render FPS
fps.Render();
// Render instructions + position changes
textRenderer.Render();
// Present the frame
Present();
});
#endregion
}
public static bool Cam_HasHit(BtEngineClosestConvexResultCallback cb, Transform cameraFrom, Transform cameraTo)
{
var cameraSphere = new SphereShape(COLLISION_CAMERA_SPHERE_RADIUS)
{
Margin = COLLISION_MARGIN_DEFAULT
};
cb.ClosestHitFraction = 1.0f;
cb.HitCollisionObject = null;
BtEngineDynamicsWorld.ConvexSweepTest(cameraSphere, ((Matrix4)cameraFrom).ToBullet(), ((Matrix4)cameraTo).ToBullet(), cb);
return cb.HasHit;
}
