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;
}
}
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;
}
