public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
// Initialize TriangleIndexVertexArray with float array
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
gImpactMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
// Initialize TriangleIndexVertexArray with Vector3 array
Vector3[] torusVertices = new Vector3[TorusMesh.Vertices.Length / 3];
for (int i = 0; i < torusVertices.Length; i++)
{
torusVertices[i] = new Vector3(
TorusMesh.Vertices[i * 3],
TorusMesh.Vertices[i * 3 + 1],
TorusMesh.Vertices[i * 3 + 2]);
}
indexVertexArray2 = new TriangleIndexVertexArray(TorusMesh.Indices, torusVertices);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray2, true);
// CalculateLocalInertia must fail for static shapes (shapes based on TriangleMeshShape)
//triangleMeshShape.CalculateLocalInertia(1.0f);
triangleMesh = CreateBody(0.0f, triangleMeshShape, Vector3.Zero);
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
internal AlignedIndexedMeshArray(IntPtr native, TriangleIndexVertexArray triangleIndexVertexArray)
{
Initialize(native);
_triangleIndexVertexArray = triangleIndexVertexArray;
int count = btAlignedObjectArray_btIndexedMesh_size(Native);
for (int i = 0; i < count; i++)
{
var mesh = new IndexedMesh(btAlignedObjectArray_btIndexedMesh_at(native, i), this);
_backingList.Add(mesh);
}
}
override protected BulletSharp.CollisionShape createShape ()
{
if (mesh == null)
mesh = GetComponent<MeshFilter> ().mesh;
// TODO: share data using an own interface
float[] vertices = new float[mesh.vertices.Length * 3];
for (int i = 0; i < mesh.vertices.Length; i++) {
vertices [i * 3] = mesh.vertices [i].x;
vertices [i * 3 + 1] = mesh.vertices [i].y;
vertices [i * 3 + 2] = mesh.vertices [i].z;
}
BulletSharp.TriangleIndexVertexArray bulletMesh = new BulletSharp.TriangleIndexVertexArray (mesh.triangles, vertices);
return new BulletSharp.BvhTriangleMeshShape (bulletMesh, useQuantizedAabbCompression);
}
override protected BulletSharp.CollisionShape createShape ()
{
if (mesh == null)
mesh = GetComponent<MeshFilter> ().mesh;
// TODO: share data using an own interface
float[] vertices = new float[mesh.vertices.Length * 3];
for (int i = 0; i < mesh.vertices.Length; i++) {
vertices [i * 3] = mesh.vertices [i].x;
vertices [i * 3 + 1] = mesh.vertices [i].y;
vertices [i * 3 + 2] = mesh.vertices [i].z;
}
BulletSharp.TriangleIndexVertexArray bulletMesh = new BulletSharp.TriangleIndexVertexArray (mesh.triangles, vertices);
BulletSharp.GImpactMeshShape impactShape = new BulletSharp.GImpactMeshShape (bulletMesh);
impactShape.UpdateBound ();
return impactShape;
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
triangleMesh = CreateBody(1.0f, triangleMeshShape, Vector3.Zero);
}
private void TestTriangleArray(TriangleIndexVertexArray triangleArray)
{
Assert.AreSame(triangleArray.IndexedMeshArray, triangleArray.IndexedMeshArray); // check caching
foreach (var indexedMesh in triangleArray.IndexedMeshArray)
{
Assert.NotNull(indexedMesh);
}
var initialMesh = triangleArray.IndexedMeshArray[0];
Assert.AreEqual(PhyScalarType.Int32, initialMesh.IndexType);
Assert.AreEqual(PhyScalarType.Single, initialMesh.VertexType);
Assert.AreEqual(TorusMesh.Vertices.Length / 3, initialMesh.NumVertices);
Assert.AreEqual(TorusMesh.Indices.Length / 3, initialMesh.NumTriangles);
Assert.AreEqual(sizeof(float) * 3, initialMesh.VertexStride);
Assert.AreEqual(sizeof(int) * 3, initialMesh.TriangleIndexStride);
var triangleIndices = initialMesh.TriangleIndices;
Assert.AreEqual(TorusMesh.Indices.Length, triangleIndices.Count);
for (int i = 0; i < triangleIndices.Count; i++)
{
Assert.AreEqual(triangleIndices[i], TorusMesh.Indices[i]);
}
}
public IGImpactMeshShapeImp AddGImpactMeshShape(int[] meshTriangles, float3[] meshVertices)
{
Vector3[] btMeshVertices = new Vector3[meshVertices.Length];
for (int i = 0; i < meshVertices.Length; i++)
{
btMeshVertices[i].X = meshVertices[i].x;
btMeshVertices[i].Y = meshVertices[i].y;
btMeshVertices[i].Z = meshVertices[i].z;
}
var btTriangleIndexVertexArray = new TriangleIndexVertexArray(meshTriangles, btMeshVertices);
var btGimpactMeshShape = new GImpactMeshShape(btTriangleIndexVertexArray);
btGimpactMeshShape.UpdateBound();
BtCollisionShapes.Add(btGimpactMeshShape);
var retval = new GImpactMeshShapeImp();
retval.BtGImpactMeshShape = btGimpactMeshShape;
btGimpactMeshShape.UserObject = retval;
return retval;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalVerts, totalTriangles, 3 * sizeof(int), Vector3.SizeInBytes, PhyScalarType.Int32, PhyScalarType.Single);
using (var indices = mesh.LockIndices())
{
for (int i = 0; i < NUM_VERTS_X - 1; i++)
{
for (int j = 0; j < NUM_VERTS_Y - 1; j++)
{
indices.Write(j * NUM_VERTS_X + i);
indices.Write(j * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write(j * NUM_VERTS_X + i);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i);
}
}
}
indexVertexArrays.AddIndexedMesh(mesh);
raycastBar = new RaycastBar(4000.0f, 0.0f);
//raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int i = 0; i < 10; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(2 * i, 10, 1);
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
SetVertexPositions(waveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
void InitGImpactCollision()
{
// Create Torus Shape
indexVertexArrays = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
#if BULLET_GIMPACT
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
//GImpactConvexDecompositionShape trimesh =
// new GImpactConvexDecompositionShape(indexVertexArrays, new Vector3(1), 0.01f);
//trimesh.Margin = 0.07f;
//trimesh.UpdateBound();
#else
GImpactMeshShape trimesh = new GImpactMeshShape(indexVertexArrays);
trimesh.LocalScaling = new Vector3(1);
#if BULLET_TRIANGLE_COLLISION
trimesh.Margin = 0.07f; //?????
#else
trimesh.Margin = 0;
#endif
trimesh.UpdateBound();
#endif
trimeshShape = trimesh;
#else
//trimeshShape = new GImpactMeshData(indexVertexArrays);
#endif
CollisionShapes.Add(trimeshShape);
// Create Bunny Shape
indexVertexArrays2 = new TriangleIndexVertexArray(BunnyMesh.Indices, BunnyMesh.Vertices);
#if BULLET_GIMPACT
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
//GImpactConvexDecompositionShape trimesh2 =
// new GImpactConvexDecompositionShape(indexVertexArrays, new Vector3(1), 0.01f);
//trimesh.Margin = 0.07f;
//trimesh.UpdateBound();
//trimeshShape = trimesh2;
#else
GImpactMeshShape trimesh2 = new GImpactMeshShape(indexVertexArrays2);
trimesh2.LocalScaling = new Vector3(1);
#if BULLET_TRIANGLE_COLLISION
trimesh2.Margin = 0.07f; //?????
#else
trimesh2.Margin = 0;
#endif
trimesh2.UpdateBound();
trimeshShape2 = trimesh2;
#endif
#else
//trimeshShape2 = new GImpactMeshData(indexVertexArrays2);
#endif
CollisionShapes.Add(trimeshShape2);
//register GIMPACT algorithm
#if BULLET_GIMPACT
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
#else
//ConcaveConcaveCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
#endif
}
protected override void OnInitializePhysics()
{
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
const int NumVertsX = 20;
const int NumVertsY = 20;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts);
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = mesh.GetTriangleStream())
{
var indices = new BinaryWriter(indicesStream);
for (i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
}
using (var vertexStream = mesh.GetVertexStream())
{
var vertices = new BinaryWriter(vertexStream);
for (i = 0; i < NumVertsX; i++)
{
for (int j = 0; j < NumVertsY; j++)
{
float wl = .2f;
float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));
vertices.Write((i - NumVertsX * 0.5f) * scale);
vertices.Write(height);
vertices.Write((j - NumVertsY * 0.5f) * scale);
}
}
vertices.Dispose();
}
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
VehicleTuning tuning = new VehicleTuning();
IVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(World);
//vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
vehicle = new CustomVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
World.AddAction(vehicle);
const float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
BulletSharp.Math.Vector3 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);
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;
}
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 BvhTriangleMeshShape GetAccurateCollisionShape(float scale = 1.0f)
{
//if (CachedBvhTriangleMeshShape != null) return CachedBvhTriangleMeshShape;
List<Vector3> vectors = GetOrderedVertices();
var smesh = new TriangleIndexVertexArray(GetOrderedIndices().ToArray(), vectors.ToArray());
CachedBvhTriangleMeshShape = new BvhTriangleMeshShape(smesh, false);
//CachedBvhTriangleMeshShape.LocalScaling = new Vector3(scale);
return CachedBvhTriangleMeshShape;
}
protected override void OnInitialize()
{
Freelook.SetEyeTarget(eye, target);
Graphics.SetFormText("BulletSharp - Concave Raycast Demo");
Graphics.SetInfoText("Move using mouse and WASD+shift\n" +
"F3 - Toggle debug\n" +
//"F11 - Toggle fullscreen\n" +
"Space - Shoot box");
DebugDrawMode = debugMode;
const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalVerts, Vector3.SizeInBytes, totalTriangles, 3 * sizeof(int));
DataStream indices = mesh.LockIndices();
for (int i = 0; i < NUM_VERTS_X - 1; i++)
{
for (int j = 0; j < NUM_VERTS_Y - 1; j++)
{
indices.Write(j * NUM_VERTS_X + i);
indices.Write(j * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write(j * NUM_VERTS_X + i);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
raycastBar = new RaycastBar(4000.0f, 0.0f);
//raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
}
public BvhTriangleMeshShape GetAccurateCollisionShape()
{
//if (CachedBvhTriangleMeshShape != null) return CachedBvhTriangleMeshShape;
List<Vector3> vectors = GetRawVertexList();
var smesh = new TriangleIndexVertexArray(Enumerable.Range(0, Vertices.Count).ToArray(), vectors.Select((a) => a).ToArray());
CachedBvhTriangleMeshShape = new BvhTriangleMeshShape(smesh, false);
//CachedBvhTriangleMeshShape.LocalScaling = new Vector3(scale);
return CachedBvhTriangleMeshShape;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
mesh.TriangleIndexBase = Marshal.AllocHGlobal(mesh.TriangleIndexStride * totalTriangles);
mesh.VertexBase = Marshal.AllocHGlobal(mesh.VertexStride * totalVerts);
var indicesStream = mesh.GetTriangleStream();
using (var indices = new BinaryWriter(indicesStream))
{
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j*NumVertsX + i);
indices.Write(j*NumVertsX + i + 1);
indices.Write((j + 1)*NumVertsX + i + 1);
indices.Write(j*NumVertsX + i);
indices.Write((j + 1)*NumVertsX + i + 1);
indices.Write((j + 1)*NumVertsX + i);
}
}
}
indexVertexArrays.AddIndexedMesh(mesh);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int j = 0; j < NumDynamicBoxesX; j++)
{
for (int i = 0; i < NumDynamicBoxesY; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(5 * (i - NumDynamicBoxesX / 2), 10, 5 * (j - NumDynamicBoxesY / 2));
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
}
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
public TriangleIndexVertexArray CreateTriangleMeshContainer()
{
TriangleIndexVertexArray tiva = new TriangleIndexVertexArray();
_allocatedTriangleIndexArrays.Add(tiva);
return tiva;
}
protected override void OnInitialize()
{
Freelook.SetEyeTarget(eye, target);
Graphics.SetFormText("BulletSharp - Concave Convexcast Demo");
Graphics.SetInfoText("Move using mouse and WASD+shift\n" +
"F3 - Toggle debug\n" +
//"F11 - Toggle fullscreen\n" +
"Space - Shoot box");
DebugDrawMode = debugMode;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
mesh.TriangleIndexBase = Marshal.AllocHGlobal(mesh.TriangleIndexStride * totalTriangles);
mesh.VertexBase = Marshal.AllocHGlobal(mesh.VertexStride * totalVerts);
var indicesStream = mesh.GetTriangleStream();
var indices = new BinaryWriter(indicesStream);
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
indexVertexArrays.AddIndexedMesh(mesh);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
//convexcastBatch = new ConvexcastBatch(true, 40.0f, -50.0f, 50.0f);
}
protected override CollisionShape CreateShape()
{
//ConvexHullShape shape = new ConvexHullShape(this.vertices);
//BvhTriangleMeshShape bvh = new BvhTriangleMeshShape(
//StridingMeshInterface smi = new StridingMeshInterface();
TriangleIndexVertexArray tiv = new TriangleIndexVertexArray(this.indices, this.vertices);
BvhTriangleMeshShape bvh = new BvhTriangleMeshShape(tiv, true, true);
//StridingMeshInterface
return bvh;
}