public CreateFunc(VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver pdSolver)
: base(btConvex2dConvex2dAlgorithm_CreateFunc_new(simplexSolver._native,
pdSolver._native), false)
{
_pdSolver = pdSolver;
_simplexSolver = simplexSolver;
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, int shapeTypeA,
int shapeTypeB, float marginA, float marginB, VoronoiSimplexSolver simplexSolver,
ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btGjkPairDetector_new2(objectA._native, objectB._native, shapeTypeA,
shapeTypeB, marginA, marginB, simplexSolver._native, (penetrationDepthSolver != null) ? penetrationDepthSolver._native : IntPtr.Zero))
{
}
public bool CalcPenDepth(VoronoiSimplexSolver simplexSolver, ConvexShape convexA,
ConvexShape convexB, Matrix transA, Matrix transB, out Vector3 v, out Vector3 pa,
out Vector3 pb, IDebugDraw debugDraw)
{
return btConvexPenetrationDepthSolver_calcPenDepth(_native, simplexSolver._native,
convexA._native, convexB._native, ref transA, ref transB, out v, out pa,
out pb, DebugDraw.GetUnmanaged(debugDraw));
}
/// <summary>
/// 2つのコリジョン オブジェクトの距離
/// </summary>
/// <param name="colA">コリジョンA</param>
/// <param name="colB">コリジョンB</param>
/// <returns></returns>
public static float Distance(CollisionObject colA, CollisionObject colB)
{
if (colA == null || colA.Shape == null || colB == null || colB.Shape == null ||
colA.Data == null || colB.Data == null) {
// 距離が定義できない場合は
// NaNを返す
return Single.NaN;
}
var shpA = colA.Data.CollisionShape as ConvexShape;
var shpB = colB.Data.CollisionShape as ConvexShape;
var solver = new VoronoiSimplexSolver ();
var detector = new GjkPairDetector (shpA, shpB, solver, null);
var traA = Matrix4x4.CreateFromTranslation (colA.Offset) * colA.Node.GlobalTransform;
var traB = Matrix4x4.CreateFromTranslation (colB.Offset) * colB.Node.GlobalTransform;
var input = new GjkPairDetector.ClosestPointInput ();
input.TransformA = traA.ToBullet ();
input.TransformB = traB.ToBullet ();
input.MaximumDistanceSquared = Single.MaxValue;
var output = new PointCollector ();
detector.GetClosestPoints (input, output, null);
if (!output.HasResult) {
// 重なっていた場合は
// 0を返す
return 0;
}
// 正常な距離は0以上
return output.Distance;
}
public ContinuousConvexCollision(ConvexShape shapeA, ConvexShape shapeB, VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btContinuousConvexCollision_new(shapeA._native, shapeB._native, simplexSolver._native, penetrationDepthSolver._native))
{
}
public ConvexConvexAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(btConvexConvexAlgorithm_new(mf._native, ci._native, body0Wrap._native, body1Wrap._native, simplexSolver._native, pdSolver._native, numPerturbationIterations, minimumPointsPerturbationThreshold))
{
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConf);
VoronoiSimplexSolver simplex = new VoronoiSimplexSolver();
MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver();
Convex2DConvex2DAlgorithm.CreateFunc convexAlgo2d = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc());
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(150, 7, 150);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
float u = 0.96f;
Vector3[] points = { new Vector3(0, u, 0), new Vector3(-u, -u, 0), new Vector3(u, -u, 0) };
ConvexShape childShape0 = new BoxShape(1, 1, Depth);
ConvexShape colShape = new Convex2DShape(childShape0);
ConvexShape childShape1 = new ConvexHullShape(points);
ConvexShape colShape2 = new Convex2DShape(childShape1);
ConvexShape childShape2 = new CylinderShapeZ(1, 1, Depth);
ConvexShape colShape3 = new Convex2DShape(childShape2);
CollisionShapes.Add(colShape);
CollisionShapes.Add(colShape2);
CollisionShapes.Add(colShape3);
CollisionShapes.Add(childShape0);
CollisionShapes.Add(childShape1);
CollisionShapes.Add(childShape2);
colShape.Margin = 0.03f;
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
Matrix startTransform;
Vector3 x = new Vector3(-ArraySizeX, 8, -20);
Vector3 y = Vector3.Zero;
Vector3 deltaX = new Vector3(1, 2, 0);
Vector3 deltaY = new Vector3(2, 0, 0);
int i, j;
for (i = 0; i < ArraySizeY; i++)
{
y = x;
for (j = 0; j < ArraySizeX; j++)
{
startTransform = Matrix.Translation(y - new Vector3(-10, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo;
switch (j % 3)
{
case 0:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
break;
case 1:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape3, localInertia);
break;
default:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape2, localInertia);
break;
}
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
//body.ActivationState = ActivationState.IslandSleeping;
body.LinearFactor = new Vector3(1, 1, 0);
body.AngularFactor = new Vector3(0, 0, 1);
World.AddRigidBody(body);
y += deltaY;
}
x += deltaX;
}
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btGjkPairDetector_new(objectA._native, objectB._native, simplexSolver._native, (penetrationDepthSolver != null) ? penetrationDepthSolver._native : IntPtr.Zero))
{
}
public GjkConvexCast(ConvexShape convexA, ConvexShape convexB, VoronoiSimplexSolver simplexSolver)
: base(btGjkConvexCast_new(convexA._native, convexB._native, simplexSolver._native))
{
}
public ContinuousConvexCollision(ConvexShape shapeA, ConvexShape shapeB,
VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btContinuousConvexCollision_new(shapeA._native, shapeB._native,
simplexSolver._native, penetrationDepthSolver._native))
{
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, VoronoiSimplexSolver simplexSolver,
ConvexPenetrationDepthSolver penetrationDepthSolver)
: base(btGjkPairDetector_new(objectA.Native, objectB.Native, simplexSolver.Native,
(penetrationDepthSolver != null) ? penetrationDepthSolver.Native : IntPtr.Zero))
{
}
public Convex2DConvex2DAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObjectWrapper body0Wrap, CollisionObjectWrapper body1Wrap, VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(btConvex2dConvex2dAlgorithm_new(mf._native, ci._native, body0Wrap._native, body1Wrap._native, simplexSolver._native, pdSolver._native, numPerturbationIterations, minimumPointsPerturbationThreshold))
{
}
public CreateFunc(VoronoiSimplexSolver simplexSolver, ConvexPenetrationDepthSolver pdSolver)
: base(btConvex2dConvex2dAlgorithm_CreateFunc_new(simplexSolver._native, pdSolver._native), false)
{
_simplexSolver = simplexSolver;
_pdSolver = pdSolver;
}
