public override void InitializeDemo()
{
m_maxIterations = 10;
SetCameraDistance(50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
m_dynamicsWorld.SetForceUpdateAllAabbs(false);
BuildLevelMap();
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(SCALING * 50f);
//string filename = @"C:\users\man\bullett\xna-largemesh-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(10000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
m_profileManager = new BasicProfileManager();
BulletGlobals.g_profileManager = m_profileManager;
m_profileIterator = m_profileManager.getIterator();
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
//CollisionShape groundShape = new BoxShape(ref halfExtents);
CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 0);
LocalCreateRigidBody(0f, IndexedMatrix.Identity, groundShape);
//CollisionShape groundShape = BuildLargeMesh();
m_collisionShapes.Add(groundShape);
CollisionShape sphereShape = new SphereShape(0.2f);
int size = 16;// 5; // 16
for (int i = 0; i < size; ++i)
{
for (int j = 0; j < size; ++j)
{
IndexedMatrix m = IndexedMatrix.CreateTranslation(new IndexedVector3(i, 1, j));
RigidBody rb = LocalCreateRigidBody(1f, m, sphereShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
ClientResetScene();
}
public override void InitializeDemo()
{
m_maxIterations = 500;
SetCameraDistance(SCALING * 50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -52, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
CreateScene5(20);
ClientResetScene();
}
public override void InitializeDemo()
{
//maxiterations = 10;
SetCameraDistance(100f);
m_cameraTargetPosition = new IndexedVector3();
m_cameraPosition = new IndexedVector3(0, 0, -m_cameraDistance);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
//m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
m_broadphase = new DbvtBroadphase();
IndexedVector3 worldAabbMin = new IndexedVector3(-200, -200, -200);
IndexedVector3 worldAabbMax = -worldAabbMin;
//m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, true);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
m_profileManager = new BasicProfileManager();
BulletGlobals.g_profileManager = m_profileManager;
m_profileIterator = m_profileManager.getIterator();
BuildBoard();
}
public virtual void Cleanup()
{
if (m_raycastAccelerator != null)
{
m_nullPairCache.Cleanup();
m_nullPairCache = null;
m_raycastAccelerator.Cleanup();
m_raycastAccelerator = null;
}
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i].Cleanup();
}
m_pHandles = null;
if (m_ownsPairCache)
{
m_pairCache = null;
}
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(50);
heightFields.Clear();
//collisionShapes = new ObjectArray<CollisionShape>();
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); // Needed once to enable ghost objects inside Bullet
//broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); //new DbvtBroadphase();
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f);
//world.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//world.Gravity = new Vector3(0, gravity, 0);
mobControllers = new Dictionary<SceneNode, BulletMobState>();
LoadPlayerController(new Entity(), new SceneNode(), null, Vector3.Zero);
//IndexedVector3 walkDir = new IndexedVector3(0, 0, -1);
//playerController.SetWalkDirection(ref walkDir);
//float[,] heights = new float[128, 128];
//LoadHeightField(heights, 10, 129, 129, Vector3.Zero, 1);
float[,] heights = new float[32, 32];
LoadHeightField(heights, 10, 33, 33, Vector3.Zero, 1);
ClientResetScene();
}
private static object Initialize2(Vector3 worldExtent,
ConfigurationParameters[] o,
int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray,
int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray,
object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
p.angularDamping = o[0].XangularDamping;
p.defaultFriction = o[0].defaultFriction;
p.defaultFriction = o[0].defaultFriction;
p.defaultDensity = o[0].defaultDensity;
p.defaultRestitution = o[0].defaultRestitution;
p.collisionMargin = o[0].collisionMargin;
p.gravity = o[0].gravity;
p.linearDamping = o[0].XlinearDamping;
p.angularDamping = o[0].XangularDamping;
p.deactivationTime = o[0].XdeactivationTime;
p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
p.ccdMotionThreshold = o[0].XccdMotionThreshold;
p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
p.terrainImplementation = o[0].XterrainImplementation;
p.terrainFriction = o[0].XterrainFriction;
p.terrainHitFraction = o[0].XterrainHitFraction;
p.terrainRestitution = o[0].XterrainRestitution;
p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
p.avatarFriction = o[0].XavatarFriction;
p.avatarStandingFriction = o[0].XavatarStandingFriction;
p.avatarDensity = o[0].XavatarDensity;
p.avatarRestitution = o[0].XavatarRestitution;
p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
p.numberOfSolverIterations = o[0].numberOfSolverIterations;
p.linksetImplementation = o[0].XlinksetImplementation;
p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
p.linkConstraintERP = o[0].XlinkConstraintERP;
p.linkConstraintCFM = o[0].XlinkConstraintCFM;
p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
p.physicsLoggingFrames = o[0].XphysicsLoggingFrames;
DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
if (p.maxPersistantManifoldPoolSize > 0)
cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
if (p.shouldDisableContactPoolDynamicAllocation !=0)
m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
//if (p.maxCollisionAlgorithmPoolSize >0 )
DbvtBroadphase m_broadphase = new DbvtBroadphase();
//IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
//IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
//AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
world.UpdatedObjects = updateArray;
world.UpdatedCollisions = collisionArray;
world.WorldSettings.Params = p;
world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
if (p.shouldRandomizeSolverOrder != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
//world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
if (p.shouldEnableFrictionCaching != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
if (p.numberOfSolverIterations > 0)
world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
world.GetSolverInfo().m_globalCfm = 0.0f;
world.GetSolverInfo().m_tau = 0.6f;
world.GetSolverInfo().m_friction = 0.3f;
world.GetSolverInfo().m_maxErrorReduction = 20f;
world.GetSolverInfo().m_numIterations = 10;
world.GetSolverInfo().m_erp = 0.2f;
world.GetSolverInfo().m_erp2 = 0.1f;
world.GetSolverInfo().m_sor = 1.0f;
world.GetSolverInfo().m_splitImpulse = false;
world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
world.GetSolverInfo().m_linearSlop = 0.0f;
world.GetSolverInfo().m_warmstartingFactor = 0.85f;
world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
world.SetForceUpdateAllAabbs(true);
world.SetGravity(new IndexedVector3(0,0,p.gravity));
return world;
}
public void Initialize(DbvtBroadphase p)
{
pbp = p;
proxy = null;
}
} // for pool;
public DbvtTreeCollider(DbvtBroadphase p)
{
pbp = p;
proxy = null;
}
public override void InitializeDemo()
{
SetCameraDistance(30f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
int numBlocksTall = 10;//18; //How many 'stories' tall.
float blockWidth = 6f; //Total width/length of the tower.
float blockHeight = 2f;
//create a few dynamic rigidbodies
IndexedVector3 extents = new IndexedVector3(blockWidth/3, blockHeight, blockWidth);
IndexedVector3 boxHalfExtents = extents * 0.5f;
CollisionShape colShape = new BoxShape(boxHalfExtents);
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f));
//m_collisionShapes.Add(colShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 1f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
colShape.CalculateLocalInertia(mass, out localInertia);
}
//The default number of iterations is 10, which works fine, but this demo
//is all about stability (it's jenga!). Increase the iterations a bit.
//Even though it's using twice as many iterations, it will early-out
//before reaching the limit MOST of the time.
//It's still pretty playable at around 7-8 max iterations, though.
IndexedMatrix transform = IndexedMatrix.Identity;
for (int i = 0; i < numBlocksTall; i++)
{
if (i % 2 == 0)
{
for (int j = 0; j < 3; j++)
{
transform = IndexedMatrix.Identity;
IndexedVector3 position = new IndexedVector3(j * (blockWidth/3) - blockWidth/3,
blockHeight / 2 + i * (blockHeight),
0);
//position += boxHalfExtents;
transform._origin = position;
RigidBody rb = LocalCreateRigidBody(mass, transform, colShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
else
{
transform = IndexedMatrix.CreateRotationY(MathUtil.SIMD_HALF_PI);
for (int j = 0; j < 3; j++)
{
IndexedVector3 position = new IndexedVector3(0,
blockHeight / 2 + (i) * (blockHeight),
j * (blockWidth / 3) - blockWidth / 3f);
transform._origin = position;
//position += boxHalfExtents;
transform._origin = position;
RigidBody rb = LocalCreateRigidBody(mass, transform, colShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
}
//game.Camera.Position = new Vector3(0, 5, 15);
}
ClientResetScene();
}
//-----------------------------------------------------------------------------------------------
public override void InitializeDemo()
{
//string filename = @"C:\users\man\bullett\xna-concave-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
m_animatedMesh = true;
base.InitializeDemo();
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
gVertices = new ObjectArray<IndexedVector3>(totalVerts);
int indicesTotal = totalTriangles * 3;
gIndices = new ObjectArray<int>(indicesTotal);
//BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();
SetVertexPositions(waveheight,0f);
int vertStride = 1;
int indexStride = 3;
int index=0;
for (int i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
}
}
if (BulletGlobals.g_streamWriter != null)
{
index = 0;
BulletGlobals.g_streamWriter.WriteLine("setIndexPositions");
for (int i = 0; i < gIndices.Count; i++)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("{0} {1}", i, gIndices[i]));
}
}
TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,indexStride,totalVerts,gVertices,vertStride);
bool useQuantizedAabbCompression = true;
OptimizedBvh bvh = new OptimizedBvh();
IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000);
IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000);
m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true);
//CollisionShape trimeshShape = new TriangleMeshShape(indexVertexArrays);
IndexedVector3 scaling = IndexedVector3.One;
//m_trimeshShape.SetOptimizedBvh(bvh, ref scaling);
//BulletWorldImporter import = new BulletWorldImporter(0);//don't store info into the world
//if (import.loadFile("myShape.bullet"))
//{
// int numBvh = import.getNumBvhs();
// if (numBvh != 0)
// {
// OptimizedBvh bvh = import.getBvhByIndex(0);
// IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000);
// IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000);
// trimeshShape = new indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,false);
// IndexedVector3 scaling = IndexedVector3.One;
// trimeshShape.setOptimizedBvh(bvh, ref scaling);
// //trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
// //trimeshShape.setOptimizedBvh(bvh);
// }
// int numShape = import.getNumCollisionShapes();
// if (numShape != 0)
// {
// trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByIndex(0);
// //if you know the name, you can also try to get the shape by name:
// String meshName = import.getNameForPointer(trimeshShape);
// if (meshName != null)
// {
// trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByName(meshName);
// }
// }
//}
//CollisionShape groundShape = trimeshShape;//m_trimeshShape;
CollisionShape groundShape = m_trimeshShape;//m_trimeshShape;
//groundShape = new TriangleShape(new IndexedVector3(0,` 0, 100), new IndexedVector3(100, 0, 0),new IndexedVector3(-100, 0, -100));
//groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
//groundShape = new BoxShape(new IndexedVector3(100f, 0.1f, 100f));
IndexedVector3 up = new IndexedVector3(0.4f,1,0);
up.Normalize();
//groundShape = new StaticPlaneShape(up, 0f);
//groundShape = new TriangleMeshShape(indexVertexArrays);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000,-1000,-1000);
IndexedVector3 worldMax = new IndexedVector3(1000,1000,1000);
//m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_broadphase = new DbvtBroadphase();
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
float mass = 0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0));
//CompoundShape colShape = new CompoundShape();
//IndexedVector3 halfExtents = new IndexedVector3(4, 1, 1);
//CollisionShape cylinderShape = new CylinderShapeX(ref halfExtents);
//CollisionShape boxShape = new BoxShape(new IndexedVector3(4, 1, 1));
//IndexedMatrix localTransform = IndexedMatrix.Identity;
//colShape.addChildShape(ref localTransform, boxShape);
//Quaternion orn = Quaternion.CreateFromYawPitchRoll(MathUtil.SIMD_HALF_PI, 0f, 0f);
//localTransform = IndexedMatrix.CreateFromQuaternion(orn);
//colShape.addChildShape(ref localTransform, cylinderShape);
////BoxShape colShape = new BoxShape(new IndexedVector3(1, 1, 1));
//int numCollideObjects = 1;
//m_collisionShapes.Add(colShape);
//{
// for (int i = 0; i < numCollideObjects; i++)
// {
// startTransform._origin = new IndexedVector3(4,10+i*2,1);
// localCreateRigidBody(1, ref startTransform,colShape);
// }
//}
CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1));
//CollisionShape boxShape = new SphereShape(1);
//CollisionShape boxShape = new SphereShape(1);
//CollisionShape boxShape = new CapsuleShapeZ(0.5f, 1);
m_collisionShapes.Add(boxShape);
for (int i = 0; i < 1; i++)
{
startTransform._origin = new IndexedVector3(2f * i, 5, 1);
LocalCreateRigidBody(1, ref startTransform, boxShape);
}
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
//clientResetScene();
}
private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
ConfigurationParameters[] o,
int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
p.angularDamping = BSParam.AngularDamping;
p.defaultFriction = o[0].defaultFriction;
p.defaultFriction = o[0].defaultFriction;
p.defaultDensity = o[0].defaultDensity;
p.defaultRestitution = o[0].defaultRestitution;
p.collisionMargin = o[0].collisionMargin;
p.gravity = o[0].gravity;
p.linearDamping = BSParam.LinearDamping;
p.angularDamping = BSParam.AngularDamping;
p.deactivationTime = BSParam.DeactivationTime;
p.linearSleepingThreshold = BSParam.LinearSleepingThreshold;
p.angularSleepingThreshold = BSParam.AngularSleepingThreshold;
p.ccdMotionThreshold = BSParam.CcdMotionThreshold;
p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius;
p.contactProcessingThreshold = BSParam.ContactProcessingThreshold;
p.terrainImplementation = BSParam.TerrainImplementation;
p.terrainFriction = BSParam.TerrainFriction;
p.terrainHitFraction = BSParam.TerrainHitFraction;
p.terrainRestitution = BSParam.TerrainRestitution;
p.terrainCollisionMargin = BSParam.TerrainCollisionMargin;
p.avatarFriction = BSParam.AvatarFriction;
p.avatarStandingFriction = BSParam.AvatarStandingFriction;
p.avatarDensity = BSParam.AvatarDensity;
p.avatarRestitution = BSParam.AvatarRestitution;
p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth;
p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth;
p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight;
p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold;
p.vehicleAngularDamping = BSParam.VehicleAngularDamping;
p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
p.numberOfSolverIterations = o[0].numberOfSolverIterations;
p.linksetImplementation = BSParam.LinksetImplementation;
p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset);
p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor);
p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel;
p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce;
p.linkConstraintERP = BSParam.LinkConstraintERP;
p.linkConstraintCFM = BSParam.LinkConstraintCFM;
p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations;
p.physicsLoggingFrames = o[0].physicsLoggingFrames;
DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
if (p.maxPersistantManifoldPoolSize > 0)
cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
if (p.shouldDisableContactPoolDynamicAllocation !=0)
m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
//if (p.maxCollisionAlgorithmPoolSize >0 )
DbvtBroadphase m_broadphase = new DbvtBroadphase();
//IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
//IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
//AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
world.LastCollisionDesc = 0;
world.LastEntityProperty = 0;
world.WorldSettings.Params = p;
world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
if (p.shouldRandomizeSolverOrder != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
//world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
if (p.shouldEnableFrictionCaching != 0)
world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
if (p.numberOfSolverIterations > 0)
world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
world.GetSolverInfo().m_globalCfm = 0.0f;
world.GetSolverInfo().m_tau = 0.6f;
world.GetSolverInfo().m_friction = 0.3f;
world.GetSolverInfo().m_maxErrorReduction = 20f;
world.GetSolverInfo().m_numIterations = 10;
world.GetSolverInfo().m_erp = 0.2f;
world.GetSolverInfo().m_erp2 = 0.1f;
world.GetSolverInfo().m_sor = 1.0f;
world.GetSolverInfo().m_splitImpulse = false;
world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
world.GetSolverInfo().m_linearSlop = 0.0f;
world.GetSolverInfo().m_warmstartingFactor = 0.85f;
world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
world.SetForceUpdateAllAabbs(true);
//BSParam.TerrainImplementation = 0;
world.SetGravity(new IndexedVector3(0,0,p.gravity));
// Turn off Pooling since globals and pooling are bad for threading.
BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false);
BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false);
BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false);
BulletGlobals.CastResultPool.SetPoolingEnabled(false);
BulletGlobals.SphereShapePool.SetPoolingEnabled(false);
BulletGlobals.DbvtNodePool.SetPoolingEnabled(false);
BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false);
BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false);
BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false);
BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false);
BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false);
BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false);
BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false);
BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false);
BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false);
BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false);
BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false);
BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false);
BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false);
BulletGlobals.GJKPool.SetPoolingEnabled(false);
BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false);
BulletGlobals.TriangleShapePool.SetPoolingEnabled(false);
BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false);
BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false);
BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false);
BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false);
BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false);
BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false);
BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false);
return world;
}
public override void InitializeDemo()
{
//string filename = @"C:\users\man\bullet\xna-motor-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
m_Time = 0;
m_fCyclePeriod = 2000.0f; // in milliseconds
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits)
// currently solver uses 10 iterations, so:
m_fMuscleStrength = 0.5f;
SetCameraDistance(5.0f);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
m_broadphase = new SimpleBroadphase(1000, pairCache);
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
m_dynamicsWorld.SetInternalTickCallback(new MotorPreTickCallback(),this,true);
// Setup a big ground box
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(200.0f,10.0f,200.0f));
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0,-10,0);
LocalCreateRigidBody(0f,ref groundTransform,groundShape);
}
// Spawn one ragdoll
IndexedVector3 startOffset = new IndexedVector3(1,0.5f,0);
SpawnTestRig(ref startOffset, false);
startOffset = new IndexedVector3(-2, 0.5f, 0);
SpawnTestRig(ref startOffset, true);
ClientResetScene();
}
public virtual void Cleanup()
{
if (m_raycastAccelerator != null)
{
m_nullPairCache.Cleanup();
m_nullPairCache = null;
m_raycastAccelerator.Cleanup();
m_raycastAccelerator = null;
}
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i].Cleanup();
}
m_pHandles = null;
if (m_ownsPairCache)
{
m_pairCache = null;
}
}
//public AxisSweep3Internal(ref IndexedVector3 worldAabbMin,ref IndexedVector3 worldAabbMax, int handleMask, int handleSentinel, int maxHandles = 16384, OverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
public AxisSweep3Internal(ref IndexedVector3 worldAabbMin, ref IndexedVector3 worldAabbMax, int handleMask, ushort handleSentinel, ushort userMaxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
m_bpHandleMask = (handleMask);
m_handleSentinel = (handleSentinel);
m_pairCache = (pairCache);
m_userPairCallback = null;
m_ownsPairCache = (false);
m_invalidPair = 0;
m_raycastAccelerator = null;
ushort maxHandles = (ushort)(userMaxHandles + 1);//need to add one sentinel handle
if (m_pairCache == null)
{
m_pairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_nullPairCache = new NullPairCache();
m_raycastAccelerator = new DbvtBroadphase(m_nullPairCache);//m_pairCache);
m_raycastAccelerator.m_deferedcollide = true;//don't add/remove pairs
}
//btAssert(bounds.HasVolume());
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;
IndexedVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
int maxInt = m_handleSentinel;
m_quantize = new IndexedVector3((float)maxInt) / aabbSize;
// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
m_pHandles = new Handle[maxHandles];
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i] = new Handle();
}
m_maxHandles = maxHandles;
m_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
m_firstFreeHandle = 1;
{
for (ushort i = m_firstFreeHandle; i < maxHandles; i++)
{
ushort nextFree = (ushort)(i + (ushort)1);
m_pHandles[i].SetNextFree(nextFree);
}
m_pHandles[maxHandles - 1].SetNextFree(0);
}
{
m_pEdges = new Edge[3, (maxHandles * 2)];
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < maxHandles * 2; ++j)
{
m_pEdges[i, j] = new Edge();
}
}
}
//removed overlap management
// make boundary sentinels
m_pHandles[0].SetClientObject(null);
for (int axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_minEdges[axis] = 0;
m_pHandles[0].m_maxEdges[axis] = 1;
m_pEdges[axis, 0].m_pos = 0;
m_pEdges[axis, 0].m_handle = 0;
m_pEdges[axis, 1].m_pos = m_handleSentinel;
m_pEdges[axis, 1].m_handle = 0;
#if DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
//public AxisSweep3Internal(ref IndexedVector3 worldAabbMin,ref IndexedVector3 worldAabbMax, int handleMask, int handleSentinel, int maxHandles = 16384, OverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
public AxisSweep3Internal(ref IndexedVector3 worldAabbMin, ref IndexedVector3 worldAabbMax, int handleMask, ushort handleSentinel, ushort userMaxHandles, IOverlappingPairCache pairCache, bool disableRaycastAccelerator)
{
m_bpHandleMask = (handleMask);
m_handleSentinel = (handleSentinel);
m_pairCache = (pairCache);
m_userPairCallback = null;
m_ownsPairCache = (false);
m_invalidPair = 0;
m_raycastAccelerator = null;
ushort maxHandles = (ushort)(userMaxHandles + 1);//need to add one sentinel handle
if (m_pairCache == null)
{
m_pairCache = new HashedOverlappingPairCache();
m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_nullPairCache = new NullPairCache();
m_raycastAccelerator = new DbvtBroadphase(m_nullPairCache); //m_pairCache);
m_raycastAccelerator.m_deferedcollide = true; //don't add/remove pairs
}
//btAssert(bounds.HasVolume());
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;
IndexedVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
int maxInt = m_handleSentinel;
m_quantize = new IndexedVector3((float)maxInt) / aabbSize;
// allocate handles buffer, using btAlignedAlloc, and put all handles on free list
m_pHandles = new Handle[maxHandles];
for (int i = 0; i < m_pHandles.Length; ++i)
{
m_pHandles[i] = new Handle();
}
m_maxHandles = maxHandles;
m_numHandles = 0;
// handle 0 is reserved as the null index, and is also used as the sentinel
m_firstFreeHandle = 1;
{
for (ushort i = m_firstFreeHandle; i < maxHandles; i++)
{
ushort nextFree = (ushort)(i + (ushort)1);
m_pHandles[i].SetNextFree(nextFree);
}
m_pHandles[maxHandles - 1].SetNextFree(0);
}
{
m_pEdges = new Edge[3, (maxHandles * 2)];
// allocate edge buffers
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < maxHandles * 2; ++j)
{
m_pEdges[i, j] = new Edge();
}
}
}
//removed overlap management
// make boundary sentinels
m_pHandles[0].SetClientObject(null);
for (int axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_minEdges[axis] = 0;
m_pHandles[0].m_maxEdges[axis] = 1;
m_pEdges[axis, 0].m_pos = 0;
m_pEdges[axis, 0].m_handle = 0;
m_pEdges[axis, 1].m_pos = m_handleSentinel;
m_pEdges[axis, 1].m_handle = 0;
#if DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
public override void InitializeDemo()
{
SetCameraDistance(SCALING * 50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
//create a few dynamic rigidbodies
CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f));
m_collisionShapes.Add(colShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 1f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
colShape.CalculateLocalInertia(mass, out localInertia);
}
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
m_dynamicsWorld.AddRigidBody(body);
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j));
}
}
}
}
ClientResetScene();
}
public DbvtTreeCollider() { } // for pool;
public DbvtTreeCollider(DbvtBroadphase p)
{
pbp = p;
proxy = null;
}
protected override void Initialize()
{
base.Initialize();
SetCameraDistance(50.0f);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
//m_collisionConfiguration.setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
// NEW => btGhostPairCallback =================================
m_ghostPairCallback = new GhostPairCallback();
m_dynamicsWorld.GetBroadphase().GetOverlappingPairCache().SetInternalGhostPairCallback(m_ghostPairCallback); // Needed once to enable ghost objects inside Bullet
// NEW => btGhostObject =======================================
m_ghostObject = new GhostObject();
CollisionShape shape = new BoxShape(new IndexedVector3(5f)); // As far as I know only the world aabb of the shape will be used (i.e. a box always parallel to the x,y,z axis of variable size)
m_collisionShapes.Add(shape);
m_ghostObject.SetCollisionShape(shape);
m_ghostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE); // We can choose to make it "solid" if we want...
m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.SensorTrigger, CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.SensorTrigger);
//m_ghostObject.setWorldTransform(btTransform(btQuaternion::getIdentity(),btVector3(0,5,-15)));
IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(quatDeg45Y);
im._origin = new IndexedVector3(0, 5, -15);
m_ghostObject.SetWorldTransform(im);
// NEW => btPairCachingGhostObject ============================
m_pairCachingGhostObject = new PairCachingGhostObject();
shape = new ConeShape(7.0f, 14.0f);
m_collisionShapes.Add(shape);
m_pairCachingGhostObject.SetCollisionShape(shape);
m_pairCachingGhostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE); // We can choose to make it "solid" if we want...
m_dynamicsWorld.AddCollisionObject(m_pairCachingGhostObject, CollisionFilterGroups.SensorTrigger, CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.SensorTrigger);
//m_pairCachingGhostObject.setWorldTransform(btTransform(btQuaternion::getIdentity(),btVector3(0,5,15)));
im._origin = new IndexedVector3(0, 7, 15);
m_pairCachingGhostObject.SetWorldTransform(im);
//=============================================================
///create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(new IndexedVector3(50));
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.Identity;
groundTransform._origin = new IndexedVector3(0, -50, 0);
float mass = 0.0f;
LocalCreateRigidBody(mass, groundTransform, groundShape);
// spawn some cubes (code pasted from appBasicDemo...)
if(true)
{
//create a few dynamic rigidbodies
CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f));
m_collisionShapes.Add(colShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 1f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
colShape.CalculateLocalInertia(mass, out localInertia);
}
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
for (int k = 0; k < ARRAY_SIZE_Y; k++)
{
for (int i = 0; i < ARRAY_SIZE_X; i++)
{
for (int j = 0; j < ARRAY_SIZE_Z; j++)
{
startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
//body.setContactProcessingThreshold(colShape.getContactBreakingThreshold());
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
m_dynamicsWorld.AddRigidBody(body);
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j));
}
}
}
}
ClientResetScene();
}
public void Initialize(DbvtBroadphase p)
{
pbp = p;
proxy = null;
}
public override void InitializeDemo()
{
//maxiterations = 10;
SetCameraDistance(SCALING * 50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
pairCache = new HashedOverlappingPairCache();
m_broadphase = new DbvtBroadphase(pairCache);
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
float mass = 0f;
float topY = 2.5f;
float bottomY = 0.5f;
float diff = 10f;
float left = -(diff / 2f);
float right = -left;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
{
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
mass = 0f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = mass != 0f;
RigidBody rb = null;
//startTransform._origin = new IndexedVector3(left, topY, 0);
//collisionTopLeftCorner = BuildCorner(vertices, topLeft);
//rb = LocalCreateRigidBody(0f, startTransform, collisionTopLeftCorner);
//rb.SetUserPointer("TopLeftCorner");
//startTransform._origin = new IndexedVector3(right, topY, 0);
//collisionTopRightCorner = BuildCorner(vertices, topRight);
//rb = LocalCreateRigidBody(0f, startTransform, collisionTopRightCorner);
//rb.SetUserPointer("TopRightCorner");
startTransform._origin = new IndexedVector3(left, bottomY, 0);
collisionBottomLeftCorner = BuildCorner(vertices, bottomLeft);
rb = LocalCreateRigidBody(0f, startTransform, collisionBottomLeftCorner);
rb.SetUserPointer("BottomLeftCorner");
startTransform._origin = new IndexedVector3(right, bottomY, 0);
collisionBottomRightCorner = BuildCorner(vertices, bottomRight);
rb = LocalCreateRigidBody(0f, startTransform, collisionBottomRightCorner);
rb.SetUserPointer("BottomRightCorner");
startTransform._origin = IndexedVector3.Zero;
m_playerSphere = LocalCreateRigidBody(1f, startTransform, new SphereShape(0.25f));
m_playerSphere.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
}
BulletGlobals.gDebugDraw.SetDebugMode(BulletXNA.LinearMath.DebugDrawModes.DBG_DrawAabb | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawNormals | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawContactPoints);
m_dynamicsWorld.SetDebugDrawer(BulletGlobals.gDebugDraw);
//ClientResetScene();
}
public override void InitializeDemo()
{
SetCameraDistance(50);
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
int vertStride = 1;
int indexStride = 3;
BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();
gVertices = new ObjectArray<IndexedVector3>(totalVerts);
gIndices = new ObjectArray<int>(totalTriangles * 3);
SetVertexPositions(waveheight, 0.0f);
gVertices.GetRawArray()[1].Y = 0.1f;
int index=0;
int i, j;
for (i=0;i<NUM_VERTS_X-1;i++)
{
for (j=0;j<NUM_VERTS_Y-1;j++)
{
#if SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
#endif //SHIFT_INDICES
#else //SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
#if TEST_INCONSISTENT_WINDING
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else //TEST_INCONSISTENT_WINDING
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#endif //TEST_INCONSISTENT_WINDING
#else //SHIFT_INDICES
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
#endif //SHIFT_INDICES
#endif //SWAP_WINDING
}
}
m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts, gVertices, vertStride);
bool useQuantizedAabbCompression = true;
IndexedVector3 aabbMin = new IndexedVector3 (-1000,-1000,-1000);
IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000);
trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,true);
CollisionShape groundShape = trimeshShape;
TriangleInfoMap triangleInfoMap = new TriangleInfoMap();
InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
IndexedVector3 gravity = new IndexedVector3(0,-10,0);
m_dynamicsWorld.SetGravity(ref gravity);
float mass = 0.0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-2,0));
ConvexHullShape colShape = new ConvexHullShape(new List<IndexedVector3>(), 0);
for (int k=0;k<DemoMeshes.TaruVtxCount;k++)
{
IndexedVector3 vtx = DemoMeshes.TaruVtx[k];
colShape.AddPoint(ref vtx);
}
//this will enable polyhedral contact clipping, better quality, slightly slower
//colShape.InitializePolyhedralFeatures();
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex=false;
{
//for (int i2 = 0; i2 < 1; i2++)
//{
// startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f);
// RigidBody body = LocalCreateRigidBody(10, startTransform, colShape);
// body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
// //body->setContactProcessingThreshold(0.f);
//}
}
{
BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1));
//colShape.InitializePolyhedralFeatures();
m_collisionShapes.Add(colShape2);
startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f);
RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2);
body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
}
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, startTransform,groundShape);
//staticBody->setContactProcessingThreshold(-0.031f);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints);
//base.InitializeDemo();
//ClientResetScene();
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(SCALING * 50f);
//string filename = @"e:\users\man\bullet\xna-largemesh-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
//CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 50);
CollisionShape groundShape = BuildLargeMesh();
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 0, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
//IndexedMatrix rotateMatrix = IndexedMatrix.CreateFromYawPitchRoll(0, MathUtil.SIMD_PI / 2.0f, 0);
//IndexedMatrix rotateMatrix = IndexedMatrix.Identity;
IndexedMatrix rotateMatrix = IndexedMatrix.Identity;
rotateMatrix._basis.SetEulerZYX(0, 0, MathUtil.SIMD_PI * 0.7f);
rotateMatrix._origin = IndexedVector3.Zero;
float mass = 0f;
LocalCreateRigidBody(mass, ref rotateMatrix, groundShape);
CollisionShape boxShape = new BoxShape(new IndexedVector3(0.2f, 0.2f, 0.2f));
//CollisionShape boxShape = new SphereShape(0.2f);
//CollisionShape boxShape = new CylinderShapeX(new IndexedVector3(0.2f, 0.4f, 0.2f));
//CollisionShape boxShape = new CapsuleShape(0.2f, 0.4f);
IndexedMatrix boxTransform = IndexedMatrix.Identity;
boxTransform._basis.SetEulerZYX(MathUtil.SIMD_PI * 0.2f, MathUtil.SIMD_PI * 0.4f, MathUtil.SIMD_PI * 0.7f);
boxTransform._origin = new IndexedVector3(0.0f, 5.0f, 0.0f);
LocalCreateRigidBody(1.25f, boxTransform, boxShape);
ClientResetScene();
}