public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 pframe1, Quaternion pframe1rot,
Vector3 pframe2, Quaternion pframe2rot,
bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
SliderConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
frame1._origin = frame1v;
IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
frame2._origin = frame1v;
constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
return new BulletConstraintXNA(constrain);
}
//----------------------------------------------------------------------------------------------------------------
public override void InitializeDemo()
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 3, 50));
//CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
m_collisionShapes.Add(groundShape);
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 SimpleBroadphase(100, null);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
//m_dynamicsWorld.setGravity(new IndexedVector3(0,0,0));
IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0);
//either use heightfield or triangle mesh
//create ground object
LocalCreateRigidBody(0f, ref tr, groundShape);
CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f));
m_collisionShapes.Add(chassisShape);
CompoundShape compound = new CompoundShape();
m_collisionShapes.Add(compound);
//localTrans effectively shifts the center of mass with respect to the chassis
IndexedMatrix localTrans = IndexedMatrix.CreateTranslation(0, 1, 0);
compound.AddChildShape(ref localTrans, chassisShape);
{
CollisionShape suppShape = new BoxShape(new IndexedVector3(0.5f, 0.1f, 0.5f));
//localTrans effectively shifts the center of mass with respect to the chassis
IndexedMatrix suppLocalTrans = IndexedMatrix.CreateTranslation(0f, 1.0f, 2.5f);
compound.AddChildShape(ref suppLocalTrans, suppShape);
}
tr._origin = IndexedVector3.Zero;
m_carChassis = LocalCreateRigidBody(800f, ref tr, compound);//chassisShape);
//m_carChassis = LocalCreateRigidBody(800f, ref tr, chassisShape);//chassisShape);
//CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
//m_collisionShapes.Add(liftShape);
//m_liftStartPos = new IndexedVector3(0.0f, 2.5f, 3.05f);
//IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos);
//m_liftBody = LocalCreateRigidBody(10f, ref liftTrans, liftShape);
//IndexedMatrix localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
//localA._origin = new IndexedVector3(0f, 1.0f, 3.05f);
//IndexedMatrix localB = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
//localB._origin = new IndexedVector3(0f, -1.5f, -0.05f);
//m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB);
//// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS);
//m_liftHinge.SetLimit(0.0f, 0.0f);
//m_dynamicsWorld.AddConstraint(m_liftHinge, true);
//CompoundShape forkCompound = new CompoundShape();
//m_collisionShapes.Add(forkCompound);
//IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
//CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
//m_collisionShapes.Add(forkShapeA);
//forkCompound.AddChildShape(ref forkLocalTrans, forkShapeA);
//CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
//m_collisionShapes.Add(forkShapeB);
//forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f);
//forkCompound.AddChildShape(ref forkLocalTrans, forkShapeB);
//CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
//m_collisionShapes.Add(forkShapeC);
//forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f);
//forkCompound.AddChildShape(ref forkLocalTrans, forkShapeC);
//m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f);
//IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos);
//m_forkBody = LocalCreateRigidBody(5f, ref forkTrans, forkCompound);
//localA = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
//IndexedVector3 col0 = MathUtil.matrixColumn(ref localA, 0);
//IndexedVector3 col1 = MathUtil.matrixColumn(ref localA, 1);
//IndexedVector3 col2 = MathUtil.matrixColumn(ref localA, 2);
////localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localB = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f);
//m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true);
//m_forkSlider.SetLowerLinLimit(0.1f);
//m_forkSlider.SetUpperLinLimit(0.1f);
//// m_forkSlider.setLowerAngLimit(-LIFT_EPS);
//// m_forkSlider.setUpperAngLimit(LIFT_EPS);
//m_forkSlider.SetLowerAngLimit(0.0f);
//m_forkSlider.SetUpperAngLimit(0.0f);
//IndexedMatrix localAVec = IndexedMatrix.Identity;
//IndexedMatrix localBVec = IndexedMatrix.Identity;
//m_forkSlider2 = new HingeConstraint(m_liftBody, m_forkBody, ref localAVec, ref localBVec);
//m_dynamicsWorld.AddConstraint(m_forkSlider, true);
//m_dynamicsWorld.addConstraint(m_forkSlider2, true);
CompoundShape loadCompound = new CompoundShape(true);
m_collisionShapes.Add(loadCompound);
CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f));
m_collisionShapes.Add(loadShapeA);
IndexedMatrix loadTrans = IndexedMatrix.Identity;
loadCompound.AddChildShape(ref loadTrans, loadShapeA);
CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeB);
loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f);
loadCompound.AddChildShape(ref loadTrans, loadShapeB);
CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeC);
loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f);
loadCompound.AddChildShape(ref loadTrans, loadShapeC);
m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f);
loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos);
m_loadBody = LocalCreateRigidBody(4f, ref loadTrans, loadCompound);
#if false
{
CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
m_collisionShapes.Add(liftShape);
IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos);
m_liftBody = localCreateRigidBody(10f, ref liftTrans, liftShape);
IndexedMatrix localA = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
localA._origin = new IndexedVector3(0f, 1.0f, 3.05f);
IndexedMatrix localB = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
localB._origin = new IndexedVector3(0f, -1.5f, -0.05f);
m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB);
// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge.setLimit(0.0f, 0.0f);
m_dynamicsWorld.addConstraint(m_liftHinge, true);
CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
m_collisionShapes.Add(forkShapeA);
CompoundShape forkCompound = new CompoundShape();
m_collisionShapes.Add(forkCompound);
IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
forkCompound.addChildShape(ref forkLocalTrans, forkShapeA);
CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
m_collisionShapes.Add(forkShapeB);
forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f);
forkCompound.addChildShape(ref forkLocalTrans, forkShapeB);
CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
m_collisionShapes.Add(forkShapeC);
forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f);
forkCompound.addChildShape(ref forkLocalTrans, forkShapeC);
m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f);
IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos);
m_forkBody = localCreateRigidBody(5f, ref forkTrans, forkCompound);
localA = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f);
m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true);
m_forkSlider.setLowerLinLimit(0.1f);
m_forkSlider.setUpperLinLimit(0.1f);
// m_forkSlider.setLowerAngLimit(-LIFT_EPS);
// m_forkSlider.setUpperAngLimit(LIFT_EPS);
m_forkSlider.setLowerAngLimit(0.0f);
m_forkSlider.setUpperAngLimit(0.0f);
m_dynamicsWorld.addConstraint(m_forkSlider, true);
CompoundShape loadCompound = new CompoundShape();
m_collisionShapes.Add(loadCompound);
CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f));
m_collisionShapes.Add(loadShapeA);
IndexedMatrix loadTrans = IndexedMatrix.Identity;
loadCompound.addChildShape(ref loadTrans, loadShapeA);
CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeB);
loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f);
loadCompound.addChildShape(ref loadTrans, loadShapeB);
CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeC);
loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f);
loadCompound.addChildShape(ref loadTrans, loadShapeC);
m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f);
loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos);
m_loadBody = localCreateRigidBody(4f, ref loadTrans, loadCompound);
}
#endif
//m_carChassis.setDamping(0.2f, 0.2f);
ClientResetScene();
/// create vehicle
SetCameraDistance(26.0f);
SetTexturing(true);
SetShadows(true);
}