protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(
new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
renderCallback = new DrawingResult(World);
var boxA = new BoxShape(1.0f)
{
Margin = 0
};
var boxB = new BoxShape(0.5f)
{
Margin = 0
};
CollisionShapes.Add(boxA);
CollisionShapes.Add(boxB);
Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f);
rotA.Normalize();
objectA = new CollisionObject
{
CollisionShape = boxA,
WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0)
};
objectB = new CollisionObject
{
CollisionShape = boxB,
WorldTransform = Matrix.Translation(0, 4.248f, 0)
};
//World.AddCollisionObject(objectA);
World.AddCollisionObject(objectB);
}
public override void OnUpdate()
{
base.OnUpdate();
DrawingResult renderCallback = new DrawingResult(World);
World.ContactTest(objects[0], renderCallback);
Matrix t = objects[0].WorldTransform;
Vector4 pos = t.get_Rows(3);
t.set_Rows(3, new Vector4(0, 0, 0, 1));
t *= Matrix.RotationYawPitchRoll(0.1f * FrameDelta, 0.05f * FrameDelta, 0);
t.set_Rows(3, pos);
objects[0].WorldTransform = t;
Vector3 min = new Vector3(-1, -1, -1);
Vector3 max = new Vector3(1, 1, 1);
World.DebugDrawer.DrawBox(ref min, ref max, ref t, System.Drawing.Color.White);
}
public override void OnUpdate()
{
base.OnUpdate();
DrawingResult renderCallback = new DrawingResult(World);
World.ContactTest(objects[0], renderCallback);
Matrix t = objects[0].WorldTransform;
Vector4 pos = t.Row4;
t.Row4 = new Vector4(0, 0, 0, 1);
t *= Matrix.RotationYawPitchRoll(0.1f * FrameDelta, 0.05f * FrameDelta, 0);
t.Row4 = pos;
objects[0].WorldTransform = t;
Vector3 min = new Vector3(-1, -1, -1);
Vector3 max = new Vector3(1, 1, 1);
World.DebugDrawer.DrawBox(ref min, ref max, ref t, ref min);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
renderCallback = new DrawingResult(World);
BoxShape boxA = new BoxShape(new Vector3(1, 1, 1));
boxA.Margin = 0;
BoxShape boxB = new BoxShape(new Vector3(0.5f, 0.5f, 0.5f));
boxB.Margin = 0;
CollisionShapes.Add(boxA);
CollisionShapes.Add(boxB);
objects[0] = new CollisionObject();
objects[1] = new CollisionObject();
objects[0].CollisionShape = boxA;
objects[1].CollisionShape = boxB;
//World.AddCollisionObject(objects[0]);
World.AddCollisionObject(objects[1]);
Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f);
rotA.Normalize();
objects[0].WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0);
objects[1].WorldTransform = Matrix.Translation(0, 4.248f, 0);
}
public CollisionInterfaceDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(
new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
RenderCallback = new DrawingResult(World);
_movingBox = new BoxShape(1.0f)
{
Margin = 0
};
var rotation = Quaternion.RotationYawPitchRoll((float)Math.PI * 0.6f, (float)Math.PI * 0.2f, 0);
MovingObject = new CollisionObject
{
CollisionShape = _movingBox,
WorldTransform = Matrix.RotationQuaternion(rotation) * Matrix.Translation(0, 3, 0)
};
_staticShape = new BoxShape(0.5f)
{
Margin = 0
};
_staticObject = new CollisionObject
{
CollisionShape = _staticShape,
WorldTransform = Matrix.Translation(0, 4.248f, 0)
};
World.AddCollisionObject(_staticObject);
}
