public override void InitializeDemo()
{
// std::cerr << "initializing...\n";
m_nearClip = 1f;
m_farClip = 1000f;
m_aspect = m_glutScreenWidth / m_glutScreenHeight;
m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip);
// set up basic state
m_upAxis = 1; // start with Y-axis as "up"
m_type = PHY_ScalarType.PHY_FLOAT;
m_model = eTerrainModel.eRadial; //eFractal;
m_isDynamic = true;
// set up the physics world
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);
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
// initialize axis- or type-dependent physics from here
ClientResetScene();
}
//----------------------------------------------------------------------------------------------
public void InitialiseWorld(ref DiscreteDynamicsWorld world)
{
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
IBroadphaseInterface bp = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//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();
DefaultCollisionConfiguration collisionConfig = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfig);
world = new DiscreteDynamicsWorld(dispatcher, bp, sol, collisionConfig);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
world.SetGravity(ref gravity);
world.SetDebugDrawer(BulletGlobals.gDebugDraw);
}
public override void InitializeDemo()
{
// Setup the basic world
SetTexturing(true);
SetShadows(true);
SetCameraDistance(5.0f);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldAabbMin = new IndexedVector3(-10000, -10000, -10000);
IndexedVector3 worldAabbMax = new IndexedVector3(10000, 10000, 10000);
m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, true);
//m_broadphase = new SimpleBroadphase(1000, null);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
//m_dynamicsWorld.getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld.getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// 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);
CollisionObject fixedGround = new CollisionObject();
fixedGround.SetCollisionShape(groundShape);
fixedGround.SetWorldTransform(ref groundTransform);
fixedGround.SetUserPointer("Ground");
m_dynamicsWorld.AddCollisionObject(fixedGround);
}
// Spawn one ragdoll
IndexedVector3 startOffset = new IndexedVector3(1, 0.5f, 0);
//string filename = @"c:\users\man\bullet\xna-ragdoll-constraints-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
SpawnRagdoll(ref startOffset, BulletGlobals.g_streamWriter);
//startOffset = new IndexedVector3(-1,0.5f,0);
//spawnRagdoll(ref startOffset);
ClientResetScene();
}
public ChCollisionSystemBullet(uint max_objects, double scene_size)
{
// btDefaultCollisionConstructionInfo conf_info(...); ***TODO***
bt_collision_configuration = new DefaultCollisionConfiguration();
bt_dispatcher = new CollisionDispatcher(bt_collision_configuration);
//((btDefaultCollisionConfiguration*)bt_collision_configuration)->setConvexConvexMultipointIterations(4,4);
//***OLD***
float sscene_size = (float)scene_size;
IndexedVector3 worldAabbMin = new IndexedVector3(-sscene_size, -sscene_size, -sscene_size);
IndexedVector3 worldAabbMax = -worldAabbMin;//new IndexedVector3(sscene_size, sscene_size, sscene_size);
// bt_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax, max_objects, 0, true); // true for disabling
// raycast accelerator
//***NEW***
bt_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, false);
//bt_broadphase = new DbvtBroadphase();
bt_collision_world = new CollisionWorld(bt_dispatcher, bt_broadphase, bt_collision_configuration);
// TO DO!!!
// custom collision for 2D arc-segment case
/* CollisionAlgorithmCreateFunc m_collision_arc_seg = new ArcSegmentCollisionAlgorithm.CreateFunc;
* btCollisionAlgorithmCreateFunc* m_collision_seg_arc = new btArcSegmentCollisionAlgorithm::CreateFunc;
* m_collision_seg_arc->m_swapped = true;
* bt_dispatcher->registerCollisionCreateFunc(ARC_SHAPE_PROXYTYPE, SEGMENT_SHAPE_PROXYTYPE, m_collision_arc_seg);
* bt_dispatcher->registerCollisionCreateFunc(SEGMENT_SHAPE_PROXYTYPE, ARC_SHAPE_PROXYTYPE, m_collision_seg_arc);
*
* // custom collision for 2D arc-arc case
* btCollisionAlgorithmCreateFunc* m_collision_arc_arc = new btArcArcCollisionAlgorithm::CreateFunc;
* bt_dispatcher->registerCollisionCreateFunc(ARC_SHAPE_PROXYTYPE, ARC_SHAPE_PROXYTYPE, m_collision_arc_arc);*/
// custom collision for C::E triangles:
// CollisionAlgorithmCreateFunc m_collision_cetri_cetri = new CEtriangleShapeCollisionAlgorithm.CreateFunc;
// bt_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.CE_TRIANGLE_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.CE_TRIANGLE_SHAPE_PROXYTYPE, m_collision_cetri_cetri);
// custom collision for point-point case (in point clouds, just never create point-point contacts)
//btCollisionAlgorithmCreateFunc* m_collision_point_point = new btPointPointCollisionAlgorithm::CreateFunc;
/* void* mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc), 16);
* btCollisionAlgorithmCreateFunc* m_emptyCreateFunc = new (mem) btEmptyAlgorithm::CreateFunc;
* bt_dispatcher->registerCollisionCreateFunc(POINT_SHAPE_PROXYTYPE, POINT_SHAPE_PROXYTYPE, m_emptyCreateFunc);
* bt_dispatcher->registerCollisionCreateFunc(POINT_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE, bt_collision_configuration->getCollisionAlgorithmCreateFunc(SPHERE_SHAPE_PROXYTYPE, BOX_SHAPE_PROXYTYPE)); // just for speedup
* bt_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE, POINT_SHAPE_PROXYTYPE, bt_collision_configuration->getCollisionAlgorithmCreateFunc(BOX_SHAPE_PROXYTYPE, SPHERE_SHAPE_PROXYTYPE)); // just for speedup
*
* // custom collision for GIMPACT mesh case too
* btGImpactCollisionAlgorithm::registerAlgorithm(bt_dispatcher);*/
}
public BulletXNAPhysicsComponent(Game game, ICollisionConfiguration collisionConf, IConstraintSolver solver, Vector3 gravity)
: base(game)
{
CollisionDispatcher Dispatcher = new CollisionDispatcher(collisionConf);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
IBroadphaseInterface broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, broadphase, solver, collisionConf);
IndexedVector3 iv3Gravity = new IndexedVector3(gravity.X, gravity.Y, gravity.Z);
World.SetGravity(ref iv3Gravity);
}
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);
//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));
//CollisionShape colShape = BuildCorner();
//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 override void InitializeDemo()
{
m_cameraDistance = 10.0f;
//string filename = @"e:\users\man\bullet\gimpact-demo-xna.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
/// Init Bullet
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
//m_broadphase = new btSimpleBroadphase();
int maxProxies = 1024;
IndexedVector3 worldAabbMin = new IndexedVector3(-10000, -10000, -10000);
IndexedVector3 worldAabbMax = new IndexedVector3(10000, 10000, 10000);
m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, false);
//m_broadphase = new SimpleBroadphase(16384,null);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
//create trimesh model and shape
InitGImpactCollision();
/// Create Scene
float mass = 0.0f;
IndexedMatrix startTransform = IndexedMatrix.Identity;
CollisionShape staticboxShape1 = new BoxShape(new IndexedVector3(200, 1, 200));//floor
staticboxShape1.SetUserPointer("Floor");
CollisionShape staticboxShape2 = new BoxShape(new IndexedVector3(1, 50, 200));//left wall
staticboxShape1.SetUserPointer("LeftWall");
CollisionShape staticboxShape3 = new BoxShape(new IndexedVector3(1, 50, 200));//right wall
staticboxShape1.SetUserPointer("RightWall");
CollisionShape staticboxShape4 = new BoxShape(new IndexedVector3(200, 50, 1));//front wall
staticboxShape1.SetUserPointer("FrontWall");
CollisionShape staticboxShape5 = new BoxShape(new IndexedVector3(200, 50, 1));//back wall
staticboxShape1.SetUserPointer("BackWall");
CompoundShape staticScenario = new CompoundShape();//static scenario
startTransform._origin = new IndexedVector3(0, 0, 0);
staticScenario.AddChildShape(ref startTransform, staticboxShape1);
startTransform._origin = new IndexedVector3(-200, 25, 0);
staticScenario.AddChildShape(ref startTransform, staticboxShape2);
startTransform._origin = new IndexedVector3(200, 25, 0);
staticScenario.AddChildShape(ref startTransform, staticboxShape3);
startTransform._origin = new IndexedVector3(0, 25, 200);
staticScenario.AddChildShape(ref startTransform, staticboxShape4);
startTransform._origin = new IndexedVector3(0, 25, -200);
staticScenario.AddChildShape(ref startTransform, staticboxShape5);
startTransform._origin = new IndexedVector3(0, 0, 0);
//RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticScenario);
RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticboxShape1);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
//static plane
IndexedVector3 normal = new IndexedVector3(0.4f, 1.5f, -0.4f);
normal.Normalize();
CollisionShape staticplaneShape6 = new StaticPlaneShape(ref normal, 0.0f); // A plane
startTransform._origin = IndexedVector3.Zero;
RigidBody staticBody2 = LocalCreateRigidBody(mass, startTransform, staticplaneShape6);
staticBody2.SetCollisionFlags(staticBody2.GetCollisionFlags() | CollisionFlags.CF_STATIC_OBJECT);
startTransform = IndexedMatrix.Identity;
/// Create Dynamic Boxes
{
int numBoxes = 1;
for (int i = 0; i < numBoxes; i++)
{
CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1));
//CollisionShape mesh = new BvhTriangleMeshShape(m_indexVertexArrays2,true,true);
startTransform._origin = new IndexedVector3(2 * i - (numBoxes - 1), 2, -3);
//startTransform._origin = new IndexedVector3(2 * i - 5, 10, -3);
//LocalCreateRigidBody(1, startTransform, m_trimeshShape2);
LocalCreateRigidBody(1, startTransform, boxShape);
}
}
}
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);
BulletGlobals.gDebugDraw = Game1.Instance.shape_drawer;
//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(BulletMonogame.LinearMath.DebugDrawModes.DBG_DrawAabb | BulletMonogame.LinearMath.DebugDrawModes.DBG_DrawNormals | BulletMonogame.LinearMath.DebugDrawModes.DBG_DrawContactPoints);
m_dynamicsWorld.SetDebugDrawer(BulletGlobals.gDebugDraw);
//ClientResetScene();
}
public override void InitializeDemo()
{
base.InitializeDemo();
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);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//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);
m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f);
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);
#region CharacterController
IndexedMatrix startTransform = IndexedMatrix.Identity;
//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
startTransform._origin = new IndexedVector3(10.210098f, -1.6433364f, 16.453260f);
m_ghostObject = new PairCachingGhostObject();
m_ghostObject.SetWorldTransform(startTransform);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
float characterHeight = 1.75f;
float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
m_ghostObject.SetCollisionShape(capsule);
m_ghostObject.SetCollisionFlags(CollisionFlags.CF_CHARACTER_OBJECT);
float stepHeight = 0.35f;
int upAxis = 1;
m_character = new KinematicCharacterController(m_ghostObject, capsule, stepHeight, upAxis);
m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
m_dynamicsWorld.AddAction(m_character);
#endregion
}
public override void InitializeDemo()
{
//string filename = @"E:\users\man\bullet\xna-concaveray-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
m_cameraDistance = 400f;
m_farClip = 1500f;
m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip);
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 = null;
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 + 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;
// }
//}
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;
}
}
TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices, indexStride, totalVerts, gVertices, vertStride);
bool useQuantizedAabbCompression = true;
float minX = NUM_VERTS_X * TRIANGLE_SIZE * 0.5f;
float minZ = NUM_VERTS_Y * TRIANGLE_SIZE * 0.5f;
//OptimizedBvh bvh = new OptimizedBvh();
IndexedVector3 aabbMin = new IndexedVector3(-minX, -5, -minZ);
IndexedVector3 aabbMax = new IndexedVector3(minX, 5, minZ);
m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true);
//m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression,true);
IndexedVector3 scaling = IndexedVector3.One;
CollisionShape groundShape = m_trimeshShape;
//groundShape = new TriangleMeshShape(indexVertexArrays);
//groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
IndexedVector3 up = new IndexedVector3(0.4f, 1, 0);
up.Normalize();
//groundShape = new StaticPlaneShape(up, 0f);
//groundShape = new BoxShape(new IndexedVector3(1000, 10, 1000));
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = aabbMin;
IndexedVector3 worldMax = aabbMax;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
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));
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);
//m_raycastBar = new btRaycastBar (m_debugDraw,4000.0f, 0.0f,-1000,30);
m_raycastBar = new btRaycastBar(m_debugDraw, 300.0f, 0.0f, -1000, 200, worldMin.X, worldMax.X);
m_raycastBar.min_x = -100;
m_raycastBar.max_x = -100;
ClientResetScene();
}
//----------------------------------------------------------------------------------------------------------------
public override void InitializeDemo()
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 0.1f, 50));
IndexedVector3 wheelDimensions = new IndexedVector3(wheelWidth, wheelRadius, wheelRadius);
m_wheelShape = new CylinderShapeX(ref wheelDimensions);
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_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0);
LocalCreateRigidBody(0f, ref tr, groundShape);
#if true
CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f));
//CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 1.0f));
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);
#endif
{
#if true
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);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge aFrame", m_liftHinge.GetAFrame());
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge bFrame", m_liftHinge.GetBFrame());
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 = IndexedMatrix.Identity;
localB = IndexedMatrix.Identity;
localA._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
localB._basis.SetEulerZYX(0, 0, 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);
#endif
#if true
CompoundShape loadCompound = new CompoundShape(false);
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
{
m_vehicleRayCaster = new DefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new RaycastVehicle(m_tuning, m_carChassis, m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
m_dynamicsWorld.AddVehicle(m_vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
//choose coordinate system
m_vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
IndexedVector3 connectionPointCS0 = IndexedVector3.Zero;
//connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS, connectionHeight, CUBE_HALF_EXTENTS);
//m_vehicle.addWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
//isFrontWheel = false;
connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
for (int i = 0; i < m_vehicle.GetNumWheels(); i++)
{
WheelInfo wheel = m_vehicle.GetWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
SetCameraDistance(36.0f);
SetTexturing(true);
SetShadows(true);
}
public override void InitializeDemo()
{
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_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
SetCameraDistance(26f);
//CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f));
CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.Identity;
groundTransform._origin = new IndexedVector3(0, -56, 0);
RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape);
CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
m_collisionShapes.Add(shape);
IndexedMatrix trans = IndexedMatrix.Identity;
trans._origin = new IndexedVector3(0, 20, 0);
float mass = 1f;
#if true
//point to point constraint (ball socket)
//SEEMS OK
{
RigidBody body0 = LocalCreateRigidBody(mass, ref trans, shape);
trans._origin = new IndexedVector3(2 * CUBE_HALF_EXTENTS, 20, 0);
mass = 1f;
RigidBody body1 = null; //localCreateRigidBody( mass,trans,shape);
IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS, -CUBE_HALF_EXTENTS);
IndexedVector3 axisInA = new IndexedVector3(0, 0, 1);
IndexedVector3 pivotInB = body1 != null?body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA;
IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis *axisInA)) :
body0.GetCenterOfMassTransform()._basis *axisInA;
HingeConstraint hinge = new HingeConstraint(body0, ref pivotInA, ref axisInA, false);
float targetVelocity = 1f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
m_dynamicsWorld.AddConstraint(hinge); //p2p);
hinge.SetDbgDrawSize(5f);
}
#endif
#if true
//create a slider, using the generic D6 constraint
// SEEMS OK
{
mass = 1f;
IndexedVector3 sliderWorldPos = new IndexedVector3(0, 10, 0);
IndexedVector3 sliderAxis = new IndexedVector3(1, 0, 0);
float angle = 0f;//SIMD_RADS_PER_DEG * 10.f;
IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(Quaternion.CreateFromAxisAngle(sliderAxis.ToVector3(), angle));
trans = IndexedMatrix.Identity;
trans._origin = sliderWorldPos;
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = LocalCreateRigidBody(mass, ref trans, shape);
d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
RigidBody fixedBody1 = LocalCreateRigidBody(0, ref trans, null);
m_dynamicsWorld.AddRigidBody(fixedBody1);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.Identity;
frameInB = IndexedMatrix.Identity;
frameInA._origin = new IndexedVector3(0, 5, 0);
frameInB._origin = new IndexedVector3(0, 5, 0);
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, ref frameInA, ref frameInB, useLinearReferenceFrameA);
spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit);
spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
IndexedVector3 angularLower = new IndexedVector3(-1.5f, 0, 0);
IndexedVector3 angularUpper = -angularLower;
spSlider6Dof.SetAngularLowerLimit(ref angularLower);
spSlider6Dof.SetAngularUpperLimit(ref angularUpper);
// slider.setAngularLowerLimit(IndexedVector3(0,0,0));
// slider.setAngularUpperLimit(IndexedVector3(0,0,0));
spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f;
spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f;
m_dynamicsWorld.AddConstraint(spSlider6Dof);
spSlider6Dof.SetDbgDrawSize(5f);
}
#endif
#if true
{ // create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.Add(pDoorShape);
IndexedMatrix doorTrans = IndexedMatrix.Identity;
doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, ref doorTrans, pDoorShape);
pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3(10f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
IndexedVector3 btAxisA = new IndexedVector3(0.0f, 1.0f, 0.0f); // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, ref btPivotA, ref btAxisA, false);
spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f);
m_dynamicsWorld.AddConstraint(spDoorHinge);
spDoorHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a generic 6DOF constraint
// SEEMS OK - But debug draw a bit wrong?
IndexedMatrix tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(10f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
// RigidBody pBodyA = localCreateRigidBody( mass, tr, shape);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
// RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(0f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.CreateTranslation(-5, 0, 0);
frameInB = IndexedMatrix.CreateTranslation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1);
pGen6DOF.SetLinearLowerLimit(ref linearLower);
IndexedVector3 linearUpper = new IndexedVector3(10, 2, 1);
pGen6DOF.SetLinearUpperLimit(ref linearUpper);
// ? why again?
//linearLower = new IndexedVector3(-10,0,0);
//pGen6DOF.setLinearLowerLimit(ref linearLower);
// pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.));
// pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true;
// pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
// pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI));
IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f);
IndexedVector3 angularUpper = -angularLower;
pGen6DOF.SetAngularLowerLimit(ref angularLower);
pGen6DOF.SetAngularUpperLimit(ref angularUpper);
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.));
m_dynamicsWorld.AddConstraint(pGen6DOF, true);
pGen6DOF.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a ConeTwist constraint
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10, 5, 0);
RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.CreateTranslation(-10, -5, 0);
RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape);
IndexedMatrix frameInA, frameInB;
frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInA._origin = new IndexedVector3(0, -5, 0);
frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInB._origin = new IndexedVector3(0, 5, 0);
ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB);
pCT.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 1.0f, 0.3f, 1.0f); // soft limit == hard limit
m_dynamicsWorld.AddConstraint(pCT, true);
pCT.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
// WORKS OK
IndexedMatrix tr = IndexedMatrix.Identity;
RigidBody pBody = LocalCreateRigidBody(1.0f, ref tr, shape);
pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3(10.0f, 0.0f, 0.0f);
IndexedVector3 btAxisA = new IndexedVector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA, false);
// pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld.AddConstraint(pHinge);
pHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(20, 4, 0);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(20, 0, 0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f);
IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f);
pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.SetDbgDrawSize(5.0f);
}
#endif
#if true
// WORKS OK
{ // create a generic 6DOF constraint with springs
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 16f, 0f);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
tr = IndexedMatrix.CreateTranslation(-10, 16, 0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f, 0f, 0f);
IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f, 0f, 0f);
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f));
pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f));
pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f));
pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f));
m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.SetDbgDrawSize(5.0f);
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
}
#endif
#if true
{
// WORKS OK
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, 4f, 0f);
RigidBody pBodyA = LocalCreateRigidBody(0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(-20f, 0f, 0f);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f);
pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f, -2f, 0f);
RigidBody pBodyA = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB:
tr = IndexedMatrix.CreateTranslation(-30f, -2f, 0f);
RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f);
IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB);
spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.SetDbgDrawSize(5.0f);
}
#endif
}
