void CreateRigidBodyStack(int count)
{
const float mass = 10.0f;
CompoundShape cylinderCompound = new CompoundShape();
CollisionShape cylinderShape = new CylinderShapeX(4, 1, 1);
CollisionShape boxShape = new BoxShape(4, 1, 1);
cylinderCompound.AddChildShape(Matrix.Identity, boxShape);
Quaternion orn = Quaternion.RotationYawPitchRoll((float)Math.PI / 2.0f, 0.0f, 0.0f);
Matrix localTransform = Matrix.RotationQuaternion(orn);
//localTransform *= Matrix.Translation(new Vector3(1,1,1));
cylinderCompound.AddChildShape(localTransform, cylinderShape);
CollisionShape[] shape =
{
cylinderCompound,
new BoxShape(new Vector3(1, 1, 1)),
new SphereShape(1.5f)
};
for (int i = 0; i < count; ++i)
{
LocalCreateRigidBody(mass, Matrix.Translation(0, 2 + 6 * i, 0), shape[i % shape.Length]);
}
}
public override CollisionShape CopyCollisionShape()
{
CylinderShape cs = new CylinderShapeX(halfExtent.ToBullet());
cs.LocalScaling = m_localScaling.ToBullet();
return(cs);
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null)
{
collisionShapePtr = new CylinderShapeX(halfExtent.ToBullet());
((CylinderShapeX)collisionShapePtr).LocalScaling = m_localScaling.ToBullet();
}
return(collisionShapePtr);
}
//----------------------------------------------------------------------------------------------------------------
public override void RenderSceneAll(GameTime gameTime)
{
IndexedVector3 halfExtents = new IndexedVector3(wheelWidth, wheelRadius, wheelRadius);
CylinderShapeX wheelShape = new CylinderShapeX(ref halfExtents);
IndexedVector3 wheelColor = new IndexedVector3(1, 0, 0);
IndexedVector3 worldBoundsMin, worldBoundsMax;
GetDynamicsWorld().GetBroadphase().GetBroadphaseAabb(out worldBoundsMin, out worldBoundsMax);
for (int i = 0; i < m_vehicle.GetNumWheels(); i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle.UpdateWheelTransform(i, true);
//draw wheels (cylinders)
IndexedMatrix m = m_vehicle.GetWheelInfo(i).m_worldTransform;
m_shapeDrawer.DrawXNA(ref m, m_wheelShape, ref wheelColor, m_debugDraw.GetDebugMode(), ref worldBoundsMin, ref worldBoundsMax, ref m_lookAt, ref m_perspective);
}
base.RenderSceneAll(gameTime);
}
/// <summary>
/// Creates a Rigid Body from a .bxda file
/// </summary>
/// <param name="FilePath"></param>
public void CreateRigidBody(string FilePath)
{
CollisionShape shape;
WheelDriverMeta wheel = null;
DefaultMotionState motion;
BXDAMesh mesh = new BXDAMesh();
mesh.ReadFromFile(FilePath);
Vector3 loc;
Quaternion rot = Quaternion.Identity;
//Is it a wheel?
if ((wheel = GetSkeletalJoint()?.cDriver?.GetInfo <WheelDriverMeta>()) != null && true)
{
//Align the cylinders
Vector3 min, max;
GetShape(mesh).GetAabb(Matrix4.Identity, out min, out max);
Vector3 extents = max - min;
//Find the thinnest dimension, that is probably wheat the cylinder should be aligned to
if (extents.X < extents.Y) //X or Z
{
if (extents.X < extents.Z)
{
shape = new CylinderShapeX(wheel.width, wheel.radius, wheel.radius); //X
}
else
{
shape = new CylinderShapeZ(wheel.radius, wheel.radius, wheel.width); //Z
}
}
else //Y or Z
{
if (extents.Y < extents.Z)
{
shape = new CylinderShape(wheel.radius, wheel.width, wheel.radius); //Y
}
else
{
shape = new CylinderShapeZ(wheel.radius, wheel.radius, wheel.width); //Z
}
}
loc = MeshUtilities.MeshCenter(mesh);
}
//Rigid Body Construction
else
{
shape = GetShape(mesh);
loc = MeshUtilities.MeshCenter(mesh);
}
if (debug)
{
Console.WriteLine("Rotation is " + rot);
}
motion = new DefaultMotionState(Matrix4.CreateTranslation(loc + new Vector3(0, 100, 0)));
RigidBodyConstructionInfo info = new RigidBodyConstructionInfo(mesh.physics.mass, motion, shape, shape.CalculateLocalInertia(mesh.physics.mass));
//Temp?
info.Friction = 100;
info.RollingFriction = 100;
//info.AngularDamping = 0f;
//info.LinearDamping = 0.5f;
BulletObject = new RigidBody(info);
}
//----------------------------------------------------------------------------------------------------------------
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);
}
