//----------------------------------------------------------------------------------------------
public virtual void RenderScenePassMultiWorld(int pass, GameTime gameTime, DiscreteDynamicsWorld world)
{
IndexedMatrix m = IndexedMatrix.Identity;
IndexedBasisMatrix rot = IndexedBasisMatrix.Identity;
int numObjects = world.GetNumCollisionObjects();
IndexedVector3 wireColor = new IndexedVector3(1, 0, 0);
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = world.GetCollisionObjectArray()[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null && body.GetMotionState() != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.GetMotionState();
//myMotionState.m_graphicsWorldTrans.getOpenGLMatrix(m);
m = myMotionState.m_graphicsWorldTrans;
rot = myMotionState.m_graphicsWorldTrans._basis;
}
else
{
//colObj.getWorldTransform().getOpenGLMatrix(m);
m = colObj.GetWorldTransform();
rot = colObj.GetWorldTransform()._basis;
}
wireColor = new IndexedVector3(1.0f, 1.0f, 0.5f); //wants deactivation
if ((i & 1) != 0)
{
wireColor = new IndexedVector3(0f, 0f, 1f);
}
///color differently for active, sleeping, wantsdeactivation states
if (colObj.GetActivationState() == ActivationState.ACTIVE_TAG) //active
{
if ((i & 1) != 0)
{
wireColor += new IndexedVector3(1f, 0f, 0f);
}
else
{
wireColor += new IndexedVector3(.5f, 0f, 0f);
}
}
if (colObj.GetActivationState() == ActivationState.ISLAND_SLEEPING) //ISLAND_SLEEPING
{
if ((i & 1) != 0)
{
wireColor += new IndexedVector3(0f, 1f, 0f);
}
else
{
wireColor += new IndexedVector3(0f, 05f, 0f);
}
}
IndexedVector3 min, max;
world.GetBroadphase().GetBroadphaseAabb(out min, out max);
min -= MathUtil.MAX_VECTOR;
max += MathUtil.MAX_VECTOR;
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld.getDebugDrawer().drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
switch (pass)
{
case 0:
{
m_shapeDrawer.DrawXNA(ref m, colObj.GetCollisionShape(), ref wireColor, m_debugDraw.GetDebugMode(), ref min, ref max, ref m_lookAt, ref m_perspective);
break;
}
case 1:
{
IndexedVector3 shadow = rot * m_lightDirection;
m_shapeDrawer.DrawShadow(ref m, ref shadow, colObj.GetCollisionShape(), ref min, ref max);
break;
}
case 2:
{
IndexedVector3 adjustedWireColor = wireColor * 0.3f;
m_shapeDrawer.DrawXNA(ref m, colObj.GetCollisionShape(), ref adjustedWireColor, 0, ref min, ref max, ref m_lookAt, ref m_perspective);
break;
}
}
}
}
//----------------------------------------------------------------------------------------------
protected virtual void RenderScenePassMultiWorld(int pass, GameTime gameTime,DiscreteDynamicsWorld world)
{
IndexedMatrix m = IndexedMatrix.Identity;
IndexedBasisMatrix rot = IndexedBasisMatrix.Identity;
int numObjects = world.GetNumCollisionObjects();
IndexedVector3 wireColor = new IndexedVector3(1, 0, 0);
for (int i = 0; i < numObjects; i++)
{
CollisionObject colObj = world.GetCollisionObjectArray()[i];
RigidBody body = RigidBody.Upcast(colObj);
if (body != null && body.GetMotionState() != null)
{
DefaultMotionState myMotionState = (DefaultMotionState)body.GetMotionState();
//myMotionState.m_graphicsWorldTrans.getOpenGLMatrix(m);
m = myMotionState.m_graphicsWorldTrans;
rot = myMotionState.m_graphicsWorldTrans._basis;
}
else
{
//colObj.getWorldTransform().getOpenGLMatrix(m);
m = colObj.GetWorldTransform();
rot = colObj.GetWorldTransform()._basis;
}
wireColor = new IndexedVector3(1.0f, 1.0f, 0.5f); //wants deactivation
if ((i & 1) != 0) wireColor = new IndexedVector3(0f, 0f, 1f);
///color differently for active, sleeping, wantsdeactivation states
if (colObj.GetActivationState() == ActivationState.ACTIVE_TAG) //active
{
if ((i & 1) != 0)
{
wireColor += new IndexedVector3(1f, 0f, 0f);
}
else
{
wireColor += new IndexedVector3(.5f, 0f, 0f);
}
}
if (colObj.GetActivationState() == ActivationState.ISLAND_SLEEPING) //ISLAND_SLEEPING
{
if ((i & 1) != 0)
{
wireColor += new IndexedVector3(0f, 1f, 0f);
}
else
{
wireColor += new IndexedVector3(0f, 05f, 0f);
}
}
IndexedVector3 min, max;
world.GetBroadphase().GetBroadphaseAabb(out min, out max);
min -= MathUtil.MAX_VECTOR;
max += MathUtil.MAX_VECTOR;
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld.getDebugDrawer().drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
switch (pass)
{
case 0:
{
m_shapeDrawer.DrawXNA(ref m, colObj.GetCollisionShape(), ref wireColor, m_debugDraw.GetDebugMode(), ref min, ref max, ref m_lookAt, ref m_perspective);
break;
}
case 1:
{
IndexedVector3 shadow = rot * m_lightDirection;
m_shapeDrawer.DrawShadow(ref m, ref shadow, colObj.GetCollisionShape(), ref min, ref max);
break;
}
case 2:
{
IndexedVector3 adjustedWireColor = wireColor * 0.3f;
m_shapeDrawer.DrawXNA(ref m, colObj.GetCollisionShape(), ref adjustedWireColor, 0, ref min, ref max, ref m_lookAt, ref m_perspective);
break;
}
}
}
}
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();
}
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();
}