void InitGImpactCollision()
{
// Create Torus Shape
indexVertexArrays = new TriangleIndexVertexArray(Torus.Indices, Torus.Vertices);
#if BULLET_GIMPACT
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
//GImpactConvexDecompositionShape trimesh =
// new GImpactConvexDecompositionShape(indexVertexArrays, new Vector3(1), 0.01f);
//trimesh.Margin = 0.07f;
//trimesh.UpdateBound();
#else
GImpactMeshShape trimesh = new GImpactMeshShape(indexVertexArrays);
trimesh.LocalScaling = new Vector3(1);
#if BULLET_TRIANGLE_COLLISION
trimesh.Margin = 0.07f; //?????
#else
trimesh.Margin = 0;
#endif
trimesh.UpdateBound();
#endif
trimeshShape = trimesh;
#else
//trimeshShape = new GImpactMeshData(indexVertexArrays);
#endif
CollisionShapes.Add(trimeshShape);
// Create Bunny Shape
indexVertexArrays2 = new TriangleIndexVertexArray(Bunny.Indices, Bunny.Vertices);
#if BULLET_GIMPACT
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
//GImpactConvexDecompositionShape trimesh2 =
// new GImpactConvexDecompositionShape(indexVertexArrays, new Vector3(1), 0.01f);
//trimesh.Margin = 0.07f;
//trimesh.UpdateBound();
//trimeshShape = trimesh2;
#else
GImpactMeshShape trimesh2 = new GImpactMeshShape(indexVertexArrays2);
trimesh2.LocalScaling = new Vector3(1);
#if BULLET_TRIANGLE_COLLISION
trimesh2.Margin = 0.07f; //?????
#else
trimesh2.Margin = 0;
#endif
trimesh2.UpdateBound();
trimeshShape2 = trimesh2;
#endif
#else
//trimeshShape2 = new GImpactMeshData(indexVertexArrays2);
#endif
CollisionShapes.Add(trimeshShape2);
//register GIMPACT algorithm
#if BULLET_GIMPACT
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
#else
//ConcaveConcaveCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
#endif
}
public void Init(IGameModel ctx)
{
#region World configuration
this.ctx = ctx;
// Create a physics world using default config
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration)
{
Gravity = new TGCVector3(0, -15f, 0).ToBsVector
};
var heightMap = BulletRigidBodyConstructor.CreateSurfaceFromHeighMap(ctx.Terrain.getData());
heightMap.Restitution = 0;
dynamicsWorld.AddRigidBody(heightMap);
#endregion
#region BandicootRigidBody
var position = new TGCVector3(0, 1, 0);
var mass = 1.5f;
var radius = 10;
var height = 5;
BandicootRigidBody = BulletRigidBodyConstructor.CreateCapsule(radius, height, position, mass, false);
BandicootRigidBody.SetDamping(0.1f, 0);
BandicootRigidBody.Restitution = 0f;
BandicootRigidBody.Friction = 0.15f;
BandicootRigidBody.InvInertiaDiagLocal = TGCVector3.Empty.ToBsVector;
BandicootRigidBody.CenterOfMassTransform = TGCMatrix.Translation(-900, 1000, 900).ToBsMatrix;
dynamicsWorld.AddRigidBody(BandicootRigidBody);
#endregion
#region Rocks
var size = new TGCVector3(200, 150, 200);
mass = 0;
var centerOfMass = TGCVector3.Empty;
var rockFriction = 1.5f;
var translation = TGCMatrix.Translation(-900, size.Y, 900);
// Rock1 Body
Rock1Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, rockFriction);
Rock1Body.CenterOfMassTransform = translation.ToBsMatrix;
dynamicsWorld.AddRigidBody(Rock1Body);
// Rock1 Mesh
var canyonTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, $"{ctx.MediaDir}\\Textures\\canyon-horizontal.png");
Rock1Mesh = TGCBox.fromSize(centerOfMass, 2 * size, canyonTexture);
Rock1Mesh.Transform = new TGCMatrix(Rock1Body.InterpolationWorldTransform);
// Rock2 Body
size = new TGCVector3(100, 150, 100);
Rock2Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, rockFriction);
translation *= TGCMatrix.Translation(400, 1, 1);
Rock2Body.CenterOfMassTransform = translation.ToBsMatrix;
dynamicsWorld.AddRigidBody(Rock2Body);
// Rock2 Mesh
Rock2Mesh = TGCBox.fromSize(centerOfMass, 2 * size, canyonTexture);
Rock2Mesh.Transform = new TGCMatrix(Rock2Body.InterpolationWorldTransform);
// Rock3 Body
Rock3Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, rockFriction);
translation *= TGCMatrix.Translation(800, 1, 1);
Rock3Body.CenterOfMassTransform = translation.ToBsMatrix;
dynamicsWorld.AddRigidBody(Rock3Body);
// Rock3 Mesh
Rock3Mesh = TGCBox.fromSize(centerOfMass, 2 * size, canyonTexture);
Rock3Mesh.Transform = new TGCMatrix(Rock3Body.InterpolationWorldTransform);
// Rock4 Body
size = new TGCVector3(100, 200, 100);
Rock4Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, rockFriction);
translation *= TGCMatrix.Translation(0, 1, -700);
Rock4Body.CenterOfMassTransform = translation.ToBsMatrix;
dynamicsWorld.AddRigidBody(Rock4Body);
// Rock4 Mesh
Rock4Mesh = TGCBox.fromSize(centerOfMass, 2 * size, canyonTexture);
Rock4Mesh.Transform = new TGCMatrix(Rock4Body.InterpolationWorldTransform);
// Rock5 Body
Rock5Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, rockFriction);
translation *= TGCMatrix.Translation(1, 1, -900);
Rock5Body.CenterOfMassTransform = translation.ToBsMatrix;
dynamicsWorld.AddRigidBody(Rock5Body);
// Rock5 Mesh
Rock5Mesh = TGCBox.fromSize(centerOfMass, 2 * size, canyonTexture);
Rock5Mesh.Transform = new TGCMatrix(Rock5Body.InterpolationWorldTransform);
#endregion
#region Dynamic Platforms
mass = 1f;
size = new TGCVector3(70, 10, 40);
var platformFriction = 2.5f;
// DynamicPlatform1 Body
DynamicPlatform1Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, platformFriction);
DynamicPlatform1Body.AngularFactor = new Vector3(0, 0, 0);
DynamicPlatform1Body.CenterOfMassTransform =
TGCMatrix.RotationY(FastMath.PI_HALF).ToBsMatrix
*TGCMatrix.Translation(distance, 300, 900).ToBsMatrix;
dynamicsWorld.AddRigidBody(DynamicPlatform1Body);
// DynamicPlatform1 Mesh
var platformtexture = TgcTexture.createTexture(D3DDevice.Instance.Device, $"{ctx.MediaDir}\\textures\\rockwall.jpg");
DynamicPlatform1Mesh = TGCBox.fromSize(2 * size, platformtexture);
DynamicPlatform1Mesh.Transform = new TGCMatrix(DynamicPlatform1Body.InterpolationWorldTransform);
// DynamicPlatform2 Body
DynamicPlatform2Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, platformFriction);
DynamicPlatform2Body.AngularFactor = new Vector3(0, 0, 0);
DynamicPlatform2Body.CenterOfMassTransform = TGCMatrix.Translation(300, 300, 700).ToBsMatrix;
dynamicsWorld.AddRigidBody(DynamicPlatform2Body);
// DynamicPlatform2 Mesh
var platformtexture2 = TgcTexture.createTexture(D3DDevice.Instance.Device, $"{ctx.MediaDir}\\textures\\rockwall.jpg");
DynamicPlatform2Mesh = TGCBox.fromSize(2 * size, platformtexture);
DynamicPlatform2Mesh.Transform = new TGCMatrix(DynamicPlatform2Body.InterpolationWorldTransform);
// DynamicPlatform3 Body
DynamicPlatform3Body = BulletRigidBodyConstructor.CreateBox(size, mass, centerOfMass, 0, 0, 0, platformFriction);
DynamicPlatform3Body.AngularFactor = new Vector3(0, 0, 0);
DynamicPlatform3Body.CenterOfMassTransform = TGCMatrix.Translation(300, 350, 0).ToBsMatrix;
dynamicsWorld.AddRigidBody(DynamicPlatform3Body);
// DynamicPlatform3 Mesh
platformtexture2 = TgcTexture.createTexture(D3DDevice.Instance.Device, $"{ctx.MediaDir}\\textures\\rockwall.jpg");
DynamicPlatform3Mesh = TGCBox.fromSize(2 * size, platformtexture);
DynamicPlatform3Mesh.Transform = new TGCMatrix(DynamicPlatform3Body.InterpolationWorldTransform);
#endregion
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
string bulletFile;
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bulletFile = "testFile.bullet";
}
else
{
bulletFile = args[1];
}
BulletWorldImporter fileLoader = new CustomBulletWorldImporter(World);
if (!fileLoader.LoadFile(bulletFile))
{
CollisionShape groundShape = new BoxShape(50);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new Vector3[2] {
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f)
};
float[] radi = new float[2] {
0.3f, 0.4f
};
CollisionShape colShape = new MultiSphereShape(positions, radi);
//CollisionShape colShape = new CapsuleShapeZ(1, 1);
//CollisionShape colShape = new CylinderShapeZ(1, 1, 1);
//CollisionShape colShape = new BoxShape(1);
//CollisionShape colShape = new SphereShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
const int maxSerializeBufferSize = 1024 * 1024 * 5;
DefaultSerializer serializer = new DefaultSerializer(maxSerializeBufferSize);
serializer.RegisterNameForObject(ground, "GroundName");
for (i = 0; i < CollisionShapes.Count; i++)
{
serializer.RegisterNameForObject(CollisionShapes[i], "name" + i.ToString());
}
Point2PointConstraint p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2], new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
byte[] dataBytes = new byte[serializer.CurrentBufferSize];
Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length);
FileStream file = new FileStream("testFile.bullet", FileMode.Create);
file.Write(dataBytes, 0, dataBytes.Length);
file.Dispose();
}
}
protected UnityEngine.Vector3 m_eulerrotf; // euler rotation last frame
// Sets up initial collision shapes and objects for the simulation.
protected override void InitSim()
{
Debug.Log("InitSim");
// create data directory if doesn't exist
Directory.CreateDirectory(dataOutDir);
// get list of all objs to sim
if (!BUILD_MODE)
{
m_baseDataDir = Application.dataPath + "/Resources/" + dataInDir + "/";
}
else
{
m_baseDataDir = Application.dataPath + "/../../Assets/Resources/" + dataInDir + "/";
}
DirectoryInfo resDirPath = new DirectoryInfo(m_baseDataDir);
FileInfo[] objFileInfos = resDirPath.GetFiles("*.obj", SearchOption.AllDirectories);
Debug.Log("Files to sim: " + objFileInfos.Length.ToString());
m_objFiles = new string[objFileInfos.Length];
int fileIdx = 0;
foreach (FileInfo file in objFileInfos)
{
m_objFiles[fileIdx++] = file.Name;
}
// First read in all volumes
m_masses = new float[m_objFiles.Length];
float maxVol = -float.MaxValue;
m_inertias = new List <BulletSharp.Math.Vector3>();
for (int i = 0; i < m_masses.Length; i++)
{
string infoFile = dataInDir + "/" + m_objFiles[i].Replace(".obj", "");
/*if (DEBUG)*/ Debug.Log("Idx " + i.ToString() + ": " + infoFile);
var jsonTextFile = Resources.Load <TextAsset>(infoFile);
if (DEBUG)
{
Debug.Log(jsonTextFile.ToString());
}
ObjInfo curInfo = ObjInfo.CreateFromJSON(jsonTextFile.ToString());
m_masses[i] = curInfo.vol;
// moment of inertias assume the density is 1 (i.e. mass = volume)
m_inertias.Add(new BulletSharp.Math.Vector3(curInfo.inertia[0], curInfo.inertia[1], curInfo.inertia[2]));
if (DEBUG)
{
Debug.Log(m_masses[i].ToString());
}
if (m_masses[i] > maxVol)
{
maxVol = m_masses[i];
}
}
// Normalize volumes and use as mass
// float normCoeff = massMax / maxVol; // need to scale density by this much.
// for (int i = 0; i < m_masses.Length; i++) {
// m_masses[i] = normCoeff * m_masses[i];
// m_inertias[i] = normCoeff * m_inertias[i];
// if (DEBUG) Debug.Log(m_masses[i].ToString());
// if (DEBUG) Debug.Log(m_inertias[i].ToString());
// }
// only simulate one of interest for debugging
if (DEBUG_simFileIdx != -1)
{
string simObjFile = m_objFiles[DEBUG_simFileIdx];
float simMass = m_masses[DEBUG_simFileIdx];
BulletSharp.Math.Vector3 simInertia = m_inertias[DEBUG_simFileIdx];
m_objFiles = new string[1];
m_objFiles[0] = simObjFile;
m_masses = new float[1];
m_masses[0] = simMass;
m_inertias = new List <BulletSharp.Math.Vector3>();
m_inertias.Add(simInertia);
Debug.Log("ONLY SIMULATING: " + simObjFile);
}
// create the ground, this will be the same for every sim
BulletSharp.Math.Vector3 groundSize = new BulletSharp.Math.Vector3(50, 0.04f, 50);
BoxShape groundShape = new BoxShape(groundSize);
// groundShape.Margin = 0.07f;
AddCollisionShape(groundShape);
m_groundMargin = groundShape.Margin;
// move down so surface is exactly y=0
Debug.Log("GROUND MARGIN: " + m_groundMargin.ToString());
// The 0.016 is dependent on the ground margin but idk why at this point
m_groundInitTrans = Matrix.Translation(new BulletSharp.Math.Vector3(0, -((groundSize[1] / 2.0f) + 0.016f), 0));
m_groundRb = CreateRigidBody(0, m_groundInitTrans, groundShape, groundMat, groundFriction, viz: RENDER_MODE);
// setup the camera
SetEyeTarget(cameraLoc, cameraTarget);
// Now load the first simulation object to start
m_curObjIdx = startingObjIdx;
if (m_objFiles.Length == 0)
{
ExitSimulation();
}
else
{
m_curDataOutDir = Path.Combine(dataOutDir, m_objFiles[m_curObjIdx].Replace(".obj", "") + "/");
Directory.CreateDirectory(m_curDataOutDir);
PrepareSimObj(m_baseDataDir + m_objFiles[m_curObjIdx], m_masses[m_curObjIdx], m_inertias[m_curObjIdx]);
m_curVideoOutDir = Path.Combine(Application.dataPath, videoOutDir);
m_curVideoOutDir = Path.Combine(m_curVideoOutDir, m_objFiles[m_curObjIdx].Replace(".obj", "") + "/");
Directory.CreateDirectory(m_curVideoOutDir);
string simOutDir = Path.Combine(m_curVideoOutDir, "sim_0");
if (!Directory.Exists(simOutDir))
{
Directory.CreateDirectory(simOutDir);
}
}
// so we can handle object collisions, only need to do this once
GImpactCollisionAlgorithm.RegisterAlgorithm(m_colDispatcher);
InitStateLists();
// determine and apply the force for the first simulation
SetupSim();
// take note of inital rigid body state
SaveInitState();
SaveCurrentState();
m_curSimNum = 0;
m_renderFrame = 1;
// set up rotation tracking
m_totalRot = new BulletSharp.Math.Vector3(0.0f, 0.0f, 0.0f);
m_pclScale = UnityEngine.Vector3.one;
m_fallenFiles = new List <string>();
m_fallCount = 0;
m_stepCount = 0;
m_stuckCount = 0;
m_numPerturbs = 0;
}
public void Init()
{
#region MUNDO_FISICO //Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration)
{
Gravity = new TGCVector3(0, -20f, 0).ToBsVector
};
#endregion
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "texturas\\terrain\\NormalMapMar.png");
//Creamos shapes y bodies.
#region PISO
//El piso es un plano estatico se dice que si tiene masa 0 es estatico.
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBsVector, 0);
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
dynamicsWorld.AddRigidBody(floorBody);
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "modelos\\Textures\\Canionero.jpg");
floorMesh = new TgcPlane(new TGCVector3(0, 500, 0), new TGCVector3(400, 0f, 400), TgcPlane.Orientations.XZplane, floorTexture);
#endregion
#region CAJA
//Se crea una caja de tamaño 20 con rotaciones y origien en 10,100,10 y 1kg de masa.
var boxShape = new BoxShape(10, 10, 10);
var boxTransform = TGCMatrix.RotationYawPitchRoll(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI).ToBsMatrix;
boxTransform.Origin = new TGCVector3(0, 600, 0).ToBsVector;
DefaultMotionState boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(1f);
var boxInfo = new RigidBodyConstructionInfo(1f, boxMotionState, boxShape, boxLocalInertia);
boxBody = new RigidBody(boxInfo);
dynamicsWorld.AddRigidBody(boxBody);
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
boxMesh = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
#endregion
#region BOLA
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
//Crea una bola de radio 10 origen 50 de 1 kg.
var ballShape = new SphereShape(10);
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = new TGCVector3(0, 200, 0);
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
//Podriamos no calcular la inercia para que no rote, pero es correcto que rote tambien.
var ballLocalInertia = ballShape.CalculateLocalInertia(1f);
var ballInfo = new RigidBodyConstructionInfo(1, ballMotionState, ballShape, ballLocalInertia);
ballBody = new RigidBody(ballInfo);
dynamicsWorld.AddRigidBody(ballBody);
sphereMesh = new TGCSphere(1, texture.Clone(), TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
#endregion
callback = new MyContactResultCallback(dispatcher, dynamicsWorld, floorBody);// boxBody);
}
public void Init(String MediaDir)
{
#region Configuracion Basica de World
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -100f, 0).ToBsVector;
#endregion Configuracion Basica de World
#region Capsula
//Cuerpo rigido de una capsula basica
capsuleRigidBody = BulletRigidBodyConstructor.CreateCapsule(10, 50, new TGCVector3(200, 500, 200), 10, false);
//Valores que podemos modificar a partir del RigidBody base
capsuleRigidBody.SetDamping(0.1f, 0f);
capsuleRigidBody.Restitution = 0.1f;
capsuleRigidBody.Friction = 1;
//Agregamos el RidigBody al World
dynamicsWorld.AddRigidBody(capsuleRigidBody);
#endregion Capsula
#region Terreno
//Creamos el RigidBody basico del Terreno
var meshRigidBody = BulletRigidBodyConstructor.CreateSurfaceFromHeighMap(triangleDataVB);
//Agregamos algo de friccion al RigidBody ya que este va a interactuar con objetos moviles
//del World
meshRigidBody.Friction = 0.5f;
//Agregamos el RigidBody del terreno al World
dynamicsWorld.AddRigidBody(meshRigidBody);
#endregion Terreno
#region Esfera
//Creamos una esfera para interactuar
pokeball = BulletRigidBodyConstructor.CreateBall(10f, 0.5f, new TGCVector3(100f, 500f, 100f));
pokeball.SetDamping(0.1f, 0.5f);
pokeball.Restitution = 1f;
//Agregamos la pokebola al World
dynamicsWorld.AddRigidBody(pokeball);
//Textura de pokebola
var texturePokeball = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\pokeball.jpg");
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
sphereMesh = new TGCSphere(1, texturePokeball, TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
#endregion Esfera
#region Personaje
//Cargamos personaje
var skeletalLoader = new TgcSkeletalLoader();
personaje = skeletalLoader.loadMeshAndAnimationsFromFile(
MediaDir + "SkeletalAnimations\\Robot\\Robot-TgcSkeletalMesh.xml",
MediaDir + "SkeletalAnimations\\Robot\\",
new[]
{
MediaDir + "SkeletalAnimations\\Robot\\Caminando-TgcSkeletalAnim.xml",
MediaDir + "SkeletalAnimations\\Robot\\Parado-TgcSkeletalAnim.xml"
});
//Le cambiamos la textura para diferenciarlo un poco
personaje.changeDiffuseMaps(new[]
{
TgcTexture.createTexture(D3DDevice.Instance.Device,
MediaDir + "SkeletalAnimations\\Robot\\Textures\\uvwGreen.jpg")
});
//Configurar animacion inicial
personaje.playAnimation("Parado", true);
#endregion Personaje
#region Cajas
var sizeBox = 20f;
//Textura de caja
var textureBox = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"MeshCreator\Textures\Madera\cajaMadera2.jpg");
box = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0, new TGCVector3(0, 12, 0), 0, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(box);
boxMesh = TGCBox.fromSize(new TGCVector3(40f, 40f, 40f), textureBox);
boxMesh.updateValues();
sizeBox = 40f;
boxB = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0, new TGCVector3(100, 40, 0), 0, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(boxB);
boxMeshB = TGCBox.fromSize(new TGCVector3(80f, 80f, 80f), textureBox);
boxMeshB.updateValues();
box45 = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0, new TGCVector3(200, 40, 0), BulletSharp.MathUtil.SIMD_QUARTER_PI, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(box45);
boxPush = BulletRigidBodyConstructor.CreateBox(new TGCVector3(sizeBox, sizeBox, sizeBox), 0.5f, new TGCVector3(-200, 60, 0), BulletSharp.MathUtil.SIMD_QUARTER_PI, 0, 0, 0.25f);
dynamicsWorld.AddRigidBody(boxPush);
boxMeshPush = TGCBox.fromSize(new TGCVector3(80f, 80f, 80f), textureBox);
boxMeshPush.updateValues();
#endregion Cajas
#region Escalera
var a = 0;
var textureStones = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\stones.bmp");
//la altura de cualquier cubo que quiera subir una capsula debe ser menor a la mitad del radio
var size = new TGCVector3(50, 4, 20);
escalon = TGCBox.fromSize(size, textureStones);
//Se crean 10 escalonescd d
while (a < 10)
{
escalonRigidBody = BulletRigidBodyConstructor.CreateBox(size, 0, new TGCVector3(200, a * 4 + 10, a * 20 + 100), 0, 0, 0, 0.1f);
escalonesRigidBodies.Add(escalonRigidBody);
dynamicsWorld.AddRigidBody(escalonRigidBody);
a++;
}
#endregion Escalera
#region Plataforma
textureStones = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\cobblestone_quad.jpg");
rigidBodyPlataforma = BulletRigidBodyConstructor.CreateBox(new TGCVector3(50f, 15f, 50f), 0, new TGCVector3(200, 42.5f, 315), 0, 0, 0, 0.5f);
dynamicsWorld.AddRigidBody(rigidBodyPlataforma);
plataforma = TGCBox.fromSize(new TGCVector3(50f, 15f, 50f), textureStones);
plataforma.updateValues();
#endregion Plataforma
#region Columna
columnaRigidBody = BulletRigidBodyConstructor.CreateCylinder(new TGCVector3(10, 50, 10), new TGCVector3(100, 50, 100), 0);
dynamicsWorld.AddRigidBody(columnaRigidBody);
var columnaLoader = new TgcSceneLoader();
columnaMesh = columnaLoader.loadSceneFromFile(MediaDir + @"MeshCreator\Meshes\Cimientos\PilarEgipcio\PilarEgipcio-TgcScene.xml", MediaDir + @"MeshCreator\Meshes\Cimientos\PilarEgipcio\").Meshes[0];
columnaMesh.Position = new TGCVector3(100, 7.5f, 100);
columnaMesh.UpdateMeshTransform();
#endregion Columna
director = new TGCVector3(0, 0, 1);
}
public SerializeDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
string bulletFile;
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bulletFile = "testFile.bullet";
}
else
{
bulletFile = args[1];
}
_fileLoader = new CustomBulletWorldImporter(World);
if (!_fileLoader.LoadFile(bulletFile))
{
var groundShape = new BoxShape(50);
_collisionShapes.Add(groundShape);
RigidBody ground = PhysicsHelper.CreateStaticBody(Matrix.Translation(0, -50, 0), groundShape, World);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new[] { new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f) };
float[] radi = new float[2] {
0.3f, 0.4f
};
var colShape = new MultiSphereShape(positions, radi);
//var colShape = new CapsuleShapeZ(1, 1);
//var colShape = new CylinderShapeZ(1, 1, 1);
//var colShape = new BoxShape(1);
//var colShape = new SphereShape(1);
_collisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float startX = StartPosX - NumObjectsX / 2;
float startY = StartPosY;
float startZ = StartPosZ - NumObjectsZ / 2;
for (int y = 0; y < NumObjectsY; y++)
{
for (int x = 0; x < NumObjectsX; x++)
{
for (int z = 0; z < NumObjectsZ; z++)
{
Matrix startTransform = Matrix.Translation(
2 * x + startX,
2 * y + startY,
2 * z + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
using (var serializer = new DefaultSerializer())
{
serializer.RegisterNameForObject(ground, "GroundName");
for (int i = 0; i < _collisionShapes.Count; i++)
{
serializer.RegisterNameForObject(_collisionShapes[i], "name" + i.ToString());
}
var p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2],
new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
byte[] dataBytes = new byte[serializer.CurrentBufferSize];
Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length);
using (var file = new FileStream("testFile.bullet", FileMode.Create))
{
file.Write(dataBytes, 0, dataBytes.Length);
}
}
}
}
void Awake()
{
GImpactCollisionAlgorithm.RegisterAlgorithm((CollisionDispatcher)BPhysicsWorld.Get().world.Dispatcher);
BPhysicsWorld.Get().DebugDrawMode = DebugDrawModes.DrawWireframe | DebugDrawModes.DrawConstraints | DebugDrawModes.DrawConstraintLimits;
BPhysicsWorld.Get().DoDebugDraw = true;
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
BulletWorldImporter fileLoader = new CustomBulletWorldImporter(World);
if (!fileLoader.LoadFile("testFile.bullet"))
{
CollisionShape groundShape = new BoxShape(50);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new Vector3[2] {
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f)
};
float[] radi = new float[2] {
0.3f, 0.4f
};
CollisionShape colShape = new MultiSphereShape(positions, radi);
//CollisionShape colShape = new CapsuleShapeZ(1, 1);
//CollisionShape colShape = new CylinderShapeZ(1, 1, 1);
//CollisionShape colShape = new BoxShape(1);
//CollisionShape colShape = new SphereShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
for (int k = 0; k < ArraySizeY; k++)
{
for (int i = 0; i < ArraySizeX; i++)
{
for (int j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + startX,
2 * k + startY,
2 * j + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
DefaultSerializer serializer = new DefaultSerializer();
serializer.RegisterNameForObject(ground, "GroundName");
for (int i = 0; i < CollisionShapes.Count; i++)
{
serializer.RegisterNameForObject(CollisionShapes[i], "name" + i.ToString());
}
Point2PointConstraint p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2], new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
BulletSharp.DataStream data = serializer.LockBuffer();
byte[] dataBytes = new byte[data.Length];
data.Read(dataBytes, 0, dataBytes.Length);
FileStream file = new FileStream("testFile.bullet", FileMode.Create);
file.Write(dataBytes, 0, dataBytes.Length);
file.Close();
}
}
public void Init(string MediaDir)
{
#region Configuracion Basica de World
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -100f, 0).ToBulletVector3();
#endregion Configuracion Basica de World
strength = 5.8f;
angle = 0.5f;
foreach (var mesh in meshes)
{
var childTriangleMesh = construirTriangleMeshShape(mesh);
var buildingbody = construirRigidBodyDeChildTriangleMeshShape(childTriangleMesh, mesh.Position, mesh.Scale);
//buildingbody.Translate(mesh.Position.ToBulletVector3());
dynamicsWorld.AddRigidBody(buildingbody);
}
//Se crea un plano ya que esta escena tiene problemas
//con la definición de triangulos para el suelo
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBulletVector3(), 10);
floorShape.LocalScaling = new TGCVector3().ToBulletVector3();
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
floorBody.Friction = 0.5f;
floorBody.RollingFriction = 1;
floorBody.Restitution = 1f;
floorBody.UserObject = "floorBody";
dynamicsWorld.AddRigidBody(floorBody);
var meshRigidBody = BulletRigidBodyFactory.Instance.CreateSurfaceFromHeighMap(terreno.getData());
dynamicsWorld.AddRigidBody(meshRigidBody);
var loader = new TgcSceneLoader();
//Se crea el cuerpo rígido de la caja, en la definicio de CreateBox el ultimo parametro representa si se quiere o no
//calcular el momento de inercia del cuerpo. No calcularlo lo que va a hacer es que la caja que representa el personaje
//no rote cuando colicione contra el mundo.
personajeBody = BulletRigidBodyFactory.Instance.CreateCapsule(10, 10, personaje.Position, 2.55f, false);
personajeBody.Gravity = new TGCVector3(0, -100, 0).ToBulletVector3();
personajeBody.SetDamping(0.3f, 0f);
personajeBody.Restitution = 0.1f;
personajeBody.Friction = 1;
personajeBody.ActivationState = ActivationState.IslandSleeping;
dynamicsWorld.AddRigidBody(personajeBody);
director = new TGCVector3(-1, 0, 0);
}
