private void _worker_DoWork(object sender, DoWorkEventArgs e)
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new DbvtBroadphase();
var Solver = new SequentialImpulseConstraintSolver();
//var Solver = new MultiBodyConstraintSolver();
world = new DiscreteDynamicsWorld(dispatcher, broadphase, Solver, conf);
world.Gravity = new Vector3(0, 0, 0);
world.SolverInfo.NumIterations = 120;
world.SolverInfo.SolverMode = SolverModes.RandomizeOrder;
world.DispatchInfo.UseContinuous = true;
CreateParticles();
CreateWalls();
SetupDoubleSlit();
while (_worker.CancellationPending == false)
{
world.StepSimulation(1.0f / 60.0f);
for (int i = 0; i < Photons.Count; i++)
{
RigidBody r = Photons[i];
r.ApplyCentralImpulse(new Vector3(5, 0, 0));
}
}
}
public void Update(TgcD3dInput input, float time)
{
dynamicsWorld.StepSimulation(1 / 60f, 100);
var strength = 10.30f;
var angle = 5;
#region Comoportamiento
if (input.keyDown(Key.W))
{
//Activa el comportamiento de la simulacion fisica para la capsula
capsuleRigidBody.ActivationState = ActivationState.ActiveTag;
capsuleRigidBody.AngularVelocity = TGCVector3.Empty.ToBsVector;
capsuleRigidBody.ApplyCentralImpulse(-strength * director.ToBsVector);
}
if (input.keyDown(Key.S))
{
//Activa el comportamiento de la simulacion fisica para la capsula
capsuleRigidBody.ActivationState = ActivationState.ActiveTag;
capsuleRigidBody.AngularVelocity = TGCVector3.Empty.ToBsVector;
capsuleRigidBody.ApplyCentralImpulse(strength * director.ToBsVector);
}
if (input.keyDown(Key.A))
{
director.TransformCoordinate(TGCMatrix.RotationY(-angle * time));
character.Transform = TGCMatrix.Translation(TGCVector3.Empty) * TGCMatrix.RotationY(-angle * time) * new TGCMatrix(capsuleRigidBody.InterpolationWorldTransform);
capsuleRigidBody.WorldTransform = character.Transform.ToBsMatrix;
}
if (input.keyDown(Key.D))
{
director.TransformCoordinate(TGCMatrix.RotationY(angle * time));
character.Transform = TGCMatrix.Translation(TGCVector3.Empty) * TGCMatrix.RotationY(angle * time) * new TGCMatrix(capsuleRigidBody.InterpolationWorldTransform);
capsuleRigidBody.WorldTransform = character.Transform.ToBsMatrix;
}
if (input.keyPressed(Key.Space))
{
//Activa el comportamiento de la simulacion fisica para la capsula
capsuleRigidBody.ActivationState = ActivationState.ActiveTag;
capsuleRigidBody.ApplyCentralImpulse(new TGCVector3(0, 80 * strength, 0).ToBsVector);
}
#endregion Comoportamiento
}
public void ApplyImpulse(Vector3 impulse)
{
Debug.Assert(RigidBody != null);
RigidBody.SetActivationState(ActivationState.ACTIVE_TAG);
IndexedVector3 iv3Impulse = impulse;
RigidBody.ApplyCentralImpulse(ref iv3Impulse);
}
public void throwObject(Vector3 direction)
{
if (_pick_constraint != null && _physics_world.world != null)
{
_picked_body.ApplyCentralImpulse(direction * 100.0f);
}
releaseObject();
}
public void AddPhoton()
{
SphereShape ss = new SphereShape(photonSize);
RigidBody Photon = CreateBody(1, ss, new Vector3(10, 10, 0));
Photon.ApplyCentralImpulse(new Vector3(15, 5, 0));
Photons.Add(Photon);
}
// This static method is useful for the demo only. It's called by "void GhostObjectsDemo::clientMoveAndDisplay()".
// Basically we must find a way to "display" the objects inside ghost objects to the user.
// We choose to apply a vertical impulse to them (just because it's easier).
// (The strength of the impulse is different depending on the type of ghost object)
static void ProcessObectsInsideGhostObjects(ObjectArray <CollisionObject> objs, bool isPairCachingGhostObject)
{
foreach (CollisionObject co in objs)
{
RigidBody b = RigidBody.Upcast(co);
if (b != null)
{
b.Activate();
IndexedVector3 impulse = isPairCachingGhostObject ? new IndexedVector3(0, 0.5f, 0) : new IndexedVector3(0, 0.25f, 0);
b.ApplyCentralImpulse(ref impulse);
}
}
}
public void Update(TgcD3dInput input, float elapsedTime, float timeBetweenFrames)
{
dynamicsWorld.StepSimulation(elapsedTime, 10, timeBetweenFrames);
var strength = 1.50f;
var angle = 5;
if (input.keyDown(Key.W))
{
//Activa el comportamiento de la simulacion fisica para la capsula
dragonBall.ActivationState = ActivationState.ActiveTag;
dragonBall.ApplyCentralImpulse(-strength * director.ToBulletVector3());
}
if (input.keyDown(Key.S))
{
//Activa el comportamiento de la simulacion fisica para la capsula
dragonBall.ActivationState = ActivationState.ActiveTag;
dragonBall.ApplyCentralImpulse(strength * director.ToBulletVector3());
}
if (input.keyDown(Key.A))
{
director.TransformCoordinate(TGCMatrix.RotationY(-angle * 0.001f));
}
if (input.keyDown(Key.D))
{
director.TransformCoordinate(TGCMatrix.RotationY(angle * 0.001f));
}
if (input.keyPressed(Key.Space))
{
dragonBall.ActivationState = ActivationState.ActiveTag;
dragonBall.ApplyCentralImpulse(TGCVector3.Up.ToBulletVector3() * 150);
}
}
//IMPORTANT Time.fixedTime must match the timestep being used here.
public static List <UnityEngine.Vector3> SimulateBall(BRigidBody ballRb, UnityEngine.Vector3 ballThrowForce, int numberOfSimulationSteps, bool reverseOrder)
{
var ballPositions = new List <UnityEngine.Vector3>(numberOfSimulationSteps);
//Create a World
Debug.Log("Initialize physics");
CollisionConfiguration CollisionConf;
CollisionDispatcher Dispatcher;
BroadphaseInterface Broadphase;
CollisionWorld cw;
ConstraintSolver Solver;
BulletSharp.SoftBody.SoftBodyWorldInfo softBodyWorldInfo;
//This should create a copy of the BPhysicsWorld with the same settings
BPhysicsWorld bw = BPhysicsWorld.Get();
bw.CreatePhysicsWorld(out cw, out CollisionConf, out Dispatcher, out Broadphase, out Solver, out softBodyWorldInfo);
World = (DiscreteDynamicsWorld)cw;
//Copy all existing rigidbodies in scene
// IMPORTANT rigidbodies must be added to the offline world in the same order that they are in the source world
// this is because collisions must be resolved in the same order for the sim to be deterministic
DiscreteDynamicsWorld sourceWorld = (DiscreteDynamicsWorld)bw.world;
BulletSharp.RigidBody bulletBallRb = null;
BulletSharp.Math.Matrix mm = BulletSharp.Math.Matrix.Identity;
for (int i = 0; i < sourceWorld.NumCollisionObjects; i++)
{
CollisionObject co = sourceWorld.CollisionObjectArray[i];
if (co != null && co.UserObject is BRigidBody)
{
BRigidBody rb = (BRigidBody)co.UserObject;
float mass = rb.isDynamic() ? rb.mass : 0f;
BCollisionShape existingShape = rb.GetComponent <BCollisionShape>();
CollisionShape shape = null;
if (existingShape is BSphereShape)
{
shape = ((BSphereShape)existingShape).CopyCollisionShape();
}
else if (existingShape is BBoxShape)
{
shape = ((BBoxShape)existingShape).CopyCollisionShape();
}
RigidBody bulletRB = null;
BulletSharp.Math.Vector3 localInertia = new BulletSharp.Math.Vector3();
rb.CreateOrConfigureRigidBody(ref bulletRB, ref localInertia, shape, null);
BulletSharp.Math.Vector3 pos = rb.GetCollisionObject().WorldTransform.Origin;
BulletSharp.Math.Quaternion rot = rb.GetCollisionObject().WorldTransform.GetOrientation();
BulletSharp.Math.Matrix.AffineTransformation(1f, ref rot, ref pos, out mm);
bulletRB.WorldTransform = mm;
World.AddRigidBody(bulletRB, rb.groupsIBelongTo, rb.collisionMask);
if (rb == ballRb)
{
bulletBallRb = bulletRB;
bulletRB.ApplyCentralImpulse(ballThrowForce.ToBullet());
}
}
}
//Step the simulation numberOfSimulationSteps times
for (int i = 0; i < numberOfSimulationSteps; i++)
{
int numSteps = World.StepSimulation(1f / 60f, 10, 1f / 60f);
ballPositions.Add(bulletBallRb.WorldTransform.Origin.ToUnity());
}
UnityEngine.Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
return(ballPositions);
}
public void ApplyImpulse(Vector3 impulse)
{
RigidBody.ActivationState = BulletSharp.ActivationState.ActiveTag;
RigidBody.ApplyCentralImpulse(impulse);
}
public void Update(TgcD3dInput input, TgcMesh monstruo, TgcMesh monstruoSil)
{
monstruoMesh = monstruo;
monstruoSilueta = monstruoSil;
dynamicsWorld.StepSimulation(1 / 60f, 100);
#region Comportamiento
if (input.keyDown(Key.Space) && ModoCreativo)
{
//Activa el comportamiento de la simulacion fisica para la capsula
personajeBody.ActivationState = ActivationState.ActiveTag;
personajeBody.AngularVelocity = TGCVector3.Empty.ToBulletVector3();
personajeBody.ApplyCentralImpulse(strength * 10 * (new TGCVector3(0, 1, 0)).ToBulletVector3());
}
if (input.keyDown(Key.W))
{
//Activa el comportamiento de la simulacion fisica para la capsula
personajeBody.ActivationState = ActivationState.ActiveTag;
personajeBody.AngularVelocity = TGCVector3.Empty.ToBulletVector3();
personajeBody.ApplyCentralImpulse(-strength * director.ToBulletVector3());
}
if (input.keyUp(Key.W))
{
personajeBody.ActivationState = ActivationState.IslandSleeping;
}
if (input.keyUp(Key.S))
{
personajeBody.ActivationState = ActivationState.IslandSleeping;
}
if (input.keyDown(Key.S))
{
//Activa el comportamiento de la simulacion fisica para la capsula
personajeBody.ActivationState = ActivationState.ActiveTag;
personajeBody.AngularVelocity = TGCVector3.Empty.ToBulletVector3();
personajeBody.ApplyCentralImpulse(strength * director.ToBulletVector3());
}
if (input.keyDown(Key.A))
{
director.TransformCoordinate(TGCMatrix.RotationY(-angle * rotationStrength));
personaje.Transform = TGCMatrix.Translation(TGCVector3.Empty) * TGCMatrix.RotationY(-angle * rotationStrength) * new TGCMatrix(personajeBody.InterpolationWorldTransform);
personajeBody.WorldTransform = personaje.Transform.ToBsMatrix;
personaje.RotateY(-angle * rotationStrength);
personajeActual.RotarManos(-angle * rotationStrength);
monstruo.RotateY(-angle * rotationStrength);
monstruoSilueta.RotateY(-angle * rotationStrength);
}
if (input.keyDown(Key.D))
{
director.TransformCoordinate(TGCMatrix.RotationY(angle * rotationStrength));
personaje.Transform = TGCMatrix.Translation(TGCVector3.Empty) * TGCMatrix.RotationY(angle * rotationStrength) * new TGCMatrix(personajeBody.InterpolationWorldTransform);
personajeBody.WorldTransform = personaje.Transform.ToBsMatrix;
personaje.RotateY(angle * rotationStrength);
personajeActual.RotarManos(angle * rotationStrength);
monstruo.RotateY(angle * rotationStrength);
monstruoSilueta.RotateY(angle * rotationStrength);
}
#endregion Comportamiento
}