public ContactAddedCallbackHandler(btDiscreteDynamicsWorld world)
 {
     // create a block of pinned memory that is used to pass collision info back
     // mem[0] = size of the pinned block
     // mem[1] = returned number of collisions IDs
     // mem[2] = collision ID
     // ...
     m_collisionsPinned = new uint[10000];
     m_collisionsPinnedHandle = GCHandle.Alloc(m_collisionsPinned, GCHandleType.Pinned);
     m_handle = BulletHelper_CreateContactCollector(world.Handle, m_collisionsPinnedHandle.AddrOfPinnedObject());
     System.Console.WriteLine("After create {0}", m_handle);
     m_collisionsPinned[0] = 10000;  // zero is total number of IntPtrs
     m_collisionsPinned[1] = 0;      // one is the number of entries returned
     m_collisionsPinned[2] = 9;      // stride of the contact information
 }
Esempio n. 2
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 public ContactAddedCallbackHandler(btDiscreteDynamicsWorld world)
 {
     // create a block of pinned memory that is used to pass collision info back
     // mem[0] = size of the pinned block
     // mem[1] = returned number of collisions IDs
     // mem[2] = collision ID
     // ...
     m_collisionsPinned       = new uint[10000];
     m_collisionsPinnedHandle = GCHandle.Alloc(m_collisionsPinned, GCHandleType.Pinned);
     m_handle = BulletHelper_CreateContactCollector(world.Handle, m_collisionsPinnedHandle.AddrOfPinnedObject());
     System.Console.WriteLine("After create {0}", m_handle);
     m_collisionsPinned[0] = 10000;  // zero is total number of IntPtrs
     m_collisionsPinned[1] = 0;      // one is the number of entries returned
     m_collisionsPinned[2] = 9;      // stride of the contact information
 }
Esempio n. 3
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        public override void Initialise(IMesher meshmerizer, IConfigSource config)
        {
            mesher = meshmerizer;
            //m_config = config;
            if (config != null)
            {
                IConfig physicsconfig = config.Configs["BulletPhysicsSettings"];
                if (physicsconfig != null)
                {
                    gravityx = physicsconfig.GetFloat("world_gravityx", 0f);
                    gravityy = physicsconfig.GetFloat("world_gravityy", 0f);
                    gravityz = physicsconfig.GetFloat("world_gravityz", -9.8f);

                    avDensity = physicsconfig.GetFloat("av_density", 80f);
                    avHeightFudgeFactor = physicsconfig.GetFloat("av_height_fudge_factor", 0.52f);
                    avMovementDivisorWalk = physicsconfig.GetFloat("av_movement_divisor_walk", 1.3f);
                    avMovementDivisorRun = physicsconfig.GetFloat("av_movement_divisor_run", 0.8f);
                    avCapRadius = physicsconfig.GetFloat("av_capsule_radius", 0.37f);

                    //contactsPerCollision = physicsconfig.GetInt("contacts_per_collision", 80);

                    geomCrossingFailuresBeforeOutofbounds = physicsconfig.GetInt("geom_crossing_failures_before_outofbounds", 4);

                    geomDefaultDensity = physicsconfig.GetFloat("geometry_default_density", 10.000006836f);
                    bodyFramesAutoDisable = physicsconfig.GetInt("body_frames_auto_disable", 20);

                    bodyPIDD = physicsconfig.GetFloat("body_pid_derivative", 35f);
                    bodyPIDG = physicsconfig.GetFloat("body_pid_gain", 25f);

                    meshSculptedPrim = physicsconfig.GetBoolean("mesh_sculpted_prim", true);
                    meshSculptLOD = physicsconfig.GetFloat("mesh_lod", 32f);
                    MeshSculptphysicalLOD = physicsconfig.GetFloat("mesh_physical_lod", 16f);

                    if (Environment.OSVersion.Platform == PlatformID.Unix)
                    {
                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_linux", 65f);
                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_linux", 25);
                        avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_linux", 2000000f);
                        bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_linux", 2f);
                    }
                    else
                    {
                        avPIDD = physicsconfig.GetFloat("av_pid_derivative_win", 65f);
                        avPIDP = physicsconfig.GetFloat("av_pid_proportional_win", 25);
                        avStandupTensor = physicsconfig.GetFloat("av_capsule_standup_tensor_win", 2000000f);
                        bodyMotorJointMaxforceTensor = physicsconfig.GetFloat("body_motor_joint_maxforce_tensor_win", 2f);
                    }

                    forceSimplePrimMeshing = physicsconfig.GetBoolean("force_simple_prim_meshing", forceSimplePrimMeshing);
                    minimumGroundFlightOffset = physicsconfig.GetFloat("minimum_ground_flight_offset", 3f);
                    maximumMassObject = physicsconfig.GetFloat("maximum_mass_object", 10000.01f);
                }
            }
            lock (BulletLock)
            {
                m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
                m_collisionConfiguration = new btDefaultCollisionConfiguration();
                m_solver = new btSequentialImpulseConstraintSolver();
                m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
                m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
                m_world.setGravity(m_gravity);
                EnableCollisionInterface();
            }
        }
Esempio n. 4
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        public override void Initialise(IMesher meshmerizer, IConfigSource config)
        {
            mesher = meshmerizer;
            // m_config = config;
            /*
            if (Environment.OSVersion.Platform == PlatformID.Unix)
            {
                m_log.Fatal("[BulletDotNET]: This configuration is not supported on *nix currently");
                Thread.Sleep(5000);
                Environment.Exit(0);
            }
            */
            m_broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, 16000);
            m_collisionConfiguration = new btDefaultCollisionConfiguration();
            m_solver = new btSequentialImpulseConstraintSolver();
            m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
            m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
            m_world.setGravity(m_gravity);
            //EnableCollisionInterface();
            

        }
Esempio n. 5
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        static void Main(string[] args)
        {
            btVector3 testvec = new btVector3(-2, 1, 0);
            Console.WriteLine(String.Format("Original: {0}", testvec.testStr()));
            btVector3 testvec2 = testvec.absolute();
            Console.WriteLine(String.Format("absolute: {0}", testvec2.testStr()));
            Console.WriteLine(String.Format("angle:{0}", testvec.angle(testvec2)));
            Console.WriteLine(String.Format("closestAxis(orig):{0}", testvec.closestAxis()));
            btVector3 testvec3 = testvec.cross(testvec2);
            Console.WriteLine(String.Format("cross: {0}", testvec3.testStr()));
            Console.WriteLine(String.Format("distance: {0}", testvec.distance(testvec2)));
            Console.WriteLine(String.Format("distance2: {0}", testvec.distance2(testvec2)));
            Console.WriteLine(String.Format("dot: {0}",  testvec.dot(testvec2)));
            Console.WriteLine(String.Format("furthestAxis(orig): {0}", testvec.furthestAxis()));
            btVector3 testvec4 = testvec.normalized();
            Console.WriteLine(String.Format("normalized: {0}", testvec4.testStr()));
            testvec4.setInterpolate3(testvec, testvec2, 0.5f);
            Console.WriteLine(String.Format("interpolate3: {0}", testvec4.testStr()));
            testvec4.setValue(7f, -0.09f, 2.5f);
            Console.WriteLine(String.Format("setvec: {0}", testvec4.testStr()));
            testvec4.setX(5.0f);
            testvec4.setY(-0.25f);
            testvec4.setZ(90f);
            testvec.setValue(0, 0, -1024);
            testvec2.setValue(256, 256, 1024);
            Console.WriteLine(String.Format("setvecIndividual: {0}", testvec4.testStr()));
            btAxisSweep3 testbtAxisSweep3 = new btAxisSweep3(testvec, testvec2, 50);
            btDefaultCollisionConfiguration colconfig = new btDefaultCollisionConfiguration();
            btCollisionDispatcher coldisp = new btCollisionDispatcher(colconfig);
            btSequentialImpulseConstraintSolver seqimpconssol = new btSequentialImpulseConstraintSolver();
            btDiscreteDynamicsWorld dynamicsWorld = new btDiscreteDynamicsWorld(coldisp, testbtAxisSweep3, seqimpconssol,
                                                                                colconfig);
            dynamicsWorld.setGravity(new btVector3(0, 0, -9.87f));
            Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
            Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
            Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
            Console.WriteLine(String.Format("stepWorld: {0}", dynamicsWorld.stepSimulation((6f / 60), 5, (1f / 60))));
            btQuaternion testquat = new btQuaternion(50, 0, 0, 1);
            btQuaternion testquatnorm = testquat.normalized();
            Console.WriteLine(String.Format("testquat: {0}", testquat.testStr()));
            Console.WriteLine(String.Format("testquatnormalize: {0}", testquatnorm.testStr()));
            Console.WriteLine(String.Format("testquatLength: {0}", testquat.length()));
            Console.WriteLine(String.Format("testquatnormalizeLength: {0}", testquatnorm.length()));

            float[] heightdata = new float[256*256];
            for (int j=0;j<256*256;j++)
            {
               if (j%2==0)
                    heightdata[j] = 21f;
               else
                   heightdata[j] = 28f;
                
            }

            btHeightfieldTerrainShape obj = new btHeightfieldTerrainShape(256, 256, heightdata, 1.0f, 0, 256,
                                                                          (int)btHeightfieldTerrainShape.UPAxis.Z,
                                                                          (int)btHeightfieldTerrainShape.PHY_ScalarType.
                                                                              PHY_FLOAT, false);

            btCapsuleShape cap = new btCapsuleShape(0.23f, 3);

            btTriangleMesh testMesh = new btTriangleMesh(true, false);
            testMesh.addTriangle(new btVector3(1, 0, 1), new btVector3(1, 0, -1), new btVector3(-1, 0, -1), false);
            testMesh.addTriangle(new btVector3(1, -1, 1), new btVector3(1, -1, -1), new btVector3(-1, -1, -1), false);
            testMesh.addTriangle(new btVector3(1, -1, 1), new btVector3(1, 0, 1), new btVector3(-1, -1, -1), false);
            testMesh.addTriangle(new btVector3(1, 0, 1), new btVector3(1, -1, -1), new btVector3(-1, 0, -1), false);
            testMesh.addTriangle(new btVector3(1, -1, -1), new btVector3(-1, 0, -1), new btVector3(-1, -1, -1), false);
            testMesh.addTriangle(new btVector3(1, -1, -1), new btVector3(1, 0, -1), new btVector3(-1, 0, -1), false);
            testMesh.addTriangle(new btVector3(1, 0, 1), new btVector3(1, -1, -1), new btVector3(1, 0, -1), false);
            testMesh.addTriangle(new btVector3(1, -1, 1), new btVector3(1, -1, -1), new btVector3(1, 0, 1), false);
            btGImpactMeshShape meshtest = new btGImpactMeshShape(testMesh);
            meshtest.updateBound();

            btRigidBody groundbody = new btRigidBody(0,
                                                     new btDefaultMotionState(
                                                         new btTransform(new btQuaternion(0, 0, 0, 1),
                                                                         new btVector3(128, 128, 256f / 2f))), obj,
                                                     new btVector3(0, 0, 0));

            btRigidBody capbody = new btRigidBody(200,
                                                     new btDefaultMotionState(
                                                         new btTransform(new btQuaternion(0, 0, 0, 1),
                                                                         new btVector3(128, 128, 25))), cap,
                                                     new btVector3(0, 0, 0));

            btRigidBody meshbody = new btRigidBody(200,
                                         new btDefaultMotionState(
                                             new btTransform(new btQuaternion(0, 0, 0, 1),
                                                             new btVector3(128, 128, 29))), meshtest,
                                         new btVector3(0, 0, 0));


            btRigidBodyConstructionInfo constructioninfotest = new btRigidBodyConstructionInfo();
            constructioninfotest.m_collisionShape = new btBoxShape(new btVector3(0.5f,0.5f,0.5f));
            constructioninfotest.m_localInertia = new btVector3(0, 0, 0);
            constructioninfotest.m_motionState = new btDefaultMotionState(new btTransform(new btQuaternion(0.3f, -0.4f, 0.8f, 0.1f), new btVector3(128.5f, 128, 25)),
                                                                          new btTransform(new btQuaternion(0,0,0,1),new btVector3(0,0.25f,0)));
            constructioninfotest.m_startWorldTransform = new btTransform(new btQuaternion(0,0,0,1),new btVector3(0,0,0));
            constructioninfotest.m_mass = 2000000;
            constructioninfotest.m_linearDamping = 0;
            constructioninfotest.m_angularDamping = 0;
            constructioninfotest.m_friction = 0.1f;
            constructioninfotest.m_restitution = 0;
            constructioninfotest.m_linearSleepingThreshold = 0.8f;
            constructioninfotest.m_angularSleepingThreshold = 1;
            constructioninfotest.m_additionalDamping = false;
            constructioninfotest.m_additionalDampingFactor = 0.005f;
            constructioninfotest.m_additionalLinearDampingThresholdSqr = 0.01f;
            constructioninfotest.m_additionalAngularDampingThresholdSqr = 0.01f;
            constructioninfotest.m_additionalAngularDampingFactor = 0.01f;
            constructioninfotest.commit();
            btGImpactCollisionAlgorithm.registerAlgorithm(coldisp);
            btRigidBody cubetest = new btRigidBody(constructioninfotest);

            dynamicsWorld.addRigidBody(groundbody);
            dynamicsWorld.addRigidBody(cubetest);
            dynamicsWorld.addRigidBody(capbody);
            dynamicsWorld.addRigidBody(meshbody);

            int frame = 0;
            for (int i = 0; i < 26; i++ )
            {
                int frames = dynamicsWorld.stepSimulation(((i%60) / 60f), 10, (1f / 60));
                frame += frames;
                Console.WriteLine(String.Format("Cube: frame {0} frames: {1} POS:{2}, quat:{3}", frame, frames, cubetest.getInterpolationWorldTransform().getOrigin().testStr(), cubetest.getWorldTransform().getRotation().testStr()));
                Console.WriteLine(String.Format("Cap: frame {0} frames: {1} POS:{2}, quat:{3}", frame, frames, capbody.getInterpolationWorldTransform().getOrigin().testStr(), capbody.getWorldTransform().getRotation().testStr()));
                Console.WriteLine(String.Format("Mesh: frame {0} frames: {1} POS:{2}, quat:{3}", frame, frames, meshbody.getInterpolationWorldTransform().getOrigin().testStr(), meshbody.getWorldTransform().getRotation().testStr()));
            
            }

            dynamicsWorld.removeRigidBody(meshbody);
            dynamicsWorld.removeRigidBody(capbody);
            dynamicsWorld.removeRigidBody(cubetest);
            dynamicsWorld.removeRigidBody(groundbody);
            cubetest.Dispose();
            groundbody.Dispose();
            capbody.Dispose();
            cap.Dispose();
            obj.Dispose();
            testbtAxisSweep3.Dispose();
            dynamicsWorld.Dispose();
            coldisp.Dispose();
            colconfig.Dispose();
            seqimpconssol.Dispose();


            testvec.Dispose();
            testvec2.Dispose();
            testvec3.Dispose();
            testvec4.Dispose();
            
        }