protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
//World.DispatchInfo.UseConvexConservativeDistanceUtil = true;
//World.DispatchInfo.ConvexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
CollisionShape groundShape = new BoxShape(100, 10, 100);
CollisionShapes.Add(groundShape);
Matrix groundTransform = Matrix.Translation(0, -10, 0);
RigidBody ground = LocalCreateRigidBody(0, groundTransform, groundShape);
ground.UserObject = "Ground";
// Spawn one ragdoll
SpawnRagdoll(new Vector3(1, 0.5f, 0));
SpawnRagdoll(new Vector3(-1, 0.5f, 0));
}
/*
void MyContactCallback(object sender, ContactAddedEventArgs e)
{
if (e.CollisionObject0Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject0Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index0);
}
if (e.CollisionObject1Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject1Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index1);
}
e.IsContactModified = true;
}
*/
public void SetupEmptyDynamicsWorld()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
//Broadphase = new SimpleBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
// create the ground
CollisionShape groundShape = new BoxShape(30, 2, 30);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -4.5f, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
}
protected override void OnInitializePhysics()
{
BoxShape boxA = new BoxShape(new Vector3(1, 1, 1));
boxA.Margin = 0;
BoxShape boxB = new BoxShape(new Vector3(0.5f, 0.5f, 0.5f));
boxB.Margin = 0;
objects[0] = new CollisionObject();
objects[1] = new CollisionObject();
objects[0].CollisionShape = boxA;
objects[1].CollisionShape = boxB;
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
IsDebugDrawEnabled = true;
//World.AddCollisionObject(objects[0]);
World.AddCollisionObject(objects[1]);
Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f);
rotA.Normalize();
objects[0].WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0);
objects[1].WorldTransform = Matrix.Translation(0, 4.248f, 0);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
// Initialize TriangleIndexVertexArray with float array
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
gImpactMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
// Initialize TriangleIndexVertexArray with Vector3 array
Vector3[] torusVertices = new Vector3[TorusMesh.Vertices.Length / 3];
for (int i = 0; i < torusVertices.Length; i++)
{
torusVertices[i] = new Vector3(
TorusMesh.Vertices[i * 3],
TorusMesh.Vertices[i * 3 + 1],
TorusMesh.Vertices[i * 3 + 2]);
}
indexVertexArray2 = new TriangleIndexVertexArray(TorusMesh.Indices, torusVertices);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray2, true);
// CalculateLocalInertia must fail for static shapes (shapes based on TriangleMeshShape)
//triangleMeshShape.CalculateLocalInertia(1.0f);
triangleMesh = CreateBody(0.0f, triangleMeshShape, Vector3.Zero);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldAabbMin = new Vector3(-10000, -10000, -10000);
Vector3 worldAabbMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SetInternalTickCallback(MotorPreTickCallback, this, true);
// create the ground
CollisionShape groundShape = new BoxShape(200, 10, 200);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -10, 0), groundShape);
ground.UserObject = "Ground";
fCyclePeriod = 2000.0f;
fMuscleStrength = 0.5f;
m_Time = 0;
SpawnTestRig(new Vector3(1, 0.5f, 0), false);
SpawnTestRig(new Vector3(-2, 0.5f, 0), true);
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
public void SetUp()
{
conf = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
solver = new DefaultSoftBodySolver();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, conf, solver);
softBodyWorldInfo = new SoftBodyWorldInfo();
softBody = new SoftBody(softBodyWorldInfo);
world.AddSoftBody(softBody);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
action = new Action();
world.AddAction(action);
world.AddAction(action);
world.RemoveAction(action);
world.RemoveAction(action);
world.AddAction(action);
}
/*
void MyContactCallback(object sender, ContactAddedEventArgs e)
{
if (e.CollisionObject0Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject0Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index0);
}
if (e.CollisionObject1Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject1Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index1);
}
e.IsContactModified = true;
}
*/
public void SetupEmptyDynamicsWorld()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
// create the ground
CollisionShape groundShape = new BoxShape(30, 2, 30);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -4.5f, 0), groundShape);
ground.UserObject = "Ground";
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
triangleMesh = CreateBody(1.0f, triangleMeshShape, Vector3.Zero);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
boxShape = new BoxShape(1);
body1 = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
body2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = Matrix.Translation(-1, 2, 0);
ghostObject.CollisionShape = boxShape;
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
bspLoader.LoadBspFile("data/BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
convexResultCallback = new ClosestConvexResultCallback();
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
protected override void _InitializePhysicsWorld()
{
Debug.Log("Creating SoftRigidDynamicsWorld");
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
//TODO I think this will limit collision detection to -1000 to 1000 should be configurable
Broadphase = new AxisSweep3(new BulletSharp.Math.Vector3(-1000, -1000, -1000),
new BulletSharp.Math.Vector3(1000, 1000, 1000), maxProxies);
//TODO this is taken from the Bullet examples, but I don't understand why the
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo {
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
SoftRigidDynamicsWorld sw = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World = sw;
World.Gravity = UnityEngine.Physics.gravity.ToBullet();
World.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = UnityEngine.Physics.gravity.ToBullet();
}
public override void Run()
{
var softBodyWorldInfo = new SoftBodyWorldInfo();
var softBody = new SoftBody(softBodyWorldInfo);
var softBodyCollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
var softBodySolver = new DefaultSoftBodySolver();
var dispatcher = new CollisionDispatcher(softBodyCollisionConf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
var softBodyWorld = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, softBodyCollisionConf, softBodySolver);
softBodyWorld.AddSoftBody(softBody);
if (!object.ReferenceEquals(softBody.SoftBodySolver, softBodySolver))
{
Console.WriteLine("SoftBody: body and world SoftBodySolvers don't match!");
}
AddToDisposeQueue(softBodyWorldInfo);
AddToDisposeQueue(softBody);
AddToDisposeQueue(softBodyCollisionConf);
AddToDisposeQueue(softBodySolver);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(softBodyWorld);
softBodyWorldInfo = null;
softBody = null;
softBodyCollisionConf = null;
softBodySolver = null;
dispatcher = null;
broadphase = null;
softBodyWorld.Dispose();
softBodyWorld = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
static void TestAxisSweepOverlapCallback()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
//broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
//AddToDisposeQueue(broadphase.OverlappingPairUserCallback);
CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
CustomBroadphaseAabbCallback aabbCallback = new CustomBroadphaseAabbCallback();
broadphase.AabbTest(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000), aabbCallback);
AddToDisposeQueue(aabbCallback);
aabbCallback = null;
// FIXME: RayTest crashes for DbvtBroadphase
CustomBroadphaseRayTestCallback rayCallback = new CustomBroadphaseRayTestCallback();
//broadphase.RayTest(new Vector3(0, 2, 0), new Vector3(2, 2, 0), rayCallback);
AddToDisposeQueue(rayCallback);
rayCallback = null;
broadphase = null;
world.StepSimulation(1.0f / 60.0f);
world.Dispose();
world = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
GC.WaitForPendingFinalizers();
TestWeakRefs();
disposeQueue.Clear();
}
public Physics()
{
demos = new DemoConstructor[] { Init_Cloth, Init_Pressure, Init_Volume, Init_Ropes, Init_RopeAttach,
Init_ClothAttach, Init_Sticks, Init_Collide, Init_Collide2, Init_Collide3, Init_Impact, Init_Aero,
Init_Aero2, Init_Friction, Init_Torus, Init_TorusMatch, Init_Bunny, Init_BunnyMatch, Init_Cutting1,
Init_ClusterDeform, Init_ClusterCollide1, Init_ClusterCollide2, Init_ClusterSocket, Init_ClusterHinge,
Init_ClusterCombine, Init_ClusterCar, Init_ClusterRobot, Init_ClusterStackSoft, Init_ClusterStackMixed,
Init_TetraCube, Init_TetraBunny
};
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000), maxProxies);
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = Vector3.Zero;
softBodyWorldInfo.Gravity = new Vector3(0, -10, 0);
softBodyWorldInfo.Dispatcher = Dispatcher;
softBodyWorldInfo.Broadphase = Broadphase;
softBodyWorldInfo.SparseSdf.Initialize();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DispatchInfo.EnableSpu = true;
InitializeDemo();
}
static void TestSoftBody()
{
var softBodyWorldInfo = new SoftBodyWorldInfo();
var softBody = new SoftBody(softBodyWorldInfo);
var softBodyCollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
var softBodySolver = new DefaultSoftBodySolver();
var dispatcher = new CollisionDispatcher(softBodyCollisionConf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
var softBodyWorld = new SoftRigidDynamicsWorld(dispatcher, broadphase, null, softBodyCollisionConf, softBodySolver);
softBodyWorld.AddSoftBody(softBody);
if (!object.ReferenceEquals(softBody.SoftBodySolver, softBodySolver))
{
Console.WriteLine("SoftBody: body and world SoftBodySolvers don't match!");
}
AddToDisposeQueue(softBodyWorldInfo);
AddToDisposeQueue(softBody);
AddToDisposeQueue(softBodyCollisionConf);
AddToDisposeQueue(softBodySolver);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(softBodyWorld);
softBodyWorldInfo = null;
softBody = null;
softBodyCollisionConf = null;
softBodySolver = null;
dispatcher = null;
broadphase = null;
softBodyWorld.Dispose();
softBodyWorld = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
GC.WaitForPendingFinalizers();
TestWeakRefs();
disposeQueue.Clear();
}
/*
Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld( out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out SequentialImpulseConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
success = false;
}
collisionConfig = null;
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
collisionConfig = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
}
dispatcher = new CollisionDispatcher(collisionConfig);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
broadphase = null;
}
world = null;
softBodyWorldInfo = null;
solver = null;
if (m_worldType == WorldType.CollisionOnly)
{
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
solver = new SequentialImpulseConstraintSolver();
solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = dispatcher,
Broadphase = broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
world.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = m_gravity.ToBullet();
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return success;
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
body1 = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
body2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
mesh.TriangleIndexBase = Marshal.AllocHGlobal(mesh.TriangleIndexStride * totalTriangles);
mesh.VertexBase = Marshal.AllocHGlobal(mesh.VertexStride * totalVerts);
var indicesStream = mesh.GetTriangleStream();
using (var indices = new BinaryWriter(indicesStream))
{
for (int i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j*NumVertsX + i);
indices.Write(j*NumVertsX + i + 1);
indices.Write((j + 1)*NumVertsX + i + 1);
indices.Write(j*NumVertsX + i);
indices.Write((j + 1)*NumVertsX + i + 1);
indices.Write((j + 1)*NumVertsX + i);
}
}
}
indexVertexArrays.AddIndexedMesh(mesh);
convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int j = 0; j < NumDynamicBoxesX; j++)
{
for (int i = 0; i < NumDynamicBoxesY; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(5 * (i - NumDynamicBoxesX / 2), 10, 5 * (j - NumDynamicBoxesY / 2));
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
}
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
DefaultCollisionConstructionInfo cci = new DefaultCollisionConstructionInfo();
cci.DefaultMaxPersistentManifoldPoolSize = 32768;
CollisionConf = new DefaultCollisionConfiguration(cci);
Dispatcher = new CollisionDispatcher(CollisionConf);
Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation;
// the maximum size of the collision world. Make sure objects stay within these boundaries
// Don't make the world AABB size too large, it will harm simulation quality and performance
Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000);
Vector3 worldAabbMax = new Vector3(1000, 1000, 1000);
HashedOverlappingPairCache pairCache = new HashedOverlappingPairCache();
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500, pairCache);
//Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching;
World.SolverInfo.NumIterations = 5;
if (benchmark < 5)
{
// create the ground
CollisionShape groundShape = new BoxShape(250, 50, 250);
CollisionShapes.Add(groundShape);
CollisionObject ground = base.LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
}
float cubeSize = 1.0f;
float spacing = cubeSize;
float mass = 1.0f;
int size = 8;
Vector3 pos = new Vector3(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
switch (benchmark)
{
case 1:
// 3000
BoxShape blockShape = new BoxShape(cubeSize - collisionRadius);
mass = 2.0f;
for (int k = 0; k < 47; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
RigidBody cmbody = LocalCreateRigidBody(mass, Matrix.Translation(pos), blockShape);
}
}
offset -= 0.05f * spacing * (size - 1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 2:
CreatePyramid(new Vector3(-20, 0, 0), 12, new Vector3(cubeSize));
CreateWall(new Vector3(-2.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(4.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateWall(new Vector3(10.0f, 0.0f, 0.0f), 12, new Vector3(cubeSize));
CreateTowerCircle(new Vector3(25.0f, 0.0f, 0.0f), 8, 24, new Vector3(cubeSize));
break;
case 3:
// TODO: Ragdolls
break;
case 4:
cubeSize = 1.5f;
ConvexHullShape convexHullShape = new ConvexHullShape();
float scaling = 1;
convexHullShape.LocalScaling = new Vector3(scaling);
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx * (1.0f / scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
convexHullShape.InitializePolyhedralFeatures();
for (int k = 0; k < 15; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
LocalCreateRigidBody(mass, Matrix.Translation(pos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
break;
case 5:
Vector3 boxSize = new Vector3(1.5f);
float boxMass = 1.0f;
float sphereRadius = 1.5f;
float sphereMass = 1.0f;
float capsuleHalf = 2.0f;
float capsuleRadius = 1.0f;
float capsuleMass = 1.0f;
size = 10;
int height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
int numBodies = 0;
Random random = new Random();
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
int idx = random.Next(10);
Matrix trans = Matrix.Translation(bpos);
switch (idx)
{
case 0:
case 1:
case 2:
{
float r = 0.5f * (idx + 1);
BoxShape boxShape = new BoxShape(boxSize * r);
LocalCreateRigidBody(boxMass * r, trans, boxShape);
}
break;
case 3:
case 4:
case 5:
{
float r = 0.5f * (idx - 3 + 1);
SphereShape sphereShape = new SphereShape(sphereRadius * r);
LocalCreateRigidBody(sphereMass * r, trans, sphereShape);
}
break;
case 6:
case 7:
case 8:
{
float r = 0.5f * (idx - 6 + 1);
CapsuleShape capsuleShape = new CapsuleShape(capsuleRadius * r, capsuleHalf * r);
LocalCreateRigidBody(capsuleMass * r, trans, capsuleShape);
}
break;
}
numBodies++;
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 6:
boxSize = new Vector3(1.5f, 1.5f, 1.5f);
convexHullShape = new ConvexHullShape();
for (int i = 0; i < Taru.Vtx.Length / 3; i++)
{
Vector3 vtx = new Vector3(Taru.Vtx[i * 3], Taru.Vtx[i * 3 + 1], Taru.Vtx[i * 3 + 2]);
convexHullShape.AddPoint(vtx);
}
size = 10;
height = 10;
cubeSize = boxSize[0];
spacing = 2.0f;
pos = new Vector3(0.0f, 20.0f, 0.0f);
offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for (int k = 0; k < height; k++)
{
for (int j = 0; j < size; j++)
{
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for (int i = 0; i < size; i++)
{
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
Vector3 bpos = new Vector3(0, 25, 0) + new Vector3(5.0f * pos.X, pos.Y, 5.0f * pos.Z);
LocalCreateRigidBody(mass, Matrix.Translation(bpos), convexHullShape);
}
}
offset -= 0.05f * spacing * (size - 1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
//CreateLargeMeshBody();
break;
case 7:
// TODO
//CreateTest6();
//InitRays();
break;
}
}
public Physics()
{
ManifoldPoint.ContactAdded += CustomMaterialCombinerCallback;
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
gVertices = new Vector3[totalVerts];
int[] gIndices = new int[totalTriangles * 3];
BulletMaterial[] gMaterials = new BulletMaterial[2];
int[] gFaceMaterialIndices = new int[totalTriangles];
// Explicitly set up the materials. It's a small array so let's do it bit by bit.
gMaterials[0].Friction = 0;
gMaterials[0].Restitution = 0.9f;
gMaterials[1].Friction = 0.9f;
gMaterials[1].Restitution = 0.1f;
int i;
// Set up the vertex data
SetVertexPositions(waveheight, 0.0f);
int index = 0;
// Set up the face data
for (i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
gIndices[index++] = j * NumVertsX + i;
gIndices[index++] = j * NumVertsX + i + 1;
gIndices[index++] = (j + 1) * NumVertsX + i + 1;
gIndices[index++] = j * NumVertsX + i;
gIndices[index++] = (j + 1) * NumVertsX + i + 1;
gIndices[index++] = (j + 1) * NumVertsX + i;
}
}
// Set up the face->material index data
for (int a = 0; a < totalTriangles; a++)
{
// This will give the first half of the faces low friction and high restitution
// and the second half of the faces high friction and low restitution
if (a > totalTriangles / 2)
gFaceMaterialIndices[a] = 0;
else
gFaceMaterialIndices[a] = 1;
}
// Create the array structure
TriangleIndexVertexMaterialArray indexVertexArrays = new TriangleIndexVertexMaterialArray(
gIndices, gVertices, gMaterials, gFaceMaterialIndices);
// Create the multimaterial mesh shape
trimeshShape = new MultimaterialTriangleMeshShape(indexVertexArrays, true);
CollisionShapes.Add(trimeshShape);
// create the ground
//CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShapes.PushBack(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, trimeshShape);
ground.UserObject = "Ground";
ground.CollisionFlags |= CollisionFlags.StaticObject | CollisionFlags.CustomMaterialCallback;
CollisionShape colShape = new BoxShape(0.5f);
CollisionShapes.Add(colShape);
for (i = 0; i < 12; i++)
{
RigidBody body = LocalCreateRigidBody(1, Matrix.Translation(10 - i, 10, -20 + i * 3), colShape);
body.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
body.Friction = 0.9f;
body.Gravity = new Vector3(0, -20, 0);
body.ApplyCentralImpulse(new Vector3(-7.7f, 0, 0));
}
}
void TestAxisSweepOverlapCallback()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
AddToDisposeQueue(broadphase.OverlappingPairUserCallback);
CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
CustomBroadphaseAabbCallback aabbCallback = new CustomBroadphaseAabbCallback();
broadphase.AabbTest(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000), aabbCallback);
AddToDisposeQueue(aabbCallback);
aabbCallback = null;
var rayFromWorld = new Vector3(-2, 2, 0);
var rayToWorld = new Vector3(4, 2, 0);
CustomBroadphaseRayTestCallback rayCallback = new CustomBroadphaseRayTestCallback(ref rayFromWorld, ref rayToWorld);
broadphase.RayTest(rayFromWorld, rayToWorld, rayCallback, Vector3.Zero, Vector3.Zero);
if (!rayCallback.HasHit)
{
Console.WriteLine("Broadphase ray test FAILED!");
}
AddToDisposeQueue(rayCallback);
rayCallback = null;
broadphase = null;
world.StepSimulation(1.0f / 60.0f);
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y;
const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
indexVertexArrays = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalVerts, totalTriangles, 3 * sizeof(int), Vector3.SizeInBytes, PhyScalarType.Int32, PhyScalarType.Single);
using (var indices = mesh.LockIndices())
{
for (int i = 0; i < NUM_VERTS_X - 1; i++)
{
for (int j = 0; j < NUM_VERTS_Y - 1; j++)
{
indices.Write(j * NUM_VERTS_X + i);
indices.Write(j * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write(j * NUM_VERTS_X + i);
indices.Write((j + 1) * NUM_VERTS_X + i + 1);
indices.Write((j + 1) * NUM_VERTS_X + i);
}
}
}
indexVertexArrays.AddIndexedMesh(mesh);
raycastBar = new RaycastBar(4000.0f, 0.0f);
//raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int i = 0; i < 10; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(2 * i, 10, 1);
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
SetVertexPositions(waveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000), maxProxies);
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = Vector3.Zero,
Gravity = new Vector3(0, -10, 0),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DispatchInfo.EnableSpu = true;
World.SetInternalTickCallback(PickingPreTickCallback, this, true);
InitializeDemo();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
IsDebugDrawEnabled = true;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int j = 0; j < NumDynamicBoxesX; j++)
{
for (int i = 0; i < NumDynamicBoxesY; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(5 * (i - NumDynamicBoxesX / 2), 10, 5 * (j - NumDynamicBoxesY / 2));
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
}
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
protected override void OnInitializePhysics()
{
CollisionShape groundShape = new BoxShape(50, 3, 50);
CollisionShapes.Add(groundShape);
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Solver = new SequentialImpulseConstraintSolver();
Vector3 worldMin = new Vector3(-10000, -10000, -10000);
Vector3 worldMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldMin, worldMax);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
int i;
Matrix tr;
Matrix vehicleTr;
//if (UseTrimeshGround)
{
const float scale = 20.0f;
//create a triangle-mesh ground
const int NumVertsX = 20;
const int NumVertsY = 20;
const int totalVerts = NumVertsX * NumVertsY;
const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);
TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
IndexedMesh mesh = new IndexedMesh();
mesh.Allocate(totalTriangles, totalVerts);
mesh.NumTriangles = totalTriangles;
mesh.NumVertices = totalVerts;
mesh.TriangleIndexStride = 3 * sizeof(int);
mesh.VertexStride = Vector3.SizeInBytes;
using (var indicesStream = mesh.GetTriangleStream())
{
var indices = new BinaryWriter(indicesStream);
for (i = 0; i < NumVertsX - 1; i++)
{
for (int j = 0; j < NumVertsY - 1; j++)
{
indices.Write(j * NumVertsX + i);
indices.Write(j * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write(j * NumVertsX + i);
indices.Write((j + 1) * NumVertsX + i + 1);
indices.Write((j + 1) * NumVertsX + i);
}
}
indices.Dispose();
}
using (var vertexStream = mesh.GetVertexStream())
{
var vertices = new BinaryWriter(vertexStream);
for (i = 0; i < NumVertsX; i++)
{
for (int j = 0; j < NumVertsY; j++)
{
float wl = .2f;
float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));
vertices.Write((i - NumVertsX * 0.5f) * scale);
vertices.Write(height);
vertices.Write((j - NumVertsY * 0.5f) * scale);
}
}
vertices.Dispose();
}
vertexArray.AddIndexedMesh(mesh);
groundShape = new BvhTriangleMeshShape(vertexArray, true);
tr = Matrix.Identity;
vehicleTr = Matrix.Translation(0, -2, 0);
}/*
else
{
// Use HeightfieldTerrainShape
int width = 40, length = 40;
//int width = 128, length = 128; // Debugging is too slow for this
float maxHeight = 10.0f;
float heightScale = maxHeight / 256.0f;
Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f);
//PhyScalarType scalarType = PhyScalarType.PhyUChar;
//FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);
// Use float data
PhyScalarType scalarType = PhyScalarType.PhyFloat;
byte[] terr = new byte[width * length * 4];
MemoryStream file = new MemoryStream(terr);
BinaryWriter writer = new BinaryWriter(file);
for (i = 0; i < width; i++)
for (int j = 0; j < length; j++)
writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
writer.Flush();
file.Position = 0;
HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
file, heightScale, 0, maxHeight, upIndex, scalarType, false);
heightterrainShape.SetUseDiamondSubdivision(true);
groundShape = heightterrainShape;
groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);
tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));
// Create graphics object
file.Position = 0;
BinaryReader reader = new BinaryReader(file);
int totalTriangles = (width - 1) * (length - 1) * 2;
int totalVerts = width * length;
game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
for (i = 0; i < width; i++)
{
for (int j = 0; j < length; j++)
{
float height;
if (scalarType == PhyScalarType.PhyFloat)
{
// heightScale isn't applied internally for float data
height = reader.ReadSingle();
}
else if (scalarType == PhyScalarType.PhyUChar)
{
height = file.ReadByte() * heightScale;
}
else
{
height = 0.0f;
}
data.Write((j - length * 0.5f) * scale.X);
data.Write(height);
data.Write((i - width * 0.5f) * scale.Z);
// Normals will be calculated later
data.Position += 12;
}
}
game.groundMesh.UnlockVertexBuffer();
file.Close();
data = game.groundMesh.LockIndexBuffer(LockFlags.None);
for (i = 0; i < width - 1; i++)
{
for (int j = 0; j < length - 1; j++)
{
// Using diamond subdivision
if ((j + i) % 2 == 0)
{
data.Write(j * width + i);
data.Write((j + 1) * width + i + 1);
data.Write(j * width + i + 1);
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
else
{
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write(j * width + i + 1);
data.Write(j * width + i + 1);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
}
/ *
// Not using diamond subdivision
data.Write(j * width + i);
data.Write((j + 1) * width + i);
data.Write(j * width + i + 1);
data.Write(j * width + i + 1);
data.Write((j + 1) * width + i);
data.Write((j + 1) * width + i + 1);
* /
}
}
game.groundMesh.UnlockIndexBuffer();
game.groundMesh.ComputeNormals();
}*/
CollisionShapes.Add(groundShape);
//create ground object
RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);
ground.UserObject = "Ground";
CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);
CollisionShapes.Add(chassisShape);
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
//localTrans effectively shifts the center of mass with respect to the chassis
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound);
carChassis.UserObject = "Chassis";
//carChassis.SetDamping(0.2f, 0.2f);
//CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius);
// clientResetScene();
// create vehicle
VehicleTuning tuning = new VehicleTuning();
IVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(World);
//vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
vehicle = new CustomVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
World.AddAction(vehicle);
const float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
BulletSharp.Math.Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
vehicle.RigidBody.WorldTransform = vehicleTr;
}