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);
}
static void TestGCCollection()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new DbvtBroadphase();
//var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
world.Gravity = new Vector3(0, -10, 0);
dispatcher.NearCallback = DispatcherNearCallback;
CreateBody(0.0f, new BoxShape(50, 1, 50), Vector3.Zero);
var dynamicObject = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
var dynamicObject2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
var ghostPairCallback = new GhostPairCallback();
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(ghostPairCallback);
AddToDisposeQueue(ghostPairCallback);
ghostPairCallback = null;
var ghostObject = new PairCachingGhostObject();
ghostObject.CollisionShape = new BoxShape(2);
ghostObject.WorldTransform = Matrix.Translation(2,2,0);
world.AddCollisionObject(ghostObject);
var trimesh = new TriangleMesh();
Vector3 v0 = new Vector3(0, 0, 0);
Vector3 v1 = new Vector3(1, 0, 0);
Vector3 v2 = new Vector3(0, 1, 0);
Vector3 v3 = new Vector3(1, 1, 0);
trimesh.AddTriangle(v0, v1, v2);
trimesh.AddTriangle(v1, v3, v2);
var triangleMeshShape = new BvhTriangleMeshShape(trimesh, false);
var triMeshObject = CreateBody(0, triangleMeshShape, new Vector3(20,0,20));
AddToDisposeQueue(triangleMeshShape);
AddToDisposeQueue(trimesh);
AddToDisposeQueue(triMeshObject);
triangleMeshShape = null;
trimesh = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
world.DebugDrawer = new DebugDrawTest();
AddToDisposeQueue(world.DebugDrawer);
world.SetInternalTickCallback(WorldPreTickCallback);
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.DispatchInfo.DebugDraw = new DebugDrawTest2();
AddToDisposeQueue(world.DispatchInfo.DebugDraw);
world.DispatchInfo.DebugDraw = world.DispatchInfo.DebugDraw;
AddToDisposeQueue(world.DispatchInfo.DebugDraw);
world.DispatchInfo.DebugDraw = null;
world.DebugDrawer = null;
world.DebugDrawer = new DebugDrawTest2();
world.StepSimulation(1.0f / 60.0f);
world.DebugDrawWorld();
AddToDisposeQueue(world.DispatchInfo.DebugDraw);
world.DebugDrawer = new DebugDrawTest();
world.DebugDrawWorld();
AddToDisposeQueue(world.DebugDrawer);
world.DebugDrawer = null;
TestContactTest(dynamicObject, dynamicObject2);
TestGhostObjectPairs(ghostObject);
TestRayCast(dynamicObject);
TestTriangleMeshRayCast(triMeshObject);
dynamicObject = null;
dynamicObject2 = null;
triMeshObject = null;
//world.SetInternalTickCallback(null);
world.Dispose();
world = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
GC.WaitForPendingFinalizers();
TestWeakRefs();
disposeQueue.Clear();
}
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);
}
