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);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
collisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix4.CreateTranslation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
collisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const 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++)
{
Matrix4 startTransform = Matrix4.CreateTranslation(
new Vector3(
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
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);
}
}
}
rbInfo.Dispose();
}
static DefaultRigidBodyWorld()
{
// Broadphase algorithms are responsible for calculating bounding
// boxes. We should probably use an AABB Tree (DbvtBroadphase)
// because they are generally good for worlds with lots of motion.
// Sweep and Prune Broadphases are best when most of the world is
// static.
Broadphase = new DbvtBroadphase();
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Solver = new SequentialImpulseConstraintSolver();
DynamicsWorld = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConfiguration);
DynamicsWorld.Gravity = new Vector3(0F, 0F, -9.81F);
Ground = PhysicsHelpers.MakePlane(new Vector3(0, 0, 1), 0);
DynamicsWorld.AddRigidBody(Ground);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConf);
VoronoiSimplexSolver simplex = new VoronoiSimplexSolver();
MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver();
Convex2DConvex2DAlgorithm.CreateFunc convexAlgo2d = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc());
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(150, 7, 150);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
float u = 0.96f;
Vector3[] points = { new Vector3(0, u, 0), new Vector3(-u, -u, 0), new Vector3(u, -u, 0) };
ConvexShape childShape0 = new BoxShape(1, 1, Depth);
ConvexShape colShape = new Convex2DShape(childShape0);
ConvexShape childShape1 = new ConvexHullShape(points);
ConvexShape colShape2 = new Convex2DShape(childShape1);
ConvexShape childShape2 = new CylinderShapeZ(1, 1, Depth);
ConvexShape colShape3 = new Convex2DShape(childShape2);
CollisionShapes.Add(colShape);
CollisionShapes.Add(colShape2);
CollisionShapes.Add(colShape3);
CollisionShapes.Add(childShape0);
CollisionShapes.Add(childShape1);
CollisionShapes.Add(childShape2);
colShape.Margin = 0.03f;
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
Matrix startTransform;
Vector3 x = new Vector3(-ArraySizeX, 8, -20);
Vector3 y = Vector3.Zero;
Vector3 deltaX = new Vector3(1, 2, 0);
Vector3 deltaY = new Vector3(2, 0, 0);
int i, j;
for (i = 0; i < ArraySizeY; i++)
{
y = x;
for (j = 0; j < ArraySizeX; j++)
{
startTransform = Matrix.Translation(y - new Vector3(-10, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo;
switch (j % 3)
{
case 0:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
break;
case 1:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape3, localInertia);
break;
default:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape2, localInertia);
break;
}
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
//body.ActivationState = ActivationState.IslandSleeping;
body.LinearFactor = new Vector3(1, 1, 0);
body.AngularFactor = new Vector3(0, 0, 1);
World.AddRigidBody(body);
y += deltaY;
}
x += deltaX;
}
}
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];
}
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);
}
}
}
DefaultSerializer serializer = new DefaultSerializer();
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);
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();
}
}
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);
// create the ground
CollisionShape groundShape = new BoxShape(20, 50, 10);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0,
Matrix.RotationAxis(new Vector3(0, 0, 1), (float)Math.PI * 0.03f) * Matrix.Translation(0, -50, 0),
groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
groundShape = new BoxShape(100, 50, 100);
CollisionShapes.Add(groundShape);
ground = LocalCreateRigidBody(0, Matrix.Translation(0, -54, 0), groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
CollisionShape[] colShapes = {
new SphereShape(1),
new CapsuleShape(0.5f,1),
new CapsuleShapeX(0.5f,1),
new CapsuleShapeZ(0.5f,1),
new ConeShape(0.5f,1),
new ConeShapeX(0.5f,1),
new ConeShapeZ(0.5f,1),
new CylinderShape(new Vector3(0.5f,1,0.5f)),
new CylinderShapeX(new Vector3(1,0.5f,0.5f)),
new CylinderShapeZ(new Vector3(0.5f,0.5f,1)),
};
foreach (var collisionShape in colShapes)
{
CollisionShapes.Add(collisionShape);
}
const float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, null, localInertia);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
int shapeIndex = 0;
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 + 20,
2 * j + startZ
);
shapeIndex++;
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
rbInfo.CollisionShape = colShapes[shapeIndex % colShapes.Length];
RigidBody body = new RigidBody(rbInfo);
body.Friction = 1;
body.RollingFriction = 0.3f;
body.SetAnisotropicFriction(colShape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.RollingFriction);
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
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);
// create the ground
BoxShape groundShape = new BoxShape(50, 1, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
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 + 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);
}
}
}
rbInfo.Dispose();
}
void Start()
{
//Create a World
Debug.Log("Initialize physics");
List<CollisionShape> CollisionShapes = new List<CollisionShape>();
DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration();
CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf);
DbvtBroadphase Broadphase = new DbvtBroadphase();
DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new BulletSharp.Math.Vector3(0, -10, 0);
// create a few dynamic rigidbodies
const float mass = 1.0f;
//Add a single cube
RigidBody fallRigidBody;
BoxShape shape = new BoxShape(1f, 1f, 1f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
shape.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
fallRigidBody = new RigidBody(rbInfo);
rbInfo.Dispose();
Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f));
fallRigidBody.WorldTransform = st;
World.AddRigidBody(fallRigidBody);
//Step the simulation 300 steps
for (int i = 0; i < 300; i++)
{
World.StepSimulation(1f / 60f, 10);
Matrix trans;
fallRigidBody.GetWorldTransform(out trans);
Debug.Log("box height: " + trans.Origin);
}
//Clean up.
World.RemoveRigidBody(fallRigidBody);
fallRigidBody.Dispose();
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();
}
//delete collision shapes
foreach (CollisionShape ss in CollisionShapes)
ss.Dispose();
CollisionShapes.Clear();
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
}
//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;
SequentialImpulseConstraintSolver 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;
}
