public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2,
Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB,
bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
HingeConstraint constrain = null;
DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA);
world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
}
return new BulletConstraintXNA(constrain);
}
public RagDoll (RagDollDemo ragDollDemo,DynamicsWorld ownerWorld, ref IndexedVector3 positionOffset,StreamWriter streamWriter)
{
m_ownerWorld = ownerWorld;
m_ragDollDemo = ragDollDemo;
// Setup the geometry
m_shapes[(int)BODYPART.PELVIS] = new CapsuleShape(0.15f, 0.20f);
m_shapes[(int)BODYPART.SPINE] = new CapsuleShape(0.15f, 0.28f);
m_shapes[(int)BODYPART.HEAD] = new CapsuleShape(0.10f, 0.05f);
m_shapes[(int)BODYPART.LEFT_UPPER_LEG] = new CapsuleShape(0.07f, 0.45f);
m_shapes[(int)BODYPART.LEFT_LOWER_LEG] = new CapsuleShape(0.05f, 0.37f);
m_shapes[(int)BODYPART.RIGHT_UPPER_LEG] = new CapsuleShape(0.07f, 0.45f);
m_shapes[(int)BODYPART.RIGHT_LOWER_LEG] = new CapsuleShape(0.05f, 0.37f);
m_shapes[(int)BODYPART.LEFT_UPPER_ARM] = new CapsuleShape(0.05f, 0.33f);
m_shapes[(int)BODYPART.LEFT_LOWER_ARM] = new CapsuleShape(0.04f, 0.25f);
m_shapes[(int)BODYPART.RIGHT_UPPER_ARM] = new CapsuleShape(0.05f, 0.33f);
m_shapes[(int)BODYPART.RIGHT_LOWER_ARM] = new CapsuleShape(0.04f, 0.25f);
// Setup all the rigid bodies
IndexedMatrix offset = IndexedMatrix.CreateTranslation(positionOffset);
IndexedMatrix transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1,0));
IndexedMatrix adjusted = offset*transform;
m_bodies[(int)BODYPART.PELVIS] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.PELVIS],true);
m_bodies[(int)BODYPART.PELVIS].SetUserPointer("PELVIS");
transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1.2f,0));
adjusted = offset * transform;
m_bodies[(int)BODYPART.SPINE] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.SPINE], true);
m_bodies[(int)BODYPART.SPINE].SetUserPointer("SPINE");
transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,1.6f,0));
adjusted = offset * transform;
m_bodies[(int)BODYPART.HEAD] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.HEAD], true);
m_bodies[(int)BODYPART.HEAD].SetUserPointer("HEAD");
transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.65f, 0));
adjusted = offset * transform
;
m_bodies[(int)BODYPART.LEFT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_LEG], true);
m_bodies[(int)BODYPART.LEFT_UPPER_LEG].SetUserPointer("LEFTUPPERLEG");
transform = IndexedMatrix.CreateTranslation(new IndexedVector3(-0.18f, 0.2f, 0));
adjusted = offset *transform;
m_bodies[(int)BODYPART.LEFT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_LEG], true);
m_bodies[(int)BODYPART.LEFT_LOWER_LEG].SetUserPointer("LEFTLOWERLEG");
transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.65f, 0));
adjusted = offset * transform;
m_bodies[(int)BODYPART.RIGHT_UPPER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_LEG], true);
m_bodies[(int)BODYPART.RIGHT_UPPER_LEG].SetUserPointer("RIGHTUPPERLEG");
transform = IndexedMatrix.CreateTranslation(new IndexedVector3(0.18f, 0.2f, 0));
adjusted = offset*transform;
m_bodies[(int)BODYPART.RIGHT_LOWER_LEG] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_LEG], true);
m_bodies[(int)BODYPART.RIGHT_LOWER_LEG].SetUserPointer("RIGHTLOWERLEG");
transform = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
transform._origin = new IndexedVector3(-0.35f, 1.45f, 0);
adjusted = offset *transform;
m_bodies[(int)BODYPART.LEFT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_UPPER_ARM], true);
m_bodies[(int)BODYPART.LEFT_UPPER_ARM].SetUserPointer("LEFTUPPERARM");
transform = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
transform._origin = new IndexedVector3(-0.7f, 1.45f, 0);
adjusted = offset * transform;
m_bodies[(int)BODYPART.LEFT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.LEFT_LOWER_ARM], true);
m_bodies[(int)BODYPART.LEFT_LOWER_ARM].SetUserPointer("LEFTLOWERARM");
transform = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI);
transform._origin = new IndexedVector3(0.35f, 1.45f, 0);
adjusted = offset * transform;
m_bodies[(int)BODYPART.RIGHT_UPPER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_UPPER_ARM], true);
m_bodies[(int)BODYPART.RIGHT_UPPER_ARM].SetUserPointer("RIGHTUPPERARM");
transform = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_HALF_PI);
transform._origin = new IndexedVector3(0.7f, 1.45f, 0);
adjusted = offset * transform;
m_bodies[(int)BODYPART.RIGHT_LOWER_ARM] = m_ragDollDemo.LocalCreateRigidBody(1f, adjusted, m_shapes[(int)BODYPART.RIGHT_LOWER_ARM], true);
m_bodies[(int)BODYPART.RIGHT_LOWER_ARM].SetUserPointer("RIGHTLOWERARM");
// Setup some damping on the m_bodies
for (int i = 0; i < (int)BODYPART.COUNT; ++i)
{
if (m_bodies[i] != null)
{
//m_bodies[i].SetDamping(0.05f, 0.85f);
m_bodies[i].SetDamping(0.5f, 0.85f);
m_bodies[i].SetDeactivationTime(0.8f);
m_bodies[i].SetSleepingThresholds(1.6f, 2.5f);
}
}
// Now setup the constraints
HingeConstraint hingeC;
ConeTwistConstraint coneC;
IndexedMatrix localA = IndexedMatrix.Identity;
IndexedMatrix localB = IndexedMatrix.Identity;
localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localA._origin = new IndexedVector3(0.0f, 0.15f, 0.0f);
localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localB._origin = new IndexedVector3(0.0f, -0.15f, 0.0f);
hingeC = new HingeConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.SPINE], ref localA, ref localB);
hingeC.SetLimit(-MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI);
m_joints[(int)JOINT.PELVIS_SPINE] = hingeC;
m_joints[(int)JOINT.PELVIS_SPINE].m_debugName = "PELVIS_SPINE";
hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.PELVIS_SPINE], true);
localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
localA._origin = new IndexedVector3(0.0f, 0.30f, 0.0f);
localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.HEAD], ref localA, ref localB);
coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_HALF_PI);
m_joints[(int)JOINT.SPINE_HEAD] = coneC;
m_joints[(int)JOINT.SPINE_HEAD].m_debugName = "SPINE_HEAD";
coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.SPINE_HEAD], true);
localA = IndexedMatrix.Identity;
localB = IndexedMatrix.Identity;
localA = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5);
localA._origin = new IndexedVector3(-0.18f, -0.10f, 0.0f);
localB = MathUtil.SetEulerZYX(0, 0, -MathUtil.SIMD_QUARTER_PI * 5);
localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f);
coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.LEFT_UPPER_LEG], ref localA, ref localB);
coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0);
m_joints[(int)JOINT.LEFT_HIP] = coneC;
m_joints[(int)JOINT.LEFT_HIP].m_debugName = "LEFT_HIP";
coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_HIP], true);
localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f);
localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f);
hingeC = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_LEG], m_bodies[(int)BODYPART.LEFT_LOWER_LEG], ref localA, ref localB);
hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
m_joints[(int)JOINT.LEFT_KNEE] = hingeC;
m_joints[(int)JOINT.LEFT_KNEE].m_debugName = "LEFT_KNEE";
hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_KNEE], true);
localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI);
localA._origin = new IndexedVector3(0.18f, -0.10f, 0.0f);
localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_QUARTER_PI);
localB._origin = new IndexedVector3(0.0f, 0.225f, 0.0f);
coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.PELVIS], m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], ref localA, ref localB);
coneC.SetLimit(MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI, 0);
m_joints[(int)JOINT.RIGHT_HIP] = coneC;
m_joints[(int)JOINT.RIGHT_HIP].m_debugName = "RIGHT_HIP";
coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_HIP], true);
localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localA._origin = new IndexedVector3(0.0f, -0.225f, 0.0f);
localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localB._origin = new IndexedVector3(0.0f, 0.185f, 0.0f);
hingeC = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_LEG], m_bodies[(int)BODYPART.RIGHT_LOWER_LEG], ref localA, ref localB);
hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
m_joints[(int)JOINT.RIGHT_KNEE] = hingeC;
m_joints[(int)JOINT.RIGHT_KNEE].m_debugName = "RIGHT_KNEE";
hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_KNEE], true);
localA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_PI);
localA._origin = new IndexedVector3(-0.2f, 0.15f, 0.0f);
localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f);
coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.LEFT_UPPER_ARM], ref localA, ref localB);
coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0);
coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_joints[(int)JOINT.LEFT_SHOULDER] = coneC;
m_joints[(int)JOINT.LEFT_SHOULDER].m_debugName = "LEFT_SHOULDER";
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_SHOULDER], true);
localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f);
localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
hingeC = new HingeConstraint(m_bodies[(int)BODYPART.LEFT_UPPER_ARM], m_bodies[(int)BODYPART.LEFT_LOWER_ARM], ref localA, ref localB);
// hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0));
hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
m_joints[(int)JOINT.LEFT_ELBOW] = hingeC;
m_joints[(int)JOINT.LEFT_ELBOW].m_debugName = "LEFT_ELBOW";
hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.LEFT_ELBOW], true);
localA = MathUtil.SetEulerZYX(0, 0, 0);
localA._origin = new IndexedVector3(0.2f, 0.15f, 0.0f);
localB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
localB._origin = new IndexedVector3(0.0f, -0.18f, 0.0f);
coneC = new ConeTwistConstraint(m_bodies[(int)BODYPART.SPINE], m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], ref localA, ref localB);
coneC.SetLimit(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_HALF_PI, 0);
m_joints[(int)JOINT.RIGHT_SHOULDER] = coneC;
m_joints[(int)JOINT.RIGHT_SHOULDER].m_debugName = "RIGHT_SHOULDER";
coneC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_SHOULDER], true);
localA = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localA._origin = new IndexedVector3(0.0f, 0.18f, 0.0f);
localB = MathUtil.SetEulerZYX(0, MathUtil.SIMD_HALF_PI, 0);
localB._origin = new IndexedVector3(0.0f, -0.14f, 0.0f);
hingeC = new HingeConstraint(m_bodies[(int)BODYPART.RIGHT_UPPER_ARM], m_bodies[(int)BODYPART.RIGHT_LOWER_ARM], ref localA, ref localB);
// hingeC.setLimit(-MathUtil.SIMD_HALF_PI), 0));
hingeC.SetLimit(0, MathUtil.SIMD_HALF_PI);
m_joints[(int)JOINT.RIGHT_ELBOW] = hingeC;
m_joints[(int)JOINT.RIGHT_ELBOW].m_debugName = "RIGHT_ELBOW";
hingeC.SetDbgDrawSize(CONSTRAINT_DEBUG_SIZE);
m_ownerWorld.AddConstraint(m_joints[(int)JOINT.RIGHT_ELBOW], true);
}
public override void InitializeDemo()
{
//string filename = @"E:\users\man\bullet\xna-constraint-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
//maxiterations = 100;
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000,-1000,-1000);
IndexedVector3 worldMax = new IndexedVector3(1000,1000,1000);
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
SetCameraDistance(26f);
//CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f));
CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.Identity;
groundTransform._origin = new IndexedVector3(0, -56, 0);
RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape);
CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
m_collisionShapes.Add(shape);
IndexedMatrix trans = IndexedMatrix.Identity;
trans._origin = new IndexedVector3(0, 20, 0);
float mass = 1f;
#if true
//point to point constraint with a breaking threshold
{
trans = IndexedMatrix.Identity;
trans._origin = new IndexedVector3(1,30,-5);
LocalCreateRigidBody( mass,trans,shape);
trans._origin = new IndexedVector3(0,0,-5);
RigidBody body0 = LocalCreateRigidBody( mass,trans,shape);
trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0);
mass = 1.0f;
RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape);
IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA);
m_dynamicsWorld.AddConstraint(p2p);
p2p.SetBreakingImpulseThreshold(10.2f);
p2p.SetDbgDrawSize(5.0f);
}
#endif
#if true
//point to point constraint (ball socket)
//SEEMS OK
{
//trans = IndexedMatrix.Identity;
RigidBody body0 = LocalCreateRigidBody( mass,ref trans,shape);
trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0);
mass = 1f;
RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape);
IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
IndexedVector3 axisInA = new IndexedVector3(0,0,1);
IndexedVector3 pivotInB = body1 != null ? body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA;
IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis * axisInA)) :
body0.GetCenterOfMassTransform()._basis * axisInA;
#if P2P
TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
m_dynamicsWorld.AddConstraint(p2p);
p2p.SetDbgDrawSize(5.0f);
#else
HingeConstraint hinge = new HingeConstraint(body0,ref pivotInA,ref axisInA,false);
float targetVelocity = 1f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld.AddConstraint(hinge);//p2p);
hinge.SetDbgDrawSize(5f);
#endif
}
#endif
#if true
//create a slider, using the generic D6 constraint
// SEEMS OK
{
mass = 1f;
IndexedVector3 sliderWorldPos = new IndexedVector3(0,10,0);
IndexedVector3 sliderAxis = new IndexedVector3(1,0,0);
float angle=0f;//SIMD_RADS_PER_DEG * 10.f;
IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(new IndexedQuaternion(sliderAxis,angle));
trans = IndexedMatrix.Identity;
trans._origin = sliderWorldPos;
//trans.setBasis(sliderOrientation);
sliderTransform = trans;
d6body0 = LocalCreateRigidBody( mass,ref trans,shape);
d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
RigidBody fixedBody1 = LocalCreateRigidBody(0,ref trans,null);
m_dynamicsWorld.AddRigidBody(fixedBody1);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.Identity;
frameInB = IndexedMatrix.Identity;
frameInA._origin = new IndexedVector3(0, 5, 0);
frameInB._origin = new IndexedVector3(0, 5, 0);
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0,ref frameInA,ref frameInB,useLinearReferenceFrameA);
spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit);
spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
IndexedVector3 angularLower = new IndexedVector3(-1.5f,0,0);
IndexedVector3 angularUpper = -angularLower;
spSlider6Dof.SetAngularLowerLimit(ref angularLower);
spSlider6Dof.SetAngularUpperLimit(ref angularUpper);
// slider.setAngularLowerLimit(IndexedVector3(0,0,0));
// slider.setAngularUpperLimit(IndexedVector3(0,0,0));
spSlider6Dof.SetAngularLowerLimit(new IndexedVector3(-MathUtil.SIMD_PI, 0, 0));
spSlider6Dof.SetAngularUpperLimit(new IndexedVector3(1.5f, 0, 0));
spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f;
spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f;
m_dynamicsWorld.AddConstraint(spSlider6Dof);
spSlider6Dof.SetDbgDrawSize(5f);
}
#endif
#if true
{ // create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.Add(pDoorShape);
IndexedMatrix doorTrans = IndexedMatrix.Identity;
doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f);
RigidBody pDoorBody = LocalCreateRigidBody( 1.0f, ref doorTrans, pDoorShape);
pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3( 10f+2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint( pDoorBody, ref btPivotA, ref btAxisA,false );
spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f);
m_dynamicsWorld.AddConstraint(spDoorHinge);
spDoorHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a generic 6DOF constraint
// SEEMS OK - But debug draw a bit wrong?
IndexedMatrix tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(10f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
// RigidBody pBodyA = localCreateRigidBody( mass, tr, shape);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
// RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.Identity;
tr._origin = new IndexedVector3(0f, 6f, 0f);
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA, frameInB;
frameInA = IndexedMatrix.CreateTranslation(-5,0,0);
frameInB = IndexedMatrix.CreateTranslation(5,0,0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1);
pGen6DOF.SetLinearLowerLimit(ref linearLower);
IndexedVector3 linearUpper = new IndexedVector3(10,2,1);
pGen6DOF.SetLinearUpperLimit(ref linearUpper);
// ? why again?
//linearLower = new IndexedVector3(-10,0,0);
//pGen6DOF.setLinearLowerLimit(ref linearLower);
// pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.));
// pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.));
// pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true;
// pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
// pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI));
IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f);
IndexedVector3 angularUpper = -angularLower;
pGen6DOF.SetAngularLowerLimit(ref angularLower);
pGen6DOF.SetAngularUpperLimit(ref angularUpper);
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5));
// pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.));
// pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.));
m_dynamicsWorld.AddConstraint(pGen6DOF, true);
pGen6DOF.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // create a ConeTwist constraint
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10,5,0);
RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
tr = IndexedMatrix.CreateTranslation(-10,-5,0);
RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape);
IndexedMatrix frameInA, frameInB;
frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInA._origin = new IndexedVector3(0, -5, 0);
frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
frameInB._origin = new IndexedVector3(0, 5, 0);
ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB);
pCT.SetLimit(MathUtil.SIMD_QUARTER_PI * 0.6f, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 0.5f); // soft limit == hard limit
m_dynamicsWorld.AddConstraint(pCT, true);
pCT.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
// WORKS OK
IndexedMatrix tr = IndexedMatrix.Identity;
RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedVector3 btPivotA = new IndexedVector3( 10.0f, 0.0f, 0.0f );
IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 0.0f, 1.0f );
HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA,false);
// pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld.AddConstraint(pHinge);
pHinge.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(20,4,0);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(20,0,0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some (arbitrary) data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f);
IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f);
pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.SetDbgDrawSize(5.0f);
}
#endif
#if true
// WORKS OK
{ // create a generic 6DOF constraint with springs
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,16f,0f);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
//tr.setIdentity();
//tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
//tr.getBasis().setEulerZYX(0,0,0);
tr = IndexedMatrix.CreateTranslation(-10,16,0);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f,0f,0f);
IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f,0f,0f);
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f));
pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f));
pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f));
pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f));
m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.SetDbgDrawSize(5.0f);
pGen6DOFSpring.EnableSpring(0, true);
pGen6DOFSpring.SetStiffness(0, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.5f);
pGen6DOFSpring.EnableSpring(5, true);
pGen6DOFSpring.SetStiffness(5, 39.478f);
pGen6DOFSpring.SetDamping(0, 0.3f);
pGen6DOFSpring.SetEquilibriumPoint();
}
#endif
#if true
{
// WORKS OK
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,4f,0f);
RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB (child) below it :
tr = IndexedMatrix.CreateTranslation(-20f,0f,0f);
RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f);
pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.SetDbgDrawSize(5.0f);
}
#endif
#if true
{
// WORKS OK
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,-2f,0f);
RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// dynamic bodyB:
tr = IndexedMatrix.CreateTranslation(-30f,-2f,0f);
RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape);
pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// add some data to build constraint frames
IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f);
IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f);
IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB);
spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
// add constraint to world
m_dynamicsWorld.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.SetDbgDrawSize(5.0f);
}
#endif
#if true
{ // 6DOF connected to the world, with motor
IndexedMatrix tr = IndexedMatrix.CreateTranslation(10,-15,0);
RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape);
pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
IndexedMatrix frameB = IndexedMatrix.Identity;
Generic6DofConstraint pGen6Dof = new Generic6DofConstraint(pBody, ref frameB, false );
m_dynamicsWorld.AddConstraint(pGen6Dof);
pGen6Dof.SetDbgDrawSize(5.0f);
pGen6Dof.SetAngularLowerLimit(new IndexedVector3(0,0,0));
pGen6Dof.SetAngularUpperLimit(new IndexedVector3(0,0,0));
pGen6Dof.SetLinearLowerLimit(new IndexedVector3(-10.0f, 0, 0));
pGen6Dof.SetLinearUpperLimit(new IndexedVector3(10.0f, 0, 0));
pGen6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
pGen6Dof.GetTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
pGen6Dof.GetTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
}
#endif
}
//----------------------------------------------------------------------------------------------------------------
public override void InitializeDemo()
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 3, 50));
//CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
m_collisionShapes.Add(groundShape);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000);
//m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
m_broadphase = new SimpleBroadphase(100, null);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
//m_dynamicsWorld.setGravity(new IndexedVector3(0,0,0));
IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0);
//either use heightfield or triangle mesh
//create ground object
LocalCreateRigidBody(0f, ref tr, groundShape);
CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f));
m_collisionShapes.Add(chassisShape);
CompoundShape compound = new CompoundShape();
m_collisionShapes.Add(compound);
//localTrans effectively shifts the center of mass with respect to the chassis
IndexedMatrix localTrans = IndexedMatrix.CreateTranslation(0, 1, 0);
compound.AddChildShape(ref localTrans, chassisShape);
{
CollisionShape suppShape = new BoxShape(new IndexedVector3(0.5f, 0.1f, 0.5f));
//localTrans effectively shifts the center of mass with respect to the chassis
IndexedMatrix suppLocalTrans = IndexedMatrix.CreateTranslation(0f, 1.0f, 2.5f);
compound.AddChildShape(ref suppLocalTrans, suppShape);
}
tr._origin = IndexedVector3.Zero;
m_carChassis = LocalCreateRigidBody(800f, ref tr, compound);//chassisShape);
//m_carChassis = LocalCreateRigidBody(800f, ref tr, chassisShape);//chassisShape);
//CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
//m_collisionShapes.Add(liftShape);
//m_liftStartPos = new IndexedVector3(0.0f, 2.5f, 3.05f);
//IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos);
//m_liftBody = LocalCreateRigidBody(10f, ref liftTrans, liftShape);
//IndexedMatrix localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
//localA._origin = new IndexedVector3(0f, 1.0f, 3.05f);
//IndexedMatrix localB = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
//localB._origin = new IndexedVector3(0f, -1.5f, -0.05f);
//m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB);
//// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS);
//m_liftHinge.SetLimit(0.0f, 0.0f);
//m_dynamicsWorld.AddConstraint(m_liftHinge, true);
//CompoundShape forkCompound = new CompoundShape();
//m_collisionShapes.Add(forkCompound);
//IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
//CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
//m_collisionShapes.Add(forkShapeA);
//forkCompound.AddChildShape(ref forkLocalTrans, forkShapeA);
//CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
//m_collisionShapes.Add(forkShapeB);
//forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f);
//forkCompound.AddChildShape(ref forkLocalTrans, forkShapeB);
//CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
//m_collisionShapes.Add(forkShapeC);
//forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f);
//forkCompound.AddChildShape(ref forkLocalTrans, forkShapeC);
//m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f);
//IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos);
//m_forkBody = LocalCreateRigidBody(5f, ref forkTrans, forkCompound);
//localA = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
//IndexedVector3 col0 = MathUtil.matrixColumn(ref localA, 0);
//IndexedVector3 col1 = MathUtil.matrixColumn(ref localA, 1);
//IndexedVector3 col2 = MathUtil.matrixColumn(ref localA, 2);
////localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localB = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f);
//m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true);
//m_forkSlider.SetLowerLinLimit(0.1f);
//m_forkSlider.SetUpperLinLimit(0.1f);
//// m_forkSlider.setLowerAngLimit(-LIFT_EPS);
//// m_forkSlider.setUpperAngLimit(LIFT_EPS);
//m_forkSlider.SetLowerAngLimit(0.0f);
//m_forkSlider.SetUpperAngLimit(0.0f);
//IndexedMatrix localAVec = IndexedMatrix.Identity;
//IndexedMatrix localBVec = IndexedMatrix.Identity;
//m_forkSlider2 = new HingeConstraint(m_liftBody, m_forkBody, ref localAVec, ref localBVec);
//m_dynamicsWorld.AddConstraint(m_forkSlider, true);
//m_dynamicsWorld.addConstraint(m_forkSlider2, true);
CompoundShape loadCompound = new CompoundShape(true);
m_collisionShapes.Add(loadCompound);
CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f));
m_collisionShapes.Add(loadShapeA);
IndexedMatrix loadTrans = IndexedMatrix.Identity;
loadCompound.AddChildShape(ref loadTrans, loadShapeA);
CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeB);
loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f);
loadCompound.AddChildShape(ref loadTrans, loadShapeB);
CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeC);
loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f);
loadCompound.AddChildShape(ref loadTrans, loadShapeC);
m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f);
loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos);
m_loadBody = LocalCreateRigidBody(4f, ref loadTrans, loadCompound);
#if false
{
CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
m_collisionShapes.Add(liftShape);
IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos);
m_liftBody = localCreateRigidBody(10f, ref liftTrans, liftShape);
IndexedMatrix localA = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
localA._origin = new IndexedVector3(0f, 1.0f, 3.05f);
IndexedMatrix localB = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
localB._origin = new IndexedVector3(0f, -1.5f, -0.05f);
m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB);
// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge.setLimit(0.0f, 0.0f);
m_dynamicsWorld.addConstraint(m_liftHinge, true);
CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
m_collisionShapes.Add(forkShapeA);
CompoundShape forkCompound = new CompoundShape();
m_collisionShapes.Add(forkCompound);
IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
forkCompound.addChildShape(ref forkLocalTrans, forkShapeA);
CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
m_collisionShapes.Add(forkShapeB);
forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f);
forkCompound.addChildShape(ref forkLocalTrans, forkShapeB);
CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
m_collisionShapes.Add(forkShapeC);
forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f);
forkCompound.addChildShape(ref forkLocalTrans, forkShapeC);
m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f);
IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos);
m_forkBody = localCreateRigidBody(5f, ref forkTrans, forkCompound);
localA = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f);
m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true);
m_forkSlider.setLowerLinLimit(0.1f);
m_forkSlider.setUpperLinLimit(0.1f);
// m_forkSlider.setLowerAngLimit(-LIFT_EPS);
// m_forkSlider.setUpperAngLimit(LIFT_EPS);
m_forkSlider.setLowerAngLimit(0.0f);
m_forkSlider.setUpperAngLimit(0.0f);
m_dynamicsWorld.addConstraint(m_forkSlider, true);
CompoundShape loadCompound = new CompoundShape();
m_collisionShapes.Add(loadCompound);
CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f));
m_collisionShapes.Add(loadShapeA);
IndexedMatrix loadTrans = IndexedMatrix.Identity;
loadCompound.addChildShape(ref loadTrans, loadShapeA);
CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeB);
loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f);
loadCompound.addChildShape(ref loadTrans, loadShapeB);
CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
m_collisionShapes.Add(loadShapeC);
loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f);
loadCompound.addChildShape(ref loadTrans, loadShapeC);
m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f);
loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos);
m_loadBody = localCreateRigidBody(4f, ref loadTrans, loadCompound);
}
#endif
//m_carChassis.setDamping(0.2f, 0.2f);
ClientResetScene();
/// create vehicle
SetCameraDistance(26.0f);
SetTexturing(true);
SetShadows(true);
}
public TestRig (DemoApplication demoApplication,DynamicsWorld ownerWorld, ref IndexedVector3 positionOffset, bool bFixed)
{
m_dynamicsWorld = ownerWorld;
IndexedVector3 vUp = new IndexedVector3(0, 1, 0);
//
// Setup geometry
//
float fBodySize = 0.25f;
float fLegLength = 0.45f;
float fForeLegLength = 0.75f;
m_shapes[0] = new CapsuleShape(fBodySize, 0.10f);
for (int i=0; i<NUM_LEGS; i++)
{
m_shapes[1 + 2*i] = new CapsuleShape(0.10f, fLegLength);
m_shapes[2 + 2*i] = new CapsuleShape(0.08f, fForeLegLength);
}
//
// Setup rigid bodies
//
float fHeight = 0.5f;
IndexedMatrix offset = IndexedMatrix.Identity;
offset._origin = positionOffset;
// root
IndexedVector3 vRoot = new IndexedVector3(0,fHeight,0);
IndexedMatrix transform = IndexedMatrix.Identity;
transform._origin = vRoot;
if (bFixed)
{
m_bodies[0] = demoApplication.LocalCreateRigidBody(0.0f, offset * transform, m_shapes[0]);
} else
{
m_bodies[0] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[0]);
}
// legs
for (int i=0; i<NUM_LEGS; i++)
{
float fAngle = MathUtil.SIMD_2_PI * i / NUM_LEGS;
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
transform = IndexedMatrix.Identity;
IndexedVector3 vBoneOrigin = new IndexedVector3(fCos*(fBodySize+0.5f*fLegLength), fHeight, fSin*(fBodySize+0.5f*fLegLength));
transform._origin = vBoneOrigin;
// thigh
IndexedVector3 vToBone = (vBoneOrigin - vRoot);
vToBone.Normalize();
IndexedVector3 vAxis = IndexedVector3.Cross(vToBone,vUp);
transform._basis = new IndexedBasisMatrix(Quaternion.CreateFromAxisAngle(vAxis.ToVector3(), MathUtil.SIMD_HALF_PI));
transform._origin = vBoneOrigin;
m_bodies[1+2*i] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[1+2*i]);
// shin
transform = IndexedMatrix.Identity;
transform._origin = new IndexedVector3(fCos*(fBodySize+fLegLength), fHeight-0.5f*fForeLegLength, fSin*(fBodySize+fLegLength));
m_bodies[2+2*i] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[2+2*i]);
}
// Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i].SetDamping(0.05f, 0.85f);
m_bodies[i].SetDeactivationTime(0.8f);
//m_bodies[i].setSleepingThresholds(1.6, 2.5);
m_bodies[i].SetSleepingThresholds(0.5f, 0.5f);
}
//
// Setup the constraints
//
HingeConstraint hingeC;
IndexedMatrix localA, localB, localC;
for (int i=0; i<NUM_LEGS; i++)
{
float fAngle = MathUtil.SIMD_2_PI * i / NUM_LEGS;
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
// hip joints
localA = IndexedMatrix.Identity;
localB= IndexedMatrix.Identity;
localA = MathUtil.SetEulerZYX(0f,-fAngle,0f);
localA._origin = new IndexedVector3(fCos*fBodySize, 0.0f, fSin*fBodySize);
localB = m_bodies[1 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA;
if (BulletGlobals.g_streamWriter != null && false)
{
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Hip LocalA", localA);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Hip LocalB", localB);
}
hingeC = new HingeConstraint(m_bodies[0], m_bodies[1+2*i], ref localA, ref localB);
hingeC.SetLimit(-0.75f * MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI/2f);
m_joints[2*i] = hingeC;
m_dynamicsWorld.AddConstraint(m_joints[2*i], true);
// knee joints
localA = IndexedMatrix.Identity;
localB= IndexedMatrix.Identity;
localC = IndexedMatrix.Identity;
localA = MathUtil.SetEulerZYX(0f,-fAngle,0f);
localA._origin = new IndexedVector3(fCos*(fBodySize+fLegLength), 0.0f, fSin*(fBodySize+fLegLength));
localB = m_bodies[1 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA;
localC = m_bodies[2 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA;
if (BulletGlobals.g_streamWriter != null && false)
{
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalA", localA);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalB", localB);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalC", localC);
}
hingeC = new HingeConstraint(m_bodies[1 + 2 * i], m_bodies[2 + 2 * i], ref localB, ref localC);
//hingeC.setLimit(float(-0.01), float(0.01));
hingeC.SetLimit(-MathUtil.SIMD_QUARTER_PI/2f, 0.2f);
m_joints[1+2*i] = hingeC;
m_dynamicsWorld.AddConstraint(m_joints[1+2*i], true);
}
}