static void CustomMaterialCombinerCallback(ManifoldPoint cp,
CollisionObjectWrapper colObj0Wrap, int partId0, int index0,
CollisionObjectWrapper colObj1Wrap, int partId1, int index1)
{
// Apply material properties
if (colObj0Wrap.CollisionShape.ShapeType == BroadphaseNativeType.TriangleShape)
{
CollisionShape parent0 = colObj0Wrap.CollisionObject.CollisionShape;
if (parent0 != null && parent0.ShapeType == BroadphaseNativeType.MultiMaterialTriangleMesh)
{
MultimaterialTriangleMeshShape shape = parent0 as MultimaterialTriangleMeshShape;
BulletMaterial props = shape.GetMaterialProperties(partId0, index0);
cp.CombinedFriction = CalculateCombinedFriction(props.Friction, colObj1Wrap.CollisionObject.Friction);
cp.CombinedRestitution = props.Restitution * colObj1Wrap.CollisionObject.Restitution;
}
}
else if (colObj1Wrap.CollisionShape.ShapeType == BroadphaseNativeType.TriangleShape)
{
CollisionShape parent1 = colObj1Wrap.CollisionObject.CollisionShape;
if (parent1 != null && parent1.ShapeType == BroadphaseNativeType.MultiMaterialTriangleMesh)
{
MultimaterialTriangleMeshShape shape = parent1 as MultimaterialTriangleMeshShape;
BulletMaterial props = shape.GetMaterialProperties(partId1, index1);
cp.CombinedFriction = CalculateCombinedFriction(props.Friction, colObj0Wrap.CollisionObject.Friction);
cp.CombinedRestitution = props.Restitution * colObj0Wrap.CollisionObject.Restitution;
}
}
}
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);
// Set up the vertex data
gVertices = new Vector3[totalVerts];
SetVertexPositions(waveheight, 0.0f);
// Set up the face data
int index = 0;
int[] gIndices = new int[totalTriangles * 3];
for (int y = 0; y < NumVertsY - 1; y++)
{
for (int x = 0; x < NumVertsX - 1; x++)
{
gIndices[index++] = y * NumVertsX + x;
gIndices[index++] = y * NumVertsX + x + 1;
gIndices[index++] = (y + 1) * NumVertsX + x;
gIndices[index++] = y * NumVertsX + x + 1;
gIndices[index++] = (y + 1) * NumVertsX + x + 1;
gIndices[index++] = (y + 1) * NumVertsX + x;
}
}
// Explicitly set up the materials. It's a small array so let's do it bit by bit.
BulletMaterial[] gMaterials = new BulletMaterial[2];
gMaterials[0].Friction = 0;
gMaterials[0].Restitution = 0.9f;
gMaterials[1].Friction = 0.9f;
gMaterials[1].Restitution = 0.1f;
// Set up the face->material index data
int[] gFaceMaterialIndices = new int[totalTriangles];
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.Translation(-15, 0, -30), trimeshShape);
ground.UserObject = "Ground";
ground.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
CollisionShape colShape = new BoxShape(0.5f);
CollisionShapes.Add(colShape);
for (int 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));
}
}
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));
}
}
