protected override void OnAttach()
{
NativeCollisionObject = new BulletSharp.PairCachingGhostObject
{
CollisionShape = ColliderShape.InternalShape,
UserObject = this
};
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CharacterObject;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
KinematicCharacter = new BulletSharp.KinematicCharacterController((BulletSharp.PairCachingGhostObject)NativeCollisionObject, (BulletSharp.ConvexShape)ColliderShape.InternalShape, StepHeight);
base.OnAttach();
FallSpeed = fallSpeed;
MaxSlope = maxSlope;
JumpSpeed = jumpSpeed;
Gravity = gravity;
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
Simulation.AddCharacter(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
/// <summary>
/// Counts how many objects are overlapping with a given ColliderShape. If trackObjects are true, you can
/// use OverlappedWith to check if another PhysicsComponent was part of the overlapping objects
/// </summary>
/// <param name="shape">ColliderShape to check for overlaps with</param>
/// <param name="position">Position to move the ColliderShape, in addition to its LocalOffset</param>
/// <param name="myGroup">What collision group is the ColliderShape in?</param>
/// <param name="overlapsWith">What collision groups does the ColliderShape overlap with?</param>
/// <param name="contactTest">If true, contact test overlapping objects. See ContactResults for output. Defaults to false</param>
/// <param name="stopAfterFirstContact">If contact testing, should we stop contact testing after our first contact was found?</param>
/// <returns>Number of overlapping objects</returns>
public static int PerformOverlapTest(ColliderShape shape, Xenko.Core.Mathematics.Vector3?position = null,
CollisionFilterGroups myGroup = CollisionFilterGroups.DefaultFilter,
CollisionFilterGroupFlags overlapsWith = CollisionFilterGroupFlags.AllFilter,
bool contactTest = false, bool stopAfterFirstContact = false)
{
// doesn't support multithreading
if (mySimulation.simulationLocker != null)
{
throw new InvalidOperationException("Overlap testing not supported with multithreaded physics");
}
if (ghostObject == null)
{
ghostObject = new BulletSharp.PairCachingGhostObject
{
ContactProcessingThreshold = 1e18f,
UserObject = shape
};
ghostObject.CollisionFlags |= BulletSharp.CollisionFlags.NoContactResponse;
internalResults = new OverlapCallback();
NativeOverlappingObjects = new HashSet <object>();
}
ghostObject.CollisionShape = shape.InternalShape;
ghostObject.WorldTransform = Matrix.Transformation(shape.Scaling, shape.LocalRotation, position.HasValue ? position.Value + shape.LocalOffset : shape.LocalOffset);
mySimulation.collisionWorld.AddCollisionObject(ghostObject, (BulletSharp.CollisionFilterGroups)myGroup, (BulletSharp.CollisionFilterGroups)overlapsWith);
int overlapCount = ghostObject.NumOverlappingObjects;
NativeOverlappingObjects.Clear();
for (int i = 0; i < overlapCount; i++)
{
NativeOverlappingObjects.Add(ghostObject.OverlappingPairs[i]);
}
if (contactTest)
{
internalResults.Clear();
internalResults.CollisionFilterGroup = (int)myGroup;
internalResults.CollisionFilterMask = (int)overlapsWith;
foreach (object nativeobj in NativeOverlappingObjects)
{
mySimulation.collisionWorld.ContactPairTest(ghostObject, (BulletSharp.CollisionObject)nativeobj, internalResults);
if (stopAfterFirstContact && internalResults.Contacts.Count > 0)
{
break;
}
}
}
mySimulation.collisionWorld.RemoveCollisionObject(ghostObject);
return(overlapCount);
}
protected override void OnAttach()
{
BulletSharp.ConvexShape cshape = ColliderShape.InternalShape as BulletSharp.ConvexShape;
if (cshape == null)
{
throw new ArgumentException(Entity.Name + " needs a convex shape for its CharacterComponent!");
}
NativeCollisionObject = new BulletSharp.PairCachingGhostObject
{
CollisionShape = ColliderShape.InternalShape,
UserObject = this,
};
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CharacterObject;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
BulletSharp.Math.Vector3 unitY = new BulletSharp.Math.Vector3(0f, 1f, 0f);
KinematicCharacter = new BulletSharp.KinematicCharacterController((BulletSharp.PairCachingGhostObject)NativeCollisionObject, cshape, StepHeight, ref unitY);
base.OnAttach();
FallSpeed = fallSpeed;
MaxSlope = maxSlope;
JumpSpeed = jumpSpeed;
Gravity = gravity;
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
Simulation.AddCharacter(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
protected override void OnAttach()
{
NativeCollisionObject = new BulletSharp.PairCachingGhostObject
{
CollisionShape = ColliderShape.InternalShape,
UserObject = this
};
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CharacterObject;
if (ColliderShape.NeedsCustomCollisionCallback)
{
NativeCollisionObject.CollisionFlags |= BulletSharp.CollisionFlags.CustomMaterialCallback;
}
NativeCollisionObject.ContactProcessingThreshold = !Simulation.CanCcd ? 1e18f : 1e30f;
KinematicCharacter = new BulletSharp.KinematicCharacterController((BulletSharp.PairCachingGhostObject)NativeCollisionObject, (BulletSharp.ConvexShape)ColliderShape.InternalShape, StepHeight);
base.OnAttach();
FallSpeed = fallSpeed;
MaxSlope = maxSlope;
JumpSpeed = jumpSpeed;
Gravity = gravity;
UpdatePhysicsTransformation(); //this will set position and rotation of the collider
Simulation.AddCharacter(this, (CollisionFilterGroupFlags)CollisionGroup, CanCollideWith);
}
public void SetPhysics()
{
LogHelper.LogInfo("character physics setting");
#if _USE_BEPU_PHYSICS
mCharacterController = new BEPUphysics.Character.CharacterController(new BEPUutilities.Vector3(GetLocation().x, GetLocation().y, GetLocation().z), 1.0f, 1.0f * 0.7f, 1.0f * 0.3f, 0.5f, 0.001f, 10f, 0.8f, 1.3f
, 5.0f // standing speed
, 3f, 1.5f, 1000, 0f, 0f, 0f, 0f
);
World.Instance(WorldId).space.Add(mCharacterController);
#elif _USE_BULLET_SHARP
/*
* m_collisionShape = new BulletSharp.CapsuleShape(0.5f, 0.5f);
*
* m_collisionObject = new BulletSharp.PairCachingGhostObject();
* m_collisionObject.CollisionShape = m_collisionShape;
* m_collisionObject.CollisionFlags = BulletSharp.CollisionFlags.CharacterObject;
* mCharacterController = new BulletSharp.KinematicCharacterController(m_collisionObject, (BulletSharp.ConvexShape)m_collisionShape, 0.01f);
*
*
* BulletSharp.Math.Matrix worldTrans = new BulletSharp.Math.Matrix();
* worldTrans.M41 = 7f;
* worldTrans.M42 = 10f;
* worldTrans.M43 = 0;
* m_collisionObject.WorldTransform = worldTrans;
* m_collisionObject.UserObject = this;
*
* World.Instance(worldId).world.AddCollisionObject(m_collisionObject, BulletSharp.CollisionFilterGroups.DefaultFilter, BulletSharp.CollisionFilterGroups.Everything);
* World.Instance(worldId).world.AddAction(mCharacterController);
*/
//m_collisionObject = new BulletSharp.RigidBody(new BulletSharp.RigidBodyConstructionInfo(1f, new BulletSharp.DefaultMotionState(), new BulletSharp.CapsuleShape(0.5f, 0.5f), new BulletSharp.Math.Vector3(0, 1f, 0)));
//m_collisionObject.CollisionFlags = BulletSharp.CollisionFlags.StaticObject;
//BulletSharp.Math.Matrix worldTrans = new BulletSharp.Math.Matrix();
//worldTrans.M41 = 0f;
//worldTrans.M42 =1f;
//worldTrans.M43 = 0;
//m_collisionObject.WorldTransform = worldTrans;
//World.Instance(worldId).world.AddRigidBody((BulletSharp.RigidBody)m_collisionObject, BulletSharp.CollisionFilterGroups.DefaultFilter, BulletSharp.CollisionFilterGroups.Everything);
ghostObject = new BulletSharp.PairCachingGhostObject();
ghostObject.WorldTransform = BulletSharp.Math.Matrix.Translation(7f, 10f, 0f);
World.Instance(worldId).Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new BulletSharp.GhostPairCallback());
const float characterHeight = 0.5f;
const float characterWidth = 0.5f;
var capsule = new BulletSharp.CapsuleShape(characterWidth, characterHeight);
//capsule.Margin = 0f;
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = BulletSharp.CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
BulletSharp.Math.Vector3 up = new BulletSharp.Math.Vector3(Vector3.up.x, Vector3.up.y, Vector3.up.z);
character = new BulletSharp.KinematicCharacterController(ghostObject, capsule, stepHeight, ref up);
World.Instance(worldId).world.AddCollisionObject(ghostObject, BulletSharp.CollisionFilterGroups.CharacterFilter, BulletSharp.CollisionFilterGroups.StaticFilter | BulletSharp.CollisionFilterGroups.DefaultFilter);
World.Instance(worldId).world.AddAction(character);
#elif _USE_BEPU_PHYSICS_V2
var initialPosition = new System.Numerics.Vector3(7f, 10f, 0f);
float speculativeMargin = 0.1f;
float mass = 1;
float maximumHorizontalForce = 20;
float maximumVerticalGlueForce = 100;
float jumpVelocity = 6;
//float speed = 4;
float maximumSlope = (float)Math.PI * 0.4f;
var shape = new Capsule(0.5f, 1);
var shapeIndex = World.Instance(worldId).characters.Simulation.Shapes.Add(shape);
var bodyHandle = World.Instance(worldId).characters.Simulation.Bodies.Add(BodyDescription.CreateDynamic(initialPosition, new BodyInertia {
InverseMass = 1f / mass
}, new CollidableDescription(shapeIndex, speculativeMargin), new BodyActivityDescription(shape.Radius * 0.02f)));
character = World.Instance(worldId).characters.AllocateCharacter(bodyHandle);
character.LocalUp = new System.Numerics.Vector3(0, 1, 0);
character.CosMaximumSlope = (float)Math.Cos(maximumSlope);
character.JumpVelocity = jumpVelocity;
character.MaximumVerticalForce = maximumVerticalGlueForce;
character.MaximumHorizontalForce = maximumHorizontalForce;
character.MinimumSupportDepth = shape.Radius * -0.01f;
character.MinimumSupportContinuationDepth = -speculativeMargin;
body = World.Instance(worldId).characters.Simulation.Bodies.GetBodyReference(bodyHandle);
#endif
}
