private void CreateConeTwist()
{
RigidBody bodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), cubeShape);
//bodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), cubeShape);
bodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody bodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), cubeShape);
//bodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), cubeShape);
Matrix frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
Matrix frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
var coneTwist = new ConeTwistConstraint(bodyA, bodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
coneTwist.DebugDrawSize = 5;
World.AddConstraint(coneTwist, true);
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (constraintPtr != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveConstraint(constraintPtr);
}
}
if (IsValid())
{
if (constraintType == ConstraintType.constrainToAnotherBody)
{
constraintPtr = new ConeTwistConstraint((RigidBody)targetRigidBodyA.GetCollisionObject(), (RigidBody)targetRigidBodyB.GetCollisionObject(), frameInA.CreateBSMatrix(), frameInB.CreateBSMatrix());
}
else
{
constraintPtr = new ConeTwistConstraint((RigidBody)targetRigidBodyA.GetCollisionObject(), frameInA.CreateBSMatrix());
}
ConeTwistConstraint sl = (ConeTwistConstraint)constraintPtr;
sl.SetLimit(swingSpan1, swingSpan2, twistSpan, softness, biasFactor, relaxationFactor);
constraintPtr.Userobject = this;
return(true);
}
return(false);
}
//ConeTwistConstraint
public IConeTwistConstraintImp AddConeTwistConstraint(IRigidBodyImp rigidBodyA, float4x4 rbAFrame)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(rbAFrame);
var btCTConstraint = new ConeTwistConstraint(btRigidBodyA, btRbAFrame);
BtWorld.AddConstraint(btCTConstraint);
var retval = new ConeTwistConstraintImp();
retval._cti = btCTConstraint;
btCTConstraint.UserObject = retval;
return(retval);
}
protected override void OnInitializePhysics()
{
SetupEmptyDynamicsWorld();
CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShape groundShape = new StaticPlaneShape(Vector3.UnitY, 40);
CollisionShapes.Add(groundShape);
RigidBody body = LocalCreateRigidBody(0, Matrix.Translation(0, -16, 0), groundShape);
body.UserObject = "Ground";
CollisionShape shape = new BoxShape(new Vector3(CubeHalfExtents));
CollisionShapes.Add(shape);
const float THETA = (float)Math.PI / 4.0f;
float L_1 = 2 - (float)Math.Tan(THETA);
float L_2 = 1 / (float)Math.Cos(THETA);
float RATIO = L_2 / L_1;
RigidBody bodyA;
RigidBody bodyB;
CollisionShape cylA = new CylinderShape(0.2f, 0.25f, 0.2f);
CollisionShape cylB = new CylinderShape(L_1, 0.025f, L_1);
CompoundShape cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
float mass = 6.28f;
Vector3 localInertia;
cyl0.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
ci.StartWorldTransform = Matrix.Translation(-8, 1, -8);
body = new RigidBody(ci); //1,0,cyl0,localInertia);
World.AddRigidBody(body);
body.LinearFactor = Vector3.Zero;
body.AngularFactor = new Vector3(0, 1, 0);
bodyA = body;
cylA = new CylinderShape(0.2f, 0.26f, 0.2f);
cylB = new CylinderShape(L_2, 0.025f, L_2);
cyl0 = new CompoundShape();
cyl0.AddChildShape(Matrix.Identity, cylA);
cyl0.AddChildShape(Matrix.Identity, cylB);
mass = 6.28f;
cyl0.CalculateLocalInertia(mass, out localInertia);
ci = new RigidBodyConstructionInfo(mass, null, cyl0, localInertia);
Quaternion orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
ci.StartWorldTransform = Matrix.RotationQuaternion(orn) * Matrix.Translation(-10, 2, -8);
body = new RigidBody(ci);//1,0,cyl0,localInertia);
body.LinearFactor = Vector3.Zero;
HingeConstraint hinge = new HingeConstraint(body, Vector3.Zero, new Vector3(0, 1, 0), true);
World.AddConstraint(hinge);
bodyB = body;
body.AngularVelocity = new Vector3(0, 3, 0);
World.AddRigidBody(body);
Vector3 axisA = new Vector3(0, 1, 0);
Vector3 axisB = new Vector3(0, 1, 0);
orn = Quaternion.RotationAxis(new Vector3(0, 0, 1), -THETA);
Matrix mat = Matrix.RotationQuaternion(orn);
axisB = new Vector3(mat.M21, mat.M22, mat.M23);
GearConstraint gear = new GearConstraint(bodyA, bodyB, axisA, axisB, RATIO);
World.AddConstraint(gear, true);
mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), shape);
RigidBody body1 = null;//LocalCreateRigidBody(mass, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), shape);
//RigidBody body1 = LocalCreateRigidBody(0, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), null);
//body1.ActivationState = ActivationState.DisableDeactivation;
//body1.SetDamping(0.3f, 0.3f);
Vector3 pivotInA = new Vector3(CubeHalfExtents, -CubeHalfExtents, -CubeHalfExtents);
Vector3 axisInA = new Vector3(0, 0, 1);
Vector3 pivotInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
}
else
{
pivotInB = pivotInA;
}
Vector3 axisInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
axisInB = Vector3.TransformCoordinate(axisInA, transform);
}
else
{
axisInB = Vector3.TransformCoordinate(axisInA, body0.CenterOfMassTransform);
}
#if P2P
{
TypedConstraint p2p = new Point2PointConstraint(body0, pivotInA);
//TypedConstraint p2p = new Point2PointConstraint(body0, body1, pivotInA, pivotInB);
//TypedConstraint hinge = new HingeConstraint(body0, body1, pivotInA, pivotInB, axisInA, axisInB);
World.AddConstraint(p2p);
p2p.DebugDrawSize = 5;
}
#else
{
hinge = new HingeConstraint(body0, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
const float targetVelocity = 1.0f;
const float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
World.AddConstraint(hinge);
hinge.DebugDrawSize = 5;
}
#endif
RigidBody pRbA1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbA1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbA1.ActivationState = ActivationState.DisableDeactivation;
// add dynamic rigid body B1
RigidBody pRbB1 = LocalCreateRigidBody(mass, Matrix.Translation(-20, 0, 30), shape);
//RigidBody pRbB1 = LocalCreateRigidBody(0.0f, Matrix.Translation(-20, 0, 30), shape);
pRbB1.ActivationState = ActivationState.DisableDeactivation;
// create slider constraint between A1 and B1 and add it to world
SliderConstraint spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, true);
//spSlider1 = new SliderConstraint(pRbA1, pRbB1, Matrix.Identity, Matrix.Identity, false);
spSlider1.LowerLinearLimit = -15.0f;
spSlider1.UpperLinearLimit = -5.0f;
spSlider1.LowerLinearLimit = 5.0f;
spSlider1.UpperLinearLimit = 15.0f;
spSlider1.LowerLinearLimit = -10.0f;
spSlider1.UpperLinearLimit = -10.0f;
spSlider1.LowerAngularLimit = -(float)Math.PI / 3.0f;
spSlider1.UpperAngularLimit = (float)Math.PI / 3.0f;
World.AddConstraint(spSlider1, true);
spSlider1.DebugDrawSize = 5.0f;
//create a slider, using the generic D6 constraint
Vector3 sliderWorldPos = new Vector3(0, 10, 0);
Vector3 sliderAxis = Vector3.UnitX;
const float angle = 0; //SIMD_RADS_PER_DEG * 10.f;
Matrix trans = Matrix.RotationAxis(sliderAxis, angle) * Matrix.Translation(sliderWorldPos);
d6body0 = LocalCreateRigidBody(mass, trans, shape);
d6body0.ActivationState = ActivationState.DisableDeactivation;
RigidBody fixedBody1 = LocalCreateRigidBody(0, trans, null);
World.AddRigidBody(fixedBody1);
Matrix frameInA = Matrix.Translation(0, 5, 0);
Matrix frameInB = Matrix.Translation(0, 5, 0);
//bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
const bool useLinearReferenceFrameA = true; //use fixed frame A for linear llimits
spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0, frameInA, frameInB, useLinearReferenceFrameA)
{
LinearLowerLimit = lowerSliderLimit,
LinearUpperLimit = hiSliderLimit,
//range should be small, otherwise singularities will 'explode' the constraint
//AngularLowerLimit = new Vector3(-1.5f,0,0),
//AngularUpperLimit = new Vector3(1.5f,0,0),
//AngularLowerLimit = new Vector3(0,0,0),
//AngularUpperLimit = new Vector3(0,0,0),
AngularLowerLimit = new Vector3((float)-Math.PI, 0, 0),
AngularUpperLimit = new Vector3(1.5f, 0, 0)
};
//spSlider6Dof.TranslationalLimitMotor.EnableMotor[0] = true;
spSlider6Dof.TranslationalLimitMotor.TargetVelocity = new Vector3(-5.0f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
World.AddConstraint(spSlider6Dof);
spSlider6Dof.DebugDrawSize = 5;
// create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(pDoorShape);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, Matrix.Translation(-5.0f, -2.0f, 0.0f), pDoorShape);
pDoorBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 btPivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
Vector3 btAxisA = Vector3.UnitY; // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, btPivotA, btAxisA);
//spDoorHinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//spDoorHinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//spDoorHinge.SetLimit(1, -1);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//spDoorHinge.SetLimit(0, 0);
World.AddConstraint(spDoorHinge);
spDoorHinge.DebugDrawSize = 5;
RigidBody pDropBody = LocalCreateRigidBody(10.0f, Matrix.Translation(-5.0f, 2.0f, 0.0f), shape);
// create a generic 6DOF constraint
//RigidBody pBodyA = LocalCreateRigidBody(mass, Matrix.Translation(10.0f, 6.0f, 0), shape);
RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), shape);
//RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), null);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody pBodyB = LocalCreateRigidBody(mass, Matrix.Translation(0, 6, 0), shape);
//RigidBody pBodyB = LocalCreateRigidBody(0, Matrix.Translation(0, 6, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(-5, 0, 0);
frameInB = Matrix.Translation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
//Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, false);
pGen6DOF.LinearLowerLimit = new Vector3(-10, -2, -1);
pGen6DOF.LinearUpperLimit = new Vector3(10, 2, 1);
//pGen6DOF.LinearLowerLimit = new Vector3(-10, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(10, 0, 0);
//pGen6DOF.LinearLowerLimit = new Vector3(0, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(0, 0, 0);
//pGen6DOF.TranslationalLimitMotor.EnableMotor[0] = true;
//pGen6DOF.TranslationalLimitMotor.TargetVelocity = new Vector3(5, 0, 0);
//pGen6DOF.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, (float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, -(float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, 0, -(float)Math.PI);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0, (float)Math.PI);
pGen6DOF.AngularLowerLimit = new Vector3(-(float)Math.PI / 4, -0.75f, -(float)Math.PI * 0.4f);
pGen6DOF.AngularUpperLimit = new Vector3((float)Math.PI / 4, 0.75f, (float)Math.PI * 0.4f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.75f, (float)Math.PI * 0.8f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.75f, -(float)Math.PI * 0.8f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -(float)Math.PI * 0.8f, (float)Math.PI * 1.98f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, (float)Math.PI * 0.8f, -(float)Math.PI * 1.98f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, -0.5f, -0.5f);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0.5f, 0.5f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.7f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.7f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(-1, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(1, 0, 0);
// create a ConeTwist constraint
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), shape);
//pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), shape);
//pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), shape);
frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
coneTwist = new ConeTwistConstraint(pBodyA, pBodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
World.AddConstraint(coneTwist, true);
coneTwist.DebugDrawSize = 5;
// Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
RigidBody pBody = LocalCreateRigidBody(1.0f, Matrix.Identity, shape);
pBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 pivotA = new Vector3(10.0f, 0.0f, 0.0f);
btAxisA = new Vector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, pivotA, btAxisA);
//pHinge.EnableAngularMotor(true, -1.0f, 0.165f); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
World.AddConstraint(pHinge);
pHinge.DebugDrawSize = 5;
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some (arbitrary) data to build constraint frames
Vector3 parentAxis = new Vector3(1, 0, 0);
Vector3 childAxis = new Vector3(0, 0, 1);
Vector3 anchor = new Vector3(20, 2, 0);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pUniv.SetLowerLimit(-(float)Math.PI / 4, -(float)Math.PI / 4);
pUniv.SetUpperLimit((float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.DebugDrawSize = 5;
World.AddConstraint(pGen6DOF, true);
pGen6DOF.DebugDrawSize = 5;
// create a generic 6DOF constraint with springs
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(10, 0, 0);
frameInB = Matrix.Identity;
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, frameInA, frameInB, true)
{
LinearUpperLimit = new Vector3(5, 0, 0),
LinearLowerLimit = new Vector3(-5, 0, 0),
AngularLowerLimit = new Vector3(0, 0, -1.5f),
AngularUpperLimit = new Vector3(0, 0, 1.5f),
DebugDrawSize = 5
};
World.AddConstraint(pGen6DOFSpring, true);
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();
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
parentAxis = new Vector3(0, 1, 0);
childAxis = new Vector3(1, 0, 0);
anchor = new Vector3(-20, 0, 0);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pHinge2.SetLowerLimit(-(float)Math.PI / 4);
pHinge2.SetUpperLimit((float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.DebugDrawSize = 5;
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB:
pBodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
axisA = new Vector3(0, 1, 0);
axisB = new Vector3(0, 1, 0);
Vector3 pivotA2 = new Vector3(-5, 0, 0);
Vector3 pivotB = new Vector3(5, 0, 0);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, pivotA2, pivotB, axisA, axisB);
spHingeDynAB.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.DebugDrawSize = 5;
}
public Ragdoll(DynamicsWorld ownerWorld, Vector3 positionOffset)
{
this.ownerWorld = ownerWorld;
// Setup the geometry
shapes[(int)BodyPart.Pelvis] = new CapsuleShape(0.15f, 0.20f);
shapes[(int)BodyPart.Spine] = new CapsuleShape(0.15f, 0.28f);
shapes[(int)BodyPart.Head] = new CapsuleShape(0.10f, 0.05f);
shapes[(int)BodyPart.LeftUpperLeg] = new CapsuleShape(0.07f, 0.45f);
shapes[(int)BodyPart.LeftLowerLeg] = new CapsuleShape(0.05f, 0.37f);
shapes[(int)BodyPart.RightUpperLeg] = new CapsuleShape(0.07f, 0.45f);
shapes[(int)BodyPart.RightLowerLeg] = new CapsuleShape(0.05f, 0.37f);
shapes[(int)BodyPart.LeftUpperArm] = new CapsuleShape(0.05f, 0.33f);
shapes[(int)BodyPart.LeftLowerArm] = new CapsuleShape(0.04f, 0.25f);
shapes[(int)BodyPart.RightUpperArm] = new CapsuleShape(0.05f, 0.33f);
shapes[(int)BodyPart.RightLowerArm] = new CapsuleShape(0.04f, 0.25f);
Matrix offset = Matrix.Translation(positionOffset);
Matrix transform;
transform = offset * Matrix.Translation(0, 1, 0);
bodies[(int)BodyPart.Pelvis] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.Pelvis]);
transform = offset * Matrix.Translation(0, 1.2f, 0);
bodies[(int)BodyPart.Spine] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.Spine]);
transform = offset * Matrix.Translation(0, 1.6f, 0);
bodies[(int)BodyPart.Head] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.Head]);
transform = offset * Matrix.Translation(-0.18f, 0.6f, 0);
bodies[(int)BodyPart.LeftUpperLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftUpperLeg]);
transform = offset * Matrix.Translation(-0.18f, 0.2f, 0);
bodies[(int)BodyPart.LeftLowerLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftLowerLeg]);
transform = offset * Matrix.Translation(0.18f, 0.65f, 0);
bodies[(int)BodyPart.RightUpperLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightUpperLeg]);
transform = offset * Matrix.Translation(0.18f, 0.2f, 0);
bodies[(int)BodyPart.RightLowerLeg] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightLowerLeg]);
transform = Matrix.RotationX((float)Math.PI / 2) * offset * Matrix.Translation(-0.35f, 1.45f, 0);
bodies[(int)BodyPart.LeftUpperArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftUpperArm]);
transform = Matrix.RotationY((float)Math.PI / 2) * offset * Matrix.Translation(-0.7f, 1.45f, 0);
bodies[(int)BodyPart.LeftLowerArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.LeftLowerArm]);
transform = Matrix.RotationY(-(float)Math.PI / 2) * offset * Matrix.Translation(0.35f, 1.45f, 0);
bodies[(int)BodyPart.RightUpperArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightUpperArm]);
transform = Matrix.RotationY(-(float)Math.PI / 2) * offset * Matrix.Translation(0.7f, 1.45f, 0);
bodies[(int)BodyPart.RightLowerArm] = LocalCreateRigidBody(1, transform, shapes[(int)BodyPart.RightLowerArm]);
// Setup some damping on the m_bodies
foreach (RigidBody body in bodies)
{
body.SetDamping(0.05f, 0.85f);
body.DeactivationTime = 0.8f;
body.SetSleepingThresholds(1.6f, 2.5f);
}
// Now setup the constraints
HingeConstraint hingeC;
ConeTwistConstraint coneC;
Matrix localA, localB;
localA = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, -0.15f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.Pelvis], bodies[(int)BodyPart.Spine], localA, localB);
hingeC.SetLimit(-(float)Math.PI / 4, -(float)Math.PI / 2);
joints[(int)Joint.PelvisSpine] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.PelvisSpine], true);
localA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2) * Matrix.Translation(0, 0.30f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2) * Matrix.Translation(0, -0.14f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Spine], bodies[(int)BodyPart.Head], localA, localB);
coneC.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI / 2);
joints[(int)Joint.SpineHead] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.SpineHead], true);
localA = Matrix.RotationYawPitchRoll(0, 0, -5 * (float)Math.PI / 4) * Matrix.Translation(-0.18f, -0.18f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, -5 * (float)Math.PI / 4) * Matrix.Translation(0, 0.225f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Pelvis], bodies[(int)BodyPart.LeftUpperLeg], localA, localB);
coneC.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, 0);
joints[(int)Joint.LeftHip] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftHip], true);
localA = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, -0.225f, 0);
localB = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, 0.185f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.LeftUpperLeg], bodies[(int)BodyPart.LeftLowerLeg], localA, localB);
hingeC.SetLimit(0, (float)Math.PI / 2);
joints[(int)Joint.LeftKnee] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftKnee], true);
localA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 4) * Matrix.Translation(0.18f, -0.10f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 4) * Matrix.Translation(0, 0.225f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Pelvis], bodies[(int)BodyPart.RightUpperLeg], localA, localB);
coneC.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, 0);
joints[(int)Joint.RightHip] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightHip], true);
localA = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, -0.225f, 0);
localB = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, 0.185f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.RightUpperLeg], bodies[(int)BodyPart.RightLowerLeg], localA, localB);
hingeC.SetLimit(0, (float)Math.PI / 2);
joints[(int)Joint.RightKnee] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightKnee], true);
localA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI) * Matrix.Translation(-0.2f, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2) * Matrix.Translation(0, -0.18f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Spine], bodies[(int)BodyPart.LeftUpperArm], localA, localB);
coneC.SetLimit((float)Math.PI / 2, (float)Math.PI / 2, 0);
joints[(int)Joint.LeftShoulder] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftShoulder], true);
localA = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, 0.18f, 0);
localB = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, -0.14f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.LeftUpperArm], bodies[(int)BodyPart.LeftLowerArm], localA, localB);
hingeC.SetLimit(0, (float)Math.PI / 2);
joints[(int)Joint.LeftElbow] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.LeftElbow], true);
localA = Matrix.RotationYawPitchRoll(0, 0, 0) * Matrix.Translation(0.2f, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2) * Matrix.Translation(0, -0.18f, 0);
coneC = new ConeTwistConstraint(bodies[(int)BodyPart.Spine], bodies[(int)BodyPart.RightUpperArm], localA, localB);
coneC.SetLimit((float)Math.PI / 2, (float)Math.PI / 2, 0);
joints[(int)Joint.RightShoulder] = coneC;
coneC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightShoulder], true);
localA = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, 0.18f, 0);
localB = Matrix.RotationYawPitchRoll(0, (float)Math.PI / 2, 0) * Matrix.Translation(0, -0.14f, 0);
hingeC = new HingeConstraint(bodies[(int)BodyPart.RightUpperArm], bodies[(int)BodyPart.RightLowerArm], localA, localB);
//hingeC.SetLimit(-(float)Math.PI / 2, 0);
hingeC.SetLimit(0, (float)Math.PI / 2);
joints[(int)Joint.RightElbow] = hingeC;
hingeC.DebugDrawSize = ConstraintDebugSize;
ownerWorld.AddConstraint(joints[(int)Joint.RightElbow], true);
}
public IConeTwistConstraintImp AddConeTwistConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 rbAFrame,float4x4 rbBFrame)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(rbAFrame);
var btRbBFrame = Translater.Float4X4ToBtMatrix(rbBFrame);
var btCTConstraint = new ConeTwistConstraint(btRigidBodyA, btRigidBodyB, btRbAFrame, btRbBFrame);
BtWorld.AddConstraint(btCTConstraint);
var retval = new ConeTwistConstraintImp();
retval._cti = btCTConstraint;
btCTConstraint.UserObject = retval;
return retval;
}
private void SetupConstraints()
{
HingeConstraint hinge;
ConeTwistConstraint cone;
Matrix localA, localB;
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.15f, 0);
hinge = new HingeConstraint(_bodies[(int)BodyPart.Pelvis], _bodies[(int)BodyPart.Spine], localA, localB);
hinge.SetLimit(-PI_4, PI_2);
_joints[(int)Joint.PelvisSpine] = hinge;
hinge.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.PelvisSpine], true);
localA = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, 0.30f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, -0.14f, 0);
cone = new ConeTwistConstraint(_bodies[(int)BodyPart.Spine], _bodies[(int)BodyPart.Head], localA, localB);
cone.SetLimit(PI_4, PI_4, PI_2);
_joints[(int)Joint.SpineHead] = cone;
cone.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.SpineHead], true);
localA = Matrix.RotationYawPitchRoll(0, 0, -PI_4 * 5) * Matrix.Translation(-0.18f, -0.18f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, -PI_4 * 5) * Matrix.Translation(0, 0.225f, 0);
cone = new ConeTwistConstraint(_bodies[(int)BodyPart.Pelvis], _bodies[(int)BodyPart.LeftUpperLeg], localA, localB);
cone.SetLimit(PI_4, PI_4, 0);
_joints[(int)Joint.LeftHip] = cone;
cone.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.LeftHip], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.225f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.185f, 0);
hinge = new HingeConstraint(_bodies[(int)BodyPart.LeftUpperLeg], _bodies[(int)BodyPart.LeftLowerLeg], localA, localB);
hinge.SetLimit(0, PI_2);
_joints[(int)Joint.LeftKnee] = hinge;
hinge.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.LeftKnee], true);
localA = Matrix.RotationYawPitchRoll(0, 0, PI_4) * Matrix.Translation(0.18f, -0.10f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_4) * Matrix.Translation(0, 0.225f, 0);
cone = new ConeTwistConstraint(_bodies[(int)BodyPart.Pelvis], _bodies[(int)BodyPart.RightUpperLeg], localA, localB);
cone.SetLimit(PI_4, PI_4, 0);
_joints[(int)Joint.RightHip] = cone;
cone.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.RightHip], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.225f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.185f, 0);
hinge = new HingeConstraint(_bodies[(int)BodyPart.RightUpperLeg], _bodies[(int)BodyPart.RightLowerLeg], localA, localB);
hinge.SetLimit(0, PI_2);
_joints[(int)Joint.RightKnee] = hinge;
hinge.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.RightKnee], true);
localA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI) * Matrix.Translation(-0.2f, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, -0.18f, 0);
cone = new ConeTwistConstraint(_bodies[(int)BodyPart.Spine], _bodies[(int)BodyPart.LeftUpperArm], localA, localB);
cone.SetLimit(PI_2, PI_2, 0);
_joints[(int)Joint.LeftShoulder] = cone;
cone.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.LeftShoulder], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.18f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.14f, 0);
hinge = new HingeConstraint(_bodies[(int)BodyPart.LeftUpperArm], _bodies[(int)BodyPart.LeftLowerArm], localA, localB);
hinge.SetLimit(0, PI_2);
_joints[(int)Joint.LeftElbow] = hinge;
hinge.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.LeftElbow], true);
localA = Matrix.RotationYawPitchRoll(0, 0, 0) * Matrix.Translation(0.2f, 0.15f, 0);
localB = Matrix.RotationYawPitchRoll(0, 0, PI_2) * Matrix.Translation(0, -0.18f, 0);
cone = new ConeTwistConstraint(_bodies[(int)BodyPart.Spine], _bodies[(int)BodyPart.RightUpperArm], localA, localB);
cone.SetLimit(PI_2, PI_2, 0);
_joints[(int)Joint.RightShoulder] = cone;
cone.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.RightShoulder], true);
localA = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, 0.18f, 0);
localB = Matrix.RotationYawPitchRoll(PI_2, 0, 0) * Matrix.Translation(0, -0.14f, 0);
hinge = new HingeConstraint(_bodies[(int)BodyPart.RightUpperArm], _bodies[(int)BodyPart.RightLowerArm], localA, localB);
//hinge.SetLimit(-PI_2, 0);
hinge.SetLimit(0, PI_2);
_joints[(int)Joint.RightElbow] = hinge;
hinge.DebugDrawSize = ConstraintDebugSize;
_world.AddConstraint(_joints[(int)Joint.RightElbow], true);
}
public static void DebugDrawConstraint(TypedConstraint constraint, IDebugDraw debugDraw)
{
bool drawFrames = (debugDraw.GetDebugMode() & DebugDrawModes.DBG_DrawConstraints) != 0;
bool drawLimits = (debugDraw.GetDebugMode() & DebugDrawModes.DBG_DrawConstraintLimits) != 0;
float dbgDrawSize = constraint.GetDbgDrawSize();
if (dbgDrawSize <= 0f)
{
return;
}
switch (constraint.GetConstraintType())
{
case TypedConstraintType.POINT2POINT_CONSTRAINT_TYPE:
{
Point2PointConstraint p2pC = constraint as Point2PointConstraint;
IndexedMatrix tr = IndexedMatrix.Identity;
IndexedVector3 pivot = p2pC.GetPivotInA();
pivot = p2pC.GetRigidBodyA().GetCenterOfMassTransform() * pivot;
tr._origin = pivot;
debugDraw.DrawTransform(ref tr, dbgDrawSize);
// that ideally should draw the same frame
pivot = p2pC.GetPivotInB();
pivot = p2pC.GetRigidBodyB().GetCenterOfMassTransform() * pivot;
tr._origin = pivot;
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
}
break;
case TypedConstraintType.HINGE_CONSTRAINT_TYPE:
{
HingeConstraint pHinge = constraint as HingeConstraint;
IndexedMatrix tr = pHinge.GetRigidBodyA().GetCenterOfMassTransform() * pHinge.GetAFrame();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
tr = pHinge.GetRigidBodyB().GetCenterOfMassTransform() * pHinge.GetBFrame();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
float minAng = pHinge.GetLowerLimit();
float maxAng = pHinge.GetUpperLimit();
if (minAng == maxAng)
{
break;
}
bool drawSect = true;
if (minAng > maxAng)
{
minAng = 0f;
maxAng = MathUtil.SIMD_2_PI;
drawSect = false;
}
if (drawLimits)
{
IndexedVector3 center = tr._origin;
IndexedVector3 normal = tr._basis.GetColumn(2);
IndexedVector3 axis = tr._basis.GetColumn(0);
IndexedVector3 zero = IndexedVector3.Zero;
debugDraw.DrawArc(ref center, ref normal, ref axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, ref zero, drawSect);
}
}
break;
case TypedConstraintType.CONETWIST_CONSTRAINT_TYPE:
{
ConeTwistConstraint pCT = constraint as ConeTwistConstraint;
IndexedMatrix tr = pCT.GetRigidBodyA().GetCenterOfMassTransform() * pCT.GetAFrame();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
tr = pCT.GetRigidBodyB().GetCenterOfMassTransform() * pCT.GetBFrame();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
IndexedVector3 zero = IndexedVector3.Zero;
if (drawLimits)
{
//const float length = float(5);
float length = dbgDrawSize;
const int nSegments = 8 * 4;
float fAngleInRadians = MathUtil.SIMD_2_PI * (float)(nSegments - 1) / (float)nSegments;
IndexedVector3 pPrev = pCT.GetPointForAngle(fAngleInRadians, length);
pPrev = tr * pPrev;
for (int i = 0; i < nSegments; i++)
{
fAngleInRadians = MathUtil.SIMD_2_PI * (float)i / (float)nSegments;
IndexedVector3 pCur = pCT.GetPointForAngle(fAngleInRadians, length);
pCur = tr * pCur;
debugDraw.DrawLine(ref pPrev, ref pCur, ref zero);
if (i % (nSegments / 8) == 0)
{
IndexedVector3 origin = tr._origin;
debugDraw.DrawLine(ref origin, ref pCur, ref zero);
}
pPrev = pCur;
}
float tws = pCT.GetTwistSpan();
float twa = pCT.GetTwistAngle();
bool useFrameB = (pCT.GetRigidBodyB().GetInvMass() > 0f);
if (useFrameB)
{
tr = pCT.GetRigidBodyB().GetCenterOfMassTransform() * pCT.GetBFrame();
}
else
{
tr = pCT.GetRigidBodyA().GetCenterOfMassTransform() * pCT.GetAFrame();
}
IndexedVector3 pivot = tr._origin;
IndexedVector3 normal = tr._basis.GetColumn(0);
IndexedVector3 axis = tr._basis.GetColumn(1);
debugDraw.DrawArc(ref pivot, ref normal, ref axis, dbgDrawSize, dbgDrawSize, -twa - tws, -twa + tws, ref zero, true);
}
}
break;
case TypedConstraintType.D6_CONSTRAINT_TYPE:
case TypedConstraintType.D6_SPRING_CONSTRAINT_TYPE:
{
Generic6DofConstraint p6DOF = constraint as Generic6DofConstraint;
IndexedMatrix tr = p6DOF.GetCalculatedTransformA();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
tr = p6DOF.GetCalculatedTransformB();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
IndexedVector3 zero = IndexedVector3.Zero;
if (drawLimits)
{
tr = p6DOF.GetCalculatedTransformA();
IndexedVector3 center = p6DOF.GetCalculatedTransformB()._origin;
// up is axis 1 not 2 ?
IndexedVector3 up = tr._basis.GetColumn(1);
IndexedVector3 axis = tr._basis.GetColumn(0);
float minTh = p6DOF.GetRotationalLimitMotor(1).m_loLimit;
float maxTh = p6DOF.GetRotationalLimitMotor(1).m_hiLimit;
float minPs = p6DOF.GetRotationalLimitMotor(2).m_loLimit;
float maxPs = p6DOF.GetRotationalLimitMotor(2).m_hiLimit;
debugDraw.DrawSpherePatch(ref center, ref up, ref axis, dbgDrawSize * .9f, minTh, maxTh, minPs, maxPs, ref zero);
axis = tr._basis.GetColumn(1);
float ay = p6DOF.GetAngle(1);
float az = p6DOF.GetAngle(2);
float cy = (float)Math.Cos(ay);
float sy = (float)Math.Sin(ay);
float cz = (float)Math.Cos(az);
float sz = (float)Math.Sin(az);
IndexedVector3 ref1 = new IndexedVector3(
cy * cz * axis.X + cy * sz * axis.Y - sy * axis.Z,
-sz * axis.X + cz * axis.Y,
cz * sy * axis.X + sz * sy * axis.Y + cy * axis.Z);
tr = p6DOF.GetCalculatedTransformB();
IndexedVector3 normal = -tr._basis.GetColumn(0);
float minFi = p6DOF.GetRotationalLimitMotor(0).m_loLimit;
float maxFi = p6DOF.GetRotationalLimitMotor(0).m_hiLimit;
if (minFi > maxFi)
{
debugDraw.DrawArc(ref center, ref normal, ref ref1, dbgDrawSize, dbgDrawSize, -MathUtil.SIMD_PI, MathUtil.SIMD_PI, ref zero, false);
}
else if (minFi < maxFi)
{
debugDraw.DrawArc(ref center, ref normal, ref ref1, dbgDrawSize, dbgDrawSize, minFi, maxFi, ref zero, false);
}
tr = p6DOF.GetCalculatedTransformA();
IndexedVector3 bbMin = p6DOF.GetTranslationalLimitMotor().m_lowerLimit;
IndexedVector3 bbMax = p6DOF.GetTranslationalLimitMotor().m_upperLimit;
debugDraw.DrawBox(ref bbMin, ref bbMax, ref tr, ref zero);
}
}
break;
case TypedConstraintType.SLIDER_CONSTRAINT_TYPE:
{
SliderConstraint pSlider = constraint as SliderConstraint;
IndexedMatrix tr = pSlider.GetCalculatedTransformA();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
tr = pSlider.GetCalculatedTransformB();
if (drawFrames)
{
debugDraw.DrawTransform(ref tr, dbgDrawSize);
}
IndexedVector3 zero = IndexedVector3.Zero;
if (drawLimits)
{
IndexedMatrix tr2 = pSlider.GetCalculatedTransformA();
IndexedVector3 li_min = tr2 * new IndexedVector3(pSlider.GetLowerLinLimit(), 0f, 0f);
IndexedVector3 li_max = tr2 * new IndexedVector3(pSlider.GetUpperLinLimit(), 0f, 0f);
debugDraw.DrawLine(ref li_min, ref li_max, ref zero);
IndexedVector3 normal = tr._basis.GetColumn(0);
IndexedVector3 axis = tr._basis.GetColumn(1);
float a_min = pSlider.GetLowerAngLimit();
float a_max = pSlider.GetUpperAngLimit();
IndexedVector3 center = pSlider.GetCalculatedTransformB()._origin;
debugDraw.DrawArc(ref center, ref normal, ref axis, dbgDrawSize, dbgDrawSize, a_min, a_max, ref zero, true);
}
}
break;
default:
break;
}
return;
}
//called by Physics World just before constraint is added to world.
//the current constraint properties are used to rebuild the constraint.
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
return(false);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("ConeTwistConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body was not set");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
BM.Matrix frameInA, frameInOther;
string errormsg = "";
if (CreateFramesA_B(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, out frameInA, out frameInOther, ref errormsg))
{
m_constraintPtr = new ConeTwistConstraint((RigidBody)m_otherRigidBody.GetCollisionObject(), (RigidBody)targetRigidBodyA.GetCollisionObject(), frameInOther, frameInA);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
else
{
//TODO this is broken
string errormsg = "";
BM.Matrix frameInB = BM.Matrix.Identity;
if (CreateFrame(m_localConstraintAxisX, m_localConstraintAxisY, m_localConstraintPoint, ref frameInB, ref errormsg))
{
m_constraintPtr = new ConeTwistConstraint((RigidBody)targetRigidBodyA.GetCollisionObject(), frameInB);
}
else
{
Debug.LogError(errormsg);
return(false);
}
}
ConeTwistConstraint sl = (ConeTwistConstraint)m_constraintPtr;
sl.SetLimit(m_swingSpan1Radians, m_swingSpan2Radians, m_twistSpanRadians, m_softness, m_biasFactor, m_relaxationFactor);
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
return(true);
}
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()
{
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 (ball socket)
//SEEMS OK
{
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;
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
#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(Quaternion.CreateFromAxisAngle(sliderAxis.ToVector3(), 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.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, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 1.0f, 0.3f, 1.0f); // 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
}
public Physics()
{
SetupEmptyDynamicsWorld();
CollisionShape groundShape = new BoxShape(50, 1, 50);
//CollisionShape groundShape = new StaticPlaneShape(Vector3.UnitY, 40);
CollisionShapes.Add(groundShape);
RigidBody body = LocalCreateRigidBody(0, Matrix.Translation(0, -16, 0), groundShape);
body.UserObject = "Ground";
CollisionShape shape = new BoxShape(new Vector3(CubeHalfExtents));
CollisionShapes.Add(shape);
float mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), shape);
RigidBody body1 = null;//LocalCreateRigidBody(mass, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), shape);
//RigidBody body1 = LocalCreateRigidBody(0, Matrix.Translation(2*CUBE_HALF_EXTENTS,20,0), null);
//body1.ActivationState = ActivationState.DisableDeactivation;
//body1.SetDamping(0.3f, 0.3f);
Vector3 pivotInA = new Vector3(CubeHalfExtents, -CubeHalfExtents, -CubeHalfExtents);
Vector3 axisInA = new Vector3(0, 0, 1);
Vector3 pivotInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
}
else
{
pivotInB = pivotInA;
}
Vector3 axisInB;
if (body1 != null)
{
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
axisInB = Vector3.TransformCoordinate(axisInA, transform);
}
else
{
axisInB = Vector3.TransformCoordinate(axisInA, body0.CenterOfMassTransform);
}
if (P2P)
{
TypedConstraint p2p = new Point2PointConstraint(body0, pivotInA);
//TypedConstraint p2p = new Point2PointConstraint(body0,body1,pivotInA,pivotInB);
//TypedConstraint hinge = new HingeConstraint(body0,body1,pivotInA,pivotInB,axisInA,axisInB);
World.AddConstraint(p2p);
p2p.DebugDrawSize = 5;
}
else
{
HingeConstraint hinge = new HingeConstraint(body0, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//float targetVelocity = 0.f;
//float maxMotorImpulse = 0.01;
float targetVelocity = 1.0f;
float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
World.AddConstraint(hinge);
hinge.DebugDrawSize = 5;
}
//create a slider, using the generic D6 constraint
Vector3 sliderWorldPos = new Vector3(0, 10, 0);
Vector3 sliderAxis = Vector3.UnitX;
float angle = 0;//SIMD_RADS_PER_DEG * 10.f;
Matrix trans = Matrix.RotationAxis(sliderAxis, angle) * Matrix.Translation(sliderWorldPos);
d6body0 = LocalCreateRigidBody(mass, trans, shape);
d6body0.ActivationState = ActivationState.DisableDeactivation;
RigidBody fixedBody1 = LocalCreateRigidBody(0, trans, null);
World.AddRigidBody(fixedBody1);
Matrix frameInA = Matrix.Translation(0, 5, 0);
Matrix frameInB = Matrix.Translation(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, frameInA, frameInB, useLinearReferenceFrameA);
spSlider6Dof.LinearLowerLimit = lowerSliderLimit;
spSlider6Dof.LinearUpperLimit = hiSliderLimit;
//range should be small, otherwise singularities will 'explode' the constraint
//spSlider6Dof.AngularLowerLimit = new Vector3(-1.5f,0,0);
//spSlider6Dof.AngularUpperLimit = new Vector3(1.5f,0,0);
//spSlider6Dof.AngularLowerLimit = new Vector3(0,0,0);
//spSlider6Dof.AngularUpperLimit = new Vector3(0,0,0);
spSlider6Dof.AngularLowerLimit = new Vector3((float)-Math.PI, 0, 0);
spSlider6Dof.AngularUpperLimit = new Vector3(1.5f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.EnableMotor[0] = true;
spSlider6Dof.TranslationalLimitMotor.TargetVelocity = new Vector3(-5.0f, 0, 0);
spSlider6Dof.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
World.AddConstraint(spSlider6Dof);
spSlider6Dof.DebugDrawSize = 5;
// create a door using hinge constraint attached to the world
CollisionShape pDoorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(pDoorShape);
RigidBody pDoorBody = LocalCreateRigidBody(1.0f, Matrix.Translation(-5.0f, -2.0f, 0.0f), pDoorShape);
pDoorBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 btPivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
Vector3 btAxisA = Vector3.UnitY; // pointing upwards, aka Y-axis
spDoorHinge = new HingeConstraint(pDoorBody, btPivotA, btAxisA);
//spDoorHinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//spDoorHinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//spDoorHinge.SetLimit(1, -1);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//spDoorHinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
spDoorHinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//spDoorHinge.SetLimit(0, 0);
World.AddConstraint(spDoorHinge);
spDoorHinge.DebugDrawSize = 5;
RigidBody pDropBody = LocalCreateRigidBody(10.0f, Matrix.Translation(-5.0f, 2.0f, 0.0f), shape);
// create a generic 6DOF constraint
//RigidBody pBodyA = LocalCreateRigidBody(mass, Matrix.Translation(10.0f, 6.0f, 0), shape);
RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), shape);
//RigidBody pBodyA = LocalCreateRigidBody(0, Matrix.Translation(10, 6, 0), null);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
RigidBody pBodyB = LocalCreateRigidBody(mass, Matrix.Translation(0, 6, 0), shape);
//RigidBody pBodyB = LocalCreateRigidBody(0, Matrix.Translation(0, 6, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(-5, 0, 0);
frameInB = Matrix.Translation(5, 0, 0);
Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
//Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, frameInA, frameInB, false);
pGen6DOF.LinearLowerLimit = new Vector3(-10, -2, -1);
pGen6DOF.LinearUpperLimit = new Vector3(10, 2, 1);
//pGen6DOF.LinearLowerLimit = new Vector3(-10, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(10, 0, 0);
//pGen6DOF.LinearLowerLimit = new Vector3(0, 0, 0);
//pGen6DOF.LinearUpperLimit = new Vector3(0, 0, 0);
//pGen6DOF.TranslationalLimitMotor.EnableMotor[0] = true;
//pGen6DOF.TranslationalLimitMotor.TargetVelocity = new Vector3(5, 0, 0);
//pGen6DOF.TranslationalLimitMotor.MaxMotorForce = new Vector3(0.1f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, (float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, -(float)Math.PI * 0.9f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, 0, -(float)Math.PI);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0, (float)Math.PI);
pGen6DOF.AngularLowerLimit = new Vector3(-(float)Math.PI / 4, -0.75f, -(float)Math.PI * 0.4f);
pGen6DOF.AngularUpperLimit = new Vector3((float)Math.PI / 4, 0.75f, (float)Math.PI * 0.4f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.75f, (float)Math.PI * 0.8f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.75f, -(float)Math.PI * 0.8f);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -(float)Math.PI * 0.8f, (float)Math.PI * 1.98f);
//pGen6DOF.AngularUpperLimit = new Vector3(0, (float)Math.PI * 0.8f, -(float)Math.PI * 1.98f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, -0.5f, -0.5f);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0.5f, 0.5f);
//pGen6DOF.AngularLowerLimit = new Vector3(-0.75f, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0.75f, 0, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(0, -0.7f, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(0, 0.7f, 0);
//pGen6DOF.AngularLowerLimit = new Vector3(-1, 0, 0);
//pGen6DOF.AngularUpperLimit = new Vector3(1, 0, 0);
// create a ConeTwist constraint
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 5, 0), shape);
//pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-10, 5, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(0, Matrix.Translation(-10, -5, 0), shape);
//pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, -5, 0), shape);
frameInA = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInA *= Matrix.Translation(0, -5, 0);
frameInB = Matrix.RotationYawPitchRoll(0, 0, (float)Math.PI / 2);
frameInB *= Matrix.Translation(0, 5, 0);
coneTwist = new ConeTwistConstraint(pBodyA, pBodyB, frameInA, frameInB);
//coneTwist.SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI * 0.8f);
//coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 1.0f); // soft limit == hard limit
coneTwist.SetLimit((((float)Math.PI / 4) * 0.6f), (float)Math.PI / 4, (float)Math.PI * 0.8f, 0.5f);
World.AddConstraint(coneTwist, true);
coneTwist.DebugDrawSize = 5;
// Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
RigidBody pBody = LocalCreateRigidBody(1.0f, Matrix.Identity, shape);
pBody.ActivationState = ActivationState.DisableDeactivation;
Vector3 PivotA = new Vector3(10.0f, 0.0f, 0.0f);
btAxisA = new Vector3(0.0f, 0.0f, 1.0f);
HingeConstraint pHinge = new HingeConstraint(pBody, btPivotA, btAxisA);
//pHinge.EnableAngularMotor(true, -1.0f, 0.165f); // use for the old solver
pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
World.AddConstraint(pHinge);
pHinge.DebugDrawSize = 5;
// create a universal joint using generic 6DOF constraint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some (arbitrary) data to build constraint frames
Vector3 parentAxis = new Vector3(1, 0, 0);
Vector3 childAxis = new Vector3(0, 0, 1);
Vector3 anchor = new Vector3(20, 2, 0);
UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pUniv.SetLowerLimit(-(float)Math.PI / 4, -(float)Math.PI / 4);
pUniv.SetUpperLimit((float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pUniv, true);
// draw constraint frames and limits for debugging
pUniv.DebugDrawSize = 5;
World.AddConstraint(pGen6DOF, true);
pGen6DOF.DebugDrawSize = 5;
// create a generic 6DOF constraint with springs
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 16, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-10, 16, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
frameInA = Matrix.Translation(10, 0, 0);
frameInB = Matrix.Identity;
Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, frameInA, frameInB, true);
pGen6DOFSpring.LinearUpperLimit = new Vector3(5, 0, 0);
pGen6DOFSpring.LinearLowerLimit = new Vector3(-5, 0, 0);
pGen6DOFSpring.AngularLowerLimit = new Vector3(0, 0, -1.5f);
pGen6DOFSpring.AngularUpperLimit = new Vector3(0, 0, 1.5f);
World.AddConstraint(pGen6DOFSpring, true);
pGen6DOFSpring.DebugDrawSize = 5;
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();
// create a Hinge2 joint
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(0, Matrix.Translation(-20, 4, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB (child) below it :
pBodyB = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, 0, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
parentAxis = new Vector3(0, 1, 0);
childAxis = new Vector3(1, 0, 0);
anchor = new Vector3(-20, 0, 0);
Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, anchor, parentAxis, childAxis);
pHinge2.SetLowerLimit(-(float)Math.PI / 4);
pHinge2.SetUpperLimit((float)Math.PI / 4);
// add constraint to world
World.AddConstraint(pHinge2, true);
// draw constraint frames and limits for debugging
pHinge2.DebugDrawSize = 5;
// create a Hinge joint between two dynamic bodies
// create two rigid bodies
// static bodyA (parent) on top:
pBodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), shape);
pBodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic bodyB:
pBodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), shape);
pBodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
Vector3 axisA = new Vector3(0, 1, 0);
Vector3 axisB = new Vector3(0, 1, 0);
Vector3 pivotA = new Vector3(-5, 0, 0);
Vector3 pivotB = new Vector3(5, 0, 0);
spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, pivotA, pivotB, axisA, axisB);
spHingeDynAB.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// add constraint to world
World.AddConstraint(spHingeDynAB, true);
// draw constraint frames and limits for debugging
spHingeDynAB.DebugDrawSize = 5;
}
//public static Ragdoll Build(string modelName, BuildOption buildOption)
//{
// switch (buildOption)
// {
// case BuildOption.Default:
// var defultOption = PhyConfiguration.GetValue("BuildOption");
// Debug.LogLine("Default ragdoll build option is [{0}]", defultOption);
// return Build(modelName, (BuildOption)Enum.Parse(buildOption.GetType(),defultOption));
// case BuildOption.FromFile:
// break;
// case BuildOption.Bipped:
// {
// var info = BippedBone.Get(modelName);
// if (info != null)
// return BuildBipped(IEngineStudio.Mod_ForName(modelName,true),info,BoneAccessor.GetCurrent());
// Debug.LogLine("BippedBone missing. Model:{0}", modelName);
// }
// break;
// case BuildOption.Spider:
// break;
// default:
// break;
// }
// //missing inoformation to build for this model
// return null;
//}
// 6 ------------- 5
// / /
// / | / |
// / | / | height/height
// 2 ------------- 1 |
// | |
// | |
// | 7 ------|------ 4
// | / | /
// | / | / depth/width
// / /
// 3 ------------- 0
// width/length
private static unsafe Ragdoll BuildBipped(studiohdr_t *pStudioHeader, BippedBone info, BoneAccessor accessor)
{
Debug.LogLine();
Debug.LogLine("=========================================");
Debug.LogLine("Bipped build begin...");
var listKeybone = new List <int>()
{
info.Head,
//info.Spine,
info.Pelvis,
info.LeftArm,
info.LeftElbow,
//info.LeftHand,
info.LeftHip,
info.LeftKnee,
//info.LeftFoot,
info.RightArm,
info.RightElbow,
//info.RightHand,
info.RightHip,
info.RightKnee,
//info.RightFoot,
};
var listNonKeybone = new List <int>();
for (int i = info.Pelvis; i < accessor.BoneCount; i++)
{
if (!listKeybone.Contains(i))
{
listNonKeybone.Add(i);
}
}
var ragdoll = new Ragdoll(pStudioHeader)
{
RigidBodies = new RigidBody[(int)BodyPart.Count],
Constraints = new TypedConstraint[9],
BoneRelativeTransform = new Matrix[accessor.BoneCount],
EntityId = 0,
RagdollData = new RagdollData()
{
KeyBoneIndeces = listKeybone,
NonKeyBoneIndeces = listNonKeybone,
}
};
//===========Rigidbody=================
Debug.LogLine("Now setup rigidbody...");
var lArm = accessor.Pos(info.LeftArm);
var rArm = accessor.Pos(info.RightArm);
var bodyWidth = (lArm - rArm).Length;
Debug.LogLine("body width:{0}", bodyWidth);
//head
var head = accessor.Pos(info.Head);
var headWidth = bodyWidth / 2.5f; //躯干是头的2.5倍
var headRaito = 5.85f / 8.1f; //头宽高比
var headHeight = headWidth / headRaito;
var headShape = new SphereShape(headHeight / 2);
var rigidOrigin = head;
rigidOrigin.Z += headHeight / 2;
rigidOrigin.X += headWidth / 4.6f;
var headLookAt = head;
headLookAt.X += headWidth / 4.6f;
var headRigid = Matrix.Translation(rigidOrigin);
var headBone = accessor.GetWorldTransform(info.Head);
ragdoll.RigidBodies[(int)BodyPart.Head] = BulletHelper.CreateBoneRigidbody(1, ref headBone, ref headRigid, headShape);
ragdoll.RigidBodies[(int)BodyPart.Head].UserIndex = info.Head;
//lArm
var lArmBone = accessor.GetWorldTransform(info.LeftArm);
var lElbow = accessor.Pos(info.LeftElbow);
ragdoll.RigidBodies[(int)BodyPart.LeftArm] = CreateLimb(ref lArmBone, lElbow, headWidth * 0.55f);
ragdoll.RigidBodies[(int)BodyPart.LeftArm].UserIndex = info.LeftArm;
//rArm
var rArmBone = accessor.GetWorldTransform(info.RightArm);
var rElbow = accessor.Pos(info.RightElbow);
ragdoll.RigidBodies[(int)BodyPart.RightArm] = CreateLimb(ref rArmBone, rElbow, headWidth * 0.55f);
ragdoll.RigidBodies[(int)BodyPart.RightArm].UserIndex = info.RightArm;
//lElbow
var lElbowBone = accessor.GetWorldTransform(info.LeftElbow);
var lHand = accessor.Pos(info.LeftHand);
ragdoll.RigidBodies[(int)BodyPart.LeftElbow] = CreateLimb(ref lElbowBone, lHand, headWidth * 0.5f);
ragdoll.RigidBodies[(int)BodyPart.LeftElbow].UserIndex = info.LeftElbow;
//rElbow
var rElbowBone = accessor.GetWorldTransform(info.RightElbow);
var rHand = accessor.Pos(info.RightHand);
ragdoll.RigidBodies[(int)BodyPart.RightElbow] = CreateLimb(ref rElbowBone, rHand, headWidth * 0.5f);
ragdoll.RigidBodies[(int)BodyPart.RightElbow].UserIndex = info.RightElbow;
//lHip
var lHipBone = accessor.GetWorldTransform(info.LeftHip);
var lKnee = accessor.Pos(info.LeftKnee);
ragdoll.RigidBodies[(int)BodyPart.LeftHip] = CreateLimb(ref lHipBone, lKnee, headWidth * 0.55f);
ragdoll.RigidBodies[(int)BodyPart.LeftHip].UserIndex = info.LeftHip;
//rHip
var rHipBone = accessor.GetWorldTransform(info.RightHip);
var rKnee = accessor.Pos(info.RightKnee);
ragdoll.RigidBodies[(int)BodyPart.RightHip] = CreateLimb(ref rHipBone, rKnee, headWidth * 0.55f);
ragdoll.RigidBodies[(int)BodyPart.RightHip].UserIndex = info.RightHip;
//lKnee
var lKneeBone = accessor.GetWorldTransform(info.LeftKnee);
var lFoot = accessor.Pos(info.LeftFoot);
ragdoll.RigidBodies[(int)BodyPart.LeftKnee] = CreateLimb(ref lKneeBone, lFoot, headWidth * 0.5f);
ragdoll.RigidBodies[(int)BodyPart.LeftKnee].UserIndex = info.LeftKnee;
//rKnee
var rKneeBone = accessor.GetWorldTransform(info.RightKnee);
var rFoot = accessor.Pos(info.RightFoot);
ragdoll.RigidBodies[(int)BodyPart.RightKnee] = CreateLimb(ref rKneeBone, rFoot, headWidth * 0.5f);
ragdoll.RigidBodies[(int)BodyPart.RightKnee].UserIndex = info.RightKnee;
//body
var pelvis = accessor.Pos(info.Pelvis);
var pelvisBone = accessor.GetWorldTransform(info.Pelvis);
var bodyHeight = (head - pelvis).Length;
var bodyShape = new CapsuleShape(bodyWidth / 2, bodyHeight - bodyWidth);
var bodyRigidTrans = BulletMathUtils.CenterOf(pelvis, head).LookAt(in head, in Vector3.UnitY);
ragdoll.RigidBodies[(int)BodyPart.Pelvis] = BulletHelper.CreateBoneRigidbody(3, ref pelvisBone, ref bodyRigidTrans, bodyShape);
ragdoll.RigidBodies[(int)BodyPart.Pelvis].UserIndex = info.Pelvis;
//==============Constraint=============
Debug.LogLine("Now setup constraint...");
var bodys = ragdoll.RigidBodies;
// head constraint
{
//ragdoll.Constraints[0] = CreateJoint(bodys[(int)BodyPart.Head], bodys[(int)BodyPart.Pelvis], head);
var bodyHead = bodys[(int)BodyPart.Head];
var bodyPelvis = bodys[(int)BodyPart.Pelvis];
var jointTrans = Matrix.Translation(head).LookAt(rigidOrigin, Vector3.UnitX);
var localHead = jointTrans * bodyHead.WorldTransform.GetInverse();
var localPelvis = jointTrans * bodyPelvis.WorldTransform.GetInverse();
ragdoll.Constraints[0] = new ConeTwistConstraint(bodyHead, bodyPelvis, localHead, localPelvis);
(ragdoll.Constraints[0] as ConeTwistConstraint).SetLimit((float)Math.PI / 6.5f, (float)Math.PI / 6.5f, (float)Math.PI * 0.3333333f);
}
// left arm constraint
{
//ragdoll.Constraints[1] = CreateJoint(bodys[(int)BodyPart.LeftArm], bodys[(int)BodyPart.Pelvis], lArm);
var bodyLeftArm = bodys[(int)BodyPart.LeftArm];
var bodyPelvis = bodys[(int)BodyPart.Pelvis];
var jointOrigin = accessor.Pos(info.LeftArm);
var jointTransform = Matrix.Translation(jointOrigin).LookAt(jointOrigin + new Vector3(0, -1, 0), Vector3.UnitX);
var localInLeftArm = jointTransform * bodyLeftArm.WorldTransform.GetInverse();
var localPelvis = jointTransform * bodyPelvis.WorldTransform.GetInverse();
var joint = new ConeTwistConstraint(bodyLeftArm, bodyPelvis, localInLeftArm, localPelvis);
joint.SetLimit(3.1415926f * 0.6f, 3.1415926f * 0.6f, 0);
ragdoll.Constraints[1] = joint;
}
// right arm constraint
{
//ragdoll.Constraints[2] = CreateJoint(bodys[(int)BodyPart.RightArm], bodys[(int)BodyPart.Pelvis], rArm);
var bodyRightArm = bodys[(int)BodyPart.RightArm];
var bodyPelvis = bodys[(int)BodyPart.Pelvis];
var jointOrigin = accessor.Pos(info.RightArm);
var jointTransform = Matrix.Translation(jointOrigin).LookAt(jointOrigin + new Vector3(0, 1, 0), Vector3.UnitX);
var localInRightArm = jointTransform * bodyRightArm.WorldTransform.GetInverse();
var localPelvis = jointTransform * bodyPelvis.WorldTransform.GetInverse();
var joint = new ConeTwistConstraint(bodyRightArm, bodyPelvis, localInRightArm, localPelvis);
joint.SetLimit(3.1415926f * 0.6f, 3.1415926f * 0.6f, 0);
ragdoll.Constraints[2] = joint;
}
{// Left elbow
//ragdoll.Constraints[3] = CreateJoint(bodys[(int)BodyPart.LeftElbow], bodys[(int)BodyPart.LeftArm], lElbow);
var bodyArm = bodys[(int)BodyPart.LeftArm];
var bodyElbow = bodys[(int)BodyPart.LeftElbow];
var jointTrans = Matrix.Translation(lElbow).LookAt(lElbow + new Vector3(0, 0, -1), Vector3.UnitZ);
// joint's local transform
var localInArm = jointTrans * bodyArm.WorldTransform.GetInverse();
var localInElbow = jointTrans * bodyElbow.WorldTransform.GetInverse();
var joint = new HingeConstraint(bodyArm, bodyElbow, localInArm, localInElbow);
joint.SetAxis(Vector3.UnitZ);
joint.SetLimit(-(float)Math.PI * 0.7f, 1);
ragdoll.Constraints[3] = joint;
}
{// right elbow
//ragdoll.Constraints[4] = CreateJoint(bodys[(int)BodyPart.RightElbow], bodys[(int)BodyPart.RightArm], rElbow);
var bodyArm = bodys[(int)BodyPart.RightArm];
var bodyElbow = bodys[(int)BodyPart.RightElbow];
var jointTrans = Matrix.Translation(rElbow).LookAt(rElbow + new Vector3(0, 0, -1), Vector3.UnitZ);
// joint's local transform
var localInArm = jointTrans * bodyArm.WorldTransform.GetInverse();
var localInElbow = jointTrans * bodyElbow.WorldTransform.GetInverse();
var joint = new HingeConstraint(bodyArm, bodyElbow, localInArm, localInElbow);
joint.SetAxis(Vector3.UnitZ);
joint.SetLimit(-(float)Math.PI * 0.7f, 1);
ragdoll.Constraints[4] = joint;
}
{
//ragdoll.Constraints[5] = CreateJoint(bodys[(int)BodyPart.LeftHip], bodys[(int)BodyPart.Pelvis], accessor.Pos(info.LeftHip));
var bodyHipL = bodys[(int)BodyPart.LeftHip];
var bodyPelvis = bodys[(int)BodyPart.Pelvis];
var leglen = (accessor.Pos(info.LeftHip) - lKnee).Length;
var x = (float)Math.Cos(Math.PI / 6) * leglen;
var z = (float)Math.Sin(Math.PI / 6) * leglen;
var posA = accessor.Pos(info.LeftHip);
posA.Z += z;
posA.X += x;
var posB = lKnee;
var posCenter = (posA + posB) / 2;
var jointTrans = Matrix.Translation(accessor.Pos(info.LeftHip)).LookAt(posCenter, Vector3.UnitX);
var localPelvis = jointTrans * bodyPelvis.WorldTransform.GetInverse();
var localHipL = jointTrans * bodyHipL.WorldTransform.GetInverse();
ragdoll.Constraints[5] = new ConeTwistConstraint(bodyHipL, bodyPelvis, localHipL, localPelvis);
(ragdoll.Constraints[5] as ConeTwistConstraint).SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI / 12);
}
{
//ragdoll.Constraints[6] = CreateJoint(bodys[(int)BodyPart.RightHip], bodys[(int)BodyPart.Pelvis], accessor.Pos(info.RightHip));
var bodyHipR = bodys[(int)BodyPart.RightHip];
var bodyPelvis = bodys[(int)BodyPart.Pelvis];
var leglen = (accessor.Pos(info.RightHip) - rKnee).Length;
var x = (float)Math.Cos(Math.PI / 6) * leglen;
var z = (float)Math.Sin(Math.PI / 6) * leglen;
var posA = accessor.Pos(info.RightHip);
posA.Z += z;
posA.X += x;
var posB = rKnee;
var posCenter = (posA + posB) / 2;
var jointTrans = Matrix.Translation(accessor.Pos(info.RightHip)).LookAt(posCenter, Vector3.UnitX);
var localPelvis = jointTrans * bodyPelvis.WorldTransform.GetInverse();
var localHipR = jointTrans * bodyHipR.WorldTransform.GetInverse();
ragdoll.Constraints[6] = new ConeTwistConstraint(bodyHipR, bodyPelvis, localHipR, localPelvis);
(ragdoll.Constraints[6] as ConeTwistConstraint).SetLimit((float)Math.PI / 4, (float)Math.PI / 4, (float)Math.PI / 12);
}
{ // left knee joint
{ // p2p joint
//ragdoll.Constraints[7] = CreateJoint(bodys[(int)BodyPart.LeftKnee], bodys[(int)BodyPart.LeftHip], lKnee);
}
{// hinge joint 1
var bodyHipL = bodys[(int)BodyPart.LeftHip];
var bodyKneeL = bodys[(int)BodyPart.LeftKnee];
var jointTrans = Matrix.Translation(lKnee).LookAt(lKnee + new Vector3(0, 1, 0), Vector3.UnitZ);
// joint's local transform in left hip
var localInHipL = jointTrans * bodyHipL.WorldTransform.GetInverse();
var localInKneeL = jointTrans * bodyKneeL.WorldTransform.GetInverse();
ragdoll.Constraints[7] = new HingeConstraint(bodyHipL, bodyKneeL, localInHipL, localInKneeL);
(ragdoll.Constraints[7] as HingeConstraint).SetLimit(-(float)Math.PI * 0.7f, 0);
}
{// hinge joint 2
//var bodyHipL = bodys[(int)BodyPart.LeftHip];
//var bodyKneeL = bodys[(int)BodyPart.LeftKnee];
//Vector3 axisInA = new Vector3(1, 0, 0);
//Matrix transform = Matrix.Invert(bodyB.WorldTransform) * bodyA.WorldTransform;
//Vector3 pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
//transform = Matrix.Invert(bodyB.WorldTransform) * bodyB.WorldTransform;
//Vector3 axisInB = Vector3.TransformCoordinate(axisInA, transform);
//var jointTrans = Matrix.Translation(lKnee).LookAt(lKnee + new Vector3(0, 1, 0), Vector3.UnitZ);
//// joint's local transform in left hip
//var localInHipL = jointTrans * bodyHipL.WorldTransform.GetInverse();
//var localInKneeL = jointTrans * bodyKneeL.WorldTransform.GetInverse();
//ragdoll.Constraints[7] = new HingeConstraint(bodyHipL, bodyKneeL, localInHipL, localInKneeL);
//(ragdoll.Constraints[7] as HingeConstraint).SetLimit(-(float)Math.PI / 6, (float)Math.PI / 6);
}
}
{
//ragdoll.Constraints[8] = CreateJoint(bodys[(int)BodyPart.RightKnee], bodys[(int)BodyPart.RightHip], rKnee);
{// hinge joint 1
var bodyHipR = bodys[(int)BodyPart.RightHip];
var bodyKneeR = bodys[(int)BodyPart.RightKnee];
var jointTrans = Matrix.Translation(rKnee).LookAt(rKnee + new Vector3(0, 1, 0), Vector3.UnitZ);
// joint's local transform in left hip
var localInHipR = jointTrans * bodyHipR.WorldTransform.GetInverse();
var localInKneeR = jointTrans * bodyKneeR.WorldTransform.GetInverse();
ragdoll.Constraints[8] = new HingeConstraint(bodyHipR, bodyKneeR, localInHipR, localInKneeR);
(ragdoll.Constraints[8] as HingeConstraint).SetLimit(-(float)Math.PI * 0.7f, 0);
}
}
foreach (var i in ragdoll.RigidBodies)
{
i.SetDamping(0.05f, 0.85f);
i.DeactivationTime = 0.8f;
i.SetSleepingThresholds(1.6f, 2.5f);
i.Friction = 2.2f;//v1.0 is 2
}
// damping, friction and restitution document forum
//https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=8100
// What is the unit of Damping in Generic Spring Constraint?
// https://github.com/bulletphysics/bullet3/issues/345
foreach (var i in ragdoll.Constraints)
{
i.DebugDrawSize = 3;
}
Debug.LogLine("Bipped build complete.");
Debug.LogLine("=========================================");
return(ragdoll);
}
void Instalize(RigidBodyBone[] rbodies)
{
//Matrix JointPos = Matrix.RotationYawPitchRoll(jcon.Rotation.Y, jcon.Rotation.X, jcon.Rotation.Z);
//JointPos *= Matrix.Translation(GetVec3(jcon.Position));
//look for no second body
RigidBody body1 = null;
RigidBody body2 = null;
try
{
body1 = rbodies[JointParameters.RigitBody1].Body;
try
{
body2 = rbodies[JointParameters.RigitBody2].Body;
}
catch (IndexOutOfRangeException) { }
}
catch (IndexOutOfRangeException)
{
try
{
body1 = rbodies[JointParameters.RigitBody2].Body;
}
catch (IndexOutOfRangeException) { return; }
}
var jointSpace = Matrix.RotationYawPitchRoll(JointParameters.Rotation.Y, JointParameters.Rotation.X, JointParameters.Rotation.Z) * Matrix.Translation(GetVec3(JointParameters.Position));
//Convert left to right coordinates
var reverce = Matrix.Scaling(new Vector3(1, 1, -1));
jointSpace = reverce * jointSpace * reverce;
var temp1 = body1.WorldTransform;
temp1.Invert();
var conn1 = jointSpace * temp1;
Matrix conn2 = Matrix.Identity;
if (body2 != null)
{
//calculating joint arms space
var temp2 = body2.WorldTransform;
//temp2.M43 += 0.1f;
//body2.WorldTransform = temp2;
temp2.Invert();
conn2 = jointSpace * temp2;
}
//conn2 = CleanLowValues(conn2);
//conn1 = CleanLowValues(conn1);
switch (JointParameters.Type)
{
case JointType.ConeTwist:
ConeTwistConstraint jointCone = null;
if (body2 != null)
{
jointCone = new ConeTwistConstraint(body1, body2, conn1, conn2);
}
else
{
jointCone = new ConeTwistConstraint(body1, conn1);
}
break;
case JointType.SpringSixDOF: //the only one used
//Jitter to hight
/*
* Generic6DofSpringConstraint jointSpring6 = null;
* if (body2 != null)
* jointSpring6 = new Generic6DofSpringConstraint(body1, body2, conn1, conn2,true);
* else
* jointSpring6 = new Generic6DofSpringConstraint(body1, conn1,true);
*/
//Has low stiffness limit, disabling explode bodys TODO: increse limit
Generic6DofSpring2Constraint jointSpring6 = null;
if (body2 != null)
{
jointSpring6 = new Generic6DofSpring2Constraint(body1, body2, conn1, conn2);
}
else
{
jointSpring6 = new Generic6DofSpring2Constraint(body1, conn1);
}
jointSpring6.AngularLowerLimit = GetVec3(JointParameters.RotMin);
jointSpring6.AngularUpperLimit = GetVec3(JointParameters.RotMax);
jointSpring6.LinearLowerLimit = GetVec3(JointParameters.PosMin);
jointSpring6.LinearUpperLimit = GetVec3(JointParameters.PosMax);
for (int i = 0; i < 3; i++)
{
if (JointParameters.PosSpring[i] != 0)
{
jointSpring6.EnableSpring(i, true);
jointSpring6.SetStiffness(i, JointParameters.PosSpring[i]);
}
}
for (int i = 0; i < 3; i++)
{
if (JointParameters.RotSpring[i] != 0)
{
jointSpring6.EnableSpring(i + 3, true);
jointSpring6.SetStiffness(i + 3, JointParameters.RotSpring[i]);
}
}
/*
* jointSpring6.SetDamping(0, 0.1f);
* jointSpring6.SetDamping(1, 0.1f);
* jointSpring6.SetDamping(2, 0.1f);
* jointSpring6.SetDamping(3, 0.1f);
* jointSpring6.SetDamping(4, 0.1f);
* jointSpring6.SetDamping(5, 0.1f);
*/
jointSpring6.SetParam(ConstraintParam.Erp, 0.6f);
jointSpring6.SetParam(ConstraintParam.Cfm, 0.6f);
jointSpring6.SetEquilibriumPoint();
Constraint = jointSpring6;
break;
}
}
