コード例 #1
0
        //----------------------------------------------------------------------------------------------------------------

        public override void InitializeDemo()
        {
            CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 0.1f, 50));

            IndexedVector3 wheelDimensions = new IndexedVector3(wheelWidth, wheelRadius, wheelRadius);

            m_wheelShape = new CylinderShapeX(ref wheelDimensions);

            m_collisionShapes.Add(groundShape);
            m_collisionConfiguration = new DefaultCollisionConfiguration();
            m_dispatcher             = new CollisionDispatcher(m_collisionConfiguration);
            IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
            IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000);

            m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);

            m_constraintSolver = new SequentialImpulseConstraintSolver();
            m_dynamicsWorld    = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);

            IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0);

            LocalCreateRigidBody(0f, ref tr, groundShape);

#if true
            CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f));
            //CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 1.0f));
            m_collisionShapes.Add(chassisShape);

            CompoundShape compound = new CompoundShape();
            m_collisionShapes.Add(compound);
            //localTrans effectively shifts the center of mass with respect to the chassis
            IndexedMatrix localTrans = IndexedMatrix.CreateTranslation(0, 1, 0);

            compound.AddChildShape(ref localTrans, chassisShape);

            {
                CollisionShape suppShape = new BoxShape(new IndexedVector3(0.5f, 0.1f, 0.5f));
                //localTrans effectively shifts the center of mass with respect to the chassis
                IndexedMatrix suppLocalTrans = IndexedMatrix.CreateTranslation(0f, 1.0f, 2.5f);
                compound.AddChildShape(ref suppLocalTrans, suppShape);
            }

            tr._origin = IndexedVector3.Zero;

            m_carChassis = LocalCreateRigidBody(800f, ref tr, compound);//chassisShape);
#endif

            {
#if true
                CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
                m_collisionShapes.Add(liftShape);
                m_liftStartPos = new IndexedVector3(0.0f, 2.5f, 3.05f);
                IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos);
                m_liftBody = LocalCreateRigidBody(10f, ref liftTrans, liftShape);

                IndexedMatrix localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
                localA._origin = new IndexedVector3(0f, 1.0f, 3.05f);

                IndexedMatrix localB = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f);
                localB._origin = new IndexedVector3(0f, -1.5f, -0.05f);

                m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB);
                MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge aFrame", m_liftHinge.GetAFrame());
                MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "hinge bFrame", m_liftHinge.GetBFrame());

                m_liftHinge.SetLimit(0.0f, 0.0f);
                m_dynamicsWorld.AddConstraint(m_liftHinge, true);

                CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
                m_collisionShapes.Add(forkShapeA);
                CompoundShape forkCompound = new CompoundShape();
                m_collisionShapes.Add(forkCompound);
                IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
                forkCompound.AddChildShape(ref forkLocalTrans, forkShapeA);

                CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
                m_collisionShapes.Add(forkShapeB);
                forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f);
                forkCompound.AddChildShape(ref forkLocalTrans, forkShapeB);

                CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f));
                m_collisionShapes.Add(forkShapeC);
                forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f);
                forkCompound.AddChildShape(ref forkLocalTrans, forkShapeC);

                m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f);
                IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos);

                m_forkBody = LocalCreateRigidBody(5f, ref forkTrans, forkCompound);

                localA = IndexedMatrix.Identity;
                localB = IndexedMatrix.Identity;
                localA._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
                localB._basis.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f);

                m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true);
                m_forkSlider.SetLowerLinLimit(0.1f);
                m_forkSlider.SetUpperLinLimit(0.1f);
                //		m_forkSlider.setLowerAngLimit(-LIFT_EPS);
                //		m_forkSlider.setUpperAngLimit(LIFT_EPS);
                m_forkSlider.SetLowerAngLimit(0.0f);
                m_forkSlider.SetUpperAngLimit(0.0f);
                m_dynamicsWorld.AddConstraint(m_forkSlider, true);
#endif
#if true
                CompoundShape loadCompound = new CompoundShape(false);
                m_collisionShapes.Add(loadCompound);
                CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f));
                m_collisionShapes.Add(loadShapeA);
                IndexedMatrix loadTrans = IndexedMatrix.Identity;
                loadCompound.AddChildShape(ref loadTrans, loadShapeA);
                CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
                m_collisionShapes.Add(loadShapeB);
                loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f);
                loadCompound.AddChildShape(ref loadTrans, loadShapeB);
                CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f));
                m_collisionShapes.Add(loadShapeC);
                loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f);
                loadCompound.AddChildShape(ref loadTrans, loadShapeC);
                m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f);
                loadTrans      = IndexedMatrix.CreateTranslation(m_loadStartPos);

                m_loadBody = LocalCreateRigidBody(4f, ref loadTrans, loadCompound);
#endif
            }
            //m_carChassis.setDamping(0.2f, 0.2f);

            ClientResetScene();

            /// create vehicle
            {
                m_vehicleRayCaster = new DefaultVehicleRaycaster(m_dynamicsWorld);
                m_vehicle          = new RaycastVehicle(m_tuning, m_carChassis, m_vehicleRayCaster);

                ///never deactivate the vehicle
                m_carChassis.SetActivationState(ActivationState.DISABLE_DEACTIVATION);

                m_dynamicsWorld.AddVehicle(m_vehicle);

                float connectionHeight = 1.2f;

                bool isFrontWheel = true;

                //choose coordinate system
                m_vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);

                IndexedVector3 connectionPointCS0 = IndexedVector3.Zero;
                //connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS, connectionHeight, CUBE_HALF_EXTENTS);
                //m_vehicle.addWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2.0f * CUBE_HALF_EXTENTS - wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                //isFrontWheel = false;
                connectionPointCS0 = new IndexedVector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                connectionPointCS0 = new IndexedVector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2.0f * CUBE_HALF_EXTENTS + wheelRadius);
                m_vehicle.AddWheel(ref connectionPointCS0, ref wheelDirectionCS0, ref wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);

                for (int i = 0; i < m_vehicle.GetNumWheels(); i++)
                {
                    WheelInfo wheel = m_vehicle.GetWheelInfo(i);
                    wheel.m_suspensionStiffness      = suspensionStiffness;
                    wheel.m_wheelsDampingRelaxation  = suspensionDamping;
                    wheel.m_wheelsDampingCompression = suspensionCompression;
                    wheel.m_frictionSlip             = wheelFriction;
                    wheel.m_rollInfluence            = rollInfluence;
                }
            }

            SetCameraDistance(36.0f);
            SetTexturing(true);
            SetShadows(true);
        }