public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(50);
heightFields.Clear();
//collisionShapes = new ObjectArray<CollisionShape>();
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); // Needed once to enable ghost objects inside Bullet
//broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); //new DbvtBroadphase();
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f);
//world.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//world.Gravity = new Vector3(0, gravity, 0);
mobControllers = new Dictionary <SceneNode, BulletMobState>();
LoadPlayerController(new Entity(), new SceneNode(), null, Vector3.Zero);
//IndexedVector3 walkDir = new IndexedVector3(0, 0, -1);
//playerController.SetWalkDirection(ref walkDir);
//float[,] heights = new float[128, 128];
//LoadHeightField(heights, 10, 129, 129, Vector3.Zero, 1);
float[,] heights = new float[32, 32];
LoadHeightField(heights, 10, 33, 33, Vector3.Zero, 1);
ClientResetScene();
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(50);
heightFields.Clear();
//collisionShapes = new ObjectArray<CollisionShape>();
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); // Needed once to enable ghost objects inside Bullet
//broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); //new DbvtBroadphase();
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f);
//world.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//world.Gravity = new Vector3(0, gravity, 0);
mobControllers = new Dictionary<SceneNode, BulletMobState>();
LoadPlayerController(new Entity(), new SceneNode(), null, Vector3.Zero);
//IndexedVector3 walkDir = new IndexedVector3(0, 0, -1);
//playerController.SetWalkDirection(ref walkDir);
//float[,] heights = new float[128, 128];
//LoadHeightField(heights, 10, 129, 129, Vector3.Zero, 1);
float[,] heights = new float[32, 32];
LoadHeightField(heights, 10, 33, 33, Vector3.Zero, 1);
ClientResetScene();
}
public override void InitializeDemo()
{
SetCameraDistance(50);
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
int vertStride = 1;
int indexStride = 3;
BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();
gVertices = new ObjectArray<IndexedVector3>(totalVerts);
gIndices = new ObjectArray<int>(totalTriangles * 3);
SetVertexPositions(waveheight, 0.0f);
gVertices.GetRawArray()[1].Y = 0.1f;
int index=0;
int i, j;
for (i=0;i<NUM_VERTS_X-1;i++)
{
for (j=0;j<NUM_VERTS_Y-1;j++)
{
#if SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
#endif //SHIFT_INDICES
#else //SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
#if TEST_INCONSISTENT_WINDING
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else //TEST_INCONSISTENT_WINDING
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#endif //TEST_INCONSISTENT_WINDING
#else //SHIFT_INDICES
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
#endif //SHIFT_INDICES
#endif //SWAP_WINDING
}
}
m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts, gVertices, vertStride);
bool useQuantizedAabbCompression = true;
IndexedVector3 aabbMin = new IndexedVector3 (-1000,-1000,-1000);
IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000);
trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,true);
CollisionShape groundShape = trimeshShape;
TriangleInfoMap triangleInfoMap = new TriangleInfoMap();
InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
IndexedVector3 gravity = new IndexedVector3(0,-10,0);
m_dynamicsWorld.SetGravity(ref gravity);
float mass = 0.0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-2,0));
ConvexHullShape colShape = new ConvexHullShape(new List<IndexedVector3>(), 0);
for (int k=0;k<DemoMeshes.TaruVtxCount;k++)
{
IndexedVector3 vtx = DemoMeshes.TaruVtx[k];
colShape.AddPoint(ref vtx);
}
//this will enable polyhedral contact clipping, better quality, slightly slower
//colShape.InitializePolyhedralFeatures();
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex=false;
{
//for (int i2 = 0; i2 < 1; i2++)
//{
// startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f);
// RigidBody body = LocalCreateRigidBody(10, startTransform, colShape);
// body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
// //body->setContactProcessingThreshold(0.f);
//}
}
{
BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1));
//colShape.InitializePolyhedralFeatures();
m_collisionShapes.Add(colShape2);
startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f);
RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2);
body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
}
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, startTransform,groundShape);
//staticBody->setContactProcessingThreshold(-0.031f);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints);
//base.InitializeDemo();
//ClientResetScene();
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
#region CharacterController
IndexedMatrix startTransform = IndexedMatrix.Identity;
//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
startTransform._origin = new IndexedVector3(10.210098f, -1.6433364f, 16.453260f);
m_ghostObject = new PairCachingGhostObject();
m_ghostObject.SetWorldTransform(startTransform);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
float characterHeight = 1.75f;
float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
m_ghostObject.SetCollisionShape(capsule);
m_ghostObject.SetCollisionFlags(CollisionFlags.CF_CHARACTER_OBJECT);
float stepHeight = 0.35f;
int upAxis = 1;
m_character = new KinematicCharacterController(m_ghostObject, capsule, stepHeight, upAxis);
m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
m_dynamicsWorld.AddAction(m_character);
#endregion
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(50f);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
IndexedVector3 worldMin = new IndexedVector3 (-1000,-1000,-1000);
IndexedVector3 worldMax = -worldMin;
m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(1000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
CollisionShape groundShape = new BoxShape(ref halfExtents);
//CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
float mass = 0f;
LocalCreateRigidBody(mass, ref groundTransform, groundShape);
#region CharacterController
IndexedMatrix startTransform = IndexedMatrix.Identity;
//startTransform.setOrigin (btVector3(0.0, 4.0, 0.0));
startTransform._origin = new IndexedVector3(10.210098f,-1.6433364f,16.453260f);
m_ghostObject = new PairCachingGhostObject();
m_ghostObject.SetWorldTransform(startTransform);
m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
float characterHeight=1.75f;
float characterWidth =1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth,characterHeight);
m_ghostObject.SetCollisionShape (capsule);
m_ghostObject.SetCollisionFlags (CollisionFlags.CF_CHARACTER_OBJECT);
float stepHeight = 0.35f;
int upAxis = 1;
m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight,upAxis);
m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
m_dynamicsWorld.AddAction(m_character);
#endregion
}
public override void InitializeDemo()
{
SetCameraDistance(50);
int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1);
int vertStride = 1;
int indexStride = 3;
BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback();
gVertices = new ObjectArray <IndexedVector3>(totalVerts);
gIndices = new ObjectArray <int>(totalTriangles * 3);
SetVertexPositions(waveheight, 0.0f);
gVertices.GetRawArray()[1].Y = 0.1f;
int index = 0;
int i, j;
for (i = 0; i < NUM_VERTS_X - 1; i++)
{
for (j = 0; j < NUM_VERTS_Y - 1; j++)
{
#if SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
#else
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
#endif //SHIFT_INDICES
#else //SWAP_WINDING
#if SHIFT_INDICES
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
#if TEST_INCONSISTENT_WINDING
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
#else //TEST_INCONSISTENT_WINDING
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
#endif //TEST_INCONSISTENT_WINDING
#else //SHIFT_INDICES
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = j * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = j * NUM_VERTS_X + i;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1;
gIndices[index++] = (j + 1) * NUM_VERTS_X + i;
#endif //SHIFT_INDICES
#endif //SWAP_WINDING
}
}
m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts, gVertices, vertStride);
bool useQuantizedAabbCompression = true;
IndexedVector3 aabbMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000);
trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true);
CollisionShape groundShape = trimeshShape;
TriangleInfoMap triangleInfoMap = new TriangleInfoMap();
InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
m_dynamicsWorld.SetDebugDrawer(m_debugDraw);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
float mass = 0.0f;
IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -2, 0));
ConvexHullShape colShape = new ConvexHullShape(new List <IndexedVector3>(), 0);
for (int k = 0; k < DemoMeshes.TaruVtxCount; k++)
{
IndexedVector3 vtx = DemoMeshes.TaruVtx[k];
colShape.AddPoint(ref vtx);
}
//this will enable polyhedral contact clipping, better quality, slightly slower
//colShape.InitializePolyhedralFeatures();
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex = false;
{
//for (int i2 = 0; i2 < 1; i2++)
//{
// startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f);
// RigidBody body = LocalCreateRigidBody(10, startTransform, colShape);
// body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
// body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
// //body->setContactProcessingThreshold(0.f);
//}
}
{
BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1));
//colShape.InitializePolyhedralFeatures();
m_collisionShapes.Add(colShape2);
startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f);
RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2);
body.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
body.SetLinearVelocity(new IndexedVector3(0, 0, -1));
}
startTransform = IndexedMatrix.Identity;
staticBody = LocalCreateRigidBody(mass, startTransform, groundShape);
//staticBody->setContactProcessingThreshold(-0.031f);
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT); //STATIC_OBJECT);
//enable custom material callback
staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);
m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints);
//base.InitializeDemo();
//ClientResetScene();
}