public void Evaluate(int SpreadMax)
{
IConstraintContainer inputWorld = this.contraintContainer[0];
if (inputWorld != null)
{
this.persister.UpdateWorld(inputWorld);
for (int i = 0; i < SpreadMax; i++)
{
if (FCreate[i])
{
RigidBody body = FBody[i];
if (body != null)
{
HingeConstraint cst = new HingeConstraint(body, this.FPivot1[i].ToBulletVector(), this.FAxis[i].ToBulletVector());
cst.SetLimit(this.FLimitLow[i] * (float)Math.PI * 2.0f, this.FLimitHigh[i] * (float)Math.PI * 2.0f);
cst.DebugDrawSize = 5.0f;
this.persister.Append(cst);
}
}
}
this.persister.Flush();
}
else
{
this.constraintsOutput.SliceCount = 0;
}
}
// Create a door using a hinge constraint attached to the world
private void CreateDoor()
{
const float mass = 1.0f;
var doorShape = new BoxShape(2.0f, 5.0f, 0.2f);
CollisionShapes.Add(doorShape);
RigidBody doorBody = LocalCreateRigidBody(mass, Matrix.Translation(-5.0f, -2.0f, 0.0f), doorShape);
doorBody.ActivationState = ActivationState.DisableDeactivation;
var pivotA = new Vector3(10.0f + 2.1f, -2.0f, 0.0f); // right next to the door slightly outside
var axisA = Vector3.UnitY; // pointing upwards, aka Y-axis
var hinge = new HingeConstraint(doorBody, pivotA, axisA);
hinge.DebugDrawSize = 5;
//hinge.SetLimit(0.0f, (float)Math.PI / 2);
// test problem values
//hinge.SetLimit(-(float)Math.PI, (float)Math.PI * 0.8f);
//hinge.SetLimit(1, -1);
//hinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI);
//hinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.3f, 0.0f);
//hinge.SetLimit(-(float)Math.PI * 0.8f, (float)Math.PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
hinge.SetLimit(-(float)Math.PI * 0.25f, (float)Math.PI * 0.25f);
//hinge.SetLimit(0, 0);
World.AddConstraint(hinge);
}
private void CreateGears()
{
const float theta = (float)Math.PI / 4.0f;
float radiusA = 2 - (float)Math.Tan(theta);
float radiusB = 1 / (float)Math.Cos(theta);
float ratio = radiusB / radiusA;
Matrix transform = Matrix.Translation(-8, 1, -8);
RigidBody gearA = CreateGear(radiusA, transform);
gearA.AngularFactor = new Vector3(0, 1, 0);
var orientation = Quaternion.RotationAxis(new Vector3(0, 0, 1), -theta);
transform = Matrix.RotationQuaternion(orientation) * Matrix.Translation(-10, 2, -8);
RigidBody gearB = CreateGear(radiusB, transform);
gearB.AngularVelocity = new Vector3(0, 3, 0);
var hinge = new HingeConstraint(gearB, Vector3.Zero, new Vector3(0, 1, 0), true);
World.AddConstraint(hinge);
var axisA = new Vector3(0, 1, 0);
var axisB = new Vector3(0, 1, 0);
orientation = Quaternion.RotationAxis(new Vector3(0, 0, 1), -theta);
Matrix mat = Matrix.RotationQuaternion(orientation);
axisB = new Vector3(mat.M21, mat.M22, mat.M23);
var gear = new GearConstraint(gearA, gearB, axisA, axisB, ratio);
World.AddConstraint(gear, true);
}
// Create a Hinge joint between two dynamic bodies
private void CreateHinge()
{
// static body (parent) on top
RigidBody bodyA = LocalCreateRigidBody(1.0f, Matrix.Translation(-20, -2, 0), cubeShape);
bodyA.ActivationState = ActivationState.DisableDeactivation;
// dynamic body
RigidBody bodyB = LocalCreateRigidBody(10.0f, Matrix.Translation(-30, -2, 0), cubeShape);
bodyB.ActivationState = ActivationState.DisableDeactivation;
// add some data to build constraint frames
var axisA = new Vector3(0, 1, 0);
var axisB = new Vector3(0, 1, 0);
var pivotA = new Vector3(-5, 0, 0);
var pivotB = new Vector3(5, 0, 0);
var hinge = new HingeConstraint(bodyA, bodyB, pivotA, pivotB, axisA, axisB);
hinge.SetLimit(-(float)Math.PI / 4, (float)Math.PI / 4);
// draw constraint frames and limits for debugging
hinge.DebugDrawSize = 5;
World.AddConstraint(hinge, true);
}
public static void Update(ref BulletPhysicsComponent bpc)
{
foreach (var entry in _flippers)
{
PhyFlipper phyFlipper = entry.Value;
phyFlipper._FlipperUpdate(ref bpc);
// debug
var dbg = EngineProvider <IDebugUI> .Get();
bool isChanged = false;
float sa = phyFlipper._startAngle * 180.0f / Mathf.PI;
float se = phyFlipper._endAngle * 180.0f / Mathf.PI;
isChanged |= dbg.GetProperty(phyFlipper.dbgPropStartAngle, ref sa);
isChanged |= dbg.GetProperty(phyFlipper.dbgPropEndAngle, ref se);
if (isChanged)
{
phyFlipper._startAngle = sa * Mathf.PI / 180.0f;
phyFlipper._endAngle = se * Mathf.PI / 180.0f;
HingeConstraint hinge = (HingeConstraint)phyFlipper._constraint;
if (phyFlipper.RotationDirection == 1)
{
hinge.SetLimit(phyFlipper._startAngle, phyFlipper._endAngle, 0.0f);
}
else
{
hinge.SetLimit(phyFlipper._endAngle, phyFlipper._startAngle, 0.0f);
}
}
}
}
public void SetMotorTargets(float deltaTime)
{
float ms = deltaTime * 1000000.0f;
float minFPS = 1000000.0f / 60.0f;
if (ms > minFPS)
{
ms = minFPS;
}
m_Time += ms;
//
// set per-frame sinusoidal position targets using angular motor (hacky?)
//
for (int r = 0; r < m_rigs.Count; r++)
{
HingeConstraint[] hingeConstraints = m_rigs[r].GetJoints();
for (int i = 0; i < 2 * TestRig.NUM_LEGS; i++)
{
HingeConstraint hingeC = hingeConstraints[i];
float fCurAngle = hingeC.GetHingeAngle();
float fTargetPercent = ((int)(m_Time / 1000) % (int)(m_fCyclePeriod)) / m_fCyclePeriod;
float fTargetAngle = 0.5f * (1 + (float)Math.Sin(MathUtil.SIMD_2_PI * fTargetPercent));
float fTargetLimitAngle = hingeC.GetLowerLimit() + fTargetAngle * (hingeC.GetUpperLimit() - hingeC.GetLowerLimit());
float fAngleError = fTargetLimitAngle - fCurAngle;
float fDesiredAngularVel = 1000000.0f * fAngleError / ms;
hingeC.EnableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
}
}
}
void SetMotorTargets(float deltaTime)
{
float ms = deltaTime * 1000000.0f;
float minFPS = 1000000.0f / 60.0f;
if (ms > minFPS)
{
ms = minFPS;
}
m_Time += ms;
//
// set per-frame sinusoidal position targets using angular motor (hacky?)
//
foreach (var rig in rigs)
{
for (int i = 0; i < 2 * NumLegs; i++)
{
HingeConstraint hingeC = rig.GetJoints()[i] as HingeConstraint;
float fCurAngle = hingeC.HingeAngle;
float fTargetPercent = ((int)(m_Time / 1000.0f) % (int)fCyclePeriod) / fCyclePeriod;
float fTargetAngle = (float)(0.5 * (1 + Math.Sin(2.0f * Math.PI * fTargetPercent)));
float fTargetLimitAngle = hingeC.LowerLimit + fTargetAngle * (hingeC.UpperLimit - hingeC.LowerLimit);
float fAngleError = fTargetLimitAngle - fCurAngle;
float fDesiredAngularVel = 1000000.0f * fAngleError / ms;
hingeC.EnableAngularMotor(true, fDesiredAngularVel, fMuscleStrength);
}
}
}
//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 (targetRigidBodyA == null)
{
Debug.LogError("Constraint target rigid body was not set.");
return(false);
}
if (localPivotAxisA == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (constraintType == ConstraintType.constrainToAnotherBody)
{
RigidBody rbb = (RigidBody)targetRigidBodyB.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
constraintPtr = new HingeConstraint(rba, rbb, localPointOnHingeOffsetA.ToBullet(), localPointOnHingeOffsetB.ToBullet(), localPivotAxisA.ToBullet(), localPivotAxisB.ToBullet());
}
else
{
constraintPtr = new HingeConstraint(rba, localPointOnHingeOffsetA.ToBullet(), localPivotAxisA.ToBullet());
}
if (enableMotor)
{
((HingeConstraint)constraintPtr).EnableAngularMotor(true, targetMotorAngularVelocity, maxMotorImpulse);
}
if (setLimit)
{
((HingeConstraint)constraintPtr).SetLimit(lowLimitAngleRadians, highLimitAngleRadians, limitSoftness, limitBiasFactor);
}
constraintPtr.Userobject = this;
return(true);
}
/// <summary>
/// Creates the joint data
/// </summary>
public void CreateJoint()
{
if (joint != null || GetSkeletalJoint() == null)
{
return;
}
switch (GetSkeletalJoint().GetJointType())
{
case SkeletalJointType.ROTATIONAL:
RotationalJoint_Base nodeR = (RotationalJoint_Base)GetSkeletalJoint();
CollisionObject parentObject = ((BulletRigidNode)GetParent()).BulletObject;
WheelDriverMeta wheel = GetSkeletalJoint().cDriver.GetInfo <WheelDriverMeta>();
Vector3 pivot = nodeR.basePoint.Convert();
Matrix4 locJ, locP; //Local Joint Pivot, Local Parent Pivot
BulletObject.WorldTransform = parentObject.WorldTransform * Matrix4.CreateTranslation(pivot);
if (debug)
{
Console.WriteLine("Pivot at " + pivot);
}
GetFrames(nodeR.basePoint.Convert(), parentObject.WorldTransform, BulletObject.WorldTransform, out locP, out locJ);
//HingeConstraint temp = new HingeConstraint((RigidBody)parentObject, /*(RigidBody)*/BulletObject, locP, locJ);
HingeConstraint temp = new HingeConstraint((RigidBody)parentObject, BulletObject, pivot, Vector3.Zero, nodeR.axis.Convert(), nodeR.axis.Convert());
joint = temp;
temp.SetAxis(nodeR.axis.Convert());
if (nodeR.hasAngularLimit)
{
temp.SetLimit(nodeR.angularLimitLow, nodeR.angularLimitHigh);
}
//also need to find a less screwy way to do this
Update = (f) => { (/*(RigidBody)*/ BulletObject).ApplyTorque(nodeR.axis.Convert() * f * 25); };
if (debug)
{
Console.WriteLine("{0} joint made", wheel == null ? "Rotational" : "Wheel");
}
break;
default:
if (debug)
{
Console.WriteLine("Received joint of type {0}", GetSkeletalJoint().GetJointType());
}
break;
}
}
public void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.FConstraint[i] != null && FApply[i])
{
HingeConstraint cst = this.FConstraint[i];
cst.EnableAngularMotor(this.FEnabled[i], this.FTargetVelocity[i], this.FMaxImpulse[i]);
}
}
}
private void SetJointMotorTarget(HingeConstraint joint, float deltaTimeMs)
{
float currentAngle = joint.HingeAngle;
float targetPercent = ((int)(_time / 1000.0f) % (int)_cyclePeriod) / _cyclePeriod;
float targetAngle = (float)(0.5 * (1 + Math.Sin(2.0f * Math.PI * targetPercent)));
float targetLimitAngle = joint.LowerLimit + targetAngle * (joint.UpperLimit - joint.LowerLimit);
float angleError = targetLimitAngle - currentAngle;
float desiredAngularVel = 1000000.0f * angleError / deltaTimeMs;
joint.EnableAngularMotor(true, desiredAngularVel, _muscleStrength);
}
private static HingeConstraint CreateHipJoint(RigidBody root, RigidBody thigh, float direction)
{
Vector3 origin = ToCartesian(direction, BodyRadius);
Matrix rootFrame = Matrix.RotationYawPitchRoll(-direction, 0, 0) * Matrix.Translation(origin);
Matrix thighFrame = rootFrame * root.WorldTransform * Matrix.Invert(thigh.WorldTransform);
var hinge = new HingeConstraint(root, thigh, rootFrame, thighFrame);
hinge.SetLimit(-0.75f * PI_4, PI_8);
//hingeC.SetLimit(-0.1f, 0.1f);
return(hinge);
}
/*//TODO: What about inheritance problems -> should return any constraint type
* public IPoint2PointConstraintImp GetConstraint(int i)
* {
* return (Point2PointConstraintImp)BtWorld.GetConstraint(0).UserObject;
* }*/
//HingeConstraint
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFframeInA = Translater.Float4X4ToBtMatrix(frameInA);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btFframeInA, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
private static HingeConstraint CreateKneeJoint(RigidBody root, RigidBody thigh, RigidBody shin, float direction)
{
Vector3 origin = ToCartesian(direction, BodyRadius + ThighLength);
Matrix localFrame = Matrix.RotationYawPitchRoll(-direction, 0, 0) * Matrix.Translation(origin);
Matrix thighFrame = localFrame * root.WorldTransform * Matrix.Invert(thigh.WorldTransform);
Matrix shinFrame = localFrame * root.WorldTransform * Matrix.Invert(shin.WorldTransform);
var hinge = new HingeConstraint(thigh, shin, thighFrame, shinFrame);
//hingeC.SetLimit(-0.01f, 0.01f);
hinge.SetLimit(-PI_8, 0.2f);
return(hinge);
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float3 pivotInA, float3 axisInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btHingeConstraint = new HingeConstraint(btRigidBodyA, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(axisInA.x, axisInA.y, axisInA.z), useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
public HingeJoint(
ICollisionShape shapeA,
ICollisionShape shapeB,
Vector3d startAnchorPosition,
Vector3d hingeAxis,
double restoreCoefficient,
double springCoefficient)
{
hingeConstraint = new HingeConstraint(
((IMapper)shapeA).GetShape(),
((IMapper)shapeB).GetShape(),
startAnchorPosition,
hingeAxis,
restoreCoefficient,
springCoefficient);
}
private void CreateMotorHinge2()
{
RigidBody body = LocalCreateRigidBody(1.0f, Matrix.Identity, cubeShape);
body.ActivationState = ActivationState.DisableDeactivation;
Vector3 pivotInA = new Vector3(10.0f, 0.0f, 0.0f);
Vector3 axisInA = new Vector3(0, 0, 1);
var hinge = new HingeConstraint(body, pivotInA, axisInA);
const float targetVelocity = -1.0f;
const float maxMotorImpulse = 1.65f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
hinge.DebugDrawSize = 5;
World.AddConstraint(hinge);
}
// Hinge connected to the world, with motor
private void CreateMotorHinge()
{
const float mass = 1.0f;
RigidBody body = LocalCreateRigidBody(mass, Matrix.Translation(0, 20, 0), cubeShape);
Vector3 pivotInA = new Vector3(CubeHalfExtent, -CubeHalfExtent, -CubeHalfExtent);
Vector3 axisInA = new Vector3(0, 0, 1);
var hinge = new HingeConstraint(body, pivotInA, axisInA);
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
//const float targetVelocity = 0;
//const float maxMotorImpulse = 0.01f;
const float targetVelocity = 1.0f;
const float maxMotorImpulse = 1.0f;
hinge.EnableAngularMotor(true, targetVelocity, maxMotorImpulse);
hinge.DebugDrawSize = 5;
World.AddConstraint(hinge);
}
void CreateGear(Vector3 pos, float speed)
{
Matrix startTransform = Matrix.Translation(pos);
CompoundShape shape = new CompoundShape();
#if true
shape.AddChildShape(Matrix.Identity, new BoxShape(5, 1, 6));
shape.AddChildShape(Matrix.RotationZ((float)Math.PI), new BoxShape(5, 1, 6));
#else
shape.AddChildShape(Matrix.Identity, new CylinderShapeZ(5, 1, 7));
shape.AddChildShape(Matrix.RotationZ((float)Math.PI), new BoxShape(4, 1, 8));
#endif
RigidBody body = LocalCreateRigidBody(10, startTransform, shape);
body.Friction = 1;
HingeConstraint hinge = new HingeConstraint(body, Matrix.Identity);
if (speed != 0)
{
hinge.EnableAngularMotor(true, speed, 3);
}
World.AddConstraint(hinge);
}
/// <summary>
/// Adds the hinge constraint.
/// </summary>
/// <param name="rigidBodyA">The rigid body a.</param>
/// <param name="rigidBodyB">The rigid body b.</param>
/// <param name="brAFrame">The br a frame.</param>
/// <param name="brBFrame">The br b frame.</param>
/// <param name="useReferenceFrameA">if set to <c>true</c> [use reference frame a].</param>
/// <returns></returns>
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 brAFrame, float4x4 brBFrame, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translator.Float4X4ToBtMatrix(brAFrame);
var btRbBFrame = Translator.Float4X4ToBtMatrix(brBFrame);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB, btRbAFrame, btRbBFrame, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return(retval);
}
HingeConstraint _AddGateHinge()
{
Matrix AFrame = Matrix.RotationX(0) * Matrix.RotationZ(90.0f.ToRad()) * Matrix.RotationY(90.0f.ToRad()) * Matrix.Translation(offset); // rotatione required to make X axis pivot
Matrix BFrame = AFrame * matrix;
//var hinge = new HingeConstraint(
// body,
// Vector3.Zero + base.offset,
// Vector3.UnitX,
// true);
//var ma = hinge.AFrame;
//var mb = hinge.BFrame;
//var oa = hinge.FrameOffsetA;
//var ob = hinge.FrameOffsetB;
//var im = matrix;
//im.Invert();
//var mb2 = mb * im;
//hinge.Dispose();
var hinge = new HingeConstraint(
body,
TypedConstraint.GetFixedBody(),
AFrame,
BFrame,
true) ;
if (_type!= GateType.Spinner)
{
hinge.SetLimit(_startAngle, _endAngle, 0.0f); // revers angles to have same as in VPX behavior
}
//body.ActivationState = ActivationState.DisableDeactivation;
//body.SetSleepingThresholds(float.MaxValue, 0.0f); // no sleep for flippers
return hinge;
}
TypedConstraint _AddFlipperHinge()
{
float hh = _height * 0.5f;
var hinge = new HingeConstraint(
body,
new Vector3(0, 0, hh),
Vector3.UnitZ,
false);
body.ActivationState = ActivationState.DisableDeactivation;
body.SetSleepingThresholds(float.MaxValue, 0.0f); // no sleep for flippers
if (RotationDirection == 1)
{
hinge.SetLimit(_startAngle, _endAngle, 0.0f);
}
else
{
hinge.SetLimit(_endAngle, _startAngle, 0.0f);
}
return(hinge);
}
private void CreateHingedBoxes()
{
const float mass = 1.0f;
RigidBody body0 = LocalCreateRigidBody(mass, Matrix.Translation(0, 24, 0), cubeShape);
RigidBody body1 = LocalCreateRigidBody(mass, Matrix.Translation(2 * CubeHalfExtent, 24, 0), cubeShape);
Vector3 pivotInA = new Vector3(CubeHalfExtent, -CubeHalfExtent, -CubeHalfExtent);
Vector3 axisInA = new Vector3(0, 0, 1);
Matrix transform = Matrix.Invert(body1.CenterOfMassTransform) * body0.CenterOfMassTransform;
Vector3 pivotInB = Vector3.TransformCoordinate(pivotInA, transform);
transform = Matrix.Invert(body1.CenterOfMassTransform) * body1.CenterOfMassTransform;
Vector3 axisInB = Vector3.TransformCoordinate(axisInA, transform);
//var pointToPoint = new Point2PointConstraint(body0, body1, pivotInA, pivotInB);
//pointToPoint.DebugDrawSize = 5;
//World.AddConstraint(pointToPoint);
var hinge = new HingeConstraint(body0, body1, pivotInA, pivotInB, axisInA, axisInB);
World.AddConstraint(hinge);
}
//----------------------------------------------------------------------------------------------------------------
public override void InitializeDemo()
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 3, 50));
//CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f);
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_broadphase = new SimpleBroadphase(100, null);
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
//m_dynamicsWorld.setGravity(new IndexedVector3(0,0,0));
IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0);
//either use heightfield or triangle mesh
//create ground object
LocalCreateRigidBody(0f, ref tr, groundShape);
CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f));
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);
//m_carChassis = LocalCreateRigidBody(800f, ref tr, chassisShape);//chassisShape);
//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);
//// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS);
//m_liftHinge.SetLimit(0.0f, 0.0f);
//m_dynamicsWorld.AddConstraint(m_liftHinge, true);
//CompoundShape forkCompound = new CompoundShape();
//m_collisionShapes.Add(forkCompound);
//IndexedMatrix forkLocalTrans = IndexedMatrix.Identity;
//CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f));
//m_collisionShapes.Add(forkShapeA);
//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 = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
//IndexedVector3 col0 = MathUtil.matrixColumn(ref localA, 0);
//IndexedVector3 col1 = MathUtil.matrixColumn(ref localA, 1);
//IndexedVector3 col2 = MathUtil.matrixColumn(ref localA, 2);
////localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
//localB = MathUtil.SetEulerZYX(0f, 0f, 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);
//IndexedMatrix localAVec = IndexedMatrix.Identity;
//IndexedMatrix localBVec = IndexedMatrix.Identity;
//m_forkSlider2 = new HingeConstraint(m_liftBody, m_forkBody, ref localAVec, ref localBVec);
//m_dynamicsWorld.AddConstraint(m_forkSlider, true);
//m_dynamicsWorld.addConstraint(m_forkSlider2, true);
CompoundShape loadCompound = new CompoundShape(true);
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);
#if false
{
CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f));
m_collisionShapes.Add(liftShape);
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);
// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS);
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 = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI);
localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f);
localB = MathUtil.setEulerZYX(0f, 0f, 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);
CompoundShape loadCompound = new CompoundShape();
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
SetCameraDistance(26.0f);
SetTexturing(true);
SetShadows(true);
}
/// <summary>
/// Builds the constraint.
/// </summary>
/// <returns></returns>
internal override bool _BuildConstraint()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_constraintPtr != null)
{
if (m_isInWorld && world != null)
{
m_isInWorld = false;
world.RemoveConstraint(m_constraintPtr);
}
}
BRigidBody targetRigidBodyA = GetComponent <BRigidBody>();
if (targetRigidBodyA == null)
{
Debug.LogError("BHingedConstraint needs to be added to a component with a BRigidBody.");
return(false);
}
if (!targetRigidBodyA.isInWorld)
{
world.AddRigidBody(targetRigidBodyA);
}
if (m_localConstraintAxisX == Vector3.zero)
{
Debug.LogError("Constaint axis cannot be zero vector");
return(false);
}
RigidBody rba = (RigidBody)targetRigidBodyA.GetCollisionObject();
if (rba == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
if (m_constraintType == ConstraintType.constrainToAnotherBody)
{
if (m_otherRigidBody == null)
{
Debug.LogError("Other rigid body must not be null");
return(false);
}
if (!m_otherRigidBody.isInWorld)
{
world.AddRigidBody(m_otherRigidBody);
}
RigidBody rbb = (RigidBody)m_otherRigidBody.GetCollisionObject();
if (rbb == null)
{
Debug.LogError("Constraint could not get bullet RigidBody from target rigid body");
return(false);
}
m_constraintPtr = new HingeConstraint(rba, rbb, m_localConstraintPoint.ToBullet(),
m_otherRigidBody.transform.InverseTransformPoint(transform.TransformPoint(m_localConstraintPoint)).ToBullet(),
m_axisInA.ToBullet(), m_axisInB.ToBullet());
}
else
{
m_constraintPtr = new HingeConstraint(rba, m_localConstraintPoint.ToBullet(), m_axisInA.ToBullet(), false);
}
if (m_enableMotor)
{
((HingeConstraint)m_constraintPtr).EnableAngularMotor(true, m_targetMotorAngularVelocity, m_maxMotorImpulse);
}
if (m_setLimit)
{
((HingeConstraint)m_constraintPtr).SetLimit(m_lowLimitAngleRadians, m_highLimitAngleRadians, m_limitSoftness, m_limitBiasFactor);
}
m_constraintPtr.Userobject = this;
m_constraintPtr.DebugDrawSize = m_debugDrawSize;
m_constraintPtr.BreakingImpulseThreshold = m_breakingImpulseThreshold;
m_constraintPtr.OverrideNumSolverIterations = m_overrideNumSolverIterations;
return(true);
}
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);
}
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 IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float4x4 brAFrame, float4x4 brBFrame, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btRbAFrame = Translater.Float4X4ToBtMatrix(brAFrame);
var btRbBFrame = Translater.Float4X4ToBtMatrix(brBFrame);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB,btRbAFrame, btRbBFrame, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, IRigidBodyImp rigidBodyB, float3 pivotInA, float3 pivotInB, float3 axisInA, float3 AxisInB, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var rigidBodyBImp = (RigidBodyImp)rigidBodyB;
var btRigidBodyB = rigidBodyBImp._rbi;
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btRigidBodyB, new Vector3(pivotInA.x, pivotInA.y, pivotInA.z), new Vector3(pivotInB.x, pivotInB.y, pivotInB.z), new Vector3(axisInA.x, axisInA.y, axisInA.z), new Vector3(AxisInB.x, AxisInB.y, AxisInB.z), useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}
public TestRig(DemoApplication demoApplication, DynamicsWorld ownerWorld, ref IndexedVector3 positionOffset, bool bFixed)
{
m_dynamicsWorld = ownerWorld;
IndexedVector3 vUp = new IndexedVector3(0, 1, 0);
//
// Setup geometry
//
float fBodySize = 0.25f;
float fLegLength = 0.45f;
float fForeLegLength = 0.75f;
m_shapes[0] = new CapsuleShape(fBodySize, 0.10f);
for (int i = 0; i < NUM_LEGS; i++)
{
m_shapes[1 + 2 * i] = new CapsuleShape(0.10f, fLegLength);
m_shapes[2 + 2 * i] = new CapsuleShape(0.08f, fForeLegLength);
}
//
// Setup rigid bodies
//
float fHeight = 0.5f;
IndexedMatrix offset = IndexedMatrix.Identity;
offset._origin = positionOffset;
// root
IndexedVector3 vRoot = new IndexedVector3(0, fHeight, 0);
IndexedMatrix transform = IndexedMatrix.Identity;
transform._origin = vRoot;
if (bFixed)
{
m_bodies[0] = demoApplication.LocalCreateRigidBody(0.0f, offset * transform, m_shapes[0]);
}
else
{
m_bodies[0] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[0]);
}
// legs
for (int i = 0; i < NUM_LEGS; i++)
{
float fAngle = MathUtil.SIMD_2_PI * i / NUM_LEGS;
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
transform = IndexedMatrix.Identity;
IndexedVector3 vBoneOrigin = new IndexedVector3(fCos * (fBodySize + 0.5f * fLegLength), fHeight, fSin * (fBodySize + 0.5f * fLegLength));
transform._origin = vBoneOrigin;
// thigh
IndexedVector3 vToBone = (vBoneOrigin - vRoot);
vToBone.Normalize();
IndexedVector3 vAxis = IndexedVector3.Cross(vToBone, vUp);
transform._basis = new IndexedBasisMatrix(new IndexedQuaternion(vAxis, MathUtil.SIMD_HALF_PI));
transform._origin = vBoneOrigin;
m_bodies[1 + 2 * i] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[1 + 2 * i]);
// shin
transform = IndexedMatrix.Identity;
transform._origin = new IndexedVector3(fCos * (fBodySize + fLegLength), fHeight - 0.5f * fForeLegLength, fSin * (fBodySize + fLegLength));
m_bodies[2 + 2 * i] = demoApplication.LocalCreateRigidBody(1.0f, offset * transform, m_shapes[2 + 2 * i]);
}
// Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i].SetDamping(0.05f, 0.85f);
m_bodies[i].SetDeactivationTime(0.8f);
//m_bodies[i].setSleepingThresholds(1.6, 2.5);
m_bodies[i].SetSleepingThresholds(0.5f, 0.5f);
}
//
// Setup the constraints
//
HingeConstraint hingeC;
IndexedMatrix localA, localB, localC;
for (int i = 0; i < NUM_LEGS; i++)
{
float fAngle = MathUtil.SIMD_2_PI * i / NUM_LEGS;
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
// hip joints
localA = IndexedMatrix.Identity;
localB = IndexedMatrix.Identity;
localA = MathUtil.SetEulerZYX(0f, -fAngle, 0f);
localA._origin = new IndexedVector3(fCos * fBodySize, 0.0f, fSin * fBodySize);
localB = m_bodies[1 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA;
if (BulletGlobals.g_streamWriter != null && false)
{
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Hip LocalA", localA);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Hip LocalB", localB);
}
hingeC = new HingeConstraint(m_bodies[0], m_bodies[1 + 2 * i], ref localA, ref localB);
hingeC.SetLimit(-0.75f * MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_QUARTER_PI / 2f);
m_joints[2 * i] = hingeC;
m_dynamicsWorld.AddConstraint(m_joints[2 * i], true);
// knee joints
localA = IndexedMatrix.Identity;
localB = IndexedMatrix.Identity;
localC = IndexedMatrix.Identity;
localA = MathUtil.SetEulerZYX(0f, -fAngle, 0f);
localA._origin = new IndexedVector3(fCos * (fBodySize + fLegLength), 0.0f, fSin * (fBodySize + fLegLength));
localB = m_bodies[1 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA;
localC = m_bodies[2 + 2 * i].GetWorldTransform().Inverse() * m_bodies[0].GetWorldTransform() * localA;
if (BulletGlobals.g_streamWriter != null && false)
{
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalA", localA);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalB", localB);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "Knee LocalC", localC);
}
hingeC = new HingeConstraint(m_bodies[1 + 2 * i], m_bodies[2 + 2 * i], ref localB, ref localC);
//hingeC.setLimit(float(-0.01), float(0.01));
hingeC.SetLimit(-MathUtil.SIMD_QUARTER_PI / 2f, 0.2f);
m_joints[1 + 2 * i] = hingeC;
m_dynamicsWorld.AddConstraint(m_joints[1 + 2 * i], true);
}
}
public TestRig(DynamicsWorld ownerWorld, Vector3 positionOffset, bool bFixed)
{
this.ownerWorld = ownerWorld;
Vector3 vUp = new Vector3(0, 1, 0);
//
// Setup geometry
//
const float fBodySize = 0.25f;
const float fLegLength = 0.45f;
const float fForeLegLength = 0.75f;
const float PI_2 = (float)(0.5f * Math.PI);
const float PI_4 = (float)(0.25f * Math.PI);
const float PI_8 = (float)(0.125f * Math.PI);
shapes[0] = new CapsuleShape(fBodySize, 0.10f);
int i;
for (i = 0; i < NumLegs; i++)
{
shapes[1 + 2 * i] = new CapsuleShape(0.10f, fLegLength);
shapes[2 + 2 * i] = new CapsuleShape(0.08f, fForeLegLength);
}
//
// Setup rigid bodies
//
const float fHeight = 0.5f;
Matrix offset = Matrix.Translation(positionOffset);
// root
Vector3 vRoot = new Vector3(0, fHeight, 0);
Matrix transform = Matrix.Translation(vRoot);
if (bFixed)
{
bodies[0] = LocalCreateRigidBody(0, transform * offset, shapes[0]);
}
else
{
bodies[0] = LocalCreateRigidBody(1, transform * offset, shapes[0]);
}
// legs
for (i = 0; i < NumLegs; i++)
{
float fAngle = (float)(2 * Math.PI * i / NumLegs);
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
Vector3 vBoneOrigin = new Vector3(fCos * (fBodySize + 0.5f * fLegLength), fHeight, fSin * (fBodySize + 0.5f * fLegLength));
// thigh
Vector3 vToBone = (vBoneOrigin - vRoot);
vToBone.Normalize();
Vector3 vAxis = Vector3.Cross(vToBone, vUp);
transform = Matrix.RotationQuaternion(Quaternion.RotationAxis(vAxis, PI_2)) * Matrix.Translation(vBoneOrigin);
bodies[1 + 2 * i] = LocalCreateRigidBody(1, transform * offset, shapes[1 + 2 * i]);
// shin
transform = Matrix.Translation(fCos * (fBodySize + fLegLength), fHeight - 0.5f * fForeLegLength, fSin * (fBodySize + fLegLength));
bodies[2 + 2 * i] = LocalCreateRigidBody(1, transform * offset, shapes[2 + 2 * i]);
}
// Setup some damping on the bodies
for (i = 0; i < BodyPartCount; ++i)
{
bodies[i].SetDamping(0.05f, 0.85f);
bodies[i].DeactivationTime = 0.8f;
//bodies[i].SetSleepingThresholds(1.6f, 2.5f);
bodies[i].SetSleepingThresholds(0.5f, 0.5f);
}
//
// Setup the constraints
//
HingeConstraint hingeC;
//ConeTwistConstraint coneC;
Matrix localA, localB, localC;
for (i = 0; i < NumLegs; i++)
{
float fAngle = (float)(2 * Math.PI * i / NumLegs);
float fSin = (float)Math.Sin(fAngle);
float fCos = (float)Math.Cos(fAngle);
// hip joints
localA = Matrix.RotationYawPitchRoll(-fAngle, 0, 0) * Matrix.Translation(fCos * fBodySize, 0, fSin * fBodySize); // OK
localB = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[1 + 2 * i].WorldTransform);
hingeC = new HingeConstraint(bodies[0], bodies[1 + 2 * i], localA, localB);
hingeC.SetLimit(-0.75f * PI_4, PI_8);
//hingeC.SetLimit(-0.1f, 0.1f);
joints[2 * i] = hingeC;
ownerWorld.AddConstraint(joints[2 * i], true);
// knee joints
localA = Matrix.RotationYawPitchRoll(-fAngle, 0, 0) * Matrix.Translation(fCos * (fBodySize + fLegLength), 0, fSin * (fBodySize + fLegLength));
localB = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[1 + 2 * i].WorldTransform);
localC = localA * bodies[0].WorldTransform * Matrix.Invert(bodies[2 + 2 * i].WorldTransform);
hingeC = new HingeConstraint(bodies[1 + 2 * i], bodies[2 + 2 * i], localB, localC);
//hingeC.SetLimit(-0.01f, 0.01f);
hingeC.SetLimit(-PI_8, 0.2f);
joints[1 + 2 * i] = hingeC;
ownerWorld.AddConstraint(joints[1 + 2 * i], true);
}
}
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;
}
/*//TODO: What about inheritance problems -> should return any constraint type
public IPoint2PointConstraintImp GetConstraint(int i)
{
return (Point2PointConstraintImp)BtWorld.GetConstraint(0).UserObject;
}*/
//HingeConstraint
public IHingeConstraintImp AddHingeConstraint(IRigidBodyImp rigidBodyA, float4x4 frameInA, bool useReferenceFrameA)
{
var rigidBodyAImp = (RigidBodyImp)rigidBodyA;
var btRigidBodyA = rigidBodyAImp._rbi;
var btFframeInA = Translater.Float4X4ToBtMatrix(frameInA);
var btHingeConstraint = new HingeConstraint(btRigidBodyA, btFframeInA, useReferenceFrameA);
BtWorld.AddConstraint(btHingeConstraint);
var retval = new HingeConstraintImp();
retval._hci = btHingeConstraint;
btHingeConstraint.UserObject = retval;
return retval;
}