/// <summary>
/// this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
/// </summary>
/// <param name="dispatcher"></param>
/// <param name="pairCache"></param>
/// <param name="constraintSolver"></param>
public SimpleDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver;
_ownsConstraintSolver = false;
_gravity = new Vector3(0, 0, -10);
}
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_ownsIslandManager = true;
m_constraints = new ObjectArray<TypedConstraint>();
m_actions = new List<IActionInterface>();
m_nonStaticRigidBodies = new ObjectArray<RigidBody>();
m_islandManager = new SimulationIslandManager();
m_constraintSolver = constraintSolver;
Gravity = new Vector3(0, -10, 0);
m_localTime = 1f / 60f;
m_profileTimings = 0;
m_synchronizeAllMotionStates = false;
if (m_constraintSolver == null)
{
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
}
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_ownsIslandManager = true;
m_constraints = new ObjectArray <TypedConstraint>();
m_sortedConstraints = new ObjectArray <TypedConstraint>();
m_islandSortPredicate = new SortConstraintOnIslandPredicate();
m_islandQuickSortPredicate = new QuickSortConstraintOnIslandPredicate();
m_actions = new List <IActionInterface>();
m_nonStaticRigidBodies = new ObjectArray <RigidBody>();
m_islandManager = new SimulationIslandManager();
m_constraintSolver = constraintSolver;
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
SetGravity(ref gravity);
m_localTime = 0f;
m_profileTimings = 0;
m_synchronizeAllMotionStates = false;
if (m_constraintSolver == null)
{
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_ownsConstraintSolver = true;
}
else
{
m_ownsConstraintSolver = false;
}
}
/// <summary>
/// this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
/// </summary>
/// <param name="dispatcher"></param>
/// <param name="pairCache"></param>
/// <param name="constraintSolver"></param>
public SimpleDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver;
_ownsConstraintSolver = false;
_gravity = new Vector3(0, 0, -10);
}
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
public SimpleDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_constraintSolver = constraintSolver;
m_ownsConstraintSolver = false;
IndexedVector3 gravity = new IndexedVector3(0, 0, -10f);
SetGravity(ref gravity);
}
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
public SimpleDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, collisionConfiguration)
{
m_constraintSolver = constraintSolver;
m_ownsConstraintSolver = false;
IndexedVector3 gravity = new IndexedVector3(0, 0, -10f);
SetGravity(ref gravity);
}
public override void SetConstraintSolver(IConstraintSolver solver)
{
//if (m_ownsConstraintSolver)
//{
// btAlignedFree( m_constraintSolver);
//}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}
public InplaceSolverIslandCallback(
ContactSolverInfo solverInfo,
IConstraintSolver solver,
List <TypedConstraint> sortedConstraints,
IDebugDraw debugDrawer)
{
_solverInfo = solverInfo;
_solver = solver;
_sortedConstraints = sortedConstraints;
_debugDrawer = debugDrawer;
}
//this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver != null ? constraintSolver : new SequentialImpulseConstraintSolver();
_debugDrawer = null;
_gravity = new Vector3(0, -10, 0);
_localTime = 1f / 60f;
_profileTimings = 0;
_islandManager = new SimulationIslandManager();
_ownsIslandManager = true;
_ownsConstraintSolver = constraintSolver == null;
}
//this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
public DiscreteDynamicsWorld(IDispatcher dispatcher, OverlappingPairCache pairCache, IConstraintSolver constraintSolver)
: base(dispatcher, pairCache)
{
_constraintSolver = constraintSolver != null ? constraintSolver : new SequentialImpulseConstraintSolver();
_debugDrawer = null;
_gravity = new Vector3(0, -10, 0);
_localTime = 1f / 60f;
_profileTimings = 0;
_islandManager = new SimulationIslandManager();
_ownsIslandManager = true;
_ownsConstraintSolver = constraintSolver == null;
}
private void InitializeExample()
{
history.Clear();
historyIndex = 0;
system = examples[exampleIndex].Initialize(Display.RenderTarget.Size);
solver = solvers[solverIndex](system);
kinematics = new KinematicsIntegrator(system, solver);
kinematics.MinimumTimeStep = TimeStep;
kinematics.MaximumTimeStep = TimeStep;
StoreHistory();
}
public InplaceSolverIslandCallback(
ContactSolverInfo solverInfo,
IConstraintSolver solver,
ObjectArray<TypedConstraint> sortedConstraints,
int numConstraints,
IDebugDraw debugDrawer,
IDispatcher dispatcher)
{
m_solverInfo = solverInfo;
m_solver = solver;
m_sortedConstraints = sortedConstraints;
m_numConstraints = numConstraints;
m_debugDrawer = debugDrawer;
m_dispatcher = dispatcher;
m_bodies = new ObjectArray<CollisionObject>();
m_manifolds = new ObjectArray<PersistentManifold>();
m_constraints = new ObjectArray<TypedConstraint>();
}
public InplaceSolverIslandCallback(
ContactSolverInfo solverInfo,
IConstraintSolver solver,
ObjectArray <TypedConstraint> sortedConstraints,
int numConstraints,
IDebugDraw debugDrawer,
IDispatcher dispatcher)
{
m_solverInfo = solverInfo;
m_solver = solver;
m_sortedConstraints = sortedConstraints;
m_numConstraints = numConstraints;
m_debugDrawer = debugDrawer;
m_dispatcher = dispatcher;
m_bodies = new ObjectArray <CollisionObject>();
m_manifolds = new PersistentManifoldArray();
m_constraints = new ObjectArray <TypedConstraint>();
}
/// <summary>
/// 物理ワールドの初期化
/// </summary>
public void init(CollisionDispatcher d, IBroadphaseInterface b, IConstraintSolver s, ICollisionConfiguration c)
{
// Construct physics objects
CoreDescription coreDesc = new CoreDescription();
UserOutput output = new UserOutput();
this.Core = new Core(coreDesc, output);
Core core = this.Core;
// デバッグ描画用の設定
core.SetParameter(PhysicsParameter.VisualizationScale, 2.0f);
core.SetParameter(PhysicsParameter.VisualizeForceFields, true);
core.SetParameter(PhysicsParameter.VisualizeCollisionShapes, true);
core.SetParameter(PhysicsParameter.VisualizeJointLimits, true);
/*
* core.SetParameter(PhysicsParameter.VisualizeJointLocalAxes, true);
* //core.SetParameter(PhysicsParameter.VisualizeJointWorldAxes, true);
* core.SetParameter(PhysicsParameter.VisualizeClothMesh, true);
* core.SetParameter(PhysicsParameter.VisualizeFluidPosition, true);
* core.SetParameter(PhysicsParameter.VisualizeFluidEmitters, false); // Slows down rendering a bit too much
* core.SetParameter(PhysicsParameter.VisualizeSoftBodyMesh, true);
*/
// シーンの設定
SceneDescription sceneDesc = new SceneDescription()
{
//SimulationType = SimulationType.Hardware,
Gravity = new Vector3(0, -9.81f, 0),
GroundPlaneEnabled = true
};
this.scene = core.CreateScene(sceneDesc);
HardwareVersion ver = Core.HardwareVersion;
SimulationType simType = this.scene.SimulationType;
// Connect to the remote debugger if it's there
//core.Foundation.RemoteDebugger.Connect("localhost");
}
public override void SetConstraintSolver(IConstraintSolver solver)
{
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}
public override void SetConstraintSolver(IConstraintSolver solver)
{
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}
public ContinuousDynamicsWorld(IDispatcher dispatcher, IBroadphaseInterface pairCache, IConstraintSolver constraintSolver, ICollisionConfiguration collisionConfiguration)
: base(dispatcher, pairCache, constraintSolver, collisionConfiguration)
{
}
public BulletXNAPhysicsComponent(Game game, ICollisionConfiguration collisionConf, IConstraintSolver solver, Vector3 gravity)
: base(game)
{
CollisionDispatcher Dispatcher = new CollisionDispatcher(collisionConf);
IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000);
IndexedVector3 worldMax = -worldMin;
IBroadphaseInterface broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
//broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, broadphase, solver, collisionConf);
IndexedVector3 iv3Gravity = new IndexedVector3(gravity.X, gravity.Y, gravity.Z);
World.SetGravity(ref iv3Gravity);
}
public abstract void SetConstraintSolver(IConstraintSolver solver);
public KinematicsIntegrator(KinematicsSystem system, IConstraintSolver constraint)
{
System = system;
this.constraint = constraint;
}
public override void SetConstraintSolver(IConstraintSolver solver)
{
//if (m_ownsConstraintSolver)
//{
// btAlignedFree( m_constraintSolver);
//}
m_ownsConstraintSolver = false;
m_constraintSolver = solver;
}
public InplaceSolverIslandCallback(
ContactSolverInfo solverInfo,
IConstraintSolver solver,
List<TypedConstraint> sortedConstraints,
IDebugDraw debugDrawer)
{
_solverInfo = solverInfo;
_solver = solver;
_sortedConstraints = sortedConstraints;
_debugDrawer = debugDrawer;
}
public abstract void SetConstraintSolver(IConstraintSolver solver);
