private void CreateBoxes()
{
const float mass = 1.0f;
var shape = new BoxShape(Scale);
Vector3 localInertia = shape.CalculateLocalInertia(mass);
var bodyInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
for (int y = 0; y < NumBoxesY; y++)
{
for (int x = 0; x < NumBoxesX; x++)
{
for (int z = 0; z < NumBoxesZ; z++)
{
Vector3 position = _startPosition + Scale * 2 * new Vector3(x, y, z);
// make it drop from a height
position += new Vector3(0, Scale * 10, 0);
// using MotionState is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
bodyInfo.MotionState = new DefaultMotionState(Matrix.Translation(position));
var body = new RigidBody(bodyInfo);
World.AddRigidBody(body);
}
}
}
bodyInfo.Dispose();
}
// Cutting
public RigidBody LocalCreateRigidBody(float mass, BulletSharp.Math.Vector3 startpos, CollisionShape shape, bool isKinematic = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
BulletSharp.Math.Matrix matrixtrans = BulletSharp.Math.Matrix.Identity;
matrixtrans.Origin = startpos;
DefaultMotionState myMotionState = new DefaultMotionState(matrixtrans);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
return(body);
}
public override RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
body.ContactProcessingThreshold = defaultContactProcessingThreshold;
body.WorldTransform = startTransform;
World.AddRigidBody(body);
return(body);
}
public virtual RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
_world.AddRigidBody(body);
return(body);
}
protected RigidBody ResetRigidBody(RigidBody rb, float newMass, BulletSharp.Math.Vector3 newInertia, Matrix startTransform, CollisionShape shape, float friction = 0.5f, bool isKinematic = false)
{
// basically detroys a rigid body and re-initializes it efficiently
// doesn't recalculate moment of inertia or re-create the gfx object
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects\
float mass = newMass;
BulletSharp.Math.Vector3 localInertia = newInertia;
DestroyRigidBody(rb);
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
rbInfo.Friction = friction;
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
m_world.AddRigidBody(body);
return(body);
}
private void CreateBoxes()
{
const float mass = 1.0f;
var colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
for (int y = 0; y < ArraySizeY; y++)
{
for (int x = 0; x < ArraySizeX; x++)
{
for (int z = 0; z < ArraySizeZ; z++)
{
Vector3 position = startPosition + 2 * new Vector3(x, y, z);
// make it drop from a height
position += new Vector3(0, 10, 0);
// using MotionState is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(Matrix.Translation(position));
var body = new RigidBody(rbInfo);
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
static CustomVehicle()
{
var ci = new RigidBodyConstructionInfo(0, null, null);
fixedBody = new RigidBody(ci);
fixedBody.SetMassProps(0, Vector3.Zero);
ci.Dispose();
}
protected override void Initialize()
{
base.Initialize();
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DebugDrawer = DebugDrawer;
// create the ground
_groundShape = new BoxShape(50, 1, 50);
LoadModel("ground", _groundShape);
CollisionShapes.Add(_groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, _groundShape);
// create a few dynamic rigidbodies
const float mass = 1.0f;
_boxShape = new BoxShape(1);
LoadModel("cube", _boxShape);
CollisionShapes.Add(_boxShape);
var rbInfo = new RigidBodyConstructionInfo(mass, null, _boxShape);
rbInfo.LocalInertia = _boxShape.CalculateLocalInertia(mass);
for (int k = 0; k < ArraySizeY; k++)
{
for (int i = 0; i < ArraySizeX; i++)
{
for (int j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.CreateTranslation(
_start + new Vector3(2 * i, 2 * k, 2 * j));
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
var body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
FreeLook.SetEyeTarget(ref _eye, ref _target);
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
_collisionConf = new DefaultCollisionConfiguration();
_dispatcher = new CollisionDispatcher(_collisionConf);
_broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(_dispatcher, _broadphase, null, _collisionConf);
// create the ground
var groundShape = new BoxShape(50, 50, 50);
_collisionShapes.Add(groundShape);
CollisionObject ground = CreateStaticBody(Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
var colShape = new BoxShape(1);
_collisionShapes.Add(colShape);
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
for (int y = 0; y < ArraySizeY; y++)
{
for (int x = 0; x < ArraySizeX; x++)
{
for (int z = 0; z < ArraySizeZ; z++)
{
Matrix startTransform = Matrix.Translation(
_startPosition + 2 * new Vector3(x, y, z));
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
var body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 15, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
public void AlignmentTest()
{
const float mass = 1.0f;
for (int i = 0; i < 100; i++)
{
// RigidBodyConstructionInfo without the optional localInertia parameter will
// cause the default value to be passed, which is not aligned to 16 bytes in C++/CLI.
// If BulletSharp doesn't explicitly pass an aligned value and SSE is used,
// an AccessViolationException occurs.
var info = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), boxShape); // , Vector3.Zero
info.Dispose();
}
}
/// <summary>
/// Disposes of the RigidBody
/// Should only be called internally or from a physics world instance.
/// </summary>
public override void Dispose()
{
//Dispose of all the components in reverse order
if (Disposing)
{
return;
}
if (Registered)
{
BulletPhysicsWorldManager.Unregister(_staticBody);
}
Disposing = true;
_staticBody?.Dispose();
_constructionInfo?.Dispose();
PhysicsCollisionShape?.Dispose();
}
public RigidBody AddRigidBody(float mass, Matrix4 startTransform, CollisionShape shape)
{
// Rigidbody is dynamic if and only if mass is non zero, otherwise static
var isDynamic = (mass != 0.0f);
var localInertia = Vector3.Zero.ToBullet();
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
// Using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
var myMotionState = new DefaultMotionState(startTransform.ToBullet());
var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
var body = new RigidBody(rbInfo);
rbInfo.Dispose();
_physicsWorld.AddRigidBody(body);
return(body);
}
public static RigidBody BuildCollisionObject(this Block block)
{
var transform = block.GetComponent <TransformComponent>();
var renderer = block.GetComponent <RendererComponent>();
var rigidBody = block.GetComponent <RigidBodyComponent>();
if (transform == null || renderer == null || rigidBody == null)
{
return(null);
}
var transformMatrix = SystemManager <Block> .GetSystem <TransformSystem>().GetWorldTransform(block);
var mass = rigidBody.IsKinematic.Value ? 0 : rigidBody.Mass.Value;
var colliderShape = renderer.BuildCollisionShape();
colliderShape.LocalScaling = transform.Scale.Value;
var localInertia = colliderShape.CalculateLocalInertia(mass);
var info = new RigidBodyConstructionInfo(
mass,
new DefaultMotionState(transformMatrix),
colliderShape,
localInertia)
{
Friction = rigidBody.Friction.Value,
Restitution = rigidBody.Restitution.Value
};
var physBody = new RigidBody(info);
if (rigidBody.IsKinematic.Value)
{
physBody.CollisionFlags |= CollisionFlags.KinematicObject;
physBody.ActivationState = ActivationState.DisableDeactivation;
}
info.Dispose();
return(physBody);
}
RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
ownerWorld.AddRigidBody(body);
return(body);
}
// Creates a rigid body from the given shape and adds it to the Unity scene.
protected RigidBody CreateRigidBody(float mass, BulletSharp.Math.Vector3 inertia, Matrix startTransform, CollisionShape shape, Material renderMat, float friction = 0.5f, bool isKinematic = false, bool viz = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic)
{
localInertia = inertia;
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
rbInfo.Friction = friction;
//rbInfo.RollingFriction = friction;
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
m_world.AddRigidBody(body);
// create unity object from it
if (viz)
{
AddUnityObject(body, renderMat);
}
return(body);
}
public Physics(SceneManager sceneMgr)
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix4.IDENTITY, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix4 startTransform = new Matrix4();
startTransform.MakeTrans(
new Vector3(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
int index = (k * ArraySizeX + i) * ArraySizeZ + j;
Entity box = sceneMgr.CreateEntity("Box" + index.ToString(), "box.mesh");
box.SetMaterialName("BoxMaterial/Active");
SceneNode boxNode = sceneMgr.RootSceneNode.CreateChildSceneNode("BoxNode" + index.ToString());
boxNode.AttachObject(box);
boxNode.Scale(new Vector3(2, 2, 2));
var mogreMotionState = new MogreMotionState(box, boxNode, startTransform);
rbInfo.MotionState = mogreMotionState;
RigidBody body = new RigidBody(rbInfo);
mogreMotionState.Body = body;
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
//called by Physics World just before rigid body is added to world.
//the current rigid body properties are used to rebuild the rigid body.
internal override bool _BuildCollisionObject()
{
BPhysicsWorld world = BPhysicsWorld.Get();
if (m_rigidBody != null)
{
if (isInWorld && world != null)
{
isInWorld = false;
world.RemoveRigidBody(m_rigidBody);
}
}
if (transform.localScale != UnityEngine.Vector3.one)
{
BDebug.LogError(debugType, "The local scale on this rigid body is not one. Bullet physics does not support scaling on a rigid body world transform. Instead alter the dimensions of the CollisionShape.");
}
m_collisionShape = GetComponent <BCollisionShape>();
if (m_collisionShape == null)
{
BDebug.LogError(debugType, "There was no collision shape component attached to this BRigidBody. {0}", name);
return(false);
}
CollisionShape cs = m_collisionShape.GetCollisionShape();
//rigidbody is dynamic if and only if mass is non zero, otherwise static
_localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic())
{
cs.CalculateLocalInertia(_mass, out _localInertia);
}
if (m_rigidBody == null)
{
m_motionState = new BGameObjectMotionState(transform);
float bulletMass = _mass;
if (!isDynamic())
{
bulletMass = 0f;
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(bulletMass, m_motionState, cs, _localInertia);
rbInfo.Friction = _friction;
rbInfo.RollingFriction = _rollingFriction;
rbInfo.LinearDamping = _linearDamping;
rbInfo.AngularDamping = _angularDamping;
rbInfo.Restitution = _restitution;
rbInfo.LinearSleepingThreshold = _linearSleepingThreshold;
rbInfo.AngularSleepingThreshold = _angularSleepingThreshold;
rbInfo.AdditionalDamping = _additionalDamping;
rbInfo.AdditionalAngularDampingFactor = _additionalAngularDampingFactor;
rbInfo.AdditionalAngularDampingThresholdSqr = _additionalAngularDampingThresholdSqr;
rbInfo.AdditionalDampingFactor = _additionalDampingFactor;
rbInfo.AdditionalLinearDampingThresholdSqr = _additionalLinearDampingThresholdSqr;
m_rigidBody = new RigidBody(rbInfo);
m_rigidBody.UserObject = this;
m_rigidBody.AngularVelocity = _angularVelocity.ToBullet();
m_rigidBody.LinearVelocity = _linearVelocity.ToBullet();
rbInfo.Dispose();
}
else
{
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
m_rigidBody.SetMassProps(usedMass, _localInertia);
m_rigidBody.Friction = _friction;
m_rigidBody.RollingFriction = _rollingFriction;
m_rigidBody.SetDamping(_linearDamping, _angularDamping);
m_rigidBody.Restitution = _restitution;
m_rigidBody.SetSleepingThresholds(_linearSleepingThreshold, _angularSleepingThreshold);
m_rigidBody.AngularVelocity = _angularVelocity.ToBullet();
m_rigidBody.LinearVelocity = _linearVelocity.ToBullet();
m_rigidBody.CollisionShape = cs;
}
m_rigidBody.CollisionFlags = m_collisionFlags;
m_rigidBody.LinearFactor = _linearFactor.ToBullet();
m_rigidBody.AngularFactor = _angularFactor.ToBullet();
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
m_rigidBody.ActivationState = ActivationState.DisableDeactivation;
}
return(true);
}
private void Start()
{
//Create a World
Debug.Log("Initialize physics");
List <CollisionShape> CollisionShapes = new List <CollisionShape>();
DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration();
CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf);
DbvtBroadphase Broadphase = new DbvtBroadphase();
DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf)
{
Gravity = new BulletSharp.Math.Vector3(0, -9.80665f, 0)
};
// create a few dynamic rigidbodies
const float mass = 1.0f;
//Add a single cube
RigidBody fallRigidBody;
BoxShape shape = new BoxShape(1f, 1f, 1f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
shape.CalculateLocalInertia(mass, out localInertia);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia);
fallRigidBody = new RigidBody(rbInfo);
rbInfo.Dispose();
Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f));
fallRigidBody.WorldTransform = st;
World.AddRigidBody(fallRigidBody);
Matrix trans;
//Step the simulation 300 steps
for (int i = 0; i < 300; i++)
{
World.StepSimulation(1f / 60f, 10);
fallRigidBody.GetWorldTransform(out trans);
Debug.Log("box height: " + trans.Origin);
}
//Clean up.
World.RemoveRigidBody(fallRigidBody);
fallRigidBody.Dispose();
Debug.Log("ExitPhysics");
if (World != null)
{
//remove/dispose constraints
int i;
for (i = World.NumConstraints - 1; i >= 0; i--)
{
TypedConstraint constraint = World.GetConstraint(i);
World.RemoveConstraint(constraint);
constraint.Dispose();
}
//remove the rigidbodies from the dynamics world and delete them
for (i = World.NumCollisionObjects - 1; i >= 0; i--)
{
CollisionObject obj = World.CollisionObjectArray[i];
RigidBody body = obj as RigidBody;
if (body != null && body.MotionState != null)
{
body.MotionState.Dispose();
}
World.RemoveCollisionObject(obj);
obj.Dispose();
}
//delete collision shapes
foreach (CollisionShape ss in CollisionShapes)
{
ss.Dispose();
}
CollisionShapes.Clear();
World.Dispose();
Broadphase.Dispose();
Dispatcher.Dispose();
CollisionConf.Dispose();
}
if (Broadphase != null)
{
Broadphase.Dispose();
}
if (Dispatcher != null)
{
Dispatcher.Dispose();
}
if (CollisionConf != null)
{
CollisionConf.Dispose();
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(20, 50, 10);
CollisionObject ground = LocalCreateRigidBody(0,
Matrix.RotationAxis(new Vector3(0, 0, 1), (float)Math.PI * 0.03f) * Matrix.Translation(0, -50, 0),
groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
groundShape = new BoxShape(100, 50, 100);
ground = LocalCreateRigidBody(0, Matrix.Translation(0, -54, 0), groundShape);
ground.Friction = 1;
ground.RollingFriction = 1;
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
CollisionShape[] colShapes =
{
new SphereShape(1),
new CapsuleShape(0.5f, 1),
new CapsuleShapeX(0.5f, 1),
new CapsuleShapeZ(0.5f, 1),
new ConeShape(0.5f, 1),
new ConeShapeX(0.5f, 1),
new ConeShapeZ(0.5f, 1),
new CylinderShape(new Vector3(0.5f, 1, 0.5f)),
new CylinderShapeX(new Vector3(1, 0.5f, 0.5f)),
new CylinderShapeZ(new Vector3(0.5f, 0.5f, 1)),
};
const float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, null, localInertia);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
int shapeIndex = 0;
for (int k = 0; k < ArraySizeY; k++)
{
for (int i = 0; i < ArraySizeX; i++)
{
for (int j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + startX,
2 * k + startY + 20,
2 * j + startZ
);
shapeIndex++;
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
rbInfo.CollisionShape = colShapes[shapeIndex % colShapes.Length];
RigidBody body = new RigidBody(rbInfo);
body.Friction = 1;
body.RollingFriction = 0.3f;
body.SetAnisotropicFriction(colShape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.AnisotropicRollingFriction);
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
public RollingFrictionDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
// create a few dynamic rigidbodies
CollisionShape[] colShapes =
{
new SphereShape(1),
new CapsuleShape(0.5f, 1),
new CapsuleShapeX(0.5f, 1),
new CapsuleShapeZ(0.5f, 1),
new ConeShape(0.5f, 1),
new ConeShapeX(0.5f, 1),
new ConeShapeZ(0.5f, 1),
new CylinderShape(new Vector3(0.5f, 1, 0.5f)),
new CylinderShapeX(new Vector3(1, 0.5f, 0.5f)),
new CylinderShapeZ(new Vector3(0.5f, 0.5f, 1)),
};
const float mass = 1.0f;
var anisotropicRollingFrictionDirection = new Vector3(1, 1, 1);
var rbInfo = new RigidBodyConstructionInfo(mass, null, null);
int shapeIndex = 0;
for (int y = 0; y < NumObjectsY; y++)
{
for (int x = 0; x < NumObjectsX; x++)
{
for (int z = 0; z < NumObjectsZ; z++)
{
Vector3 position = _startPosition + 2 * new Vector3(x, y, z);
position += new Vector3(0, 10, 0);
Matrix startTransform = Matrix.Translation(position);
shapeIndex++;
var shape = colShapes[shapeIndex % colShapes.Length];
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
rbInfo.CollisionShape = shape;
rbInfo.LocalInertia = shape.CalculateLocalInertia(rbInfo.Mass);
var body = new RigidBody(rbInfo)
{
Friction = 1,
RollingFriction = 0.1f,
SpinningFriction = 0.1f
};
body.SetAnisotropicFriction(shape.AnisotropicRollingFrictionDirection,
AnisotropicFrictionFlags.RollingFriction);
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher);
string bulletFile;
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bulletFile = "testFile.bullet";
}
else
{
bulletFile = args[1];
}
fileLoader = new CustomBulletWorldImporter(World);
if (!fileLoader.LoadFile(bulletFile))
{
CollisionShape groundShape = new BoxShape(50);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
Vector3[] positions = new Vector3[2] {
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f)
};
float[] radi = new float[2] {
0.3f, 0.4f
};
CollisionShape colShape = new MultiSphereShape(positions, radi);
//CollisionShape colShape = new CapsuleShapeZ(1, 1);
//CollisionShape colShape = new CylinderShapeZ(1, 1, 1);
//CollisionShape colShape = new BoxShape(1);
//CollisionShape colShape = new SphereShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
DefaultSerializer serializer = new DefaultSerializer();
serializer.RegisterNameForObject(ground, "GroundName");
for (i = 0; i < CollisionShapes.Count; i++)
{
serializer.RegisterNameForObject(CollisionShapes[i], "name" + i.ToString());
}
Point2PointConstraint p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2], new Vector3(0, 1, 0));
World.AddConstraint(p2p);
serializer.RegisterNameForObject(p2p, "constraintje");
World.Serialize(serializer);
BulletSharp.DataStream data = serializer.LockBuffer();
byte[] dataBytes = new byte[data.Length];
data.Read(dataBytes, 0, dataBytes.Length);
FileStream file = new FileStream("testFile.bullet", FileMode.Create);
file.Write(dataBytes, 0, dataBytes.Length);
file.Close();
}
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
collisionShapes.Add(groundShape);
ground = LocalCreateRigidBody(0, Matrix4.CreateTranslation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
boxColShape = new BoxShape(1);
collisionShapes.Add(boxColShape);
Vector3 localInertia = boxColShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, boxColShape, localInertia);
int boxNumber = 0;
for (float curX = fromX; curX < toX; curX += stepX)
{
int curXOffset = boxNumber / FunctionZWidth * functionDensity;
for (int z = 0; z < FunctionZWidth; ++z)
{
Vector3 boxPos = new Vector3(curX + curXOffset, (float)Math.Cos(functionPeriod * curX) * functionAmplitude + functionOffsetY, z);
Matrix4 startTransform = Matrix4.CreateTranslation(boxPos);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
// body.Translate(new Vector3(0, 0, 0));
World.AddRigidBody(body);
body.Gravity = Vector3.Zero;
functionBoxes.Add(body);
boxNumber++;
}
}
timer = new Timer(100);
timer.Elapsed += Timer_Elapsed;
timer.AutoReset = true;
timer.Enabled = true;
rbInfo.Dispose();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
BoxShape groundShape = new BoxShape(50, 1, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float startX = StartPosX - ArraySizeX / 2;
const float startY = StartPosY;
const float startZ = StartPosZ - ArraySizeZ / 2;
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
for (int k = 0; k < ArraySizeY; k++)
{
for (int i = 0; i < ArraySizeX; i++)
{
for (int j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + startX,
2 * k + startY,
2 * j + startZ
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new MultiBodyConstraintSolver();
World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
BoxShape groundShape = new BoxShape(50, 50, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
3 * i + start_x,
3 * k + start_y,
3 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
World.AddRigidBody(body);
}
}
}
var settings = new MultiBodySettings()
{
BasePosition = new Vector3(60, 29.5f, -2) * Scaling,
CanSleep = true,
CreateConstraints = true,
DisableParentCollision = true, // the self-collision has conflicting/non-resolvable contact normals
IsFixedBase = false,
NumLinks = 2,
UsePrismatic = true
};
var multiBodyA = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.NumLinks = 10;
settings.BasePosition = new Vector3(0, 29.5f, -settings.NumLinks * 4);
settings.IsFixedBase = true;
settings.UsePrismatic = false;
var multiBodyB = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.BasePosition = new Vector3(-20 * Scaling, 29.5f * Scaling, -settings.NumLinks * 4 * Scaling);
settings.IsFixedBase = false;
var multiBodyC = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
settings.BasePosition = new Vector3(-20, 9.5f, -settings.NumLinks * 4);
settings.IsFixedBase = true;
settings.UsePrismatic = true;
settings.DisableParentCollision = true;
var multiBodyPrim = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings);
}
/**
* Creates or configures a RigidBody based on the current settings. Does not alter the internal state of this component in any way.
* Can be used to create copies of this BRigidBody for use in other physics simulations.
*/
public bool CreateOrConfigureRigidBody(ref RigidBody rb, ref BulletSharp.Math.Vector3 localInertia, CollisionShape cs, MotionState motionState)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic())
{
cs.CalculateLocalInertia(_mass, out localInertia);
}
if (rb == null)
{
float bulletMass = _mass;
if (!isDynamic())
{
bulletMass = 0f;
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(bulletMass, motionState, cs, localInertia);
rbInfo.Friction = _friction;
rbInfo.RollingFriction = _rollingFriction;
rbInfo.LinearDamping = _linearDamping;
rbInfo.AngularDamping = _angularDamping;
rbInfo.Restitution = _restitution;
rbInfo.LinearSleepingThreshold = _linearSleepingThreshold;
rbInfo.AngularSleepingThreshold = _angularSleepingThreshold;
rbInfo.AdditionalDamping = _additionalDamping;
rbInfo.AdditionalAngularDampingFactor = _additionalAngularDampingFactor;
rbInfo.AdditionalAngularDampingThresholdSqr = _additionalAngularDampingThresholdSqr;
rbInfo.AdditionalDampingFactor = _additionalDampingFactor;
rbInfo.AdditionalLinearDampingThresholdSqr = _additionalLinearDampingThresholdSqr;
rb = new RigidBody(rbInfo);
rbInfo.Dispose();
}
else
{
float usedMass = 0f;
if (isDynamic())
{
usedMass = _mass;
}
rb.SetMassProps(usedMass, localInertia);
rb.Friction = _friction;
rb.RollingFriction = _rollingFriction;
rb.SetDamping(_linearDamping, _angularDamping);
rb.Restitution = _restitution;
rb.SetSleepingThresholds(_linearSleepingThreshold, _angularSleepingThreshold);
rb.CollisionShape = cs;
}
rb.AngularVelocity = angularVelocity.ToBullet();
rb.LinearVelocity = velocity.ToBullet();
rb.CollisionFlags = m_collisionFlags;
rb.LinearFactor = _linearFactor.ToBullet();
rb.AngularFactor = _angularFactor.ToBullet();
if (m_rigidBody != null)
{
rb.DeactivationTime = m_rigidBody.DeactivationTime;
rb.InterpolationLinearVelocity = m_rigidBody.InterpolationLinearVelocity;
rb.InterpolationAngularVelocity = m_rigidBody.InterpolationAngularVelocity;
rb.InterpolationWorldTransform = m_rigidBody.InterpolationWorldTransform;
}
//if kinematic then disable deactivation
if ((m_collisionFlags & BulletSharp.CollisionFlags.KinematicObject) != 0)
{
rb.ActivationState = ActivationState.DisableDeactivation;
}
return(true);
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
collisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix4.CreateTranslation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
collisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix4 startTransform = Matrix4.CreateTranslation(
new Vector3(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConf);
VoronoiSimplexSolver simplex = new VoronoiSimplexSolver();
MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver();
Convex2DConvex2DAlgorithm.CreateFunc convexAlgo2d = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc());
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(150, 7, 150);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
float u = 0.96f;
Vector3[] points = { new Vector3(0, u, 0), new Vector3(-u, -u, 0), new Vector3(u, -u, 0) };
ConvexShape childShape0 = new BoxShape(1, 1, Depth);
ConvexShape colShape = new Convex2DShape(childShape0);
ConvexShape childShape1 = new ConvexHullShape(points);
ConvexShape colShape2 = new Convex2DShape(childShape1);
ConvexShape childShape2 = new CylinderShapeZ(1, 1, Depth);
ConvexShape colShape3 = new Convex2DShape(childShape2);
CollisionShapes.Add(colShape);
CollisionShapes.Add(colShape2);
CollisionShapes.Add(colShape3);
CollisionShapes.Add(childShape0);
CollisionShapes.Add(childShape1);
CollisionShapes.Add(childShape2);
colShape.Margin = 0.03f;
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
Matrix startTransform;
Vector3 x = new Vector3(-ArraySizeX, 8, -20);
Vector3 y = Vector3.Zero;
Vector3 deltaX = new Vector3(1, 2, 0);
Vector3 deltaY = new Vector3(2, 0, 0);
int i, j;
for (i = 0; i < ArraySizeY; i++)
{
y = x;
for (j = 0; j < ArraySizeX; j++)
{
startTransform = Matrix.Translation(y - new Vector3(-10, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo;
switch (j % 3)
{
case 0:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
break;
case 1:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape3, localInertia);
break;
default:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape2, localInertia);
break;
}
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
//body.ActivationState = ActivationState.IslandSleeping;
body.LinearFactor = new Vector3(1, 1, 0);
body.AngularFactor = new Vector3(0, 0, 1);
World.AddRigidBody(body);
y += deltaY;
}
x += deltaX;
}
}
/*private void MyTickCallBack(ManifoldPoint cp, CollisionObjectWrapper colobj0wrap, int partid0, int index0, CollisionObjectWrapper colobj1wrap, int partid1, int index1)
* {
* Debug.WriteLine("MyTickCallBack");
* int numManifolds = BtWorld.Dispatcher.NumManifolds;
* RigidBodyImp myRb;
* //Debug.WriteLine("numManifolds: " + numManifolds);
* for (int i = 0; i < numManifolds; i++)
* {
* PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i);
* int numContacts = contactManifold.NumContacts;
* if (numContacts > 0)
* {
* CollisionObject obA = (CollisionObject) contactManifold.Body0;
* CollisionObject obB = (CollisionObject) contactManifold.Body1;
*
* // Debug.WriteLine(numContacts);
* var pnA = obA.UserObject;
*
* for (int j = 0; j < numContacts; j++)
* {
* ManifoldPoint pt = contactManifold.GetContactPoint(j);
*
* }
* }
* }
* }*/
public IRigidBodyImp AddRigidBody(float mass, float3 worldTransform, float3 orientation, ICollisionShapeImp colShape /*, float3 intertia*/)
{
// Use bullet to do what needs to be done:
var btMatrix = Matrix.RotationX(orientation.x)
* Matrix.RotationY(orientation.y)
* Matrix.RotationZ(orientation.z)
* Matrix.Translation(worldTransform.x, worldTransform.y, worldTransform.z);
var btMotionState = new DefaultMotionState(btMatrix);
var shapeType = colShape.GetType().ToString();
CollisionShape btColShape;
var isStatic = false;
switch (shapeType)
{
//Primitives
case "Fusee.Engine.BoxShapeImp":
var box = (BoxShapeImp)colShape;
var btBoxHalfExtents = Translater.Float3ToBtVector3(box.HalfExtents);
btColShape = new BoxShape(btBoxHalfExtents);
break;
case "Fusee.Engine.CapsuleShapeImp":
var capsule = (CapsuleShapeImp)colShape;
btColShape = new CapsuleShape(capsule.Radius, capsule.HalfHeight);
break;
case "Fusee.Engine.ConeShapeImp":
var cone = (ConeShapeImp)colShape;
btColShape = new ConeShape(cone.Radius, cone.Height);
break;
case "Fusee.Engine.CylinderShapeImp":
var cylinider = (CylinderShapeImp)colShape;
var btCylinderHalfExtents = Translater.Float3ToBtVector3(cylinider.HalfExtents);
btColShape = new CylinderShape(btCylinderHalfExtents);
break;
case "Fusee.Engine.MultiSphereShapeImp":
var multiSphere = (MultiSphereShapeImp)colShape;
var btPositions = new Vector3[multiSphere.SphereCount];
var btRadi = new float[multiSphere.SphereCount];
for (int i = 0; i < multiSphere.SphereCount; i++)
{
var pos = Translater.Float3ToBtVector3(multiSphere.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = multiSphere.GetSphereRadius(i);
}
btColShape = new MultiSphereShape(btPositions, btRadi);
break;
case "Fusee.Engine.SphereShapeImp":
var sphere = (SphereShapeImp)colShape;
var btRadius = sphere.Radius;
btColShape = new SphereShape(btRadius);
break;
//Misc
case "Fusee.Engine.CompoundShapeImp":
var compShape = (CompoundShapeImp)colShape;
btColShape = new CompoundShape(true);
btColShape = compShape.BtCompoundShape;
break;
case "Fusee.Engine.EmptyShapeImp":
btColShape = new EmptyShape();
break;
//Meshes
case "Fusee.Engine.ConvexHullShapeImp":
var convHull = (ConvexHullShapeImp)colShape;
var btPoints = new Vector3[convHull.GetNumPoints()];
for (int i = 0; i < convHull.GetNumPoints(); i++)
{
var point = convHull.GetScaledPoint(i);
btPoints[i] = Translater.Float3ToBtVector3(point);
}
btColShape = new ConvexHullShape(btPoints);
//btColShape.LocalScaling = new Vector3(3,3,3);
break;
case "Fusee.Engine.StaticPlaneShapeImp":
var staticPlane = (StaticPlaneShapeImp)colShape;
Debug.WriteLine("staticplane: " + staticPlane.Margin);
var btNormal = Translater.Float3ToBtVector3(staticPlane.PlaneNormal);
btColShape = new StaticPlaneShape(btNormal, staticPlane.PlaneConstant);
isStatic = true;
//btColShape.Margin = 0.04f;
//Debug.WriteLine("btColshape" + btColShape.Margin);
break;
case "Fusee.Engine.GImpactMeshShapeImp":
var gImpMesh = (GImpactMeshShapeImp)colShape;
gImpMesh.BtGImpactMeshShape.UpdateBound();
var btGimp = new GImpactMeshShape(gImpMesh.BtGImpactMeshShape.MeshInterface);
btGimp.UpdateBound();
btColShape = btGimp;
break;
//Default
default:
Debug.WriteLine("defaultImp");
btColShape = new EmptyShape();
break;
}
var btLocalInertia = btColShape.CalculateLocalInertia(mass);
// btLocalInertia *= (10.0f*10);
RigidBodyConstructionInfo btRbcInfo = new RigidBodyConstructionInfo(mass, btMotionState, btColShape,
btLocalInertia);
var btRigidBody = new RigidBody(btRbcInfo);
btRigidBody.Restitution = 0.2f;
btRigidBody.Friction = 0.2f;
btRigidBody.CollisionFlags = CollisionFlags.CustomMaterialCallback;
BtWorld.AddRigidBody(btRigidBody);
btRbcInfo.Dispose();
var retval = new RigidBodyImp();
retval._rbi = btRigidBody;
btRigidBody.UserObject = retval;
return(retval);
}
private void Create2dBodies()
{
// Re-using the same collision is better for memory usage and performance
float u = 0.96f;
Vector3[] points = { new Vector3(0, u, 0), new Vector3(-u, -u, 0), new Vector3(u, -u, 0) };
var childShape0 = new BoxShape(1, 1, Depth);
var colShape = new Convex2DShape(childShape0);
var childShape1 = new ConvexHullShape(points);
var colShape2 = new Convex2DShape(childShape1);
var childShape2 = new CylinderShapeZ(1, 1, Depth);
var colShape3 = new Convex2DShape(childShape2);
CollisionShapes.Add(colShape);
CollisionShapes.Add(colShape2);
CollisionShapes.Add(colShape3);
CollisionShapes.Add(childShape0);
CollisionShapes.Add(childShape1);
CollisionShapes.Add(childShape2);
colShape.Margin = 0.03f;
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
Vector3 x = new Vector3(-ArraySizeX, 8, -20);
Vector3 y = Vector3.Zero;
Vector3 deltaX = new Vector3(1, 2, 0);
Vector3 deltaY = new Vector3(2, 0, 0);
for (int i = 0; i < ArraySizeY; i++)
{
y = x;
for (int j = 0; j < ArraySizeX; j++)
{
Matrix startTransform = Matrix.Translation(y - new Vector3(-10, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
switch (j % 3)
{
case 0:
rbInfo.CollisionShape = colShape;
break;
case 1:
rbInfo.CollisionShape = colShape3;
break;
default:
rbInfo.CollisionShape = colShape2;
break;
}
var body = new RigidBody(rbInfo)
{
//ActivationState = ActivationState.IslandSleeping,
LinearFactor = new Vector3(1, 1, 0),
AngularFactor = new Vector3(0, 0, 1)
};
World.AddRigidBody(body);
y += deltaY;
}
x += deltaX;
}
rbInfo.Dispose();
}
public static RigidBodyObject createLocalRigidBody(
string id,
PhysicsWorld physics_world,
bool dynamic, bool kinematic,
float mass, float restitution, float friction,
Matrix startTransform,
CollisionShape shape, Vector3 dimensions, Vector3 scale)
{
Vector3 localInertia = Vector3.Zero;
if (dynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
else
{
mass = 0.0f;
}
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
rbInfo.Restitution = restitution;
//rbInfo.LinearDamping = 0.8f;
//rbInfo.AngularDamping = 0.1f;
//rbInfo.LinearSleepingThreshold = rbInfo.LinearSleepingThreshold * 1000.0f;
//rbInfo.AngularSleepingThreshold = rbInfo.AngularSleepingThreshold * 1000.0f;
rbInfo.Friction = friction;
rbInfo.RollingFriction = 0.01f;
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
if (kinematic)
{
body.ActivationState = ActivationState.DisableDeactivation;
body.CollisionFlags = CollisionFlags.KinematicObject;
}
body.SetSleepingThresholds(0.2f, 0.9f);
//body.Friction = 1.0f;
//body.RollingFriction = 1.0f;
//------------------------------------------------------
// Create a rigid body object and all to world
//------------------------------------------------------
body.UserObject = id;
RigidBodyObject rigid_body_object = new RigidBodyObject(id, body, scale, kinematic);
physics_world.rigid_body_objects.Add(rigid_body_object);
physics_world.collision_shapes.Add(shape);
physics_world.world.AddRigidBody(body);
return(rigid_body_object);
}