public PhysicsEngine() { //CreateSchedulers(); //NextTaskScheduler(); using (var collisionConfigurationInfo = new DefaultCollisionConstructionInfo { DefaultMaxPersistentManifoldPoolSize = 800, DefaultMaxCollisionAlgorithmPoolSize = 800 }) { collisionConf = new DefaultCollisionConfiguration(collisionConfigurationInfo); }; dispatcher = new CollisionDispatcher(collisionConf); broadphase = new DbvtBroadphase(); var solver = new SequentialImpulseConstraintSolver(); //var Solver = new NncgConstraintSolver(); //DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, Solver, collisionConf); World = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConf); //dispatcher = new CollisionDispatcherMultiThreaded(collisionConf); //Solver = new ConstraintSolverPoolMultiThreaded(MaxThreadCount); //World = new DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, Solver, null, collisionConf); //World.SolverInfo.SolverMode = SolverModes.Simd | SolverModes.UseWarmStarting; //World = new DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, cspm, csM, collisionConf); //World.Gravity = new Vector3(0, 0f, 0); // CreateFloor(); //World.LatencyMotionStateInterpolation = false; //for character controllers broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback()); World.DebugDrawer = new PhysicsDebugDraw(World); }
public void Init(TgcSimpleTerrain terrain) { collisionConfiguration = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConfiguration); GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher); constraintSolver = new SequentialImpulseConstraintSolver(); broadphaseInterface = new DbvtBroadphase(); dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphaseInterface, constraintSolver, collisionConfiguration); dynamicsWorld.Gravity = gravity; var ballShape = new SphereShape(50); var ballTransform = TGCMatrix.Identity; ballTransform.Origin = initialPosition; var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix); var ballInertia = ballShape.CalculateLocalInertia(1f); var ballInfo = new RigidBodyConstructionInfo(1, ballMotionState, ballShape, ballInertia); RigidCamera = new RigidBody(ballInfo); RigidCamera.SetDamping(0.9f, 0.9f); //esto es para que no le afecte la gravedad al inicio de la partida //RigidCamera.ActivationState = ActivationState.IslandSleeping; dynamicsWorld.AddRigidBody(RigidCamera); var heighmapRigid = BulletRigidBodyFactory.Instance.CreateSurfaceFromHeighMap(terrain.getData()); dynamicsWorld.AddRigidBody(heighmapRigid); }
public Physics() { CLStuff.InitCL(); cloths = new Cloth[numFlags]; for (int flagIndex = 0; flagIndex < numFlags; ++flagIndex) { cloths[flagIndex] = new Cloth(); cloths[flagIndex].CreateBuffers(clothWidth, clothHeight); } gSolver = new OpenCLSoftBodySolver(CLStuff.commandQueue, CLStuff.cxMainContext); softBodyOutput = new SoftBodySolverOutputCLToCpu(); // collision configuration contains default setup for memory, collision setup CollisionConf = new SoftBodyRigidBodyCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf, gSolver); World.Gravity = new Vector3(0, -10, 0); // create the ground CollisionShape groundShape = new BoxShape(50, 50, 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -60, 0), groundShape); ground.UserObject = "Ground"; SoftWorld.WorldInfo.AirDensity = 1.2f; SoftWorld.WorldInfo.WaterDensity = 0; SoftWorld.WorldInfo.WaterOffset = 0; SoftWorld.WorldInfo.WaterNormal = Vector3.Zero; SoftWorld.WorldInfo.Gravity = new Vector3(0, -10, 0); CreateFlag(clothWidth, clothHeight, out flags); // Create output buffer descriptions for ecah flag // These describe where the simulation should send output data to for (int flagIndex = 0; flagIndex < flags.Count; ++flagIndex) { // flags[flagIndex].WindVelocity = new Vector3(0, 0, 15.0f); // In this case we have a DX11 output buffer with a vertex at index 0, 8, 16 and so on as well as a normal at 3, 11, 19 etc. // Copies will be performed GPU-side directly into the output buffer CpuVertexBufferDescriptor vertexBufferDescriptor = new CpuVertexBufferDescriptor(cloths[flagIndex].CpuBuffer, 0, 8, 3, 8); cloths[flagIndex].VertexBufferDescriptor = vertexBufferDescriptor; } gSolver.Optimize(SoftWorld.SoftBodyArray); World.StepSimulation(1.0f / 60.0f, 0); }
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 SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = Freelook.Up * -10.0f; BspLoader bspLoader = new BspLoader(); //string[] args = Environment.GetCommandLineArgs(); //if (args.Length == 1) //{ UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("BspDemo"); System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes); bspLoader.LoadBspFile(byteStream); //} //else //{ // bspLoader.LoadBspFile(args[1]); //} BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); }
private void _worker_DoWork(object sender, DoWorkEventArgs e) { var conf = new DefaultCollisionConfiguration(); var dispatcher = new CollisionDispatcher(conf); var broadphase = new DbvtBroadphase(); var Solver = new SequentialImpulseConstraintSolver(); //var Solver = new MultiBodyConstraintSolver(); world = new DiscreteDynamicsWorld(dispatcher, broadphase, Solver, conf); world.Gravity = new Vector3(0, 0, 0); world.SolverInfo.NumIterations = 120; world.SolverInfo.SolverMode = SolverModes.RandomizeOrder; world.DispatchInfo.UseContinuous = true; CreateParticles(); CreateWalls(); SetupDoubleSlit(); while (_worker.CancellationPending == false) { world.StepSimulation(1.0f / 60.0f); for (int i = 0; i < Photons.Count; i++) { RigidBody r = Photons[i]; r.ApplyCentralImpulse(new Vector3(5, 0, 0)); } } }
/// <summary> /// コンストラクタ /// </summary> public DynamicsWorldFactory() { collisionConfiguration = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConfiguration); overlappingPairCache = new DbvtBroadphase(); solver = new SequentialImpulseConstraintSolver(); }
//---------------------------------------------------------------------------------------------- public void InitialiseWorld(ref DiscreteDynamicsWorld world) { IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = -worldMin; IBroadphaseInterface bp = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); //m_broadphase = new DbvtBroadphase(); IOverlappingPairCache pairCache = null; //pairCache = new SortedOverlappingPairCache(); //m_broadphase = new SimpleBroadphase(1000, pairCache); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver(); DefaultCollisionConfiguration collisionConfig = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfig); world = new DiscreteDynamicsWorld(dispatcher, bp, sol, collisionConfig); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); world.SetGravity(ref gravity); world.SetDebugDrawer(BulletGlobals.gDebugDraw); }
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); var simplex = new VoronoiSimplexSolver(); var pdSolver = new MinkowskiPenetrationDepthSolver(); var 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); CreateGround(); Create2dBodies(); }
public void Init(string MediaDir) { //Creamos el mundo fisico por defecto. collisionConfiguration = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConfiguration); GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher); constraintSolver = new SequentialImpulseConstraintSolver(); overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192); dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration); dynamicsWorld.Gravity = new TGCVector3(0, -100f, 0).ToBulletVector3(); //Creamos el terreno var meshRigidBody = BulletRigidBodyFactory.Instance.CreateSurfaceFromHeighMap(triangleDataVB); dynamicsWorld.AddRigidBody(meshRigidBody); //Creamos la esfera del dragon dragonBall = BulletRigidBodyFactory.Instance.CreateBall(30f, 0.75f, new TGCVector3(100f, 500f, 100f)); dragonBall.SetDamping(0.1f, 0.5f); dragonBall.Restitution = 1f; dragonBall.Friction = 1; dynamicsWorld.AddRigidBody(dragonBall); var textureDragonBall = TgcTexture.createTexture(D3DDevice.Instance.Device, MediaDir + @"Texturas\dragonball.jpg"); sphereMesh = new TGCSphere(1, textureDragonBall, TGCVector3.Empty); sphereMesh.updateValues(); director = new TGCVector3(1, 0, 0); }
public override void InitializeDemo() { // std::cerr << "initializing...\n"; m_nearClip = 1f; m_farClip = 1000f; m_aspect = m_glutScreenWidth / m_glutScreenHeight; m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip); // set up basic state m_upAxis = 1; // start with Y-axis as "up" m_type = PHY_ScalarType.PHY_FLOAT; m_model = eTerrainModel.eRadial; //eFractal; m_isDynamic = true; // set up the physics world 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); m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); // initialize axis- or type-dependent physics from here ClientResetScene(); }
/* * void MyContactCallback(object sender, ContactAddedEventArgs e) * { * if (e.CollisionObject0Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape) * { * CompoundShape compound = e.CollisionObject0Wrapper.CollisionObject.CollisionShape as CompoundShape; * CollisionShape childShape = compound.GetChildShape(e.Index0); * } * * if (e.CollisionObject1Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape) * { * CompoundShape compound = e.CollisionObject1Wrapper.CollisionObject.CollisionShape as CompoundShape; * CollisionShape childShape = compound.GetChildShape(e.Index1); * } * * e.IsContactModified = true; * } */ public void SetupEmptyDynamicsWorld() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback; convexDecompositionObjectOffset = new Vector3(10, 0, 0); Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000)); //Broadphase = new SimpleBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); // create the ground CollisionShape groundShape = new BoxShape(30, 2, 30); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -4.5f, 0), 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); }
///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; } }
public void Init() { #region MUNDO //Creamos el mundo fisico por defecto. collisionConfiguration = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConfiguration); GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher); constraintSolver = new SequentialImpulseConstraintSolver(); overlappingPairCache = new DbvtBroadphase(); dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration) { Gravity = new TGCVector3(0, -20f, 0).ToBsVector }; #endregion #region PISO var d3dDevice = D3DDevice.Instance.Device; //El piso es un plano estatico se dice que si tiene masa 0 es estatico. var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBsVector, 0); var floorMotionState = new DefaultMotionState();// Matrix.Translation(0f, 200f, -700f));//esto puede ir sin parametro y funciona var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape); floorBody = new RigidBody(floorInfo); dynamicsWorld.AddRigidBody(floorBody); //Cargamos objetos de render del framework. //var floorTexture = TgcTexture.createTexture(d3dDevice, GameModel.mediaDir + "texturas\\terrain\\TerrainTexture1.jpg"); //floorMesh = new TgcPlane(new TGCVector3(0, 0, 0), new TGCVector3(400, 0f, 400), TgcPlane.Orientations.XZplane, floorTexture); #endregion }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Vector3 worldAabbMin = new Vector3(-10000, -10000, -10000); Vector3 worldAabbMax = new Vector3(10000, 10000, 10000); Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); World.SetInternalTickCallback(MotorPreTickCallback, this, true); // create the ground CollisionShape groundShape = new BoxShape(200, 10, 200); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -10, 0), groundShape); ground.UserObject = "Ground"; fCyclePeriod = 2000.0f; fMuscleStrength = 0.5f; m_Time = 0; SpawnTestRig(new Vector3(1, 0.5f, 0), false); SpawnTestRig(new Vector3(-2, 0.5f, 0), true); }
public FisicaMundo() { //Implementación Iniciales collisionConfiguration = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConfiguration); GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher); constraintSolver = new SequentialImpulseConstraintSolver(); overlappingPairCache = new DbvtBroadphase(); dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration) { Gravity = new TGCVector3(0, -10f, 0).ToBulletVector3() }; var cuerpoPiso = new StaticPlaneShape(TGCVector3.Up.ToBulletVector3(), 0) { LocalScaling = new TGCVector3().ToBulletVector3() }; MotionState movimientoPiso = new DefaultMotionState(); piso = new RigidBody(new RigidBodyConstructionInfo(0, movimientoPiso, cuerpoPiso)) { RollingFriction = 0.3f, Restitution = 0.4f, UserObject = "floorBody" }; dynamicsWorld.AddRigidBody(piso); }
public Physics() { demos = new DemoConstructor[] { Init_Cloth, Init_Pressure, Init_Volume, Init_Ropes, Init_RopeAttach, Init_ClothAttach, Init_Sticks, Init_Collide, Init_Collide2, Init_Collide3, Init_Impact, Init_Aero, Init_Aero2, Init_Friction, Init_Torus, Init_TorusMatch, Init_Bunny, Init_BunnyMatch, Init_Cutting1, Init_ClusterDeform, Init_ClusterCollide1, Init_ClusterCollide2, Init_ClusterSocket, Init_ClusterHinge, Init_ClusterCombine, Init_ClusterCar, Init_ClusterRobot, Init_ClusterStackSoft, Init_ClusterStackMixed, Init_TetraCube, Init_TetraBunny }; // collision configuration contains default setup for memory, collision setup CollisionConf = new SoftBodyRigidBodyCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000), maxProxies); // the default constraint solver. Solver = new SequentialImpulseConstraintSolver(); softBodyWorldInfo = new SoftBodyWorldInfo(); softBodyWorldInfo.AirDensity = 1.2f; softBodyWorldInfo.WaterDensity = 0; softBodyWorldInfo.WaterOffset = 0; softBodyWorldInfo.WaterNormal = Vector3.Zero; softBodyWorldInfo.Gravity = new Vector3(0, -10, 0); softBodyWorldInfo.Dispatcher = Dispatcher; softBodyWorldInfo.Broadphase = Broadphase; softBodyWorldInfo.SparseSdf.Initialize(); World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); World.DispatchInfo.EnableSpu = true; InitializeDemo(); }
protected override void OnInitializePhysics() { shootBoxInitialSpeed = 4000; // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); //Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape, // CollisionConf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.ConvexShape, BroadphaseNativeType.ConvexShape)); Broadphase = new DbvtBroadphase(); // the default constraint solver Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.SolverInfo.SolverMode |= SolverModes.Use2FrictionDirections | SolverModes.RandomizeOrder; //World.SolverInfo.SplitImpulse = 0; World.SolverInfo.NumIterations = 20; World.DispatchInfo.UseContinuous = ccdMode; World.Gravity = new Vector3(0, -10, 0); CreateGround(); CreateBoxStack(); }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup using (var cci = new DefaultCollisionConstructionInfo() { DefaultMaxPersistentManifoldPoolSize = 32768 }) { CollisionConf = new DefaultCollisionConfiguration(cci); } Dispatcher = new CollisionDispatcher(CollisionConf); Dispatcher.DispatcherFlags = DispatcherFlags.DisableContactPoolDynamicAllocation; // the maximum size of the collision world. Make sure objects stay within these boundaries // Don't make the world AABB size too large, it will harm simulation quality and performance Vector3 worldAabbMin = new Vector3(-1000, -1000, -1000); Vector3 worldAabbMax = new Vector3(1000, 1000, 1000); Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax, 3500); //Broadphase = new DbvtBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); World.SolverInfo.SolverMode |= SolverModes.EnableFrictionDirectionCaching; World.SolverInfo.NumIterations = 5; _scenes[SceneIndex](); }
public override void InitializeDemo() { base.InitializeDemo(); SetCameraDistance(SCALING * 50f); //string filename = @"C:\users\man\bullett\xna-largemesh-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); ///collision configuration contains default setup for memory, collision setup m_collisionConfiguration = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); m_broadphase = new DbvtBroadphase(); IOverlappingPairCache pairCache = null; //pairCache = new SortedOverlappingPairCache(); //m_broadphase = new SimpleBroadphase(10000, pairCache); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver(); m_constraintSolver = sol; m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); m_dynamicsWorld.SetGravity(ref gravity); m_profileManager = new BasicProfileManager(); BulletGlobals.g_profileManager = m_profileManager; m_profileIterator = m_profileManager.getIterator(); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); //CollisionShape groundShape = new BoxShape(ref halfExtents); CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 0); LocalCreateRigidBody(0f, IndexedMatrix.Identity, groundShape); //CollisionShape groundShape = BuildLargeMesh(); m_collisionShapes.Add(groundShape); CollisionShape sphereShape = new SphereShape(0.2f); int size = 16;// 5; // 16 for (int i = 0; i < size; ++i) { for (int j = 0; j < size; ++j) { IndexedMatrix m = IndexedMatrix.CreateTranslation(new IndexedVector3(i, 1, j)); RigidBody rb = LocalCreateRigidBody(1f, m, sphereShape); rb.SetActivationState(ActivationState.ISLAND_SLEEPING); } } ClientResetScene(); }
// // Overridden Unity methods. // // Use this for initialization void Start() { // unity stepping params SetStepSize(simStepSize); SetTimeScale(simTimeScale); // set up members m_collisionShapes = new List <CollisionShape>(); m_createdObjs = new List <GameObject>(); // set up the dynamics world // collision configuration contains default setup for memory, collision setup m_colConfig = new DefaultCollisionConfiguration(); m_colDispatcher = new CollisionDispatcher(m_colConfig); m_broadphase = new DbvtBroadphase(); // new AxisSweep3_32Bit(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000), 1024); m_solver = new SequentialImpulseConstraintSolver(); m_world = new DiscreteDynamicsWorld(m_colDispatcher, m_broadphase, m_solver, m_colConfig); m_world.Gravity = new BulletSharp.Math.Vector3(0, -9.8f, 0); // set up simulation InitSim(); // Debug Draw for collision boundaries DebugDrawUnity m_debugDrawer = new DebugDrawUnity(); m_debugDrawer.DebugMode = DebugDrawModes.DrawWireframe; m_world.DebugDrawer = m_debugDrawer; }
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 SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = Freelook.Up * -10.0f; var bspLoader = new BspLoader(); string[] args = Environment.GetCommandLineArgs(); if (args.Length == 1) { bspLoader.LoadBspFile(Path.Combine("data", "BspDemo.bsp")); } else { bspLoader.LoadBspFile(args[1]); } BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new SoftBodyRigidBodyCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000), maxProxies); // the default constraint solver. Solver = new SequentialImpulseConstraintSolver(); softBodyWorldInfo = new SoftBodyWorldInfo { AirDensity = 1.2f, WaterDensity = 0, WaterOffset = 0, WaterNormal = Vector3.Zero, Gravity = new Vector3(0, -10, 0), Dispatcher = Dispatcher, Broadphase = Broadphase }; softBodyWorldInfo.SparseSdf.Initialize(); World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); World.DispatchInfo.EnableSpu = true; World.SetInternalTickCallback(PickingPreTickCallback, this, true); InitializeDemo(); }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000)); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); //World.DispatchInfo.UseConvexConservativeDistanceUtil = true; //World.DispatchInfo.ConvexConservativeDistanceThreshold = 0.01f; // Setup a big ground box CollisionShape groundShape = new BoxShape(100, 10, 100); Matrix groundTransform = Matrix.Translation(0, -10, 0); RigidBody ground = LocalCreateRigidBody(0, groundTransform, groundShape); ground.UserObject = "Ground"; // Spawn one ragdoll SpawnRagdoll(new Vector3(1, 0.5f, 0)); SpawnRagdoll(new Vector3(-1, 0.5f, 0)); }
public void Create() { if (created) { this.Destroy(); } this.bodyindex = 0; this.cstindex = 0; collisionConfiguration = new SoftBodyRigidBodyCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConfiguration); solver = new SequentialImpulseConstraintSolver(); overlappingPairCache = new DbvtBroadphase(); dynamicsWorld = new SoftRigidDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration); worldInfo = new SoftBodyWorldInfo(); worldInfo.Gravity = dynamicsWorld.Gravity; worldInfo.Broadphase = overlappingPairCache; worldInfo.Dispatcher = dispatcher; worldInfo.SparseSdf.Initialize(); this.created = true; if (this.WorldHasReset != null) { this.WorldHasReset(); } }
public void CreateWorld() { colConf = new DefaultCollisionConfiguration(); colDispatcher = new CollisionDispatcher(colConf); broadPhase = new DbvtBroadphase(); solver = new SequentialImpulseConstraintSolver(); world = new DiscreteDynamicsWorld(colDispatcher, broadPhase, solver, colConf); }
public void SetUp() { _conf = new DefaultCollisionConfiguration(); _dispatcher = new CollisionDispatcher(_conf); _broadphase = new DbvtBroadphase(); _solver = new SequentialImpulseConstraintSolver(); _world = new DiscreteDynamicsWorld(_dispatcher, _broadphase, _solver, _conf); }
public void SetupEmptyDynamicsWorld() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000)); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); }
public void Create() { var bp = new DbvtBroadphase(); var conf = new DefaultCollisionConfiguration(); var dispatcher = new CollisionDispatcher(conf); var solver = new SequentialImpulseConstraintSolver(); world = new DiscreteDynamicsWorld(dispatcher, bp, solver, conf); }
void SetupEmptyDynamicsWorld() { CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); }
public override void InitializeDemo() { //string filename = @"C:\users\man\bullet\xna-motor-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); m_Time = 0; m_fCyclePeriod = 2000.0f; // in milliseconds // new SIMD solver for joints clips accumulated impulse, so the new limits for the motor // should be (numberOfsolverIterations * oldLimits) // currently solver uses 10 iterations, so: m_fMuscleStrength = 0.5f; SetCameraDistance(5.0f); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); m_broadphase = new DbvtBroadphase(); IOverlappingPairCache pairCache = null; m_broadphase = new SimpleBroadphase(1000, pairCache); SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver(); m_constraintSolver = sol; m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); m_dynamicsWorld.SetGravity(ref gravity); m_dynamicsWorld.SetInternalTickCallback(new MotorPreTickCallback(), this, true); // Setup a big ground box { CollisionShape groundShape = new BoxShape(new IndexedVector3(200.0f, 10.0f, 200.0f)); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0, -10, 0); LocalCreateRigidBody(0f, ref groundTransform, groundShape); } // Spawn one ragdoll IndexedVector3 startOffset = new IndexedVector3(1, 0.5f, 0); SpawnTestRig(ref startOffset, false); startOffset = new IndexedVector3(-2, 0.5f, 0); SpawnTestRig(ref startOffset, true); ClientResetScene(); }