//---------------------------------------------------------------------------------------------- public void SetupWorldObjects() { IndexedVector3 halfExtents = new IndexedVector3(10, 5, 10); CollisionShape groundShape = new BoxShape(ref halfExtents); IndexedVector3 world1Center = new IndexedVector3(-20, -5, 0); IndexedVector3 world2Center = new IndexedVector3(20, -5, 0); IndexedMatrix groundTransform1 = IndexedMatrix.CreateTranslation(world1Center); IndexedMatrix groundTransform2 = IndexedMatrix.CreateTranslation(world2Center); IndexedVector3 halfExtents2 = new IndexedVector3(0.5f); CollisionShape smallBoxShape = new BoxShape(ref halfExtents2); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBodyMultiWorld(mass, ref groundTransform1, groundShape ,m_worlds[0]); LocalCreateRigidBodyMultiWorld(mass, ref groundTransform2, groundShape, m_worlds[1]); mass = 1f; for (int i = 0; i < 5; ++i) { IndexedVector3 offset = new IndexedVector3(0, halfExtents.Y + halfExtents2.Y + (2 * i), 0); IndexedMatrix boxTransform1 = IndexedMatrix.CreateTranslation(world1Center+offset); IndexedMatrix boxTransform2 = IndexedMatrix.CreateTranslation(world2Center + offset); LocalCreateRigidBodyMultiWorld(mass, ref boxTransform1, smallBoxShape, m_worlds[0]); LocalCreateRigidBodyMultiWorld(mass, ref boxTransform2, smallBoxShape, m_worlds[1]); } }
public override void InitializeDemo() { m_maxIterations = 500; SetCameraDistance(SCALING * 50f); //string filename = @"E:\users\man\bullet\xna-basic-output-1.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); ///collision configuration contains default setup for memory, collision setup m_collisionConfiguration = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); 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(); 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); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); CollisionShape groundShape = new BoxShape(ref halfExtents); //CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -52, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBody(mass, ref groundTransform, groundShape); CreateScene5(20); ClientResetScene(); }
public override void InitializeDemo() { SetCameraDistance(50f); m_collisionConfiguration = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = -worldMin; //m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); //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(); 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); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); CollisionShape groundShape = new BoxShape(ref halfExtents); //CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBody(mass, ref groundTransform, groundShape); CollisionShape shape = SetupShape(); IndexedMatrix objTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,2,0)); LocalCreateRigidBody(mass, ref objTransform, shape); //ClientResetScene(); }
private void CreateScene5(int dim) { BoxShape boxShape = new BoxShape(new IndexedVector3(0.5f)); float mass = 1.0f; for (int x = 0; x < dim; x++) { for (int e = x; e < dim; e++) { //IndexedVector3 pos = new IndexedVector3(e - 0.5f * x, x * 1.01f - 14, 25); IndexedVector3 pos = new IndexedVector3(e - 0.5f * x, x * 1.0f, 0); RigidBody rb = LocalCreateRigidBody(mass, IndexedMatrix.CreateTranslation(pos), boxShape); //m_dynamicsWorld.AddRigidBody(rb); } } }
public bool GetSphereDistance(CollisionObject boxObj, ref IndexedVector3 pointOnBox, ref IndexedVector3 normal, ref float penetrationDepth, IndexedVector3 sphereCenter, float fRadius, float maxContactDistance) { BoxShape boxShape = boxObj.GetCollisionShape() as BoxShape; IndexedVector3 boxHalfExtent = boxShape.GetHalfExtentsWithoutMargin(); float boxMargin = boxShape.GetMargin(); penetrationDepth = 1.0f; // convert the sphere position to the box's local space IndexedMatrix m44T = boxObj.GetWorldTransform(); IndexedVector3 sphereRelPos = m44T.InvXform(sphereCenter); // Determine the closest point to the sphere center in the box IndexedVector3 closestPoint = sphereRelPos; closestPoint.X = (Math.Min(boxHalfExtent.X, closestPoint.X)); closestPoint.X = (Math.Max(-boxHalfExtent.X, closestPoint.X)); closestPoint.Y = (Math.Min(boxHalfExtent.Y, closestPoint.Y)); closestPoint.Y = (Math.Max(-boxHalfExtent.Y, closestPoint.Y)); closestPoint.Z = (Math.Min(boxHalfExtent.Z, closestPoint.Z)); closestPoint.Z = (Math.Max(-boxHalfExtent.Z, closestPoint.Z)); float intersectionDist = fRadius + boxMargin; float contactDist = intersectionDist + maxContactDistance; normal = sphereRelPos - closestPoint; //if there is no penetration, we are done float dist2 = normal.LengthSquared(); if (dist2 > contactDist * contactDist) { return(false); } float distance; //special case if the sphere center is inside the box if (dist2 == 0.0f) { distance = -GetSpherePenetration(ref boxHalfExtent, ref sphereRelPos, ref closestPoint, ref normal); } else //compute the penetration details { distance = normal.Length(); normal /= distance; } pointOnBox = closestPoint + normal * boxMargin; // v3PointOnSphere = sphereRelPos - (normal * fRadius); penetrationDepth = distance - intersectionDist; // transform back in world space IndexedVector3 tmp = m44T * pointOnBox; pointOnBox = tmp; // tmp = m44T(v3PointOnSphere); // v3PointOnSphere = tmp; tmp = m44T._basis * normal; normal = tmp; return(true); }
private void BuildBoard() { float width = 40; float height = 40; IndexedVector3 boardBackExtents = new IndexedVector3(width,height,2) /2f; IndexedVector3 boardSideExtents = new IndexedVector3(1,height,2) /2f; IndexedVector3 boardBarExtents = new IndexedVector3(width,1,2)/2f; IndexedVector3 pinExtent = new IndexedVector3(0.5f,1f,2f); IndexedVector3 boardCenter = new IndexedVector3(0,0,0); // build frame.objects BoxShape boardBack = new BoxShape(boardBackExtents); BoxShape boardSide = new BoxShape(boardSideExtents); BoxShape boardBar = new BoxShape(boardBarExtents); StaticPlaneShape boardFront = new StaticPlaneShape(new IndexedVector3(0,0,-1),-(boardBackExtents.Z+boardSideExtents.Z)); CollisionShape pinShape = new CapsuleShapeZ(pinExtent.Y,pinExtent.Z); //pinShape = new BoxShape(pinExtent); //pinShape = new SphereShape(pinExtent.Y); m_cameraUp = Vector3.Up; // now RB's Matrix m = Matrix.Identity; IndexedMatrix trans = m; trans._origin = boardCenter; float mass = 0f; //LocalCreateRigidBody(mass,trans,boardBack); //LocalCreateRigidBody(mass, trans, boardFront); IndexedVector3 leftSide = new IndexedVector3(boardCenter.X - boardBackExtents.X + boardSideExtents.X, boardCenter.Y, boardCenter.Z + boardSideExtents.Z); IndexedVector3 rightSide = new IndexedVector3(boardCenter.X + boardBackExtents.X - boardSideExtents.X, boardCenter.Y, boardCenter.Z + boardSideExtents.Z); IndexedVector3 topBar = new IndexedVector3(boardCenter.X, boardCenter.Y + boardBackExtents.Y - boardBarExtents.Y, boardCenter.Z + boardSideExtents.Z); IndexedVector3 bottomBar = new IndexedVector3(boardCenter.X, boardCenter.Y - boardBackExtents.Y + boardBarExtents.Y, boardCenter.Z + boardSideExtents.Z); trans._origin = leftSide; LocalCreateRigidBody(mass, trans, boardSide); trans._origin = rightSide; LocalCreateRigidBody(mass, trans, boardSide); trans._origin = topBar; LocalCreateRigidBody(mass, trans, boardBar); trans._origin = bottomBar; LocalCreateRigidBody(mass, trans, boardBar); // now place the pins? (simple offset grid to start) int numPinsX = 8; int numPinsY = 8; // fixme IndexedVector3 pinTopLeft = new IndexedVector3(-boardBackExtents.X + 4, boardBackExtents.Y - 5, boardCenter.Z + boardSideExtents.Z); IndexedVector3 pinSpacer = new IndexedVector3(pinExtent.Y * 4f, -pinExtent.Y * 4f, 0); float ballRadius = 0.9f; float fudge = 3f; m_dropSphereShape = new SphereShape(ballRadius); m_ballDropSpot = new Vector3(1f, pinTopLeft.Y + 1, boardCenter.Z + boardBackExtents.Z+ballRadius); //new SphereShape(0.95f); m_debugDraw.SetDebugMode(m_debugDraw.GetDebugMode() | DebugDrawModes.DBG_DrawAabb); trans._origin = pinTopLeft; LocalCreateRigidBody(mass, trans, pinShape); for (int i = 0; i < numPinsX; ++i) { for (int j = 0; j < numPinsY; ++j) { IndexedVector3 pos = new IndexedVector3(pinSpacer.X * i, (pinSpacer.Y * j), pinSpacer.Z); // stagger rows. if (j % 2 == 1) { pos.X += pinSpacer.X/2f; } trans._origin = pinTopLeft + pos; LocalCreateRigidBody(mass, trans, pinShape); } } }
public void InitializePhysicsBulletXNA() { #if BULLETXNA CollisionFilterGroups colGroup = CollisionFilterGroups.DefaultFilter; CollisionFilterGroups colMask = CollisionFilterGroups.AllFilter; float sphereMass = 5f; CollisionShape sphereShape = new Bullet.BulletCollision.SphereShape(1); Bullet.LinearMath.IndexedVector3 sphereLocalInertia; sphereShape.CalculateLocalInertia(sphereMass,out sphereLocalInertia); BulletXNAObject ball = new BulletXNAObject(this, "Models/Sphere", sphereMass, new Bullet.DefaultMotionState(Matrix.CreateTranslation(camera.Position + new Vector3(0, 10, -5)), Matrix.Identity),sphereShape , sphereLocalInertia, colGroup, colMask); ball.TranslateAA(camera.Position + new Vector3(0, 10, 0)); ball.TextureMaterials.Add("Textures/core1"); ball.NormalMaterials.Add("Textures/core1Normal"); ball.RigidBody.SetFriction(1); boxs.Add(ball); Components.Add(ball); // create a few dynamic rigidbodies float mass = 1.0f; Bullet.BulletCollision.CollisionShape colShape = new Bullet.BulletCollision.BoxShape(Vector3.One); //CollisionShapes.Add(colShape); Vector3 localInertia = Vector3.Zero; Bullet.LinearMath.IndexedVector3 li = Bullet.LinearMath.IndexedVector3.Zero; colShape.CalculateLocalInertia(mass, out li); localInertia = li; float start_x = StartPosX - ArraySizeX / 2; float start_y = StartPosY; float start_z = StartPosZ - ArraySizeZ / 2; start_z -= 8; Random rnd = new Random(); 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.CreateTranslation( 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 BulletXNAObject box = new BulletXNAObject(this, "Models/Box", mass, new Bullet.DefaultMotionState(startTransform, Matrix.Identity), colShape, localInertia, colGroup, colMask); box.TextureMaterials.Add("Textures/BoxColor"); box.NormalMaterials.Add("Textures/BoxNormal"); box.TranslateAA(new Vector3(0, 7, 0)); boxs.Add(box); Components.Add(box); } } } start_x -= 8; for (k = 0; k < 2; k++) { for (i = 0; i < 2; i++) { for (j = 0; j < 2; j++) { Matrix startTransform = Matrix.CreateTranslation( 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 BulletXNAObject box = new BulletXNAObject(this, "Models/Box", mass, new Bullet.DefaultMotionState(startTransform, Matrix.Identity), colShape, localInertia, colGroup, colMask); box.TextureMaterials.Add("Textures/BoxColor01"); box.NormalMaterials.Add("Textures/BoxNormal01"); box.TranslateAA(new Vector3(0, 7, 0)); boxs.Add(box); Components.Add(box); } } } IsPhysicsEnabled = false; #endif }
public override void InitializeDemo() { base.InitializeDemo(); SetCameraDistance(50f); //string filename = @"E:\users\man\bullet\xna-basic-output-1.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); ///collision configuration contains default setup for memory, collision setup m_collisionConfiguration = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = new IndexedVector3 (-1000,-1000,-1000); IndexedVector3 worldMax = -worldMin; m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); //pairCache = new SortedOverlappingPairCache(); //m_broadphase = new SimpleBroadphase(1000, pairCache); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver(); m_constraintSolver = sol; m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); m_dynamicsWorld.SetGravity(ref gravity); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); CollisionShape groundShape = new BoxShape(ref halfExtents); //CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBody(mass, ref groundTransform, groundShape); #region CharacterController IndexedMatrix startTransform = IndexedMatrix.Identity; //startTransform.setOrigin (btVector3(0.0, 4.0, 0.0)); startTransform._origin = new IndexedVector3(10.210098f,-1.6433364f,16.453260f); m_ghostObject = new PairCachingGhostObject(); m_ghostObject.SetWorldTransform(startTransform); m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); float characterHeight=1.75f; float characterWidth =1.75f; ConvexShape capsule = new CapsuleShape(characterWidth,characterHeight); m_ghostObject.SetCollisionShape (capsule); m_ghostObject.SetCollisionFlags (CollisionFlags.CF_CHARACTER_OBJECT); float stepHeight = 0.35f; int upAxis = 1; m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight,upAxis); m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter); m_dynamicsWorld.AddAction(m_character); #endregion }
public override void InitializeDemo() { //maxiterations = 10; SetCameraDistance(SCALING * 50f); //string filename = @"E:\users\man\bullet\xna-basic-output-1.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); ///collision configuration contains default setup for memory, collision setup m_collisionConfiguration = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = -worldMin; m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); //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(); 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); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); CollisionShape groundShape = new BoxShape(ref halfExtents); //CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBody(mass, ref groundTransform, groundShape); { //create a few dynamic rigidbodies CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING)); //CollisionShape colShape = BuildCorner(); //btCollisionShape* colShape = new btSphereShape(btScalar(1.)); //CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f)); m_collisionShapes.Add(colShape); /// Create Dynamic Objects IndexedMatrix startTransform = IndexedMatrix.Identity; mass = 1f; //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = mass != 0f; IndexedVector3 localInertia = IndexedVector3.Zero; if (isDynamic) { colShape.CalculateLocalInertia(mass, out localInertia); } float start_x = START_POS_X - ARRAY_SIZE_X/2; float start_y = START_POS_Y; float start_z = START_POS_Z - ARRAY_SIZE_Z/2; for (int k=0;k<ARRAY_SIZE_Y;k++) { for (int i=0;i<ARRAY_SIZE_X;i++) { for(int j = 0;j<ARRAY_SIZE_Z;j++) { startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia); RigidBody body = new RigidBody(rbInfo); //body->setContactProcessingThreshold(colShape->getContactBreakingThreshold()); //body.SetActivationState(ActivationState.ISLAND_SLEEPING); m_dynamicsWorld.AddRigidBody(body); //body.SetActivationState(ActivationState.ISLAND_SLEEPING); body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j)); } } } } //ClientResetScene(); }
//---------------------------------------------------------------------------------------------------------------- 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); }
//public BoxBoxDetector(BoxShape box1, BoxShape box2) //{ // m_box1 = box1; // m_box2 = box2; //} // Work in progress to copy redo the box detector to remove un-necessary allocations public static void GetClosestPoints(BoxShape box1,BoxShape box2, ref ClosestPointInput input, ManifoldResult output, IDebugDraw debugDraw, bool swapResults) { IndexedMatrix transformA = input.m_transformA; IndexedMatrix transformB = input.m_transformB; #if DEBUG if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugBoxBoxDetector) { MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "BoxBox:GCP:transformA", transformA); MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "BoxBox:GCP:transformB", transformB); } #endif int skip = 0; Object contact = null; IndexedVector3 normal = new IndexedVector3(); float depth = 0f; int return_code = -1; int maxc = 4; IndexedVector3 translationA = new IndexedVector3(transformA._origin); IndexedVector3 translationB = new IndexedVector3(transformB._origin); //IndexedVector3 debugExtents = new IndexedVector3(2f, 2f, 2f); IndexedVector3 box1Margin = new IndexedVector3(2f * box1.GetHalfExtentsWithMargin()); IndexedVector3 box2Margin = new IndexedVector3(2f * box2.GetHalfExtentsWithMargin()); //IndexedVector3 box1Margin = 2f * debugExtents; //IndexedVector3 box2Margin = 2f * debugExtents; IndexedBasisMatrix rotateA = transformA._basis.Transpose(); IndexedBasisMatrix rotateB = transformB._basis.Transpose(); for (int j = 0; j < 3; j++) { s_temp1[0 + 4 * j] = transformA._basis[j].X; s_temp2[0 + 4 * j] = transformB._basis[j].X; s_temp1[1 + 4 * j] = transformA._basis[j].Y; s_temp2[1 + 4 * j] = transformB._basis[j].Y; s_temp1[2 + 4 * j] = transformA._basis[j].Z; s_temp2[2 + 4 * j] = transformB._basis[j].Z; } //s_temp1[0] = rotateA._Row0.X; //s_temp1[1] = rotateA._Row0.Y; //s_temp1[2] = rotateA._Row0.Z; //s_temp1[4] = rotateA._Row1.X; //s_temp1[5] = rotateA._Row1.Y; //s_temp1[6] = rotateA._Row1.Z; //s_temp1[8] = rotateA._Row2.X; //s_temp1[9] = rotateA._Row2.X; //s_temp1[10] = rotateA._Row2.X; //s_temp2[0] = rotateB._Row0.X; //s_temp2[1] = rotateB._Row0.Y; //s_temp2[2] = rotateB._Row0.Z; //s_temp2[4] = rotateB._Row1.X; //s_temp2[5] = rotateB._Row1.Y; //s_temp2[6] = rotateB._Row1.Z; //s_temp2[8] = rotateB._Row2.X; //s_temp2[9] = rotateB._Row2.Y; //s_temp2[10] = rotateB._Row2.Z; DBoxBox2(ref translationA, s_temp1, ref box1Margin, ref translationB, s_temp2, ref box2Margin, ref normal, ref depth, ref return_code, maxc, contact, skip, output); }
//----------------------------------------------------------------------------------------------- public override void InitializeDemo() { //string filename = @"C:\users\man\bullett\xna-concave-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); m_animatedMesh = true; base.InitializeDemo(); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); gVertices = new ObjectArray<IndexedVector3>(totalVerts); int indicesTotal = totalTriangles * 3; gIndices = new ObjectArray<int>(indicesTotal); //BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback(); SetVertexPositions(waveheight,0f); int vertStride = 1; int indexStride = 3; int index=0; for (int i=0;i<NUM_VERTS_X-1;i++) { for (int j=0;j<NUM_VERTS_Y-1;j++) { gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = j * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; } } if (BulletGlobals.g_streamWriter != null) { index = 0; BulletGlobals.g_streamWriter.WriteLine("setIndexPositions"); for (int i = 0; i < gIndices.Count; i++) { BulletGlobals.g_streamWriter.WriteLine(String.Format("{0} {1}", i, gIndices[i])); } } TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices,indexStride,totalVerts,gVertices,vertStride); bool useQuantizedAabbCompression = true; OptimizedBvh bvh = new OptimizedBvh(); IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000); IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000); m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true); //CollisionShape trimeshShape = new TriangleMeshShape(indexVertexArrays); IndexedVector3 scaling = IndexedVector3.One; //m_trimeshShape.SetOptimizedBvh(bvh, ref scaling); //BulletWorldImporter import = new BulletWorldImporter(0);//don't store info into the world //if (import.loadFile("myShape.bullet")) //{ // int numBvh = import.getNumBvhs(); // if (numBvh != 0) // { // OptimizedBvh bvh = import.getBvhByIndex(0); // IndexedVector3 aabbMin = new IndexedVector3(-1000,-1000,-1000); // IndexedVector3 aabbMax = new IndexedVector3(1000,1000,1000); // trimeshShape = new indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,false); // IndexedVector3 scaling = IndexedVector3.One; // trimeshShape.setOptimizedBvh(bvh, ref scaling); // //trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax); // //trimeshShape.setOptimizedBvh(bvh); // } // int numShape = import.getNumCollisionShapes(); // if (numShape != 0) // { // trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByIndex(0); // //if you know the name, you can also try to get the shape by name: // String meshName = import.getNameForPointer(trimeshShape); // if (meshName != null) // { // trimeshShape = (BvhTriangleMeshShape)import.getCollisionShapeByName(meshName); // } // } //} //CollisionShape groundShape = trimeshShape;//m_trimeshShape; CollisionShape groundShape = m_trimeshShape;//m_trimeshShape; //groundShape = new TriangleShape(new IndexedVector3(0,` 0, 100), new IndexedVector3(100, 0, 0),new IndexedVector3(-100, 0, -100)); //groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f); //groundShape = new BoxShape(new IndexedVector3(100f, 0.1f, 100f)); IndexedVector3 up = new IndexedVector3(0.4f,1,0); up.Normalize(); //groundShape = new StaticPlaneShape(up, 0f); //groundShape = new TriangleMeshShape(indexVertexArrays); 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 DbvtBroadphase(); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); float mass = 0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0)); //CompoundShape colShape = new CompoundShape(); //IndexedVector3 halfExtents = new IndexedVector3(4, 1, 1); //CollisionShape cylinderShape = new CylinderShapeX(ref halfExtents); //CollisionShape boxShape = new BoxShape(new IndexedVector3(4, 1, 1)); //IndexedMatrix localTransform = IndexedMatrix.Identity; //colShape.addChildShape(ref localTransform, boxShape); //Quaternion orn = Quaternion.CreateFromYawPitchRoll(MathUtil.SIMD_HALF_PI, 0f, 0f); //localTransform = IndexedMatrix.CreateFromQuaternion(orn); //colShape.addChildShape(ref localTransform, cylinderShape); ////BoxShape colShape = new BoxShape(new IndexedVector3(1, 1, 1)); //int numCollideObjects = 1; //m_collisionShapes.Add(colShape); //{ // for (int i = 0; i < numCollideObjects; i++) // { // startTransform._origin = new IndexedVector3(4,10+i*2,1); // localCreateRigidBody(1, ref startTransform,colShape); // } //} CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1)); //CollisionShape boxShape = new SphereShape(1); //CollisionShape boxShape = new SphereShape(1); //CollisionShape boxShape = new CapsuleShapeZ(0.5f, 1); m_collisionShapes.Add(boxShape); for (int i = 0; i < 1; i++) { startTransform._origin = new IndexedVector3(2f * i, 5, 1); LocalCreateRigidBody(1, ref startTransform, boxShape); } startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); //clientResetScene(); }
//public BoxBoxDetector(BoxShape box1, BoxShape box2) //{ // m_box1 = box1; // m_box2 = box2; //} // Work in progress to copy redo the box detector to remove un-necessary allocations public static void GetClosestPoints(BoxShape box1, BoxShape box2, ref ClosestPointInput input, ManifoldResult output, IDebugDraw debugDraw, bool swapResults) { IndexedMatrix transformA = input.m_transformA; IndexedMatrix transformB = input.m_transformB; #if DEBUG if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugBoxBoxDetector) { MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "BoxBox:GCP:transformA", transformA); MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "BoxBox:GCP:transformB", transformB); } #endif int skip = 0; Object contact = null; IndexedVector3 normal = new IndexedVector3(); float depth = 0f; int return_code = -1; int maxc = 4; IndexedVector3 translationA = new IndexedVector3(transformA._origin); IndexedVector3 translationB = new IndexedVector3(transformB._origin); //IndexedVector3 debugExtents = new IndexedVector3(2f, 2f, 2f); IndexedVector3 box1Margin = new IndexedVector3(2f * box1.GetHalfExtentsWithMargin()); IndexedVector3 box2Margin = new IndexedVector3(2f * box2.GetHalfExtentsWithMargin()); //IndexedVector3 box1Margin = 2f * debugExtents; //IndexedVector3 box2Margin = 2f * debugExtents; IndexedBasisMatrix rotateA = transformA._basis.Transpose(); IndexedBasisMatrix rotateB = transformB._basis.Transpose(); for (int j = 0; j < 3; j++) { s_temp1[0 + 4 * j] = transformA._basis[j].X; s_temp2[0 + 4 * j] = transformB._basis[j].X; s_temp1[1 + 4 * j] = transformA._basis[j].Y; s_temp2[1 + 4 * j] = transformB._basis[j].Y; s_temp1[2 + 4 * j] = transformA._basis[j].Z; s_temp2[2 + 4 * j] = transformB._basis[j].Z; } //s_temp1[0] = rotateA._Row0.X; //s_temp1[1] = rotateA._Row0.Y; //s_temp1[2] = rotateA._Row0.Z; //s_temp1[4] = rotateA._Row1.X; //s_temp1[5] = rotateA._Row1.Y; //s_temp1[6] = rotateA._Row1.Z; //s_temp1[8] = rotateA._Row2.X; //s_temp1[9] = rotateA._Row2.X; //s_temp1[10] = rotateA._Row2.X; //s_temp2[0] = rotateB._Row0.X; //s_temp2[1] = rotateB._Row0.Y; //s_temp2[2] = rotateB._Row0.Z; //s_temp2[4] = rotateB._Row1.X; //s_temp2[5] = rotateB._Row1.Y; //s_temp2[6] = rotateB._Row1.Z; //s_temp2[8] = rotateB._Row2.X; //s_temp2[9] = rotateB._Row2.Y; //s_temp2[10] = rotateB._Row2.Z; DBoxBox2(ref translationA, s_temp1, ref box1Margin, ref translationB, s_temp2, ref box2Margin, ref normal, ref depth, ref return_code, maxc, contact, skip, output); }
public void InitializePhysicsBulletXNA() { #if BULLETXNA CollisionFilterGroups colGroup = CollisionFilterGroups.DefaultFilter; CollisionFilterGroups colMask = CollisionFilterGroups.AllFilter; float sphereMass = 5f; CollisionShape sphereShape = new Bullet.BulletCollision.SphereShape(1); Bullet.LinearMath.IndexedVector3 sphereLocalInertia; sphereShape.CalculateLocalInertia(sphereMass, out sphereLocalInertia); BulletXNAObject ball = new BulletXNAObject(this, "Models/Sphere", sphereMass, new Bullet.DefaultMotionState(Matrix.CreateTranslation(camera.Position + new Vector3(0, 10, -5)), Matrix.Identity), sphereShape, sphereLocalInertia, colGroup, colMask); ball.TranslateAA(camera.Position + new Vector3(0, 10, 0)); ball.TextureMaterials.Add("Textures/core1"); ball.NormalMaterials.Add("Textures/core1Normal"); ball.RigidBody.SetFriction(1); boxs.Add(ball); Components.Add(ball); // create a few dynamic rigidbodies float mass = 1.0f; Bullet.BulletCollision.CollisionShape colShape = new Bullet.BulletCollision.BoxShape(Vector3.One); //CollisionShapes.Add(colShape); Vector3 localInertia = Vector3.Zero; Bullet.LinearMath.IndexedVector3 li = Bullet.LinearMath.IndexedVector3.Zero; colShape.CalculateLocalInertia(mass, out li); localInertia = li; float start_x = StartPosX - ArraySizeX / 2; float start_y = StartPosY; float start_z = StartPosZ - ArraySizeZ / 2; start_z -= 8; Random rnd = new Random(); 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.CreateTranslation( 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 BulletXNAObject box = new BulletXNAObject(this, "Models/Box", mass, new Bullet.DefaultMotionState(startTransform, Matrix.Identity), colShape, localInertia, colGroup, colMask); box.TextureMaterials.Add("Textures/BoxColor"); box.NormalMaterials.Add("Textures/BoxNormal"); box.TranslateAA(new Vector3(0, 7, 0)); boxs.Add(box); Components.Add(box); } } } start_x -= 8; for (k = 0; k < 2; k++) { for (i = 0; i < 2; i++) { for (j = 0; j < 2; j++) { Matrix startTransform = Matrix.CreateTranslation( 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 BulletXNAObject box = new BulletXNAObject(this, "Models/Box", mass, new Bullet.DefaultMotionState(startTransform, Matrix.Identity), colShape, localInertia, colGroup, colMask); box.TextureMaterials.Add("Textures/BoxColor01"); box.NormalMaterials.Add("Textures/BoxNormal01"); box.TranslateAA(new Vector3(0, 7, 0)); boxs.Add(box); Components.Add(box); } } } IsPhysicsEnabled = false; #endif }
public override void InitializeDemo() { base.InitializeDemo(); SetCameraDistance(SCALING * 50f); //string filename = @"e:\users\man\bullet\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(1000, pairCache); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver(); m_constraintSolver = sol; m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); m_dynamicsWorld.SetGravity(ref gravity); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); //CollisionShape groundShape = new BoxShape(ref halfExtents); //CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 50); CollisionShape groundShape = BuildLargeMesh(); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 0, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); //IndexedMatrix rotateMatrix = IndexedMatrix.CreateFromYawPitchRoll(0, MathUtil.SIMD_PI / 2.0f, 0); //IndexedMatrix rotateMatrix = IndexedMatrix.Identity; IndexedMatrix rotateMatrix = IndexedMatrix.Identity; rotateMatrix._basis.SetEulerZYX(0, 0, MathUtil.SIMD_PI * 0.7f); rotateMatrix._origin = IndexedVector3.Zero; float mass = 0f; LocalCreateRigidBody(mass, ref rotateMatrix, groundShape); CollisionShape boxShape = new BoxShape(new IndexedVector3(0.2f, 0.2f, 0.2f)); //CollisionShape boxShape = new SphereShape(0.2f); //CollisionShape boxShape = new CylinderShapeX(new IndexedVector3(0.2f, 0.4f, 0.2f)); //CollisionShape boxShape = new CapsuleShape(0.2f, 0.4f); IndexedMatrix boxTransform = IndexedMatrix.Identity; boxTransform._basis.SetEulerZYX(MathUtil.SIMD_PI * 0.2f, MathUtil.SIMD_PI * 0.4f, MathUtil.SIMD_PI * 0.7f); boxTransform._origin = new IndexedVector3(0.0f, 5.0f, 0.0f); LocalCreateRigidBody(1.25f, boxTransform, boxShape); ClientResetScene(); }
public override void InitializeDemo() { //string filename = @"E:\users\man\bullet\xna-constraint-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); //maxiterations = 100; 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_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration); m_dynamicsWorld.SetDebugDrawer(m_debugDraw); SetCameraDistance(26f); //CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f)); CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.Identity; groundTransform._origin = new IndexedVector3(0, -56, 0); RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape); CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS)); m_collisionShapes.Add(shape); IndexedMatrix trans = IndexedMatrix.Identity; trans._origin = new IndexedVector3(0, 20, 0); float mass = 1f; #if true //point to point constraint with a breaking threshold { trans = IndexedMatrix.Identity; trans._origin = new IndexedVector3(1,30,-5); LocalCreateRigidBody( mass,trans,shape); trans._origin = new IndexedVector3(0,0,-5); RigidBody body0 = LocalCreateRigidBody( mass,trans,shape); trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0); mass = 1.0f; RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape); IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0); TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA); m_dynamicsWorld.AddConstraint(p2p); p2p.SetBreakingImpulseThreshold(10.2f); p2p.SetDbgDrawSize(5.0f); } #endif #if true //point to point constraint (ball socket) //SEEMS OK { //trans = IndexedMatrix.Identity; RigidBody body0 = LocalCreateRigidBody( mass,ref trans,shape); trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0); mass = 1f; RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape); IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS); IndexedVector3 axisInA = new IndexedVector3(0,0,1); IndexedVector3 pivotInB = body1 != null ? body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA; IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis * axisInA)) : body0.GetCenterOfMassTransform()._basis * axisInA; #if P2P TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA); //btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB); //btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB); m_dynamicsWorld.AddConstraint(p2p); p2p.SetDbgDrawSize(5.0f); #else HingeConstraint hinge = new HingeConstraint(body0,ref pivotInA,ref axisInA,false); float targetVelocity = 1f; float maxMotorImpulse = 1.0f; hinge.EnableAngularMotor(true,targetVelocity,maxMotorImpulse); m_dynamicsWorld.AddConstraint(hinge);//p2p); hinge.SetDbgDrawSize(5f); #endif } #endif #if true //create a slider, using the generic D6 constraint // SEEMS OK { mass = 1f; IndexedVector3 sliderWorldPos = new IndexedVector3(0,10,0); IndexedVector3 sliderAxis = new IndexedVector3(1,0,0); float angle=0f;//SIMD_RADS_PER_DEG * 10.f; IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(new IndexedQuaternion(sliderAxis,angle)); trans = IndexedMatrix.Identity; trans._origin = sliderWorldPos; //trans.setBasis(sliderOrientation); sliderTransform = trans; d6body0 = LocalCreateRigidBody( mass,ref trans,shape); d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION); RigidBody fixedBody1 = LocalCreateRigidBody(0,ref trans,null); m_dynamicsWorld.AddRigidBody(fixedBody1); IndexedMatrix frameInA, frameInB; frameInA = IndexedMatrix.Identity; frameInB = IndexedMatrix.Identity; frameInA._origin = new IndexedVector3(0, 5, 0); frameInB._origin = new IndexedVector3(0, 5, 0); // bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0,ref frameInA,ref frameInB,useLinearReferenceFrameA); spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit); spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit); //range should be small, otherwise singularities will 'explode' the constraint IndexedVector3 angularLower = new IndexedVector3(-1.5f,0,0); IndexedVector3 angularUpper = -angularLower; spSlider6Dof.SetAngularLowerLimit(ref angularLower); spSlider6Dof.SetAngularUpperLimit(ref angularUpper); // slider.setAngularLowerLimit(IndexedVector3(0,0,0)); // slider.setAngularUpperLimit(IndexedVector3(0,0,0)); spSlider6Dof.SetAngularLowerLimit(new IndexedVector3(-MathUtil.SIMD_PI, 0, 0)); spSlider6Dof.SetAngularUpperLimit(new IndexedVector3(1.5f, 0, 0)); spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true; spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f; spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f; m_dynamicsWorld.AddConstraint(spSlider6Dof); spSlider6Dof.SetDbgDrawSize(5f); } #endif #if true { // create a door using hinge constraint attached to the world CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f)); m_collisionShapes.Add(pDoorShape); IndexedMatrix doorTrans = IndexedMatrix.Identity; doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f); RigidBody pDoorBody = LocalCreateRigidBody( 1.0f, ref doorTrans, pDoorShape); pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedVector3 btPivotA = new IndexedVector3( 10f+2.1f, -2.0f, 0.0f ); // right next to the door slightly outside IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis spDoorHinge = new HingeConstraint( pDoorBody, ref btPivotA, ref btAxisA,false ); spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f); m_dynamicsWorld.AddConstraint(spDoorHinge); spDoorHinge.SetDbgDrawSize(5.0f); } #endif #if true { // create a generic 6DOF constraint // SEEMS OK - But debug draw a bit wrong? IndexedMatrix tr = IndexedMatrix.Identity; tr._origin = new IndexedVector3(10f, 6f, 0f); //tr.getBasis().setEulerZYX(0,0,0); // RigidBody pBodyA = localCreateRigidBody( mass, tr, shape); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); // RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); tr = IndexedMatrix.Identity; tr._origin = new IndexedVector3(0f, 6f, 0f); //tr.getBasis().setEulerZYX(0,0,0); RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameInA, frameInB; frameInA = IndexedMatrix.CreateTranslation(-5,0,0); frameInB = IndexedMatrix.CreateTranslation(5,0,0); Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true); // btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false); IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1); pGen6DOF.SetLinearLowerLimit(ref linearLower); IndexedVector3 linearUpper = new IndexedVector3(10,2,1); pGen6DOF.SetLinearUpperLimit(ref linearUpper); // ? why again? //linearLower = new IndexedVector3(-10,0,0); //pGen6DOF.setLinearLowerLimit(ref linearLower); // pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.)); // pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.)); // pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.)); // pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true; // pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f; // pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f; // pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI)); IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f); IndexedVector3 angularUpper = -angularLower; pGen6DOF.SetAngularLowerLimit(ref angularLower); pGen6DOF.SetAngularUpperLimit(ref angularUpper); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.)); m_dynamicsWorld.AddConstraint(pGen6DOF, true); pGen6DOF.SetDbgDrawSize(5.0f); } #endif #if true { // create a ConeTwist constraint IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10,5,0); RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); tr = IndexedMatrix.CreateTranslation(-10,-5,0); RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape); IndexedMatrix frameInA, frameInB; frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); frameInA._origin = new IndexedVector3(0, -5, 0); frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); frameInB._origin = new IndexedVector3(0, 5, 0); ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB); pCT.SetLimit(MathUtil.SIMD_QUARTER_PI * 0.6f, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 0.5f); // soft limit == hard limit m_dynamicsWorld.AddConstraint(pCT, true); pCT.SetDbgDrawSize(5.0f); } #endif #if true { // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver) // WORKS OK IndexedMatrix tr = IndexedMatrix.Identity; RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape); pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedVector3 btPivotA = new IndexedVector3( 10.0f, 0.0f, 0.0f ); IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 0.0f, 1.0f ); HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA,false); // pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver m_dynamicsWorld.AddConstraint(pHinge); pHinge.SetDbgDrawSize(5.0f); } #endif #if true { // WORKS OK // create a universal joint using generic 6DOF constraint // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(20,4,0); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB (child) below it : tr = IndexedMatrix.CreateTranslation(20,0,0); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some (arbitrary) data to build constraint frames IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f); IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f); IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f); UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis); pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f); pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(pUniv, true); // draw constraint frames and limits for debugging pUniv.SetDbgDrawSize(5.0f); } #endif #if true // WORKS OK { // create a generic 6DOF constraint with springs IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,16f,0f); //tr.setIdentity(); //tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.))); //tr.getBasis().setEulerZYX(0,0,0); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); //tr.setIdentity(); //tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.))); //tr.getBasis().setEulerZYX(0,0,0); tr = IndexedMatrix.CreateTranslation(-10,16,0); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f,0f,0f); IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f,0f,0f); Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true); pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f)); pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f)); pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f)); pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f)); m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true); pGen6DOFSpring.SetDbgDrawSize(5.0f); 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(); } #endif #if true { // WORKS OK // create a Hinge2 joint // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,4f,0f); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB (child) below it : tr = IndexedMatrix.CreateTranslation(-20f,0f,0f); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some data to build constraint frames IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f); IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f); Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis); pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f); pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(pHinge2, true); // draw constraint frames and limits for debugging pHinge2.SetDbgDrawSize(5.0f); } #endif #if true { // WORKS OK // create a Hinge joint between two dynamic bodies // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,-2f,0f); RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB: tr = IndexedMatrix.CreateTranslation(-30f,-2f,0f); RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some data to build constraint frames IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f); IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f); spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB); spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(spHingeDynAB, true); // draw constraint frames and limits for debugging spHingeDynAB.SetDbgDrawSize(5.0f); } #endif #if true { // 6DOF connected to the world, with motor IndexedMatrix tr = IndexedMatrix.CreateTranslation(10,-15,0); RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape); pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameB = IndexedMatrix.Identity; Generic6DofConstraint pGen6Dof = new Generic6DofConstraint(pBody, ref frameB, false ); m_dynamicsWorld.AddConstraint(pGen6Dof); pGen6Dof.SetDbgDrawSize(5.0f); pGen6Dof.SetAngularLowerLimit(new IndexedVector3(0,0,0)); pGen6Dof.SetAngularUpperLimit(new IndexedVector3(0,0,0)); pGen6Dof.SetLinearLowerLimit(new IndexedVector3(-10.0f, 0, 0)); pGen6Dof.SetLinearUpperLimit(new IndexedVector3(10.0f, 0, 0)); pGen6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true; pGen6Dof.GetTranslationalLimitMotor().m_targetVelocity[0] = 5.0f; pGen6Dof.GetTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f; } #endif }
protected override void Initialize() { base.Initialize(); SetCameraDistance(50.0f); ///collision configuration contains default setup for memory, collision setup m_collisionConfiguration = new DefaultCollisionConfiguration(); //m_collisionConfiguration.setConvexConvexMultipointIterations(); ///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(); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); m_dynamicsWorld.SetGravity(ref gravity); // NEW => btGhostPairCallback ================================= m_ghostPairCallback = new GhostPairCallback(); m_dynamicsWorld.GetBroadphase().GetOverlappingPairCache().SetInternalGhostPairCallback(m_ghostPairCallback); // Needed once to enable ghost objects inside Bullet // NEW => btGhostObject ======================================= m_ghostObject = new GhostObject(); CollisionShape shape = new BoxShape(new IndexedVector3(5f)); // As far as I know only the world aabb of the shape will be used (i.e. a box always parallel to the x,y,z axis of variable size) m_collisionShapes.Add(shape); m_ghostObject.SetCollisionShape(shape); m_ghostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE); // We can choose to make it "solid" if we want... m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.SensorTrigger, CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.SensorTrigger); //m_ghostObject.setWorldTransform(btTransform(btQuaternion::getIdentity(),btVector3(0,5,-15))); IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(quatDeg45Y); im._origin = new IndexedVector3(0, 5, -15); m_ghostObject.SetWorldTransform(im); // NEW => btPairCachingGhostObject ============================ m_pairCachingGhostObject = new PairCachingGhostObject(); shape = new ConeShape(7.0f, 14.0f); m_collisionShapes.Add(shape); m_pairCachingGhostObject.SetCollisionShape(shape); m_pairCachingGhostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE); // We can choose to make it "solid" if we want... m_dynamicsWorld.AddCollisionObject(m_pairCachingGhostObject, CollisionFilterGroups.SensorTrigger, CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.SensorTrigger); //m_pairCachingGhostObject.setWorldTransform(btTransform(btQuaternion::getIdentity(),btVector3(0,5,15))); im._origin = new IndexedVector3(0, 7, 15); m_pairCachingGhostObject.SetWorldTransform(im); //============================================================= ///create a few basic rigid bodies CollisionShape groundShape = new BoxShape(new IndexedVector3(50)); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.Identity; groundTransform._origin = new IndexedVector3(0, -50, 0); float mass = 0.0f; LocalCreateRigidBody(mass, groundTransform, groundShape); // spawn some cubes (code pasted from appBasicDemo...) if(true) { //create a few dynamic rigidbodies CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING)); //btCollisionShape* colShape = new btSphereShape(btScalar(1.)); //CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f)); m_collisionShapes.Add(colShape); /// Create Dynamic Objects IndexedMatrix startTransform = IndexedMatrix.Identity; mass = 1f; //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = mass != 0f; IndexedVector3 localInertia = IndexedVector3.Zero; if (isDynamic) { colShape.CalculateLocalInertia(mass, out localInertia); } float start_x = START_POS_X - ARRAY_SIZE_X / 2; float start_y = START_POS_Y; float start_z = START_POS_Z - ARRAY_SIZE_Z / 2; for (int k = 0; k < ARRAY_SIZE_Y; k++) { for (int i = 0; i < ARRAY_SIZE_X; i++) { for (int j = 0; j < ARRAY_SIZE_Z; j++) { startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia); RigidBody body = new RigidBody(rbInfo); //body.setContactProcessingThreshold(colShape.getContactBreakingThreshold()); body.SetActivationState(ActivationState.ISLAND_SLEEPING); m_dynamicsWorld.AddRigidBody(body); body.SetActivationState(ActivationState.ISLAND_SLEEPING); body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j)); } } } } ClientResetScene(); }
public override void InitializeDemo() { m_cameraDistance = 10.0f; //string filename = @"e:\users\man\bullet\gimpact-demo-xna.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); /// Init Bullet m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); //btOverlappingPairCache* broadphase = new btSimpleBroadphase(); //m_broadphase = new btSimpleBroadphase(); int maxProxies = 1024; IndexedVector3 worldAabbMin = new IndexedVector3(-10000, -10000, -10000); IndexedVector3 worldAabbMax = new IndexedVector3(10000, 10000, 10000); m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, false); //m_broadphase = new SimpleBroadphase(16384,null); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); //create trimesh model and shape InitGImpactCollision(); /// Create Scene float mass = 0.0f; IndexedMatrix startTransform = IndexedMatrix.Identity; CollisionShape staticboxShape1 = new BoxShape(new IndexedVector3(200, 1, 200));//floor staticboxShape1.SetUserPointer("Floor"); CollisionShape staticboxShape2 = new BoxShape(new IndexedVector3(1, 50, 200));//left wall staticboxShape1.SetUserPointer("LeftWall"); CollisionShape staticboxShape3 = new BoxShape(new IndexedVector3(1, 50, 200));//right wall staticboxShape1.SetUserPointer("RightWall"); CollisionShape staticboxShape4 = new BoxShape(new IndexedVector3(200, 50, 1));//front wall staticboxShape1.SetUserPointer("FrontWall"); CollisionShape staticboxShape5 = new BoxShape(new IndexedVector3(200, 50, 1));//back wall staticboxShape1.SetUserPointer("BackWall"); CompoundShape staticScenario = new CompoundShape();//static scenario startTransform._origin = new IndexedVector3(0, 0, 0); staticScenario.AddChildShape(ref startTransform, staticboxShape1); startTransform._origin = new IndexedVector3(-200, 25, 0); staticScenario.AddChildShape(ref startTransform, staticboxShape2); startTransform._origin = new IndexedVector3(200, 25, 0); staticScenario.AddChildShape(ref startTransform, staticboxShape3); startTransform._origin = new IndexedVector3(0, 25, 200); staticScenario.AddChildShape(ref startTransform, staticboxShape4); startTransform._origin = new IndexedVector3(0, 25, -200); staticScenario.AddChildShape(ref startTransform, staticboxShape5); startTransform._origin = new IndexedVector3(0, 0, 0); //RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticScenario); RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticboxShape1); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags()|CollisionFlags.CF_STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags()|CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); //static plane IndexedVector3 normal = new IndexedVector3(0.4f,1.5f,-0.4f); normal.Normalize(); CollisionShape staticplaneShape6 = new StaticPlaneShape(ref normal,0.0f);// A plane startTransform._origin = IndexedVector3.Zero; RigidBody staticBody2 = LocalCreateRigidBody(mass, startTransform, staticplaneShape6); staticBody2.SetCollisionFlags(staticBody2.GetCollisionFlags()|CollisionFlags.CF_STATIC_OBJECT); startTransform = IndexedMatrix.Identity; /// Create Dynamic Boxes { int numBoxes = 1; for (int i = 0; i < numBoxes; i++) { CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1)); //CollisionShape mesh = new BvhTriangleMeshShape(m_indexVertexArrays2,true,true); startTransform._origin = new IndexedVector3(2 * i - (numBoxes-1), 2, -3); //startTransform._origin = new IndexedVector3(2 * i - 5, 10, -3); //LocalCreateRigidBody(1, startTransform, m_trimeshShape2); LocalCreateRigidBody(1, startTransform, boxShape); } } }
public override void InitializeDemo() { //maxiterations = 10; SetCameraDistance(SCALING * 50f); //string filename = @"E:\users\man\bullet\xna-basic-output-1.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); ///collision configuration contains default setup for memory, collision setup m_collisionConfiguration = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = -worldMin; m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); IOverlappingPairCache pairCache = null; //pairCache = new SortedOverlappingPairCache(); pairCache = new HashedOverlappingPairCache(); m_broadphase = new DbvtBroadphase(pairCache); //m_broadphase = new SimpleBroadphase(1000, pairCache); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver(); m_constraintSolver = sol; m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); m_dynamicsWorld.SetGravity(ref gravity); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); CollisionShape groundShape = new BoxShape(ref halfExtents); //CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0)); float mass = 0f; float topY = 2.5f; float bottomY = 0.5f; float diff = 10f; float left = -(diff / 2f); float right = -left; LocalCreateRigidBody(mass, ref groundTransform, groundShape); { /// Create Dynamic Objects IndexedMatrix startTransform = IndexedMatrix.Identity; mass = 0f; //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = mass != 0f; RigidBody rb = null; //startTransform._origin = new IndexedVector3(left, topY, 0); //collisionTopLeftCorner = BuildCorner(vertices, topLeft); //rb = LocalCreateRigidBody(0f, startTransform, collisionTopLeftCorner); //rb.SetUserPointer("TopLeftCorner"); //startTransform._origin = new IndexedVector3(right, topY, 0); //collisionTopRightCorner = BuildCorner(vertices, topRight); //rb = LocalCreateRigidBody(0f, startTransform, collisionTopRightCorner); //rb.SetUserPointer("TopRightCorner"); startTransform._origin = new IndexedVector3(left, bottomY, 0); collisionBottomLeftCorner = BuildCorner(vertices, bottomLeft); rb = LocalCreateRigidBody(0f, startTransform, collisionBottomLeftCorner); rb.SetUserPointer("BottomLeftCorner"); startTransform._origin = new IndexedVector3(right, bottomY, 0); collisionBottomRightCorner = BuildCorner(vertices, bottomRight); rb = LocalCreateRigidBody(0f, startTransform, collisionBottomRightCorner); rb.SetUserPointer("BottomRightCorner"); startTransform._origin = IndexedVector3.Zero; m_playerSphere = LocalCreateRigidBody(1f, startTransform, new SphereShape(0.25f)); m_playerSphere.SetActivationState(ActivationState.DISABLE_DEACTIVATION); } BulletGlobals.gDebugDraw.SetDebugMode(BulletXNA.LinearMath.DebugDrawModes.DBG_DrawAabb | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawNormals | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawContactPoints); m_dynamicsWorld.SetDebugDrawer(BulletGlobals.gDebugDraw); //ClientResetScene(); }
public override void InitializeDemo() { // Setup the basic world SetTexturing(true); SetShadows(true); SetCameraDistance(5.0f); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldAabbMin = new IndexedVector3(-10000,-10000,-10000); IndexedVector3 worldAabbMax = new IndexedVector3(10000,10000,10000); //m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, true); m_broadphase = new SimpleBroadphase(1000, null); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); //m_dynamicsWorld.getDispatchInfo().m_useConvexConservativeDistanceUtil = true; //m_dynamicsWorld.getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f; // 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); CollisionObject fixedGround = new CollisionObject(); fixedGround.SetCollisionShape(groundShape); fixedGround.SetWorldTransform(ref groundTransform); fixedGround.SetUserPointer("Ground"); m_dynamicsWorld.AddCollisionObject(fixedGround); } // Spawn one ragdoll IndexedVector3 startOffset = new IndexedVector3(1,0.5f,0); //string filename = @"c:\users\man\bullet\xna-ragdoll-constraints-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); SpawnRagdoll(ref startOffset, BulletGlobals.g_streamWriter); //startOffset = new IndexedVector3(-1,0.5f,0); //spawnRagdoll(ref startOffset); ClientResetScene(); }
public override void InitializeDemo() { SetCameraDistance(30f); //string filename = @"E:\users\man\bullet\xna-basic-output-1.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); ///collision configuration contains default setup for memory, collision setup m_collisionConfiguration = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); 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(); 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); ///create a few basic rigid bodies IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50); //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10); CollisionShape groundShape = new BoxShape(ref halfExtents); //CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBody(mass, ref groundTransform, groundShape); { int numBlocksTall = 10;//18; //How many 'stories' tall. float blockWidth = 6f; //Total width/length of the tower. float blockHeight = 2f; //create a few dynamic rigidbodies IndexedVector3 extents = new IndexedVector3(blockWidth/3, blockHeight, blockWidth); IndexedVector3 boxHalfExtents = extents * 0.5f; CollisionShape colShape = new BoxShape(boxHalfExtents); //btCollisionShape* colShape = new btSphereShape(btScalar(1.)); //CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f)); //m_collisionShapes.Add(colShape); /// Create Dynamic Objects IndexedMatrix startTransform = IndexedMatrix.Identity; mass = 1f; //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = mass != 0f; IndexedVector3 localInertia = IndexedVector3.Zero; if (isDynamic) { colShape.CalculateLocalInertia(mass, out localInertia); } //The default number of iterations is 10, which works fine, but this demo //is all about stability (it's jenga!). Increase the iterations a bit. //Even though it's using twice as many iterations, it will early-out //before reaching the limit MOST of the time. //It's still pretty playable at around 7-8 max iterations, though. IndexedMatrix transform = IndexedMatrix.Identity; for (int i = 0; i < numBlocksTall; i++) { if (i % 2 == 0) { for (int j = 0; j < 3; j++) { transform = IndexedMatrix.Identity; IndexedVector3 position = new IndexedVector3(j * (blockWidth/3) - blockWidth/3, blockHeight / 2 + i * (blockHeight), 0); //position += boxHalfExtents; transform._origin = position; RigidBody rb = LocalCreateRigidBody(mass, transform, colShape); rb.SetActivationState(ActivationState.ISLAND_SLEEPING); } } else { transform = IndexedMatrix.CreateRotationY(MathUtil.SIMD_HALF_PI); for (int j = 0; j < 3; j++) { IndexedVector3 position = new IndexedVector3(0, blockHeight / 2 + (i) * (blockHeight), j * (blockWidth / 3) - blockWidth / 3f); transform._origin = position; //position += boxHalfExtents; transform._origin = position; RigidBody rb = LocalCreateRigidBody(mass, transform, colShape); rb.SetActivationState(ActivationState.ISLAND_SLEEPING); } } } //game.Camera.Position = new Vector3(0, 5, 15); } ClientResetScene(); }
//(PhysicsScene.World.ptr, nativeShapeData) public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; CollisionShape shape = null; switch (pShapeData.Type) { case BSPhysicsShapeType.SHAPE_BOX: shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); break; case BSPhysicsShapeType.SHAPE_CONE: shape = new ConeShapeZ(0.5f, 1.0f); break; case BSPhysicsShapeType.SHAPE_CYLINDER: shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); break; case BSPhysicsShapeType.SHAPE_SPHERE: shape = new SphereShape(0.5f); break; } if (shape != null) { IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); shape.SetMargin(world.WorldSettings.Params.collisionMargin); shape.SetLocalScaling(ref scaling); } return new BulletShapeXNA(shape, pShapeData.Type); }
//(PhysicsScene.World.ptr, nativeShapeData) internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData) { var world = pWorld as DiscreteDynamicsWorld; CollisionShape shape = null; switch (pShapeData.Type) { case BSPhysicsShapeType.SHAPE_BOX: shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); break; case BSPhysicsShapeType.SHAPE_CONE: shape = new ConeShapeZ(0.5f, 1.0f); break; case BSPhysicsShapeType.SHAPE_CYLINDER: shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); break; case BSPhysicsShapeType.SHAPE_SPHERE: shape = new SphereShape(0.5f); break; } if (shape != null) { IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); shape.SetMargin(world.WorldSettings.Params.collisionMargin); shape.SetLocalScaling(ref scaling); } return shape; }
public void BuildCollisionData(Color[] map, int width, int height, Vector3 bottomLeft) { Vector2 dim = Vector2.One; Vector3 scale = new Vector3(dim, 1); BoxShape collisionBoxShape = new BoxShape(new IndexedVector3(0.5f)); for (int x = 0; x < width; x++) { for (int y = 0; y < height; y++) { int currentIndex = x + y * width; if (map[currentIndex] == Color.White) { float yOffset = -dim.Y;//0f;// -(dim.Y / 2f); Vector3 position = new Vector3(x - bottomLeft.X, (bottomLeft.Y - y) + yOffset, bottomLeft.Z); m_waterLocations.Add(position); } if (map[currentIndex] == Color.White) { // check the 4 ordinals , if we're surrounded by other solid blocks // then we don't need a block here. bool upSet = false; bool downSet = false; bool leftSet = false; bool rightSet = false; if (x >= 1 && x < width - 1) { if (map[currentIndex - 1] == Color.White) { leftSet = true; } if (map[currentIndex + 1] == Color.White) { rightSet = true; } } if (y >= 1 && y < height - 1) { if (map[currentIndex - height] == Color.White) { upSet = true; } if (map[currentIndex + height] == Color.White) { downSet = true; } } // if we're not surrounded by blocks then add in. if (!(upSet && downSet && leftSet && rightSet)) { Object rigifdBody; float yOffset = -dim.Y;//0f;// -(dim.Y / 2f); Vector3 position = new Vector3(x - bottomLeft.X, (bottomLeft.Y - y) + yOffset, bottomLeft.Z); RigidBodyConstructionInfo constructionInfo = new BulletXNA.BulletDynamics.RigidBodyConstructionInfo(0f, null, (BulletXNA.BulletCollision.CollisionShape)collisionBoxShape); RigidBody rigidBody = new BulletXNA.BulletDynamics.RigidBody(constructionInfo); Matrix bsm = Matrix.CreateTranslation(position); rigidBody.SetWorldTransform(bsm); // FIXME MAN - setup some collision flags on these bodies... BulletXNA.BulletCollision.CollisionFilterGroups flags = (BulletXNA.BulletCollision.CollisionFilterGroups)(1 << 8); BulletXNA.BulletCollision.CollisionFilterGroups mask = (BulletXNA.BulletCollision.CollisionFilterGroups)(1 << 9); //rigidBody.CollisionFlags |= (BulletSharp.CollisionFlags)CollisionObjectType.Ground; m_dynamicsWorld.AddRigidBody(rigidBody, flags, mask); } } // Build water ghost objects. foreach (Vector3 pos in m_waterLocations) { GhostObject ghostObject = new GhostObject(); ghostObject.SetCollisionShape((BulletXNA.BulletCollision.CollisionShape)collisionBoxShape); CollisionFilterGroups flags = (CollisionFilterGroups)(1 << 10); CollisionFilterGroups mask = (CollisionFilterGroups)(1<<9); ghostObject.SetCollisionFlags(CollisionFlags.CF_NO_CONTACT_RESPONSE | CollisionFlags.CF_STATIC_OBJECT); // We can choose to make it "solid" if we want... ghostObject.SetWorldTransform(BulletXNA.LinearMath.IndexedMatrix.CreateTranslation(pos)); m_dynamicsWorld.AddCollisionObject(ghostObject, flags, mask); break; } } } }
//---------------------------------------------------------------------------------------------- ///Demo functions public virtual void SetShootBoxShape() { if (m_shootBoxShape == null) { //#define TEST_UNIFORM_SCALING_SHAPE 1 #if TEST_UNIFORM_SCALING_SHAPE ConvexShape childShape = new BoxShape(new IndexedVector3(1f,1f,1f)); m_shootBoxShape = new UniformScalingShape(childShape,0.5f); #else //m_shootBoxShape = new SphereShape(1f);//BoxShape(btVector3(1.f,1.f,1.f)); m_shootBoxShape = new BoxShape(new IndexedVector3(0.5f, 0.5f, 0.5f)); #endif// } }
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(); }
public override void InitializeDemo() { SetCameraDistance(50); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); int vertStride = 1; int indexStride = 3; BulletGlobals.gContactAddedCallback = new CustomMaterialCombinerCallback(); gVertices = new ObjectArray<IndexedVector3>(totalVerts); gIndices = new ObjectArray<int>(totalTriangles * 3); SetVertexPositions(waveheight, 0.0f); gVertices.GetRawArray()[1].Y = 0.1f; int index=0; int i, j; for (i=0;i<NUM_VERTS_X-1;i++) { for (j=0;j<NUM_VERTS_Y-1;j++) { #if SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #else gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; #endif //SHIFT_INDICES #else //SWAP_WINDING #if SHIFT_INDICES gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i+1; #if TEST_INCONSISTENT_WINDING gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #else //TEST_INCONSISTENT_WINDING gIndices[index++] = (j+1)*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; #endif //TEST_INCONSISTENT_WINDING #else //SHIFT_INDICES gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = j*NUM_VERTS_X+i+1; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = j*NUM_VERTS_X+i; gIndices[index++] = (j+1)*NUM_VERTS_X+i+1; gIndices[index++] = (j+1)*NUM_VERTS_X+i; #endif //SHIFT_INDICES #endif //SWAP_WINDING } } m_indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices, indexStride, totalVerts, gVertices, vertStride); bool useQuantizedAabbCompression = true; IndexedVector3 aabbMin = new IndexedVector3 (-1000,-1000,-1000); IndexedVector3 aabbMax = new IndexedVector3(1000, 1000, 1000); trimeshShape = new BvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,ref aabbMin,ref aabbMax,true); CollisionShape groundShape = trimeshShape; TriangleInfoMap triangleInfoMap = new TriangleInfoMap(); InternalEdgeUtility.GenerateInternalEdgeInfo(trimeshShape, triangleInfoMap); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); m_broadphase = new DbvtBroadphase(); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); m_dynamicsWorld.SetDebugDrawer(m_debugDraw); IndexedVector3 gravity = new IndexedVector3(0,-10,0); m_dynamicsWorld.SetGravity(ref gravity); float mass = 0.0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-2,0)); ConvexHullShape colShape = new ConvexHullShape(new List<IndexedVector3>(), 0); for (int k=0;k<DemoMeshes.TaruVtxCount;k++) { IndexedVector3 vtx = DemoMeshes.TaruVtx[k]; colShape.AddPoint(ref vtx); } //this will enable polyhedral contact clipping, better quality, slightly slower //colShape.InitializePolyhedralFeatures(); //the polyhedral contact clipping can use either GJK or SAT test to find the separating axis m_dynamicsWorld.GetDispatchInfo().m_enableSatConvex=false; { //for (int i2 = 0; i2 < 1; i2++) //{ // startTransform._origin = new IndexedVector3(-10.0f + i2 * 3.0f, 2.2f + i2 * 0.1f, -1.3f); // RigidBody body = LocalCreateRigidBody(10, startTransform, colShape); // body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); // //body->setContactProcessingThreshold(0.f); //} } { BoxShape colShape2 = new BoxShape(new IndexedVector3(1, 1, 1)); //colShape.InitializePolyhedralFeatures(); m_collisionShapes.Add(colShape2); startTransform._origin = new IndexedVector3(-16.0f + i * 3.0f, 1.0f + i * 0.1f, -1.3f); RigidBody body = LocalCreateRigidBody(10, startTransform, colShape2); body.SetActivationState(ActivationState.DISABLE_DEACTIVATION); body.SetLinearVelocity(new IndexedVector3(0, 0, -1)); } startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, startTransform,groundShape); //staticBody->setContactProcessingThreshold(-0.031f); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); m_debugDraw.SetDebugMode(DebugDrawModes.DBG_DrawText | DebugDrawModes.DBG_NoHelpText | DebugDrawModes.DBG_DrawWireframe | DebugDrawModes.DBG_DrawContactPoints); //base.InitializeDemo(); //ClientResetScene(); }
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) { if (m_manifoldPtr == null) { return; } CollisionObject convexObj = m_isSwapped ? body1 : body0; CollisionObject planeObj = m_isSwapped ? body0 : body1; ConvexShape convexShape = convexObj.GetCollisionShape() as ConvexShape; if (convexShape == null) { convexShape = new BoxShape(IndexedVector3.One * 0.5f); body0.SetCollisionShape(convexShape); } StaticPlaneShape planeShape = planeObj.GetCollisionShape() as StaticPlaneShape; if (planeShape == null) { planeShape = new StaticPlaneShape(IndexedVector3.Up, 9f); } bool hasCollision = false; if (convexShape == null || planeShape == null) { //resultOut = null; return; } IndexedVector3 planeNormal = planeShape.GetPlaneNormal(); float planeConstant = planeShape.GetPlaneConstant(); IndexedMatrix planeInConvex; planeInConvex = convexObj.GetWorldTransform().Inverse() * planeObj.GetWorldTransform(); IndexedMatrix convexInPlaneTrans; convexInPlaneTrans = planeObj.GetWorldTransform().Inverse() * convexObj.GetWorldTransform(); IndexedVector3 vtx = convexShape.LocalGetSupportingVertex(planeInConvex._basis * -planeNormal); IndexedVector3 vtxInPlane = convexInPlaneTrans * vtx; float distance = (planeNormal.Dot(vtxInPlane) - planeConstant); IndexedVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal; IndexedVector3 vtxInPlaneWorld = planeObj.GetWorldTransform() * vtxInPlaneProjected; hasCollision = distance < m_manifoldPtr.GetContactBreakingThreshold(); resultOut.SetPersistentManifold(m_manifoldPtr); if (hasCollision) { /// report a contact. internally this will be kept persistent, and contact reduction is done IndexedVector3 normalOnSurfaceB = planeObj.GetWorldTransform()._basis *planeNormal; IndexedVector3 pOnB = vtxInPlaneWorld; resultOut.AddContactPoint(normalOnSurfaceB, pOnB, distance); } ////first perform a collision query with the non-perturbated collision objects //{ // IndexedQuaternion rotq = IndexedQuaternion.Identity; // CollideSingleContact(ref rotq, body0, body1, dispatchInfo, resultOut); //} if (convexShape.IsPolyhedral() && resultOut.GetPersistentManifold().GetNumContacts() < m_minimumPointsPerturbationThreshold) { IndexedVector3 v0; IndexedVector3 v1; TransformUtil.PlaneSpace1(ref planeNormal, out v0, out v1); //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects float angleLimit = 0.125f * MathUtil.SIMD_PI; float perturbeAngle; float radius = convexShape.GetAngularMotionDisc(); perturbeAngle = BulletGlobals.gContactBreakingThreshold / radius; if (perturbeAngle > angleLimit) { perturbeAngle = angleLimit; } IndexedQuaternion perturbeRot = new IndexedQuaternion(v0, perturbeAngle); for (int i = 0; i < m_numPerturbationIterations; i++) { float iterationAngle = i * (MathUtil.SIMD_2_PI / (float)m_numPerturbationIterations); IndexedQuaternion rotq = new IndexedQuaternion(planeNormal, iterationAngle); rotq = IndexedQuaternion.Inverse(rotq) * perturbeRot * rotq; CollideSingleContact(ref rotq, body0, body1, dispatchInfo, resultOut); } } if (m_ownManifold) { if (m_manifoldPtr.GetNumContacts() > 0) { resultOut.RefreshContactPoints(); } } }