//---------------------------------------------------------------------------------------------------------------- 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); }