public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
CollisionShapes = new AlignedCollisionShapeArray();
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.CreateTranslation(
new Vector3(
2*i + start_x,
2*k + start_y,
2*j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
/// <summary>
/// 剛体を作る
/// </summary>
/// <param name="collisionShape">剛体の形</param>
/// <param name="world">剛体のワールド変換行列</param>
/// <param name="rigidProperty">剛体の物性</param>
/// <param name="superProperty">物理演算を超越した特性</param>
/// <returns></returns>
public RigidBody CreateRigidBody(CollisionShape collisionShape, Matrix world, RigidProperty rigidProperty, SuperProperty superProperty)
{
var mass = superProperty.kinematic ? 0 : rigidProperty.mass;
collisionShapes.Add(collisionShape);
Vector3 localInertia = new Vector3(0, 0, 0);
if (mass != 0)
{
collisionShape.CalculateLocalInertia(mass, out localInertia);
}
DefaultMotionState motionState = new DefaultMotionState(world);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
body.Restitution = rigidProperty.restitution;
body.Friction = rigidProperty.friction;
body.SetDamping(rigidProperty.linear_damp, rigidProperty.angular_damp);
float linearDamp = body.LinearDamping;
float angularDamp = body.AngularDamping;
if (superProperty.kinematic)
{
body.CollisionFlags = body.CollisionFlags | CollisionFlags.KinematicObject;
}
body.ActivationState = ActivationState.DisableDeactivation;
dynamicsWorld.AddRigidBody(body, superProperty.group, superProperty.mask);
return(body);
}
public RigidBody AddStaticGeometry(ColladaGeometry geometry, Matrix4 transform, object UserData)
{
TriangleMesh mesh = new TriangleMesh();
foreach (Triangle tri in geometry.triangles)
{
mesh.AddTriangle(tri.vertices[0], tri.vertices[1], tri.vertices[2]
);
}
CollisionShape shape = new BvhTriangleMeshShape(mesh, true);
shape.UserObject = UserData;
collisionShapes.Add(shape);
RigidBody body = CreateRigidBody(0, transform, shape); //Zero mass for static body
return(body);
}
public RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
collisionShapes.Add(shape);
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
World.AddRigidBody(body);
return(body);
}
public override void ConvexDecompResult(ConvexResult result)
{
TriangleMesh trimesh = new TriangleMesh();
demo.trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6.0f, 6.0f, 6.0f);
if (output == null)
{
return;
}
output.WriteLine("## Hull Piece {0} with {1} vertices and {2} triangles.", mHullCount, result.mHullVertices.Length, result.mHullIndices.Length / 3);
output.WriteLine("usemtl Material{0}", mBaseCount);
output.WriteLine("o Object{0}", mBaseCount);
foreach (Vector3 p in result.mHullVertices)
{
output.WriteLine(string.Format(floatFormat, "v {0:F9} {1:F9} {2:F9}", p.X, p.Y, p.Z));
}
//calc centroid, to shift vertices around center of mass
demo.centroid = Vector3.Zero;
AlignedVector3Array vertices = new AlignedVector3Array();
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
demo.centroid += vertex * localScaling;
}
}
demo.centroid /= (float)result.mHullVertices.Length;
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
vertices.Add(vertex * localScaling - demo.centroid);
}
}
if (true)
{
int[] src = result.mHullIndices;
for (int i = 0; i < src.Length; i += 3)
{
int index0 = src[i];
int index1 = src[i + 1];
int index2 = src[i + 2];
Vector3 vertex0 = result.mHullVertices[index0] * localScaling - demo.centroid;
Vector3 vertex1 = result.mHullVertices[index1] * localScaling - demo.centroid;
Vector3 vertex2 = result.mHullVertices[index2] * localScaling - demo.centroid;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
index0 += mBaseCount;
index1 += mBaseCount;
index2 += mBaseCount;
output.WriteLine("f {0} {1} {2}", index0 + 1, index1 + 1, index2 + 1);
}
}
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#if SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray <btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices, planeEquations);
btAlignedObjectArray <btVector3> shiftedPlaneEquations;
for (int p = 0; p < planeEquations.size(); p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray <btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, shiftedVertices);
btConvexHullShape *convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()), shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
ConvexHullShape convexShape = new ConvexHullShape(vertices);
#endif
if (demo.sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
convexShape.Margin = 0.01f;
convexShapes.Add(convexShape);
convexCentroids.Add(demo.centroid);
demo.CollisionShapes.Add(convexShape);
mBaseCount += result.mHullVertices.Length; // advance the 'base index' counter.
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
collisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix4.CreateTranslation(0, -50, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
collisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix4 startTransform = Matrix4.CreateTranslation(
new Vector3(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
public Physics(SceneManager sceneMgr)
{
// collision configuration contains default setup for memory, collision setup
collisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(collisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix4.IDENTITY, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix4 startTransform = new Matrix4();
startTransform.MakeTrans(
new Vector3(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
)
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
int index = (k * ArraySizeX + i) * ArraySizeZ + j;
Entity box = sceneMgr.CreateEntity("Box" + index.ToString(), "box.mesh");
box.SetMaterialName("BoxMaterial/Active");
SceneNode boxNode = sceneMgr.RootSceneNode.CreateChildSceneNode("BoxNode" + index.ToString());
boxNode.AttachObject(box);
boxNode.Scale(new Vector3(2, 2, 2));
MogreMotionState myMotionState = new MogreMotionState(box, boxNode, startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
myMotionState.Body = body;
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}