public void SetUp() { conf = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(conf); broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf); action = new Action(); world.AddAction(action); world.AddAction(action); world.RemoveAction(action); world.RemoveAction(action); world.AddAction(action); }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.DispatchInfo.AllowedCcdPenetration = 0.0001f; //World.Gravity = Freelook.Up * -10.0f; Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f); ghostObject = new PairCachingGhostObject(); ghostObject.WorldTransform = startTransform; Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback()); const float characterHeight = 1.75f; const float characterWidth = 1.75f; ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight); ghostObject.CollisionShape = capsule; ghostObject.CollisionFlags = CollisionFlags.CharacterObject; const float stepHeight = 0.35f; character = new KinematicCharacterController(ghostObject, capsule, stepHeight); BspLoader bspLoader = new BspLoader(); //string filename = UnityEngine.Application.dataPath + "/BulletUnity/Examples/Scripts/BulletSharpDemos/CharacterDemo/data/BspDemo.bsp"; UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("BspDemo"); System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes); bspLoader.LoadBspFile(byteStream); BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter); World.AddAction(character); Vector3 v1 = new Vector3(0f, 0f, 0f); Vector3 v2 = new Vector3(0f, 0f, 0f); convexResultCallback = new ClosestConvexResultCallback(ref v1, ref v2); convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter; cameraSphere = new SphereShape(0.2f); }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.DispatchInfo.AllowedCcdPenetration = 0.0001f; //World.Gravity = Freelook.Up * -10.0f; Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f); ghostObject = new PairCachingGhostObject(); ghostObject.WorldTransform = startTransform; Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback()); const float characterHeight = 1.75f; const float characterWidth = 1.75f; ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight); ghostObject.CollisionShape = capsule; ghostObject.CollisionFlags = CollisionFlags.CharacterObject; const float stepHeight = 0.35f; character = new KinematicCharacterController(ghostObject, capsule, stepHeight); BspLoader bspLoader = new BspLoader(); bspLoader.LoadBspFile("data/BspDemo.bsp"); BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter); World.AddAction(character); Vector3 zero = Vector3.Zero; convexResultCallback = new ClosestConvexResultCallback(ref zero, ref zero); convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter; cameraSphere = new SphereShape(0.2f); }
private void CreatePlayerBox() { const float stepHeight = 0.35f; CapsuleShape shape = new CapsuleShape(0.4f, charHeighth); _ghostObject = new PairCachingGhostObject() { CollisionShape = shape, CollisionFlags = CollisionFlags.CharacterObject, WorldTransform = Matrix.Translation(Node.GetTransform.Position.Convert() + Vector3.UnitY), Friction = 0.7f }; //world.AddCollisionObject(_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter); world.AddCollisionObject(_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter); _charController = new KinematicCharacterController(_ghostObject, shape, stepHeight); world.AddAction(_charController); }
public Physics(VehicleDemo game) { CollisionShape groundShape = new BoxShape(50, 3, 50); CollisionShapes.Add(groundShape); CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Solver = new SequentialImpulseConstraintSolver(); Vector3 worldMin = new Vector3(-10000, -10000, -10000); Vector3 worldMax = new Vector3(10000, 10000, 10000); Broadphase = new AxisSweep3(worldMin, worldMax); //Broadphase = new DbvtBroadphase(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); int i; Matrix tr; Matrix vehicleTr; if (UseTrimeshGround) { const float scale = 20.0f; //create a triangle-mesh ground int vertStride = Vector3.SizeInBytes; int indexStride = 3 * sizeof(int); const int NUM_VERTS_X = 20; const int NUM_VERTS_Y = 20; const int totalVerts = NUM_VERTS_X * NUM_VERTS_Y; const int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray(); IndexedMesh mesh = new IndexedMesh(); mesh.Allocate(totalVerts, vertStride, totalTriangles, indexStride, PhyScalarType.Int32, PhyScalarType.Single); BulletSharp.DataStream data = mesh.LockVerts(); for (i = 0; i < NUM_VERTS_X; i++) { for (int j = 0; j < NUM_VERTS_Y; j++) { float wl = .2f; float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl)); data.Write((i - NUM_VERTS_X * 0.5f) * scale); data.Write(height); data.Write((j - NUM_VERTS_Y * 0.5f) * scale); } } int index = 0; IntArray idata = mesh.TriangleIndices; for (i = 0; i < NUM_VERTS_X - 1; i++) { for (int j = 0; j < NUM_VERTS_Y - 1; j++) { idata[index++] = j * NUM_VERTS_X + i; idata[index++] = j * NUM_VERTS_X + i + 1; idata[index++] = (j + 1) * NUM_VERTS_X + i + 1; idata[index++] = j * NUM_VERTS_X + i; idata[index++] = (j + 1) * NUM_VERTS_X + i + 1; idata[index++] = (j + 1) * NUM_VERTS_X + i; } } vertexArray.AddIndexedMesh(mesh); groundShape = new BvhTriangleMeshShape(vertexArray, true); tr = Matrix.Identity; vehicleTr = Matrix.Translation(0, -2, 0); } else { // Use HeightfieldTerrainShape int width = 40, length = 40; //int width = 128, length = 128; // Debugging is too slow for this float maxHeight = 10.0f; float heightScale = maxHeight / 256.0f; Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f); //PhyScalarType scalarType = PhyScalarType.PhyUChar; //FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read); // Use float data PhyScalarType scalarType = PhyScalarType.Single; byte[] terr = new byte[width * length * 4]; MemoryStream file = new MemoryStream(terr); BinaryWriter writer = new BinaryWriter(file); for (i = 0; i < width; i++) { for (int j = 0; j < length; j++) { writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i))); } } writer.Flush(); file.Position = 0; HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length, file, heightScale, 0, maxHeight, upIndex, scalarType, false); heightterrainShape.SetUseDiamondSubdivision(true); groundShape = heightterrainShape; groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z); tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2)); vehicleTr = Matrix.Translation(new Vector3(20, 3, -3)); // Create graphics object file.Position = 0; BinaryReader reader = new BinaryReader(file); int totalTriangles = (width - 1) * (length - 1) * 2; int totalVerts = width * length; game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts, MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal); SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None); for (i = 0; i < width; i++) { for (int j = 0; j < length; j++) { float height; if (scalarType == PhyScalarType.Single) { // heightScale isn't applied internally for float data height = reader.ReadSingle(); } else if (scalarType == PhyScalarType.Byte) { height = file.ReadByte() * heightScale; } else { height = 0.0f; } data.Write((j - length * 0.5f) * scale.X); data.Write(height); data.Write((i - width * 0.5f) * scale.Z); // Normals will be calculated later data.Position += 12; } } game.groundMesh.UnlockVertexBuffer(); file.Close(); data = game.groundMesh.LockIndexBuffer(LockFlags.None); for (i = 0; i < width - 1; i++) { for (int j = 0; j < length - 1; j++) { // Using diamond subdivision if ((j + i) % 2 == 0) { data.Write(j * width + i); data.Write((j + 1) * width + i + 1); data.Write(j * width + i + 1); data.Write(j * width + i); data.Write((j + 1) * width + i); data.Write((j + 1) * width + i + 1); } else { data.Write(j * width + i); data.Write((j + 1) * width + i); data.Write(j * width + i + 1); data.Write(j * width + i + 1); data.Write((j + 1) * width + i); data.Write((j + 1) * width + i + 1); } /* * // Not using diamond subdivision * data.Write(j * width + i); * data.Write((j + 1) * width + i); * data.Write(j * width + i + 1); * * data.Write(j * width + i + 1); * data.Write((j + 1) * width + i); * data.Write((j + 1) * width + i + 1); */ } } game.groundMesh.UnlockIndexBuffer(); game.groundMesh.ComputeNormals(); } CollisionShapes.Add(groundShape); //create ground object RigidBody ground = LocalCreateRigidBody(0, tr, groundShape); ground.UserObject = "Ground"; CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f); CollisionShapes.Add(chassisShape); CompoundShape compound = new CompoundShape(); CollisionShapes.Add(compound); //localTrans effectively shifts the center of mass with respect to the chassis Matrix localTrans = Matrix.Translation(Vector3.UnitY); compound.AddChildShape(localTrans, chassisShape); RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound); carChassis.UserObject = "Chassis"; //carChassis.SetDamping(0.2f, 0.2f); //CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius); // clientResetScene(); // create vehicle RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning(); IVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(World); vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster); carChassis.ActivationState = ActivationState.DisableDeactivation; World.AddAction(vehicle); float connectionHeight = 1.2f; bool isFrontWheel = true; // choose coordinate system vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex); Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius); WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius); vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); isFrontWheel = false; connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius); vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius); vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); for (i = 0; i < vehicle.NumWheels; i++) { WheelInfo wheel = vehicle.GetWheelInfo(i); wheel.SuspensionStiffness = suspensionStiffness; wheel.WheelsDampingRelaxation = suspensionDamping; wheel.WheelsDampingCompression = suspensionCompression; wheel.FrictionSlip = wheelFriction; wheel.RollInfluence = rollInfluence; } vehicle.RigidBody.WorldTransform = vehicleTr; }
public Character(DiscreteDynamicsWorld world, Vehiculo vehiculo, TGCVector3 position, float rotation, GameModel gameModel) { //Cargar sonido turboSound = new TgcStaticSound(); turboSound.loadSound(Game.Default.MediaDirectory + Game.Default.FXDirectory + "turbo.wav", gameModel.DirectSound.DsDevice); this.vehiculo = vehiculo; var loader = new TgcSceneLoader(); this.mesh = loader.loadSceneFromFile(vehiculo.ChassisXmlPath).Meshes[0]; this.wheel = loader.loadSceneFromFile(vehiculo.WheelsXmlPath).Meshes[0]; Vehiculo.ChangeTextureColor(this.mesh, vehiculo.Color); this.mesh.AutoTransform = false; this.wheel.AutoTransform = false; maxHitPoints = float.Parse(mesh.UserProperties["maxHitPoints"], CultureInfo.InvariantCulture); engineForce = -float.Parse(mesh.UserProperties["engineForce"], CultureInfo.InvariantCulture); brakeForce = float.Parse(mesh.UserProperties["brakeForce"], CultureInfo.InvariantCulture); steeringAngle = -float.Parse(mesh.UserProperties["steeringAngle"], CultureInfo.InvariantCulture); turboImpulse = float.Parse(mesh.UserProperties["turboImpulse"], CultureInfo.InvariantCulture); frictionSlip = float.Parse(mesh.UserProperties["frictionSlip"], CultureInfo.InvariantCulture); rollInfluence = float.Parse(mesh.UserProperties["rollInfluence"], CultureInfo.InvariantCulture); rearWheelsHeight = float.Parse(mesh.UserProperties["rearWheelsHeight"], CultureInfo.InvariantCulture); frontWheelsHeight = float.Parse(mesh.UserProperties["frontWheelsHeight"], CultureInfo.InvariantCulture); suspensionRestLength = float.Parse(mesh.UserProperties["suspensionRestLength"], CultureInfo.InvariantCulture); suspensionStiffness = float.Parse(mesh.UserProperties["suspensionStiffness"], CultureInfo.InvariantCulture); dampingCompression = float.Parse(mesh.UserProperties["dampingCompression"], CultureInfo.InvariantCulture); dampingRelaxation = float.Parse(mesh.UserProperties["dampingRelaxation"], CultureInfo.InvariantCulture); meshAxisRadius = this.mesh.BoundingBox.calculateAxisRadius().ToBsVector; var wheelRadius = this.wheel.BoundingBox.calculateAxisRadius().Y; //The btBoxShape is centered at the origin CollisionShape chassisShape = new BoxShape(meshAxisRadius.X, meshRealHeight, meshAxisRadius.Z); //A compound shape is used so we can easily shift the center of gravity of our vehicle to its bottom //This is needed to make our vehicle more stable CompoundShape compound = new CompoundShape(); //The center of gravity of the compound shape is the origin. When we add a rigidbody to the compound shape //it's center of gravity does not change. This way we can add the chassis rigidbody one unit above our center of gravity //keeping it under our chassis, and not in the middle of it var localTransform = Matrix.Translation(0, (meshAxisRadius.Y * 1.75f) - (meshRealHeight / 2f), 0); compound.AddChildShape(localTransform, chassisShape); //Creates a rigid body this.rigidBody = CreateChassisRigidBodyFromShape(compound, position, rotation); //Adds the vehicle chassis to the world world.AddRigidBody(this.rigidBody); worldID = world.CollisionObjectArray.IndexOf(this.rigidBody); //RaycastVehicle DefaultVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(world); VehicleTuning tuning = new VehicleTuning(); //Creates a new instance of the raycast vehicle vehicle = new RaycastVehicle(tuning, this.rigidBody, vehicleRayCaster); //Never deactivate the vehicle this.rigidBody.ActivationState = ActivationState.DisableDeactivation; //Adds the vehicle to the world world.AddAction(vehicle); //Adds the wheels to the vehicle AddWheels(meshAxisRadius, vehicle, tuning, wheelRadius); //Inicializo puntos hitPoints = maxHitPoints; specialPoints = maxSpecialPoints; timerMachineGun = 0f; }
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() { 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 }