public void CreateDistanceJoint()
{
using( CreateCoreAndScene() )
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
actorA = this.Scene.CreateActor( actorDesc );
}
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 20 ),
Shapes = { new BoxShapeDescription( 5, 6, 7 ) }
};
actorB = this.Scene.CreateActor( actorDesc );
}
DistanceJointDescription distanceJointDesc = new DistanceJointDescription()
{
Actor1 = actorA,
Actor2 = actorB
};
var distanceJoint = this.Scene.CreateJoint( distanceJointDesc ) as DistanceJoint;
Assert.IsNotNull( distanceJoint );
Update();
}
}
public void CreateDistanceJoint()
{
using (CreateCoreAndScene())
{
Actor actorA, actorB;
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(20),
Shapes = { new BoxShapeDescription(5, 6, 7) }
};
actorA = this.Scene.CreateActor(actorDesc);
}
{
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(20),
Shapes = { new BoxShapeDescription(5, 6, 7) }
};
actorB = this.Scene.CreateActor(actorDesc);
}
DistanceJointDescription distanceJointDesc = new DistanceJointDescription()
{
Actor1 = actorA,
Actor2 = actorB
};
var distanceJoint = this.Scene.CreateJoint(distanceJointDesc) as DistanceJoint;
Assert.IsNotNull(distanceJoint);
Update();
}
}
public PhysxDistanceJoint(DistanceJointDescription DistanceJointDescription)
{
this.DistanceJointDescription = DistanceJointDescription;
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
//Initialize the core of physics engine
CoreDescription coreDesc = new CoreDescription();
_core = new Core(coreDesc, null);
//Create a physics scene
_scene = _core.CreateScene(new StillDesign.PhysX.MathPrimitives.Vector3(0, -9.81f, 0), true);
_boxActor = new List <Actor>();
_wheel = new List <Actor>();
wheelj = new List <RevoluteJoint>();
boxes = new List <FixedJoint>();
//Create a material
MaterialDescription materialDec = new MaterialDescription();
materialDec.DirectionOfAnisotropy = new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1);
materialDec.DynamicFriction = 0.5f;
materialDec.DynamicFrictionV = 0.5f;
materialDec.StaticFriction = 0.5f;
materialDec.StaticFrictionV = 0.5f;
materialDec.Restitution = 0.8f;
materialDec.Flags = MaterialFlag.Ansiotropic;
Material material1 = _scene.CreateMaterial(materialDec);
ActorDescription boxADec = new ActorDescription();
boxADec.BodyDescription = new BodyDescription(5);
boxADec.Shapes.Add(new BoxShapeDescription(2, 2, 2)
{
LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(0, 1, 0), Material = material1
});
boxADec.Shapes.Add(new BoxShapeDescription(1, 3, 1)
{
LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(0, 3f, 0), Material = material1
});
boxADec.Shapes.Add(new BoxShapeDescription(3, 1, 1)
{
LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(-1f, 5, 0), Material = material1
});
boxADec.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(47f, 1f, 6f);
_boxActor.Add(_scene.CreateActor(boxADec));
ActorDescription wheel1 = new ActorDescription();
wheel1.BodyDescription = new BodyDescription(5);
wheel1.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel1.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45.3f, 1f, 4.3f);
_wheel.Add(_scene.CreateActor(wheel1));
ActorDescription wheel2 = new ActorDescription();
wheel2.BodyDescription = new BodyDescription(5);
wheel2.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel2.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45.3f, 1, 7.8f);
_wheel.Add(_scene.CreateActor(wheel2));
ActorDescription wheel3 = new ActorDescription();
wheel3.BodyDescription = new BodyDescription(5);
wheel3.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel3.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48.7f, 1, 4.3f);
_wheel.Add(_scene.CreateActor(wheel3));
ActorDescription wheel4 = new ActorDescription();
wheel4.BodyDescription = new BodyDescription(5);
wheel4.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel4.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48.7f, 1, 7.8f);
_wheel.Add(_scene.CreateActor(wheel4));
ActorDescription boxADec1 = new ActorDescription();
boxADec1.BodyDescription = new BodyDescription(1000);
boxADec1.Shapes.Add(new BoxShapeDescription(35, 10, 1));
boxADec1.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(33f, 5, 12.1f);
_boxActor.Add(_scene.CreateActor(boxADec1));
ActorDescription boxADec2 = new ActorDescription();
boxADec2.BodyDescription = new BodyDescription(1000);
boxADec2.Shapes.Add(new BoxShapeDescription(1, 10, 25.5f));
boxADec2.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(15f, 5, 24.4f);
_boxActor.Add(_scene.CreateActor(boxADec2));
ActorDescription boxADec3 = new ActorDescription();
boxADec3.BodyDescription = new BodyDescription(1000);
boxADec3.Shapes.Add(new BoxShapeDescription(4f, 10, 1f));
boxADec3.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(49f, 5, -1f);
_boxActor.Add(_scene.CreateActor(boxADec3));
ActorDescription boxADec4 = new ActorDescription();
boxADec4.BodyDescription = new BodyDescription(1000);
boxADec4.Shapes.Add(new BoxShapeDescription(1f, 10, 70f));
boxADec4.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(51f, 5, -3f);
_boxActor.Add(_scene.CreateActor(boxADec4));
ActorDescription boxADec5 = new ActorDescription();
boxADec5.BodyDescription = new BodyDescription(1000);
boxADec5.Shapes.Add(new BoxShapeDescription(105f, 10, 1f));
boxADec5.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(0f, 5, 37.7f);
_boxActor.Add(_scene.CreateActor(boxADec5));
ActorDescription boxADec6 = new ActorDescription();
boxADec6.BodyDescription = new BodyDescription(1000);
boxADec6.Shapes.Add(new BoxShapeDescription(1, 10, 25.5f));
boxADec6.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-16.6f, 5, 24.4f);
_boxActor.Add(_scene.CreateActor(boxADec6));
ActorDescription boxADec7 = new ActorDescription();
boxADec7.BodyDescription = new BodyDescription(1000);
boxADec7.Shapes.Add(new BoxShapeDescription(1, 10, 42f));
boxADec7.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-51f, 5, 16.5f);
_boxActor.Add(_scene.CreateActor(boxADec7));
ActorDescription boxADec8 = new ActorDescription();
boxADec8.BodyDescription = new BodyDescription(1000);
boxADec8.Shapes.Add(new BoxShapeDescription(8.5f, 10, 1f));
boxADec8.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-46.25f, 5, 12.15f);
_boxActor.Add(_scene.CreateActor(boxADec8));
ActorDescription boxADec9 = new ActorDescription();
boxADec9.BodyDescription = new BodyDescription(1000);
boxADec9.Shapes.Add(new BoxShapeDescription(8.5f, 10, 1f));
boxADec9.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-21f, 5, 12.15f);
_boxActor.Add(_scene.CreateActor(boxADec9));
ActorDescription boxADec10 = new ActorDescription();
boxADec10.BodyDescription = new BodyDescription(1);
boxADec10.Shapes.Add(new BoxShapeDescription(1, 1, 1));
boxADec10.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-20, 0.5f, 30);
_boxActor.Add(_scene.CreateActor(boxADec10));
ActorDescription boxADec11 = new ActorDescription();
boxADec11.BodyDescription = new BodyDescription(5);
boxADec11.Shapes.Add(new BoxShapeDescription(1, 1, 1)
{
Material = material1
});
boxADec11.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45, 4, 6);
box11 = _scene.CreateActor(boxADec11);
ActorDescription boxADec12 = new ActorDescription();
boxADec12.BodyDescription = new BodyDescription(1000);
boxADec12.Shapes.Add(new BoxShapeDescription(4f, 10, 1f));
boxADec12.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(27.5f, 5, -1f);
_boxActor.Add(_scene.CreateActor(boxADec12));
ActorDescription boxADec13 = new ActorDescription();
boxADec13.BodyDescription = new BodyDescription(1000);
boxADec13.Shapes.Add(new BoxShapeDescription(21.5f, 10, 1f));
boxADec13.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(36f, 5, -26.8f);
_boxActor.Add(_scene.CreateActor(boxADec13));
ActorDescription boxADec14 = new ActorDescription();
boxADec14.BodyDescription = new BodyDescription(1000);
boxADec14.Shapes.Add(new BoxShapeDescription(4f, 10, 1f));
boxADec14.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(49f, 5, -26.8f);
_boxActor.Add(_scene.CreateActor(boxADec14));
ActorDescription boxADec15 = new ActorDescription();
boxADec15.BodyDescription = new BodyDescription(1000);
boxADec15.Shapes.Add(new BoxShapeDescription(106f, 10, 1f));
boxADec15.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(0f, 5, -38.1f);
_boxActor.Add(_scene.CreateActor(boxADec15));
ActorDescription boxADec16 = new ActorDescription();
boxADec16.BodyDescription = new BodyDescription(1000);
boxADec16.Shapes.Add(new BoxShapeDescription(1, 10, 26.8f));
boxADec16.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(25f, 5, -13.9f);
_boxActor.Add(_scene.CreateActor(boxADec16));
ActorDescription boxADec17 = new ActorDescription();
boxADec17.BodyDescription = new BodyDescription(1000);
boxADec17.Shapes.Add(new BoxShapeDescription(17.2f, 0.25f, 1f));
boxADec17.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.125f, -1f);
_boxActor.Add(_scene.CreateActor(boxADec17));
ActorDescription boxADec18 = new ActorDescription();
boxADec18.BodyDescription = new BodyDescription(1000);
boxADec18.Shapes.Add(new BoxShapeDescription(25f, 0.25f, 24.5f));
boxADec18.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38f, 0.25f, -14f);
_boxActor.Add(_scene.CreateActor(boxADec18));
ActorDescription boxADec19 = new ActorDescription();
boxADec19.BodyDescription = new BodyDescription(1000);
boxADec19.Shapes.Add(new BoxShapeDescription(17.2f, 0.25f, 1f));
boxADec19.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.5f, -2f);
_boxActor.Add(_scene.CreateActor(boxADec19));
ActorDescription boxADec20 = new ActorDescription();
boxADec20.BodyDescription = new BodyDescription(1000);
boxADec20.Shapes.Add(new BoxShapeDescription(17.2f, 0.5f, 1f));
boxADec20.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.5f, -3f);
_boxActor.Add(_scene.CreateActor(boxADec20));
ActorDescription boxADec21 = new ActorDescription();
boxADec21.BodyDescription = new BodyDescription(1000);
boxADec21.Shapes.Add(new BoxShapeDescription(17.2f, 0.75f, 1f));
boxADec21.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 1f, -4f);
_boxActor.Add(_scene.CreateActor(boxADec21));
ActorDescription boxADec22 = new ActorDescription();
boxADec22.BodyDescription = new BodyDescription(1000);
boxADec22.Shapes.Add(new BoxShapeDescription(17.2f, 1f, 1f));
boxADec22.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 1.25f, -5f);
_boxActor.Add(_scene.CreateActor(boxADec22));
ActorDescription boxADec23 = new ActorDescription();
boxADec23.BodyDescription = new BodyDescription(1000);
boxADec23.Shapes.Add(new BoxShapeDescription(25f, 1f, 20.5f));
boxADec23.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38f, 1.5f, -16f);
_boxActor.Add(_scene.CreateActor(boxADec23));
ActorDescription boxADec24 = new ActorDescription();
boxADec24.BodyDescription = new BodyDescription(1000);
boxADec24.Shapes.Add(new BoxShapeDescription(75f, 10, 1f));
boxADec24.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-13f, 5, -1f);
_boxActor.Add(_scene.CreateActor(boxADec24));
ActorDescription boxADec25 = new ActorDescription();
boxADec25.BodyDescription = new BodyDescription(5);
boxADec25.Shapes.Add(new BoxShapeDescription(1, 1, 1)
{
Material = material1
});
boxADec25.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48, 4, 6);
box12 = _scene.CreateActor(boxADec25);
RevoluteJointDescription jointDec = new RevoluteJointDescription();
jointDec.Actor1 = _boxActor[0];
jointDec.Actor2 = _wheel[0];
jointDec.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(45.3f, 1f, 4.3f));
jointDec.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec));
RevoluteJointDescription jointDec1 = new RevoluteJointDescription();
jointDec1.Actor1 = _boxActor[0];
jointDec1.Actor2 = _wheel[1];
jointDec1.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(45.3f, 1, 7.8f));
jointDec1.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, -1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec1));
RevoluteJointDescription jointDec2 = new RevoluteJointDescription();
jointDec2.Actor1 = _boxActor[0];
jointDec2.Actor2 = _wheel[2];
jointDec2.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(48.7f, 1, 4.3f));
jointDec2.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec2));
RevoluteJointDescription jointDec3 = new RevoluteJointDescription();
jointDec3.Actor1 = _boxActor[0];
jointDec3.Actor2 = _wheel[3];
jointDec3.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(48.7f, 1, 7.8f));
jointDec3.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, -1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec3));
DistanceJointDescription jointDec4 = new DistanceJointDescription();
jointDec4.Actor1 = _boxActor[10];
jointDec4.Actor2 = box11;
jointDec4.MaximumDistance = 1000000;
jointDec4.MinimumDistance = 1;
jointDec4.Flags = DistanceJointFlag.EnforceMaximumDistance | DistanceJointFlag.EnforceMinimumDistance;
boxpick = _scene.CreateJoint <DistanceJoint>(jointDec4);
FixedJointDescription jointDec5 = new FixedJointDescription();
jointDec5.Actor1 = _boxActor[0];
jointDec5.Actor2 = box11;
boxes.Add(_scene.CreateJoint <FixedJoint>(jointDec5));
FixedJointDescription jointDec6 = new FixedJointDescription();
jointDec6.Actor1 = _boxActor[0];
jointDec6.Actor2 = box12;
boxes.Add(_scene.CreateJoint <FixedJoint>(jointDec6));
view1 = graphics.GraphicsDevice.Viewport;
view2 = view1;
view1.Height = 480;
view1.Width = 400;
view1.X = 400;
view1.Y = 0;
view2.Height = 480;
view2.Width = 400;
view2.X = 0;
view2.Y = 0;
_camera1 = new Camera("camera1", 1024, 768, 1024f / 768f, 1, 1f, 100000, true, view1);
_camera1.Initialize(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(0, 4, 6));
_camera2 = new Camera("camera2", 1024, 768, 1024f / 768f, 1, 1f, 100000, true, view2);
_camera2.Initialize(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(100, 4, 6));
this.IsMouseVisible = true;
base.Initialize();
}
KeyboardState keyState = Keyboard.GetState(); //Save the current keyboard state
protected override void Update(GameTime gameTime)
{
// Allows the game to exit
if (GamePad.GetState(PlayerIndex.One).Buttons.Back == ButtonState.Pressed)
{
this.Exit();
}
// TODO: Add your update logic here
checkx = Math.Abs(box11.GlobalPosition.X - _boxActor[10].GlobalPosition.X);
checkz = Math.Abs(box11.GlobalPosition.Z - _boxActor[10].GlobalPosition.Z);
KeyboardState state = Keyboard.GetState();
if (state.IsKeyDown(Keys.W))
{
_camera1.MoveForward(1);
}
if (state.IsKeyDown(Keys.S))
{
_camera1.MoveForward(-1);
}
if (state.IsKeyDown(Keys.A))
{
_camera1.MoveHorizontal(1);
}
if (state.IsKeyDown(Keys.D))
{
_camera1.MoveHorizontal(-1);
}
if (state.IsKeyDown(Keys.Q))
{
_camera1.Turning(-1);
}
if (state.IsKeyDown(Keys.E))
{
_camera1.Turning(1);
}
if (checkx < 5 && checkz < 5)
{
if (state.IsKeyDown(Keys.Z))
{
DistanceJointDescription change1 = boxpick.SaveToDescription();
change1.MaximumDistance = 3f;
boxpick.LoadFromDescription(change1);
}
}
if (state.IsKeyDown(Keys.X))
{
DistanceJointDescription change1 = boxpick.SaveToDescription();
change1.MaximumDistance = 100000f;
boxpick.LoadFromDescription(change1);
}
if (state.IsKeyDown(Keys.Up))
{
wheelj[0].Motor = new MotorDescription(-2f, 100, false);
wheelj[1].Motor = new MotorDescription(2f, 100, false);
wheelj[2].Motor = new MotorDescription(-2f, 100, false);
wheelj[3].Motor = new MotorDescription(2f, 100, false);
}
else if (state.IsKeyDown(Keys.Down))
{
wheelj[0].Motor = new MotorDescription(2f, 100, false);
wheelj[1].Motor = new MotorDescription(-2f, 100, false);
wheelj[2].Motor = new MotorDescription(2f, 100, false);
wheelj[3].Motor = new MotorDescription(-2f, 100, false);
}
else if (state.IsKeyDown(Keys.Left))
{
wheelj[0].Motor = new MotorDescription(-3f, 100, false);
wheelj[1].Motor = new MotorDescription(1f, 100, false);
wheelj[2].Motor = new MotorDescription(-3f, 100, false);
wheelj[3].Motor = new MotorDescription(1f, 100, false);
}
else if (state.IsKeyDown(Keys.Right))
{
wheelj[0].Motor = new MotorDescription(-1f, 100, false);
wheelj[1].Motor = new MotorDescription(3f, 100, false);
wheelj[2].Motor = new MotorDescription(-1f, 100, false);
wheelj[3].Motor = new MotorDescription(3f, 100, false);
}
else
{
wheelj[0].Motor = new MotorDescription(0, 100, false);
wheelj[1].Motor = new MotorDescription(0, 100, false);
wheelj[2].Motor = new MotorDescription(0, 100, false);
wheelj[3].Motor = new MotorDescription(0, 100, false);
}
_camera1.UpdateCamera(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(box11.GlobalPosition.X, box11.GlobalPosition.Y, box11.GlobalPosition.Z), Vector3.UnitY);
_camera2.UpdateCamera(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(box12.GlobalPosition.X, box12.GlobalPosition.Y, box12.GlobalPosition.Z), Vector3.Up);
//Update the physics engine
_scene.Simulate((float)gameTime.ElapsedGameTime.TotalSeconds);
_scene.FlushStream();
_scene.FetchResults(SimulationStatus.RigidBodyFinished, true);
base.Update(gameTime);
}
