public PhysicsShadowWorld(
IEventEngine <IPhysicsEventContext> physicsEventEngine,
IHierarchy hierarchy,
IDebugRenderer debugRenderer,
IConsoleHandle consoleHandle)
{
_physicsEventEngine = physicsEventEngine;
_hierarchy = hierarchy;
_debugRenderer = debugRenderer;
_consoleHandle = consoleHandle;
var collisionSystem = new CollisionSystemPersistentSAP
{
EnableSpeculativeContacts = true
};
_physicsWorld = new JitterWorld(collisionSystem);
_physicsWorld.ContactSettings.MaterialCoefficientMixing =
ContactSettings.MaterialCoefficientMixingType.TakeMinimum;
_physicsWorld.Gravity = new JVector(0, -10f, 0);
_rigidBodyMappings = new List <RigidBodyMapping>();
_lastFramePosition = new Dictionary <int, Vector3>();
_lastFrameRotation = new Dictionary <int, Quaternion>();
_transformCache = new Dictionary <int, WeakReference <IHasTransform> >();
_physicsWorld.Events.BodiesBeginCollide += EventsOnBodiesBeginCollide;
_physicsWorld.Events.BodiesEndCollide += EventsOnBodiesEndCollide;
}
/// <summary>
/// Initializes a new instance of the HingeJoint class.
/// </summary>
/// <param name="world">The world class where the constraints get added to.</param>
/// <param name="body1">The first body connected to the second one.</param>
/// <param name="body2">The second body connected to the first one.</param>
/// <param name="position">The position in world space where both bodies get connected.</param>
/// <param name="hingeAxis">The axis if the hinge.</param>
public LimitedHingeJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector position, JVector hingeAxis,
float hingeFwdAngle, float hingeBckAngle)
: base(world)
{
// Create the hinge first, two point constraints
worldPointConstraint = new PointOnPoint[2];
hingeAxis *= 0.5f;
JVector pos1 = position; JVector.Add(ref pos1, ref hingeAxis, out pos1);
JVector pos2 = position; JVector.Subtract(ref pos2, ref hingeAxis, out pos2);
worldPointConstraint[0] = new PointOnPoint(body1, body2, pos1);
worldPointConstraint[1] = new PointOnPoint(body1, body2, pos2);
// Now the limit, one max distance constraint
hingeAxis.Normalize();
// choose a direction that is perpendicular to the hinge
JVector perpDir = JVector.Up;
if (JVector.Dot(perpDir, hingeAxis) > 0.1f) perpDir = JVector.Right;
// now make it perpendicular to the hinge
JVector sideAxis = JVector.Cross(hingeAxis, perpDir);
perpDir = JVector.Cross(sideAxis, hingeAxis);
perpDir.Normalize();
// the length of the "arm" TODO take this as a parameter? what's
// the effect of changing it?
float len = 10.0f * 3;
// Choose a position using that dir. this will be the anchor point
// for body 0. relative to hinge
JVector hingeRelAnchorPos0 = perpDir * len;
// anchor point for body 2 is chosen to be in the middle of the
// angle range. relative to hinge
float angleToMiddle = 0.5f * (hingeFwdAngle - hingeBckAngle);
JVector hingeRelAnchorPos1 = JVector.Transform(hingeRelAnchorPos0, JMatrix.CreateFromAxisAngle(hingeAxis, -angleToMiddle / 360.0f * 2.0f * JMath.Pi));
// work out the "string" length
float hingeHalfAngle = 0.5f * (hingeFwdAngle + hingeBckAngle);
float allowedDistance = len * 2.0f * (float)System.Math.Sin(hingeHalfAngle * 0.5f / 360.0f * 2.0f * JMath.Pi);
JVector hingePos = body1.Position;
JVector relPos0c = hingePos + hingeRelAnchorPos0;
JVector relPos1c = hingePos + hingeRelAnchorPos1;
distance = new PointPointDistance(body1, body2, relPos0c, relPos1c);
distance.Distance = allowedDistance;
distance.Behavior = PointPointDistance.DistanceBehavior.LimitMaximumDistance;
}
public PhysicsControllerConstraint(JitterWorld world, RigidBody body) : base(body, null)
{
_world = world;
var vec = JVector.Down;
var result = JVector.Zero;
body.Shape.SupportMapping(ref vec, out result);
_feetPosition = result * JVector.Down;
}
/// <summary>
/// Initializes a new instance of the HingeJoint class.
/// </summary>
/// <param name="world">The world class where the constraints get added to.</param>
/// <param name="body1">The first body connected to the second one.</param>
/// <param name="body2">The second body connected to the first one.</param>
/// <param name="position">The position in world space where both bodies get connected.</param>
/// <param name="hingeAxis">The axis if the hinge.</param>
public HingeJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector position, JVector hingeAxis) : base(world)
{
worldPointConstraint = new PointOnPoint[2];
hingeAxis *= 0.5f;
JVector pos1 = position; JVector.Add(ref pos1,ref hingeAxis,out pos1);
JVector pos2 = position; JVector.Subtract(ref pos2,ref hingeAxis,out pos2);
worldPointConstraint[0] = new PointOnPoint(body1,body2,pos1);
worldPointConstraint[1] = new PointOnPoint(body1,body2,pos2);
}
/// <summary>
/// Initializes a new instance of the HingeJoint class.
/// </summary>
/// <param name="world">The world class where the constraints get added to.</param>
/// <param name="body1">The first body connected to the second one.</param>
/// <param name="body2">The second body connected to the first one.</param>
/// <param name="position">The position in world space where both bodies get connected.</param>
/// <param name="hingeAxis">The axis if the hinge.</param>
public HingeJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector position, JVector hingeAxis) : base(world)
{
worldPointConstraint = new PointOnPoint[2];
hingeAxis *= 0.5f;
JVector pos1 = position; JVector.Add(ref pos1, ref hingeAxis, out pos1);
JVector pos2 = position; JVector.Subtract(ref pos2, ref hingeAxis, out pos2);
worldPointConstraint[0] = new PointOnPoint(body1, body2, pos1);
worldPointConstraint[1] = new PointOnPoint(body1, body2, pos2);
}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2,float minimumDistance, float maximumDistance)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, body1.position, body2.position);
minDistance = new PointPointDistance(body1, body2, body1.position, body2.position);
minDistance.Behavior = PointPointDistance.DistanceBehavior.LimitMinimumDistance;
minDistance.Distance = minimumDistance;
maxDistance = new PointPointDistance(body1, body2, body1.position, body2.position);
maxDistance.Behavior = PointPointDistance.DistanceBehavior.LimitMaximumDistance;
maxDistance.Distance = maximumDistance;
}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2, float minimumDistance, float maximumDistance)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, body1.position, body2.position);
minDistance = new PointPointDistance(body1, body2, body1.position, body2.position);
minDistance.Behavior = PointPointDistance.DistanceBehavior.LimitMinimumDistance;
minDistance.Distance = minimumDistance;
maxDistance = new PointPointDistance(body1, body2, body1.position, body2.position);
maxDistance.Behavior = PointPointDistance.DistanceBehavior.LimitMaximumDistance;
maxDistance.Distance = maximumDistance;
}
public void Update(ComponentizedEntity entity, IGameContext gameContext, IUpdateContext updateContext)
{
if (!Enabled)
{
return;
}
if (_jitterWorld != _physicsEngine.GetInternalPhysicsWorld())
{
// TODO: Deregister rigid bodies from old world.
if (_jitterWorld != null && _physicsControllerConstraint != null)
{
_jitterWorld.RemoveConstraint(_physicsControllerConstraint);
_physicsControllerConstraint = null;
}
_jitterWorld = _physicsEngine.GetInternalPhysicsWorld();
}
if (_physicalComponent.RigidBodies.Length > 0 && _physicalComponent.RigidBodies[0] != _rigidBody)
{
if (_physicsControllerConstraint != null)
{
_jitterWorld.RemoveConstraint(_physicsControllerConstraint);
_physicsControllerConstraint = null;
}
}
if (_physicalComponent.RigidBodies.Length > 0)
{
if (_physicsControllerConstraint == null)
{
_physicsControllerConstraint = new PhysicsControllerConstraint(
_jitterWorld,
_physicalComponent.RigidBodies[0]);
_jitterWorld.AddConstraint(_physicsControllerConstraint);
}
_physicsControllerConstraint.TargetVelocity = TargetVelocity.ToJitterVector();
_physicsControllerConstraint.TryJump = TryJump;
_physicsControllerConstraint.JumpVelocity = JumpVelocity;
_physicsControllerConstraint.Stiffness = Stiffness;
if (TargetVelocity.LengthSquared() > 0f)
{
// Wake up the rigid body.
_physicalComponent.RigidBodies[0].IsActive = true;
}
}
}
public void RunSimulation()
{
CollisionSystem collision = new CollisionSystemSAP();
JitterWorld world = new JitterWorld(collision);
world.Gravity = new JVector(0, -10, -0);
Shape shape = new BoxShape(20.0f, 1.0f, 20.0f);
RigidBody floor = new RigidBody(shape);
floor.IsStatic = true;
floor.Position = new JVector(0.0f, -15.0f, 0.0f);
shape = new SphereShape(0.5f);
RigidBody body = new RigidBody(shape);
body.Position = new JVector(0.0f, 3.0f, 0.0f);
body.Material.Restitution = 0.8f;
world.AddBody(floor);
world.AddBody(body);
for (int i = 0; i < 600; i++)
{
world.Step(1.0f / 30.0f, true);
SunflowAPI sunflow = new SunflowAPI();
SetupSunflow(sunflow);
sunflow.geometry("sphere", "sphere");
//Instancing the big metal sphere.
JVector v = body.Position;
sunflow.parameter("transform", Matrix4.translation(v.X, v.Y, v.Z).multiply(Matrix4.scale(1)));
sunflow.parameter("shaders", "metal");
sunflow.instance("sphere.instance", "sphere");
sunflow.render(SunflowAPI.DEFAULT_OPTIONS, new FileDisplay("spherecube" + i + ".png"));
// do other stuff, like drawing
}
}
public PhysicsCharacterController(JitterWorld world, RigidBody body)
: base(body, null)
{
this.World = world;
this.JumpVelocity = 0.5f;
this.Stiffness = 0.02f;
// determine the position of the feets of the character
// this can be done by supportmapping in the down direction.
// (furthest point away in the down direction)
JVector vec = JVector.Down;
JVector result = JVector.Zero;
// Note: the following works just for normal shapes, for multishapes (compound for example)
// you have to loop through all sub-shapes -> easy.
body.Shape.SupportMapping(ref vec, out result);
// feet position is now the distance between body.Position and the feets
// Note: the following '*' is the dot product.
feetPosition = result * JVector.Down;
}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector pointOnBody1, JVector pointOnBody2, float maximumDistance, float minimumDistance)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, pointOnBody1, pointOnBody2);
}
/// <summary>
/// Initializes a new instance of the HingeJoint class.
/// </summary>
/// <param name="world">The world class where the constraints get added to.</param>
/// <param name="body1">The first body connected to the second one.</param>
/// <param name="body2">The second body connected to the first one.</param>
/// <param name="position">The position in world space where both bodies get connected.</param>
/// <param name="hingeAxis">The axis if the hinge.</param>
public LimitedHingeJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector position, JVector hingeAxis,
float hingeFwdAngle, float hingeBckAngle)
: base(world)
{
// Create the hinge first, two point constraints
worldPointConstraint = new PointOnPoint[2];
hingeAxis *= 0.5f;
JVector pos1 = position; JVector.Add(ref pos1, ref hingeAxis, out pos1);
JVector pos2 = position; JVector.Subtract(ref pos2, ref hingeAxis, out pos2);
worldPointConstraint[0] = new PointOnPoint(body1, body2, pos1);
worldPointConstraint[1] = new PointOnPoint(body1, body2, pos2);
// Now the limit, one max distance constraint
hingeAxis.Normalize();
// choose a direction that is perpendicular to the hinge
JVector perpDir = JVector.Up;
if (JVector.Dot(perpDir, hingeAxis) > 0.1f)
{
perpDir = JVector.Right;
}
// now make it perpendicular to the hinge
JVector sideAxis = JVector.Cross(hingeAxis, perpDir);
perpDir = JVector.Cross(sideAxis, hingeAxis);
perpDir.Normalize();
// the length of the "arm" TODO take this as a parameter? what's
// the effect of changing it?
float len = 10.0f * 3;
// Choose a position using that dir. this will be the anchor point
// for body 0. relative to hinge
JVector hingeRelAnchorPos0 = perpDir * len;
// anchor point for body 2 is chosen to be in the middle of the
// angle range. relative to hinge
float angleToMiddle = 0.5f * (hingeFwdAngle - hingeBckAngle);
JVector hingeRelAnchorPos1 = JVector.Transform(hingeRelAnchorPos0, JMatrix.CreateFromAxisAngle(hingeAxis, -angleToMiddle / 360.0f * 2.0f * JMath.Pi));
// work out the "string" length
float hingeHalfAngle = 0.5f * (hingeFwdAngle + hingeBckAngle);
float allowedDistance = len * 2.0f * (float)System.Math.Sin(hingeHalfAngle * 0.5f / 360.0f * 2.0f * JMath.Pi);
JVector hingePos = body1.Position;
JVector relPos0c = hingePos + hingeRelAnchorPos0;
JVector relPos1c = hingePos + hingeRelAnchorPos1;
distance = new PointPointDistance(body1, body2, relPos0c, relPos1c);
distance.Distance = allowedDistance;
distance.Behavior = PointPointDistance.DistanceBehavior.LimitMaximumDistance;
}
/// <summary>
/// Creates a new instance of the Joint class.
/// </summary>
/// <param name="world">The world class to which the internal constraints
/// should be added.</param>
public Joint(JitterWorld world)
{
this.World = world;
}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, body1.position, body2.position);
}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector pointOnBody1, JVector pointOnBody2, float maximumDistance, float minimumDistance)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, pointOnBody1, pointOnBody2);
}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector pointOnBody1,JVector pointOnBody2)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, pointOnBody1, pointOnBody2);
}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2, JVector pointOnBody1, JVector pointOnBody2)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, pointOnBody1, pointOnBody2);
}
/// <summary>
/// Creates a new instance of the Joint class.
/// </summary>
/// <param name="world">The world class to which the internal constraints
/// should be added.</param>
public Joint(JitterWorld world) {this.World = world;}
public PrismaticJoint(JitterWorld world, RigidBody body1, RigidBody body2)
: base(world)
{
fixedAngle = new FixedAngle(body1, body2);
pointOnLine = new PointOnLine(body1, body2, body1.position, body2.position);
}
public void UpdateWorld(JitterWorld world, IGameContext gameContext, IUpdateContext updateContext)
{
world.Step((float)gameContext.GameTime.ElapsedGameTime.TotalSeconds, true);
}
