protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConf);
var simplex = new VoronoiSimplexSolver();
var pdSolver = new MinkowskiPenetrationDepthSolver();
var convexAlgo2D = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc());
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
CreateGround();
Create2dBodies();
}
public Box2DDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
_simplexSolver = new VoronoiSimplexSolver();
_penetrationDepthSolver = new MinkowskiPenetrationDepthSolver();
_convexAlgo2D = new Convex2DConvex2DAlgorithm.CreateFunc(_simplexSolver, _penetrationDepthSolver);
_boxAlgo2D = new Box2DBox2DCollisionAlgorithm.CreateFunc();
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, _convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, _convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, _convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, _boxAlgo2D);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
Create2dBodies();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConf);
VoronoiSimplexSolver simplex = new VoronoiSimplexSolver();
MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver();
Convex2DConvex2DAlgorithm.CreateFunc convexAlgo2d = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2d);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc());
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(150, 7, 150);
CollisionShapes.Add(groundShape);
RigidBody ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
float u = 0.96f;
Vector3[] points = { new Vector3(0, u, 0), new Vector3(-u, -u, 0), new Vector3(u, -u, 0) };
ConvexShape childShape0 = new BoxShape(1, 1, Depth);
ConvexShape colShape = new Convex2DShape(childShape0);
ConvexShape childShape1 = new ConvexHullShape(points);
ConvexShape colShape2 = new Convex2DShape(childShape1);
ConvexShape childShape2 = new CylinderShapeZ(1, 1, Depth);
ConvexShape colShape3 = new Convex2DShape(childShape2);
CollisionShapes.Add(colShape);
CollisionShapes.Add(colShape2);
CollisionShapes.Add(colShape3);
CollisionShapes.Add(childShape0);
CollisionShapes.Add(childShape1);
CollisionShapes.Add(childShape2);
colShape.Margin = 0.03f;
float mass = 1.0f;
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
Matrix startTransform;
Vector3 x = new Vector3(-ArraySizeX, 8, -20);
Vector3 y = Vector3.Zero;
Vector3 deltaX = new Vector3(1, 2, 0);
Vector3 deltaY = new Vector3(2, 0, 0);
int i, j;
for (i = 0; i < ArraySizeY; i++)
{
y = x;
for (j = 0; j < ArraySizeX; j++)
{
startTransform = Matrix.Translation(y - new Vector3(-10, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo;
switch (j % 3)
{
case 0:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
break;
case 1:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape3, localInertia);
break;
default:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape2, localInertia);
break;
}
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
//body.ActivationState = ActivationState.IslandSleeping;
body.LinearFactor = new Vector3(1, 1, 0);
body.AngularFactor = new Vector3(0, 0, 1);
World.AddRigidBody(body);
y += deltaY;
}
x += deltaX;
}
}
public override void InitializeDemo()
{
SetTexturing(true);
SetShadows(true);
SetCameraDistance(SCALING * 50.0f);
m_cameraTargetPosition = IndexedVector3.Zero;
//string filename = @"E:\users\man\bullet\xna-box2d-output.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();
//m_collisionConfiguration.setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
VoronoiSimplexSolver simplex = new VoronoiSimplexSolver();
MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver();
CollisionAlgorithmCreateFunc convexAlgo2d = new Convex2dConvex2dCreateFunc(simplex, pdSolver);
m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, convexAlgo2d);
m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, convexAlgo2d);
m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, convexAlgo2d);
m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, new Box2dBox2dCreateFunc());
//m_broadphase = new DbvtBroadphase();
m_broadphase = new SimpleBroadphase(1000, null);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
m_constraintSolver = new SequentialImpulseConstraintSolver();
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
//m_dynamicsWorld.getSolverInfo().m_erp = 1.f;
//m_dynamicsWorld.getSolverInfo().m_numIterations = 4;
//m_dynamicsWorld.setGravity(new IndexedVector3(0,-10,0));
///create a few basic rigid bodies
CollisionShape groundShape = new BoxShape(new IndexedVector3(150, 50, 150));
// btCollisionShape* groundShape = new btStaticPlaneShape(IndexedVector3(0,1,0),50);
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0, -43, 0);
LocalCreateRigidBody(0, groundTransform, groundShape);
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
float u = 1 * SCALING - 0.04f;
IList <IndexedVector3> points = new List <IndexedVector3>();
points.Add(new IndexedVector3(0, u, 0));
points.Add(new IndexedVector3(-u, -u, 0));
points.Add(new IndexedVector3(u, -u, 0));
ConvexShape boxShape = new Convex2dShape(new BoxShape(new IndexedVector3(SCALING, SCALING, 0.04f)));
//btCollisionShape* colShape = new btBox2dShape(IndexedVector3(SCALING*1,SCALING*1,0.04));
ConvexShape triangleShape = new Convex2dShape(new ConvexHullShape(points, 3));
IndexedVector3 extents = new IndexedVector3(SCALING, SCALING, 0.04f);
ConvexShape cylinderShape = new Convex2dShape(new CylinderShapeZ(ref extents));
//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
boxShape.SetMargin(0.03f);
//btCollisionShape* colShape = new btSphereShape(float(1.));
m_collisionShapes.Add(boxShape);
m_collisionShapes.Add(triangleShape);
/// Create Dynamic Objects
IndexedMatrix startTransform = IndexedMatrix.Identity;
float mass = 1.0f;;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.9f);
IndexedVector3 localInertia = IndexedVector3.Zero;
if (isDynamic)
{
boxShape.CalculateLocalInertia(mass, out localInertia);
}
// float start_x = START_POS_X - ARRAY_SIZE_X/2;
// float start_y = START_POS_Y;
// float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
IndexedVector3 x = new IndexedVector3(-ARRAY_SIZE_X, 8f, -20f);
//IndexedVector3 y = IndexedVector3.Zero;
IndexedVector3 y = new IndexedVector3(0, 0, 0);
IndexedVector3 deltaX = new IndexedVector3(SCALING * 1, SCALING * 2, 0f);
IndexedVector3 deltaY = new IndexedVector3(SCALING * 2, 0.0f, 0f);
for (int i = 0; i < ARRAY_SIZE_X; ++i)
{
y = x;
for (int j = i; j < ARRAY_SIZE_Y; ++j)
{
startTransform._origin = (y - new IndexedVector3(-10, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity);
RigidBodyConstructionInfo rbInfo;
switch (j % 3)
{
#if true
case 0:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, boxShape, localInertia);
//rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, triangleShape, localInertia);
break;
case 1:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, triangleShape, localInertia);
break;
#endif
default:
rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, cylinderShape, localInertia);
break;
}
RigidBody body = new RigidBody(rbInfo);
//body.setContactProcessingThreshold(colShape.getContactBreakingThreshold());
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
body.SetLinearFactor(new IndexedVector3(1, 1, 0));
body.SetAngularFactor(new IndexedVector3(0, 0, 1));
m_dynamicsWorld.AddRigidBody(body);
body.SetActivationState(ActivationState.ISLAND_SLEEPING);
//if (BulletGlobals.g_streamWriter != null)
//{
// BulletGlobals.g_streamWriter.WriteLine("localCreateRigidBody [{0}] startTransform", body.m_debugBodyId);
// MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, startTransform);
// BulletGlobals.g_streamWriter.WriteLine("");
//}
// y += -0.8*deltaY;
y += deltaY;
}
x += deltaX;
}
}
ClientResetScene();
}
