private void Timer_Elapsed(object sender, ElapsedEventArgs e)
{
offsetXByTime += 0.05f;
int boxNumber = 0;
for (float curX = fromX; curX < toX; curX += stepX)
{
int curXOffset = boxNumber / FunctionZWidth * functionDensity;
for (int z = 0; z < FunctionZWidth; ++z)
{
RigidBody body = functionBoxes[boxNumber];
if (body == null)
{
continue;
}
Vector3 boxPos = new Vector3(curX + curXOffset, (float)Math.Sin(functionPeriod * (curX + offsetXByTime)) * functionAmplitude + functionOffsetY, z + z * 3);
lock (body)
{
body.Activate();
body.ProceedToTransform(Matrix4.CreateTranslation(boxPos));
}
boxNumber++;
}
}
}
static void Main(string[] args)
{
{
var world = new DiscreteDynamicsWorld();
world.Gravity = new Vector3(0.0f, -10.0f, 0.0f);
var info0 = new RigidBodyConstructionInfo();
info0.Mass = 1.0f;
info0.CollisionShape = new BulletDotNet.Shapes.BoxShape(Vector3.One);
info0.CenterOfMass = Vector3.Zero;
var rb0 = new RigidBody(info0, OnGetTransform0, OnSetTransform0);
var info1 = new RigidBodyConstructionInfo();
info1.Mass = 0.0f;
info1.CollisionShape = new BulletDotNet.Shapes.BoxShape(Vector3.One);
info1.CenterOfMass = Vector3.Zero;
var rb1 = new RigidBody(info1, OnGetTransform1, OnSetTransform1);
world.AddRigidBody(rb0);
world.AddRigidBody(rb1);
for (int i = 0; i < 100; i++)
{
rb0.Activate();
world.StepSimulation(1.0f / 60.0f);
}
world.RemoveRigidBody(rb0);
world.RemoveRigidBody(rb1);
}
GC.Collect();
GC.WaitForPendingFinalizers();
}
protected void ApplyCentralForce(Vector3 force)
{
rigidBody.ApplyCentralForce(force);
rigidBody.Activate();
logger.Debug("{0} applied central force {1}", this, force);
}
public void PhysicsPreStep(float timeStep)
{
float newSteering = 0.0f;
float accelerator = 0.0f;
// Read controls
if (Controls.IsDown(CtrlLeft))
{
newSteering = -1.0f;
}
if (Controls.IsDown(CtrlRight))
{
newSteering = 1.0f;
}
if (Controls.IsDown(CtrlForward))
{
accelerator = 1.0f;
}
if (Controls.IsDown(CtrlBack))
{
accelerator = -0.5f;
}
// When steering, wake up the wheel rigidbodies so that their orientation is updated
if (newSteering != 0.0f)
{
frontLeftBody.Activate();
frontRightBody.Activate();
steering = steering * 0.95f + newSteering * 0.05f;
}
else
{
steering = steering * 0.8f + newSteering * 0.2f;
}
// Set front wheel angles
Quaternion steeringRot = new Quaternion(0, steering * MaxWheelAngle, 0);
frontLeftAxis.SetOtherAxis(steeringRot * new Vector3(-1f, 0f, 0f));
frontRightAxis.SetOtherAxis(steeringRot * Vector3.UnitX);
Quaternion hullRot = hullBody.Rotation;
if (accelerator != 0.0f)
{
// Torques are applied in world space, so need to take the vehicle & wheel rotation into account
Vector3 torqueVec = new Vector3(EnginePower * accelerator, 0.0f, 0.0f);
frontLeftBody.ApplyTorque(hullRot * steeringRot * torqueVec);
frontRightBody.ApplyTorque(hullRot * steeringRot * torqueVec);
rearLeftBody.ApplyTorque(hullRot * torqueVec);
rearRightBody.ApplyTorque(hullRot * torqueVec);
}
// Apply downforce proportional to velocity
Vector3 localVelocity = Quaternion.Invert(hullRot) * hullBody.LinearVelocity;
hullBody.ApplyForce(hullRot * new Vector3(0f, -1f, 0f) * Math.Abs(localVelocity.Z) * DownForce);
}
public void AddTorque(Vector3 torque)
{
if (torque.LengthSquared > float.Epsilon)
{
RigidBody.Activate(true);
RigidBody.ApplyTorque(torque.Cast());
}
}
public void AddForce(Vector3 force)
{
if (force.LengthSquared > float.Epsilon)
{
RigidBody.Activate(true);
RigidBody.ApplyForce(force.Cast(), BM.Vector3.Zero);
}
}
public void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
RigidBody rb = this.FInput[i];
if (rb != null && this.FActivate[i])
{
rb.Activate();
}
}
}
// This static method is useful for the demo only. It's called by "void GhostObjectsDemo::clientMoveAndDisplay()".
// Basically we must find a way to "display" the objects inside ghost objects to the user.
// We choose to apply a vertical impulse to them (just because it's easier).
// (The strength of the impulse is different depending on the type of ghost object)
static void ProcessObectsInsideGhostObjects(ObjectArray <CollisionObject> objs, bool isPairCachingGhostObject)
{
foreach (CollisionObject co in objs)
{
RigidBody b = RigidBody.Upcast(co);
if (b != null)
{
b.Activate();
IndexedVector3 impulse = isPairCachingGhostObject ? new IndexedVector3(0, 0.5f, 0) : new IndexedVector3(0, 0.25f, 0);
b.ApplyCentralImpulse(ref impulse);
}
}
}
private void SimpleMessage_Start(object sender, EventArgs e)
{
//switch to dynamic and awake the rigid body
rigidBody.Type = RigidBodyTypes.Dynamic;
rigidBody.Activate(true); //need to awake to object
}
/// <summary>
/// Updates the positions and rotations of each tracker's parent object according to the replay time.
/// </summary>
public override void Update()
{
if (dynamicCamera == null)
{
dynamicCamera = UnityEngine.Object.FindObjectOfType <DynamicCamera>();
camera = dynamicCamera.GetComponent <Camera>();
}
if (InputControl.GetButtonDown(Controls.buttons[0].cameraToggle))
{
dynamicCamera.ToggleCameraState(dynamicCamera.cameraState);
}
if (firstFrame)
{
firstFrame = false;
}
else if (Input.GetKeyDown(KeyCode.Space))
{
if (Input.GetKey(KeyCode.LeftControl) || Input.GetKey(KeyCode.RightControl))
{
rewindTime = Tracker.Lifetime;
playbackMode = PlaybackMode.Play;
}
else
{
switch (playbackMode)
{
case PlaybackMode.Paused:
if (rewindTime == 0f)
{
rewindTime = Tracker.Lifetime;
}
playbackMode = PlaybackMode.Play;
break;
case PlaybackMode.Play:
case PlaybackMode.Rewind:
playbackMode = PlaybackMode.Paused;
break;
}
}
}
switch (playbackMode)
{
case PlaybackMode.Rewind:
rewindTime += Time.smoothDeltaTime * playbackSpeed;
break;
case PlaybackMode.Play:
rewindTime -= Time.smoothDeltaTime * playbackSpeed;
break;
}
if (Input.GetKey(KeyCode.LeftArrow))
{
rewindTime += Time.smoothDeltaTime * 0.25f;
playbackMode = PlaybackMode.Paused;
}
if (Input.GetKey(KeyCode.RightArrow))
{
rewindTime -= Time.smoothDeltaTime * 0.25f;
playbackMode = PlaybackMode.Paused;
}
if (rewindTime < 0.0f)
{
rewindTime = 0.0f;
playbackMode = PlaybackMode.Paused;
}
else if (rewindTime > Tracker.Lifetime)
{
rewindTime = Tracker.Lifetime;
playbackMode = PlaybackMode.Paused;
}
foreach (Tracker t in trackers)
{
float replayTime = RewindFrame;
int currentIndex = (int)Math.Floor(replayTime);
StateDescriptor lowerState = t.States[currentIndex];
StateDescriptor upperState = currentIndex < t.States.Length - 1 ? t.States[currentIndex + 1] : lowerState;
float percent = replayTime - currentIndex;
RigidBody r = (RigidBody)t.GetComponent <BRigidBody>().GetCollisionObject();
if (!r.IsActive)
{
r.Activate();
}
BulletSharp.Math.Matrix worldTransform = r.WorldTransform;
worldTransform.Origin = BulletSharp.Math.Vector3.Lerp(lowerState.Position, upperState.Position, percent);
worldTransform.Basis = BulletSharp.Math.Matrix.Lerp(lowerState.Rotation, upperState.Rotation, percent);
r.WorldTransform = worldTransform;
}
if (Input.GetKeyDown(KeyCode.Tab))
{
StateMachine.Instance.PopState();
}
}
