protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000), maxProxies);
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = Vector3.Zero,
Gravity = new Vector3(0, -10, 0),
Dispatcher = Dispatcher,
Broadphase = Broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.DispatchInfo.EnableSpu = true;
World.SetInternalTickCallback(PickingPreTickCallback, this, true);
InitializeDemo();
}
/// <summary>
/// Default Constructor
/// </summary>
public Physics()
{
DantzigSolver mlcp = new DantzigSolver();
collisionConf = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(new DefaultCollisionConfiguration());
solver = new DefaultSoftBodySolver();
ConstraintSolver cSolver = new MultiBodyConstraintSolver();
broadphase = new DbvtBroadphase();
World = new SoftRigidDynamicsWorld(dispatcher, broadphase, cSolver, collisionConf, solver);
//Actual scaling is unknown, this gravity is probably not right
World.Gravity = new Vector3(0, -98.1f, 0);
World.SetInternalTickCallback(new DynamicsWorld.InternalTickCallback((w, f) => DriveJoints.UpdateAllMotors(Skeleton, cachedArgs)));
//Roobit
RigidNode_Base.NODE_FACTORY = (Guid guid) => new BulletRigidNode(guid);
string RobotPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Robots\";
string dir = RobotPath;
GetFromDirectory(RobotPath, s => { Skeleton = (BulletRigidNode)BXDJSkeleton.ReadSkeleton(s + "skeleton.bxdj"); dir = s; });
List <RigidNode_Base> nodes = Skeleton.ListAllNodes();
for (int i = 0; i < nodes.Count; i++)
{
BulletRigidNode bNode = (BulletRigidNode)nodes[i];
bNode.CreateRigidBody(dir + bNode.ModelFileName);
bNode.CreateJoint();
if (bNode.joint != null)
{
World.AddConstraint(bNode.joint, true);
}
World.AddCollisionObject(bNode.BulletObject);
collisionShapes.Add(bNode.BulletObject.CollisionShape);
}
//Field
string fieldPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Fields\";
GetFromDirectory(fieldPath, s => f = BulletFieldDefinition.FromFile(s));
foreach (RigidBody b in f.Bodies)
{
World.AddRigidBody(b);
collisionShapes.Add(b.CollisionShape);
}
}