void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
btCollisionShape fallShape = new btSphereShape( btScalar.BT_ONE );
btVector3 origin = new btVector3( 0, 50, 0 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
}
public void addRigidBody( btRigidBody body, btBroadphaseProxy.CollisionFilterGroups group, btBroadphaseProxy.CollisionFilterGroups mask )
{
if( !body.isStaticOrKinematicObject() && 0 == ( body.getFlags() & btRigidBodyFlags.BT_DISABLE_WORLD_GRAVITY ) )
{
body.setGravity( ref m_gravity );
}
if( body.getCollisionShape() != null )
{
if( !body.isStaticObject() )
{
m_nonStaticRigidBodies.Add( body );
}
else
{
body.setActivationState( ActivationState.ISLAND_SLEEPING );
}
addCollisionObject( body, group, mask );
}
}
public void addRigidBody( btRigidBody body )
{
if( !body.isStaticOrKinematicObject() && ( body.getFlags() & btRigidBodyFlags.BT_DISABLE_WORLD_GRAVITY ) == 0 )
{
body.setGravity( ref m_gravity );
}
if( body.getCollisionShape() != null )
{
if( !body.isStaticObject() )
{
m_nonStaticRigidBodies.Add( body );
}
else
{
body.setActivationState( ActivationState.ISLAND_SLEEPING );
}
bool isDynamic = !( body.isStaticObject() || body.isKinematicObject() );
btBroadphaseProxy.CollisionFilterGroups collisionFilterGroup = ( isDynamic ? btBroadphaseProxy.CollisionFilterGroups.DefaultFilter : btBroadphaseProxy.CollisionFilterGroups.StaticFilter );
btBroadphaseProxy.CollisionFilterGroups collisionFilterMask = ( isDynamic ? btBroadphaseProxy.CollisionFilterGroups.AllFilter : ( btBroadphaseProxy.CollisionFilterGroups.AllFilter ^ btBroadphaseProxy.CollisionFilterGroups.StaticFilter ) );
addCollisionObject( body, collisionFilterGroup, collisionFilterMask );
}
}
public void removeRigidBody( btRigidBody body )
{
m_nonStaticRigidBodies.Remove( body );
base.removeCollisionObject( body );
}
internal void synchronizeSingleMotionState( btRigidBody body )
{
Debug.Assert( body != null );
if( body.getMotionState() != null && !body.isStaticOrKinematicObject() )
{
//we need to call the update at least once, even for sleeping objects
//otherwise the 'graphics' transform never updates properly
///@todo: add 'dirty' flag
//if (body.getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil.integrateTransform( ref body.m_interpolationWorldTransform,
ref body.m_interpolationLinearVelocity,ref body.m_interpolationAngularVelocity,
( m_latencyMotionStateInterpolation && m_fixedTimeStep != 0 ) ? m_localTime - m_fixedTimeStep : m_localTime * body.getHitFraction(),
out interpolatedTransform );
btScalar.Dbg( DbgFlag.PredictedTransform, body.m_interpolationWorldTransform.ToString( "old int orn\t", "\t\t", "old int org\t" ) );
btScalar.Dbg( DbgFlag.PredictedTransform, "Sync transform state " + body.m_interpolationAngularVelocity );
btScalar.Dbg( DbgFlag.PredictedTransform, interpolatedTransform.ToString( "inter orient\t", "\t\t", "inter origin\t" ) );
body.getMotionState().setWorldTransform( ref interpolatedTransform );
}
}
}
public virtual void addRigidBody( btRigidBody body, short group, short mask )
{
body.setGravity( ref m_gravity );
if( body.getCollisionShape() )
{
addCollisionObject( body, group, mask );
}
}
public virtual void addRigidBody( btRigidBody body )
{
body.setGravity(ref m_gravity );
if( body.getCollisionShape() )
{
addCollisionObject( body );
}
}
public virtual void removeRigidBody( btRigidBody body )
{
removeCollisionObject( body );
}
void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
//-------------------------------------------------------
btCollisionShape staticShape = new btBoxShape( ref btVector3.One );
btVector3 origin = new btVector3( -3, 4, 0 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 0;
btVector3 fallInertia;
staticShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, staticShape, ref fallInertia );
staticRigidBody[0] = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( staticRigidBody[0] );
//-------------------------------------------------------
btCollisionShape fallShape = new btBoxShape( ref btVector3.One );
origin = new btVector3( -3, 10, 0 );
init = new btTransform( ref btQuaternion.Identity, ref origin );
fallMotionState = new btDefaultMotionState( ref init );
mass = 1;
fallShape.calculateLocalInertia( mass, out fallInertia );
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
//-------------------------------------------------------
btCollisionShape fallShape2 = new btBoxShape( ref btVector3.One );
origin = new btVector3( 3, 10, 0 );
init = new btTransform( ref btQuaternion.Identity, ref origin );
fallMotionState = new btDefaultMotionState( ref init );
mass = 1;
fallShape2.calculateLocalInertia( mass, out fallInertia );
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape2, ref fallInertia );
fallingRigidBody2 = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody2 );
//---------------------------------------------------
// Hinge them together
btVector3 pivotInA; btVector3.xAxis.Mult( 3, out pivotInA );
btVector3 axisInA = btVector3.yAxis;
btVector3 pivotInB; btVector3.xAxis.Mult( -3, out pivotInB );
btVector3 axisInB = btVector3.yAxis;
btHingeConstraint constraint = new btHingeConstraint( fallingRigidBody, fallingRigidBody2
, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB );
//constraint.enableMotor( true );
//constraint.setMotorTargetVelocity( 1 );
//constraint.setLimit( -btScalar.SIMD_2_PI, btScalar.SIMD_2_PI );
constraint.enableAngularMotor( true, -1, -0.1 );
world.addConstraint( constraint );
}
public void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
btCollisionShape fallShape = new btBoxShape( ref btVector3.One );
if( large_count )
{
int n;
int cubes = 5;
for( n = 0; n < cubes * cubes * cubes; n++ )
{
btVector3 origin = new btVector3( ( n %cubes - cubes/2) * 3, 50 + ( n/(cubes*cubes))*3, (( n / cubes)%cubes - cubes/2 ) * 3 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
if( n % (cubes* cubes ) == 0 )
Console.Write( "." );
}
}
else
{
btVector3 origin = new btVector3( 1, 50, 1 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
}
}
