public override void ShootBox(Vector3 camPos, Vector3 destination)
{
if (World != null)
{
const float mass = 1.0f;
if (shootBoxShape == null)
{
shootBoxShape = new BoxShape(1.0f);
shootBoxShape.InitializePolyhedralFeatures();
}
RigidBody body = LocalCreateRigidBody(mass, Matrix.Translation(camPos), shootBoxShape);
body.LinearFactor = new Vector3(1, 1, 1);
//body->setRestitution(1);
Vector3 linVel = destination - camPos;
linVel.Normalize();
body.LinearVelocity = linVel * shootBoxInitialSpeed;
body.AngularVelocity = Vector3.Zero;
body.ContactProcessingThreshold = 1e30f;
// when using m_ccdMode, disable regular CCD
if (ccdMode)
{
body.CcdMotionThreshold = 0.0001f;
body.CcdSweptSphereRadius = 0.4f;
}
}
}
protected override void OnInitializePhysics()
{
int i;
shootBoxInitialSpeed = 4000;
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
//Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape,
// CollisionConf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.ConvexShape, BroadphaseNativeType.ConvexShape));
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SolverMode |= SolverModes.Use2FrictionDirections | SolverModes.RandomizeOrder;
//World.SolverInfo.SplitImpulse = 0;
World.SolverInfo.NumIterations = 20;
World.DispatchInfo.UseContinuous = ccdMode;
World.Gravity = new Vector3(0, -10, 0);
BoxShape ground = new BoxShape(200, 1, 200);
ground.InitializePolyhedralFeatures();
CollisionShapes.Add(ground);
RigidBody body = LocalCreateRigidBody(0, Matrix.Identity, ground);
body.Friction = 0.5f;
//body.RollingFriction = 0.3f;
body.UserObject = "Ground";
//CollisionShape shape = new CylinderShape(CubeHalfExtents, CubeHalfExtents, CubeHalfExtents);
CollisionShape shape = new BoxShape(CubeHalfExtents, CubeHalfExtents, CubeHalfExtents);
CollisionShapes.Add(shape);
const int numObjects = 120;
for (i = 0; i < numObjects; i++)
{
//stack them
const int colsize = 10;
int row = (int)((i * CubeHalfExtents * 2) / (colsize * 2 * CubeHalfExtents));
int row2 = row;
int col = (i) % (colsize) - colsize / 2;
if (col > 3)
{
col = 11;
row2 |= 1;
}
Matrix trans = Matrix.Translation(col * 2 * CubeHalfExtents + (row2 % 2) * CubeHalfExtents,
row * 2 * CubeHalfExtents + CubeHalfExtents + ExtraHeight, 0);
body = LocalCreateRigidBody(1, trans, shape);
body.SetAnisotropicFriction(shape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.AnisotropicRollingFriction);
body.Friction = 0.5f;
//body.RollingFriction = 0.3f;
if (ccdMode)
{
body.CcdMotionThreshold = 1e-7f;
body.CcdSweptSphereRadius = 0.9f * CubeHalfExtents;
}
}
}
public virtual void ShootBox(Vector3 camPos, Vector3 destination)
{
if (_world == null)
return;
float mass = 1.0f;
if (shootBoxShape == null)
{
shootBoxShape = new BoxShape(1.0f);
shootBoxShape.InitializePolyhedralFeatures();
}
RigidBody body = LocalCreateRigidBody(mass, Matrix.Translation(camPos), shootBoxShape);
body.LinearFactor = new Vector3(1, 1, 1);
//body.Restitution = 1;
Vector3 linVel = destination - camPos;
linVel.Normalize();
body.LinearVelocity = linVel * shootBoxInitialSpeed;
body.CcdMotionThreshold = 0.5f;
body.CcdSweptSphereRadius = 0.9f;
}