protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = Freelook.Up * -10.0f;
BspLoader bspLoader = new BspLoader();
//string[] args = Environment.GetCommandLineArgs();
//if (args.Length == 1)
//{
UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("BspDemo");
System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes);
bspLoader.LoadBspFile(byteStream);
//}
//else
//{
// bspLoader.LoadBspFile(args[1]);
//}
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
// Initialize TriangleIndexVertexArray with float array
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
gImpactMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
// Initialize TriangleIndexVertexArray with Vector3 array
Vector3[] torusVertices = new Vector3[TorusMesh.Vertices.Length / 3];
for (int i = 0; i < torusVertices.Length; i++)
{
torusVertices[i] = new Vector3(
TorusMesh.Vertices[i * 3],
TorusMesh.Vertices[i * 3 + 1],
TorusMesh.Vertices[i * 3 + 2]);
}
indexVertexArray2 = new TriangleIndexVertexArray(TorusMesh.Indices, torusVertices);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray2, true);
// CalculateLocalInertia must fail for static shapes (shapes based on TriangleMeshShape)
//triangleMeshShape.CalculateLocalInertia(1.0f);
triangleMesh = CreateBody(0.0f, triangleMeshShape, Vector3.Zero);
}
protected override void OnInitializePhysics()
{
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// Objects
//colShape = new BoxShape(1);
Vector3[] points0 = {
new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1)
};
Vector3[] points1 = {
new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1), new Vector3(0,0,-1), new Vector3(-1,-1,0)
};
colShape0 = new ConvexHullShape(points0);
colShape1 = new ConvexHullShape(points1);
CollisionShapes.Add(colShape0);
CollisionShapes.Add(colShape1);
/*body2 =*/ LocalCreateRigidBody(0, body2Position, colShape1);
rotBody = LocalCreateRigidBody(0, rotBodyPosition, colShape0);
rotBody.CollisionFlags |= CollisionFlags.KinematicObject;
rotBody.ActivationState = ActivationState.DisableDeactivation;
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = Freelook.Up * -10.0f;
BspLoader bspLoader = new BspLoader();
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bspLoader.LoadBspFile("data/BspDemo.bsp");
}
else
{
bspLoader.LoadBspFile(args[1]);
}
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
//World.DispatchInfo.UseConvexConservativeDistanceUtil = true;
//World.DispatchInfo.ConvexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
CollisionShape groundShape = new BoxShape(100, 10, 100);
CollisionShapes.Add(groundShape);
Matrix groundTransform = Matrix.Translation(0, -10, 0);
RigidBody ground = LocalCreateRigidBody(0, groundTransform, groundShape);
ground.UserObject = "Ground";
// Spawn one ragdoll
SpawnRagdoll(new Vector3(1, 0.5f, 0));
SpawnRagdoll(new Vector3(-1, 0.5f, 0));
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
BoxShape groundShape = new BoxShape(50, 1, 50);
//groundShape.InitializePolyhedralFeatures();
//CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
const float mass = 1.0f;
BoxShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
const float start_x = StartPosX - ArraySizeX / 2;
const float start_y = StartPosY;
const float start_z = StartPosZ - ArraySizeZ / 2;
int k, i, j;
for (k = 0; k < ArraySizeY; k++)
{
for (i = 0; i < ArraySizeX; i++)
{
for (j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.Translation(
2 * i + start_x,
2 * k + start_y,
2 * j + start_z
);
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
rbInfo.Dispose();
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldAabbMin = new Vector3(-10000, -10000, -10000);
Vector3 worldAabbMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
World.SetInternalTickCallback(MotorPreTickCallback, this, true);
// create the ground
CollisionShape groundShape = new BoxShape(200, 10, 200);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -10, 0), groundShape);
ground.UserObject = "Ground";
fCyclePeriod = 2000.0f;
fMuscleStrength = 0.5f;
m_Time = 0;
SpawnTestRig(new Vector3(1, 0.5f, 0), false);
SpawnTestRig(new Vector3(-2, 0.5f, 0), true);
}
protected override void OnInitializePhysics()
{
BoxShape boxA = new BoxShape(new Vector3(1, 1, 1));
boxA.Margin = 0;
BoxShape boxB = new BoxShape(new Vector3(0.5f, 0.5f, 0.5f));
boxB.Margin = 0;
objects[0] = new CollisionObject();
objects[1] = new CollisionObject();
objects[0].CollisionShape = boxA;
objects[1].CollisionShape = boxB;
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
IsDebugDrawEnabled = true;
//World.AddCollisionObject(objects[0]);
World.AddCollisionObject(objects[1]);
Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f);
rotA.Normalize();
objects[0].WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0);
objects[1].WorldTransform = Matrix.Translation(0, 4.248f, 0);
}
/*
void MyContactCallback(object sender, ContactAddedEventArgs e)
{
if (e.CollisionObject0Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject0Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index0);
}
if (e.CollisionObject1Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject1Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index1);
}
e.IsContactModified = true;
}
*/
public void SetupEmptyDynamicsWorld()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
//Broadphase = new SimpleBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
// create the ground
CollisionShape groundShape = new BoxShape(30, 2, 30);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -4.5f, 0), groundShape);
ground.UserObject = "Ground";
// create a few dynamic rigidbodies
float mass = 1.0f;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
Vector3 localInertia = colShape.CalculateLocalInertia(mass);
}
public void Setup(Vector3Df gravity)
{
bulletCollisionConfiguration = new DefaultCollisionConfiguration();
bulletCollisionDispatcher = new CollisionDispatcher(bulletCollisionConfiguration);
bulletBroadphase = new DbvtBroadphase();
bulletWorld = new DiscreteDynamicsWorld(bulletCollisionDispatcher, bulletBroadphase, null, bulletCollisionConfiguration);
bulletWorld.Gravity = new Vector3(gravity.X, gravity.Y, gravity.Z);
}
public Physics()
{
CollisionConfiguration config = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(config);
World = new DiscreteDynamicsWorld(Dispatcher, new DbvtBroadphase(), null, config);
World.Gravity = new Vector3(0.0f, -9.81f, 0.0f);
Props = new List<Prop>();
}
void SetupEmptyDynamicsWorld()
{
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
}
/// <summary>
/// コンストラクター
/// </summary>
public PhysicsSimulator()
{
var cc = new DefaultCollisionConfiguration ();
this.dispatcher = new CollisionDispatcher (cc);
this.broadphase = new DbvtBroadphase ();
this.solver = new SequentialImpulseConstraintSolver ();
this.wld = new DiscreteDynamicsWorld (dispatcher, broadphase, solver, cc);
this.wld.Gravity = new BulletSharp.Vector3 (0, -9.8f, 0); // 重力は-Y方向
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
var indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
foreach (var indexedMesh in indexVertexArray.IndexedMeshArray)
{
indexedMesh.ToString();
}
AddToDisposeQueue(indexVertexArray);
var gImpactMesh = new GImpactMeshShape(indexVertexArray);
Vector3 aabbMin, aabbMax;
gImpactMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, gImpactMesh, Vector3.Zero);
AddToDisposeQueue(gImpactMesh);
gImpactMesh = null;
var triangleMesh = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMesh.CalculateLocalInertia(1.0f);
triangleMesh.GetAabb(Matrix.Identity, out aabbMin, out aabbMax);
CreateBody(1.0f, triangleMesh, Vector3.Zero);
AddToDisposeQueue(triangleMesh);
triangleMesh = null;
indexVertexArray = null;
AddToDisposeQueue(conf);
AddToDisposeQueue(dispatcher);
AddToDisposeQueue(broadphase);
AddToDisposeQueue(world);
//conf.Dispose();
conf = null;
//dispatcher.Dispose();
dispatcher = null;
//broadphase.Dispose();
broadphase = null;
for (int i = 0; i < 600; i++)
{
world.StepSimulation(1.0f / 60.0f);
}
world.Dispose();
world = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
/// <summary>
/// コンストラクター
/// </summary>
public CollisionAnalyzer()
{
var cc = new DefaultCollisionConfiguration ();
dispatcher = new CollisionDispatcher (cc);
broadphase = new DbvtBroadphase ();
broadphase.OverlappingPairCache.SetInternalGhostPairCallback (new GhostPairCallback ());
// solver = new SequentialImpulseConstraintSolver ();
this.wld = new DiscreteDynamicsWorld (dispatcher, broadphase, null, cc);
this.prevContacts = new List<OverlappingPair> ();
this.currContacts = new List<OverlappingPair> ();
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
action = new Action();
world.AddAction(action);
world.AddAction(action);
world.RemoveAction(action);
world.RemoveAction(action);
world.AddAction(action);
}
/*
void MyContactCallback(object sender, ContactAddedEventArgs e)
{
if (e.CollisionObject0Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject0Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index0);
}
if (e.CollisionObject1Wrapper.CollisionObject.CollisionShape.ShapeType == BroadphaseNativeType.CompoundShape)
{
CompoundShape compound = e.CollisionObject1Wrapper.CollisionObject.CollisionShape as CompoundShape;
CollisionShape childShape = compound.GetChildShape(e.Index1);
}
e.IsContactModified = true;
}
*/
public void SetupEmptyDynamicsWorld()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
// create the ground
CollisionShape groundShape = new BoxShape(30, 2, 30);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -4.5f, 0), groundShape);
ground.UserObject = "Ground";
}
static void Main(string[] args)
{
var config = new BulletSharp.DefaultCollisionConfiguration();
var dispatcher = new BulletSharp.CollisionDispatcher(config);
var pair = new BulletSharp.DbvtBroadphase();
var world = new BulletSharp.CollisionWorld(dispatcher, pair, config);
var players = new Dictionary <Guid, RigidBody>();
var ci = new RigidBodyConstructionInfo(1, new DefaultMotionState(), new SphereShape(.513037f));
var rb = new RigidBody(ci);
rb.Gravity = Vector3.Zero;
rb.Translate(new Vector3(0f, 1.5f, 0f));
world.AddCollisionObject(rb);
}
public override void Run()
{
var conf = new DefaultCollisionConfiguration();
// Test CollisionConfiguration methods
var pool = conf.CollisionAlgorithmPool;
AddToDisposeQueue(pool);
pool = conf.PersistentManifoldPool;
AddToDisposeQueue(pool);
pool = null;
var simplexSolver = conf.SimplexSolver;
//var simplexResult = simplexSolver.CachedBC;
//AddToDisposeQueue(simplexResult);
//simplexResult = null;
AddToDisposeQueue(simplexSolver);
simplexSolver = null;
var createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.SphereShape, BroadphaseNativeType.SphereShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.SphereShape, BroadphaseNativeType.TriangleShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.TriangleShape, BroadphaseNativeType.SphereShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.StaticPlaneShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.StaticPlaneShape, BroadphaseNativeType.BoxShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CylinderShape, BroadphaseNativeType.CylinderShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CylinderShape, BroadphaseNativeType.TerrainShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.TerrainShape, BroadphaseNativeType.CylinderShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CompoundShape, BroadphaseNativeType.CompoundShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.CompoundShape, BroadphaseNativeType.BoxShape);
AddToDisposeQueue(createFunc);
createFunc = conf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.CompoundShape);
AddToDisposeQueue(createFunc);
createFunc = null;
conf = null;
ForceGC();
TestWeakRefs();
ClearRefs();
}
public Physics()
{
CollisionConfiguration collisionConf = new DefaultCollisionConfiguration();
CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConf);
World = new DiscreteDynamicsWorld(dispatcher, new DbvtBroadphase(), null, collisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 1, 50);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape);
ground.UserObject = "Ground";
// create a box
CollisionShape boxShape = new BoxShape(1);
LocalCreateRigidBody(1.0f, Matrix.Translation(0, 20, 0), boxShape);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
indexVertexArray = new TriangleIndexVertexArray(TorusMesh.Indices, TorusMesh.Vertices);
gImpactMeshShape = new GImpactMeshShape(indexVertexArray);
triangleMeshShape = new BvhTriangleMeshShape(indexVertexArray, true);
triangleMeshShape.CalculateLocalInertia(1.0f);
gImpactMesh = CreateBody(1.0f, gImpactMeshShape, Vector3.Zero);
triangleMesh = CreateBody(1.0f, triangleMeshShape, Vector3.Zero);
}
public Physics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, 0, -10);
BspLoader bspLoader = new BspLoader();
bspLoader.LoadBspFile("BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
importer = new BulletXmlWorldImporter(World);
if (!importer.LoadFile("data\\bullet_basic.xml"))
{
//throw new FileNotFoundException();
}
}
static DefaultRigidBodyWorld()
{
// Broadphase algorithms are responsible for calculating bounding
// boxes. We should probably use an AABB Tree (DbvtBroadphase)
// because they are generally good for worlds with lots of motion.
// Sweep and Prune Broadphases are best when most of the world is
// static.
Broadphase = new DbvtBroadphase();
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Solver = new SequentialImpulseConstraintSolver();
DynamicsWorld = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConfiguration);
DynamicsWorld.Gravity = new Vector3(0F, 0F, -9.81F);
Ground = PhysicsHelpers.MakePlane(new Vector3(0, 0, 1), 0);
DynamicsWorld.AddRigidBody(Ground);
}
public void SetUp()
{
conf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(conf);
broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
boxShape = new BoxShape(1);
body1 = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
body2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = Matrix.Translation(-1, 2, 0);
ghostObject.CollisionShape = boxShape;
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
}
void Awake ()
{
if (BtWorld.main == null || gameObject.tag.Equals ("main"))
BtWorld.main = this;
// TODO: expose in editor?
broadphase = new BulletSharp.DbvtBroadphase ();
collisionConfiguration = new BulletSharp.DefaultCollisionConfiguration ();
dispatcher = new BulletSharp.CollisionDispatcher (collisionConfiguration);
solver = new BulletSharp.SequentialImpulseConstraintSolver ();
world = new BulletSharp.DiscreteDynamicsWorld (dispatcher, broadphase, solver, collisionConfiguration);
world.Gravity = new BulletSharp.Vector3 (gravity.x, gravity.y, gravity.z);
world.DebugDrawer = new UnityDebugDrawer ();
world.DebugDrawer.DebugMode = BulletSharp.DebugDrawModes.None;
foreach (BulletSharp.DebugDrawModes drawMode in debugDrawModes) {
world.DebugDrawer.DebugMode |= drawMode;
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
bspLoader.LoadBspFile("data/BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
convexResultCallback = new ClosestConvexResultCallback();
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
public static void TestGCCollection()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new DbvtBroadphase();
var world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
world.Gravity = new Vector3(0, -10, 0);
var conf_wr = new WeakReference(conf);
var dispatcher_wr = new WeakReference(dispatcher);
var broadphase_wr = new WeakReference(broadphase);
var world_wr = new WeakReference(broadphase);
//conf.Dispose();
conf = null;
dispatcher.OnDisposing += onDisposing;
dispatcher.OnDisposed += onDisposed;
//dispatcher.Dispose();
dispatcher = null;
broadphase.OnDisposing += onDisposing;
broadphase.OnDisposed += onDisposed;
//broadphase.Dispose();
broadphase = null;
world.OnDisposing += onDisposing;
world.OnDisposed += onDisposed;
world.SetInternalTickCallback(WorldPreTickCallback);
world.StepSimulation(1.0f/60.0f);
//world.SetInternalTickCallback(null);
//world.Dispose();
world = null;
GC.Collect();
GC.WaitForPendingFinalizers();
TestWeakRef("CollisionConfiguration", conf_wr);
TestWeakRef("CollisionDispatcher", dispatcher_wr);
TestWeakRef("DbvtBroadphase", broadphase_wr);
TestWeakRef("DiscreteDynamicsWorld", world_wr);
}
static void TestAxisSweepOverlapCallback()
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
//broadphase.OverlappingPairUserCallback = new AxisSweepUserCallback();
//AddToDisposeQueue(broadphase.OverlappingPairUserCallback);
CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));
CustomBroadphaseAabbCallback aabbCallback = new CustomBroadphaseAabbCallback();
broadphase.AabbTest(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000), aabbCallback);
AddToDisposeQueue(aabbCallback);
aabbCallback = null;
// FIXME: RayTest crashes for DbvtBroadphase
CustomBroadphaseRayTestCallback rayCallback = new CustomBroadphaseRayTestCallback();
//broadphase.RayTest(new Vector3(0, 2, 0), new Vector3(2, 2, 0), rayCallback);
AddToDisposeQueue(rayCallback);
rayCallback = null;
broadphase = null;
world.StepSimulation(1.0f / 60.0f);
world.Dispose();
world = null;
GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
GC.WaitForPendingFinalizers();
TestWeakRefs();
disposeQueue.Clear();
}
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;
}
}
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
IsDebugDrawEnabled = true;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int j = 0; j < NumDynamicBoxesX; j++)
{
for (int i = 0; i < NumDynamicBoxesY; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(5 * (i - NumDynamicBoxesX / 2), 10, 5 * (j - NumDynamicBoxesY / 2));
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
}
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
