public Physics() { ActiveBodies = new List<PhysicalBody>(); collisionConf = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConf); broadphase = new DbvtBroadphase(); var w = new MultiBodyDynamicsWorld(dispatcher, broadphase, new MultiBodyConstraintSolver(), collisionConf); w.SolverInfo.SolverMode = SolverModes.CacheFriendly; w.SolverInfo.Restitution = 0; w.Gravity = new Vector3(0, -9.81f, 0); World = w; }
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 MultiBodyConstraintSolver(); World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); // create a few basic rigid bodies BoxShape groundShape = new BoxShape(50, 50, 50); //groundShape.InitializePolyhedralFeatures(); //CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), 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( 3 * i + start_x, 3 * k + start_y, 3 * j + start_z ); // using motionstate is recommended, it provides interpolation capabilities // and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform); using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia)) { var body = new RigidBody(rbInfo); World.AddRigidBody(body); } } } } var settings = new MultiBodySettings() { BasePosition = new Vector3(60, 29.5f, -2) * Scaling, CanSleep = true, CreateConstraints = true, DisableParentCollision = true, // the self-collision has conflicting/non-resolvable contact normals IsFixedBase = false, NumLinks = 2, UsePrismatic = true }; var multiBodyA = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); settings.NumLinks = 10; settings.BasePosition = new Vector3(0, 29.5f, -settings.NumLinks * 4); settings.IsFixedBase = true; settings.UsePrismatic = false; var multiBodyB = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); settings.BasePosition = new Vector3(-20 * Scaling, 29.5f * Scaling, -settings.NumLinks * 4 * Scaling); settings.IsFixedBase = false; var multiBodyC = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); settings.BasePosition = new Vector3(-20, 9.5f, -settings.NumLinks * 4); settings.IsFixedBase = true; settings.UsePrismatic = true; settings.DisableParentCollision = true; var multiBodyPrim = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); }
MultiBody CreateFeatherstoneMultiBody(MultiBodyDynamicsWorld world, MultiBodySettings settings) { int nLinks = settings.NumLinks; float mass = 13.5f * Scaling; Vector3 inertia = new Vector3(91, 344, 253) * Scaling * Scaling; var body = new MultiBody(nLinks, mass, inertia, settings.IsFixedBase, settings.CanSleep); //body.HasSelfCollision = false; //Quaternion orn = new Quaternion(0, 0, 1, -0.125f * Math.PI); Quaternion orn = new Quaternion(0, 0, 0, 1); body.BasePosition = settings.BasePosition; body.WorldToBaseRot = orn; body.BaseVelocity = Vector3.Zero; Vector3 joint_axis_hinge = new Vector3(1, 0, 0); Vector3 joint_axis_prismatic = new Vector3(0, 0, 1); Quaternion parent_to_child = orn.Inverse(); Vector3 joint_axis_child_prismatic = parent_to_child.Rotate(joint_axis_prismatic); Vector3 joint_axis_child_hinge = parent_to_child.Rotate(joint_axis_hinge); int this_link_num = -1; int link_num_counter = 0; Vector3 pos = new Vector3(0, 0, 9.0500002f) * Scaling; Vector3 joint_axis_position = new Vector3(0, 0, 4.5250001f) * Scaling; for (int i = 0; i < nLinks; i++) { float initial_joint_angle = 0.3f; if (i > 0) initial_joint_angle = -0.06f; int child_link_num = link_num_counter++; if (settings.UsePrismatic) // i == (nLinks - 1)) { body.SetupPrismatic(child_link_num, mass, inertia, this_link_num, parent_to_child, joint_axis_child_prismatic, parent_to_child.Rotate(pos), Vector3.Zero, settings.DisableParentCollision); } else { body.SetupRevolute(child_link_num, mass, inertia, this_link_num, parent_to_child, joint_axis_child_hinge, joint_axis_position, parent_to_child.Rotate(pos - joint_axis_position), settings.DisableParentCollision); } body.SetJointPos(child_link_num, initial_joint_angle); this_link_num = i; /*if (false) //!useGroundShape && i == 4) { Vector3 pivotInAworld = new Vector3(0, 20, 46); Vector3 pivotInAlocal = body.WorldPosToLocal(i, pivotInAworld); Vector3 pivotInBworld = pivotInAworld; MultiBodyPoint2Point p2p = new MultiBodyPoint2Point(body, i, TypedConstraint.FixedBody, pivotInAlocal, pivotInBworld); (World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(p2p); }*/ if (settings.UsePrismatic) { //MultiBodyConstraint con = new MultiBodyJointLimitConstraint(body, nLinks - 1, 2, 3); if (settings.CreateConstraints) { MultiBodyConstraint con = new MultiBodyJointLimitConstraint(body, i, -1, 1); (World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(con); } } else { //if (true) { var con = new MultiBodyJointMotor(body, i, 0, 50000); (World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(con); } var con2 = new MultiBodyJointLimitConstraint(body, i, -1, 1); (World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(con2); } } // Add a collider for the base Quaternion[] worldToLocal = new Quaternion[nLinks + 1]; Vector3[] localOrigin = new Vector3[nLinks + 1]; worldToLocal[0] = body.WorldToBaseRot; localOrigin[0] = body.BasePosition; //Vector3 halfExtents = new Vector3(7.5f, 0.05f, 4.5f); Vector3 halfExtents = new Vector3(7.5f, 0.45f, 4.5f); float[] posB = new float[] { localOrigin[0].X, localOrigin[0].Y, localOrigin[0].Z, 1 }; //float[] quatB = new float[] { worldToLocal[0].X, worldToLocal[0].Y, worldToLocal[0].Z, worldToLocal[0].W }; //if (true) { CollisionShape box = new BoxShape(halfExtents * Scaling); var bodyInfo = new RigidBodyConstructionInfo(mass, null, box, inertia); RigidBody bodyB = new RigidBody(bodyInfo); var collider = new MultiBodyLinkCollider(body, -1); collider.CollisionShape = box; Matrix tr = Matrix.RotationQuaternion(worldToLocal[0].Inverse()) * Matrix.Translation(localOrigin[0]); collider.WorldTransform = tr; bodyB.WorldTransform = tr; World.AddCollisionObject(collider, CollisionFilterGroups.StaticFilter, CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter); collider.Friction = Friction; body.BaseCollider = collider; } for (int i = 0; i < body.NumLinks; i++) { int parent = body.GetParent(i); worldToLocal[i + 1] = body.GetParentToLocalRot(i) * worldToLocal[parent + 1]; localOrigin[i + 1] = localOrigin[parent + 1] + (worldToLocal[i + 1].Inverse().Rotate(body.GetRVector(i))); } for (int i = 0; i < body.NumLinks; i++) { CollisionShape box = new BoxShape(halfExtents * Scaling); var collider = new MultiBodyLinkCollider(body, i); collider.CollisionShape = box; Matrix tr = Matrix.RotationQuaternion(worldToLocal[i + 1].Inverse()) * Matrix.Translation(localOrigin[i + 1]); collider.WorldTransform = tr; World.AddCollisionObject(collider, CollisionFilterGroups.StaticFilter, CollisionFilterGroups.DefaultFilter | CollisionFilterGroups.StaticFilter); collider.Friction = Friction; body.GetLink(i).Collider = collider; //World.DebugDrawer.DrawBox(halfExtents, pos, quat); } (World as MultiBodyDynamicsWorld).AddMultiBody(body); return body; }
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 MultiBodyConstraintSolver(); World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); // create a few basic rigid bodies BoxShape groundShape = new BoxShape(50, 50, 50); //groundShape.InitializePolyhedralFeatures(); //CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -51.55f, 0), groundShape); ground.UserObject = "Ground"; int numLinks = 5; bool spherical = true; bool floatingBase = false; Vector3 basePosition = new Vector3(-0.4f, 3.0f, 0.0f); Vector3 baseHalfExtents = new Vector3(0.05f, 0.37f, 0.1f); Vector3 linkHalfExtents = new Vector3(0.05f, 0.37f, 0.1f); var mb = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, numLinks, basePosition, baseHalfExtents, linkHalfExtents, spherical, floatingBase); floatingBase = !floatingBase; mb.CanSleep = true; mb.HasSelfCollision = false; mb.UseGyroTerm = true; bool damping = true; if (damping) { mb.LinearDamping = 0.1f; mb.AngularDamping = 0.9f; } else { mb.LinearDamping = 0; mb.AngularDamping = 0; } if (numLinks > 0) { float q0 = 45.0f * (float)Math.PI / 180.0f; if (spherical) { Quaternion quat0 = Quaternion.RotationAxis(new Vector3(1, 1, 0).Normalized, q0); quat0.Normalize(); mb.SetJointPosMultiDof(0, new float[] { quat0.X, quat0.Y, quat0.Z, quat0.W }); } else { mb.SetJointPosMultiDof(0, new float[] { q0 }); } } AddColliders(mb, baseHalfExtents, linkHalfExtents); LocalCreateRigidBody(1, Matrix.Translation(0, -0.95f, 0), new BoxShape(0.5f, 0.5f, 0.5f)); }
MultiBody CreateFeatherstoneMultiBody(MultiBodyDynamicsWorld world, int numLinks, Vector3 basePosition, Vector3 baseHalfExtents, Vector3 linkHalfExtents, bool spherical, bool floating) { float mass = 1; Vector3 inertia = Vector3.Zero; if (mass != 0) { using (var box = new BoxShape(baseHalfExtents)) { box.CalculateLocalInertia(mass, out inertia); } } var mb = new MultiBody(numLinks, mass, inertia, !floating, false); //body.HasSelfCollision = false; //body.BaseVelocity = Vector3.Zero; mb.BasePosition = basePosition; //body.WorldToBaseRot = new Quaternion(0, 0, 1, -0.125f * (float)Math.PI); mb.WorldToBaseRot = Quaternion.Identity; float linkMass = 1; Vector3 linkInertia = Vector3.Zero; if (linkMass != 0) { using (var box = new BoxShape(linkHalfExtents)) { box.CalculateLocalInertia(linkMass, out linkInertia); } } //y-axis assumed up Vector3 parentComToCurrentCom = new Vector3(0, -linkHalfExtents[1] * 2.0f, 0); //par body's COM to cur body's COM offset Vector3 currentPivotToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset for (int i = 0; i < numLinks; i++) { if (spherical) { mb.SetupSpherical(i, linkMass, linkInertia, i - 1, Quaternion.Identity, parentComToCurrentPivot, currentPivotToCurrentCom, false); } else { Vector3 hingeJointAxis = new Vector3(1, 0, 0); mb.SetupRevolute(i, linkMass, linkInertia, i - 1, Quaternion.Identity, hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false); } } mb.FinalizeMultiDof(); (World as MultiBodyDynamicsWorld).AddMultiBody(mb); return mb; }
/* Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation. */ public bool CreatePhysicsWorld( out CollisionWorld world, out CollisionConfiguration collisionConfig, out CollisionDispatcher dispatcher, out BroadphaseInterface broadphase, out SequentialImpulseConstraintSolver solver, out SoftBodyWorldInfo softBodyWorldInfo) { bool success = true; if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf) { BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching"); m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf; success = false; } collisionConfig = null; if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf) { collisionConfig = new DefaultCollisionConfiguration(); } else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf) { collisionConfig = new SoftBodyRigidBodyCollisionConfiguration(); } dispatcher = new CollisionDispatcher(collisionConfig); if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase) { broadphase = new DbvtBroadphase(); } else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase) { broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); } else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit) { broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); } else { broadphase = null; } world = null; softBodyWorldInfo = null; solver = null; if (m_worldType == WorldType.CollisionOnly) { world = new CollisionWorld(dispatcher, broadphase, collisionConfig); } else if (m_worldType == WorldType.RigidBodyDynamics) { world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig); } else if (m_worldType == WorldType.MultiBodyWorld) { world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig); } else if (m_worldType == WorldType.SoftBodyAndRigidBody) { solver = new SequentialImpulseConstraintSolver(); solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed; softBodyWorldInfo = new SoftBodyWorldInfo { AirDensity = 1.2f, WaterDensity = 0, WaterOffset = 0, WaterNormal = BulletSharp.Math.Vector3.Zero, Gravity = UnityEngine.Physics.gravity.ToBullet(), Dispatcher = dispatcher, Broadphase = broadphase }; softBodyWorldInfo.SparseSdf.Initialize(); world = new SoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig); world.DispatchInfo.EnableSpu = true; softBodyWorldInfo.SparseSdf.Reset(); softBodyWorldInfo.AirDensity = 1.2f; softBodyWorldInfo.WaterDensity = 0; softBodyWorldInfo.WaterOffset = 0; softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero; softBodyWorldInfo.Gravity = m_gravity.ToBullet(); } if (world is DiscreteDynamicsWorld) { ((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet(); } if (_doDebugDraw) { DebugDrawUnity db = new DebugDrawUnity(); db.DebugMode = _debugDrawMode; world.DebugDrawer = db; } return success; }
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 MultiBodyConstraintSolver(); World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf); World.Gravity = new Vector3(0, -9.81f, 0); const bool floating = false; const bool gyro = false; const int numLinks = 1; const bool canSleep = false; const bool selfCollide = false; Vector3 linkHalfExtents = new Vector3(0.05f, 0.5f, 0.1f); Vector3 baseHalfExtents = new Vector3(0.05f, 0.5f, 0.1f); Vector3 baseInertiaDiag = Vector3.Zero; const float baseMass = 0; multiBody = new MultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep); //multiBody.UseRK4Integration = true; //multiBody.BaseWorldTransform = Matrix.Identity; //init the links Vector3 hingeJointAxis = new Vector3(1, 0, 0); //y-axis assumed up Vector3 parentComToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0); Vector3 currentPivotToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0); Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; for(int i = 0; i < numLinks; i++) { const float linkMass = 10; Vector3 linkInertiaDiag = Vector3.Zero; using (var shape = new SphereShape(radius)) { shape.CalculateLocalInertia(linkMass, out linkInertiaDiag); } multiBody.SetupRevolute(i, linkMass, linkInertiaDiag, i - 1, Quaternion.Identity, hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false); } multiBody.FinalizeMultiDof(); (World as MultiBodyDynamicsWorld).AddMultiBody(multiBody); multiBody.CanSleep = canSleep; multiBody.HasSelfCollision = selfCollide; multiBody.UseGyroTerm = gyro; #if PENDULUM_DAMPING multiBody.LinearDamping = 0.1f; multiBody.AngularDamping = 0.9f; #else multiBody.LinearDamping = 0; multiBody.AngularDamping = 0; #endif for (int i = 0; i < numLinks; i++) { var shape = new SphereShape(radius); CollisionShapes.Add(shape); var col = new MultiBodyLinkCollider(multiBody, i); col.CollisionShape = shape; const bool isDynamic = true; CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter; CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.StaticFilter; World.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask); multiBody.GetLink(i).Collider = col; } }