public bool Build(
FeatureUpdateContext updateContext,
[ParentModel] Point[] Points,
double Size)
{
//-- Upkeep
//--
if( physics == null )
{
physics = new Sutd.Physics( );
}
else
{
Regenerate( );
physics.Reset( );
}
//-- Set Gravity
//--
physics.world.Gravity = new Vec3D( 0, 0, -10 );
//-- Create Ground
//--
var body = new Sutd.Physics.Body( );
{
//-- Define Infinite Plane
//--
var shape = new StaticPlaneShape( new Vec3D( 0, 0, 1 ), 0 );
physics.shapes.Add( shape );
//-- Set Physics State / Bullet
//-- Fixed bodies have zero mass and inertia
//--
var param = new RigidBodyConstructionInfo(
mass: 0.0f, motionState: new DefaultMotionState( Mat4D.Identity ),
collisionShape: shape, localInertia: Vec3D.Zero );
body.rigid = new RigidBody( param );
param.Dispose( );
physics.world.AddRigidBody( body.rigid );
body.matrix = body.rigid.WorldTransform;
//-- Set Visual State / Rhino
//-- Create a very thin but wide finite box
//--
var transform = DTransform3d.Identity;
AddBox( transform, new DVector3d( 50, 50, 0.01 ) );
body.solid = geometry[geometry.Count - 1];
}
physics.bodies.Add( body );
//-- Create 3D Grid of Boxes
//--
float half = (float)( Size * 0.5 );
foreach( var point in Points )
{
body = new Sutd.Physics.Body( );
{
//-- Collision Shape
//--
var shape = new BoxShape( half, half, half );
physics.shapes.Add( shape );
//-- Mass Properties
//--
var inertia = Vec3D.Zero;
shape.CalculateLocalInertia( mass: 1.0f, inertia: out inertia );
//-- Physics State
//--
var param = new RigidBodyConstructionInfo(
mass: 1.0f, motionState: new DefaultMotionState( Mat4D.Identity ),
collisionShape: shape, localInertia: inertia );
body.rigid = new RigidBody( param );
param.Dispose( );
physics.world.AddRigidBody( body.rigid );
body.rigid.Translate( new Vec3D( (float)point.X, (float)point.Y, (float)point.Z ) );
body.matrix = body.rigid.WorldTransform;
//-- Visual State
//--
var transform = DTransform3d.Identity;
transform.Translation = point.DPoint3d;
AddBox( transform, new DVector3d( Size, Size, Size ) );
body.solid = geometry[geometry.Count - 1];
}
physics.bodies.Add( body );
}
return true;
}
Mesh CreateStaticPlaneShape(StaticPlaneShape shape)
{
// Load shader
if (planeShader == null)
{
Assembly assembly = Assembly.GetExecutingAssembly();
Stream shaderStream = assembly.GetManifestResourceStream("DemoFramework.SlimDX.checker_shader.fx");
planeShader = Effect.FromStream(device, shaderStream, ShaderFlags.None);
}
Mesh mesh = CreateShape(shape);
shapes.Remove(shape);
planeShapes.Add(shape, mesh);
return mesh;
}
public ContinuousConvexCollision(ConvexShape shapeA, StaticPlaneShape plane)
: base(btContinuousConvexCollision_new2(shapeA._native, plane._native))
{
}
public static void CreateStaticPlane(StaticPlaneShape shape, Mesh m)
{
UnityEngine.Vector3 planeOrigin = shape.PlaneNormal.ToUnity() * shape.PlaneConstant;
UnityEngine.Vector3 vec0, vec1;
PlaneSpace1(shape.PlaneNormal.ToUnity(), out vec0, out vec1);
const float size = 1000f;
int[] indices = new int[] { 0, 2, 1, 0, 1, 3 };
UnityEngine.Vector3[] verts = new UnityEngine.Vector3[]
{
planeOrigin + vec0*size,
planeOrigin - vec0*size,
planeOrigin + vec1*size,
planeOrigin - vec1*size,
};
m.Clear();
m.vertices = verts;
m.triangles = indices;
m.RecalculateBounds();
m.RecalculateNormals();
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
//Broadphase = new SimpleBroadphase();
Broadphase = new AxisSweep3_32Bit(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000), 1024);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create trimesh model and shape
InitGImpactCollision();
// Create Scene
float mass = 0.0f;
CollisionShape staticboxShape1 = new BoxShape(200, 1, 200);//floor
CollisionShapes.Add(staticboxShape1);
LocalCreateRigidBody(mass, Matrix.Translation(0, -10, 0), staticboxShape1);
CollisionShape staticboxShape2 = new BoxShape(1, 50, 200);//left wall
CollisionShapes.Add(staticboxShape2);
LocalCreateRigidBody(mass, Matrix.Translation(-200, 15, 0), staticboxShape2);
CollisionShape staticboxShape3 = new BoxShape(1, 50, 200);//right wall
CollisionShapes.Add(staticboxShape3);
LocalCreateRigidBody(mass, Matrix.Translation(200, 15, 0), staticboxShape3);
CollisionShape staticboxShape4 = new BoxShape(200, 50, 1);//front wall
CollisionShapes.Add(staticboxShape4);
LocalCreateRigidBody(mass, Matrix.Translation(0, 15, 200), staticboxShape4);
CollisionShape staticboxShape5 = new BoxShape(200, 50, 1);//back wall
CollisionShapes.Add(staticboxShape5);
LocalCreateRigidBody(mass, Matrix.Translation(0, 15, -200), staticboxShape5);
//static plane
Vector3 normal = new Vector3(-0.5f, 0.5f, 0.0f);
normal.Normalize();
CollisionShape staticplaneShape6 = new StaticPlaneShape(normal, 0.5f);// A plane
CollisionShapes.Add(staticplaneShape6);
/*RigidBody staticBody2 =*/ LocalCreateRigidBody(mass, Matrix.Translation(0, -9, 0), staticplaneShape6);
//another static plane
normal = new Vector3(0.5f, 0.7f, 0.0f);
//normal.Normalize();
CollisionShape staticplaneShape7 = new StaticPlaneShape(normal, 0.0f);// A plane
CollisionShapes.Add(staticplaneShape7);
/*staticBody2 =*/ LocalCreateRigidBody(mass, Matrix.Translation(0, -10, 0), staticplaneShape7);
// Create Static Torus
float height = 28;
const float step = 2.5f;
const float massT = 1.0f;
Matrix startTransform =
Matrix.RotationQuaternion(Quaternion.RotationYawPitchRoll((float)Math.PI * 0.5f, 0, (float)Math.PI * 0.5f)) *
Matrix.Translation(0, height, -5);
#if BULLET_GIMPACT
kinematicTorus = LocalCreateRigidBody(0, startTransform, trimeshShape);
#else
//kinematicTorus = LocalCreateRigidBody(0, startTransform, CreateTorusShape());
#endif
//kinematicTorus.CollisionFlags = kinematicTorus.CollisionFlags | CollisionFlags.StaticObject;
//kinematicTorus.ActivationState = ActivationState.IslandSleeping;
kinematicTorus.CollisionFlags = kinematicTorus.CollisionFlags | CollisionFlags.KinematicObject;
kinematicTorus.ActivationState = ActivationState.DisableDeactivation;
// Kinematic
//kinTorusTran = new Vector3(-0.1f, 0, 0);
//kinTorusRot = Quaternion.RotationYawPitchRoll(0, (float)Math.PI * 0.01f, 0);
#if TEST_GIMPACT_TORUS
#if BULLET_GIMPACT
// Create dynamic Torus
for (int i = 0; i < 6; i++)
{
height -= step;
startTransform =
Matrix.RotationQuaternion(Quaternion.RotationYawPitchRoll(0, 0, (float)Math.PI * 0.5f)) *
Matrix.Translation(0, height, -5);
/*RigidBody bodyA =*/ LocalCreateRigidBody(massT, startTransform, trimeshShape);
height -= step;
startTransform =
Matrix.RotationQuaternion(Quaternion.RotationYawPitchRoll((float)Math.PI * 0.5f, 0, (float)Math.PI * 0.5f)) *
Matrix.Translation(0, height, -5);
/*RigidBody bodyB =*/ LocalCreateRigidBody(massT, startTransform, trimeshShape);
}
#else
/*
// Create dynamic Torus
for (int i = 0; i < 6; i++)
{
height -= step;
startTransform.setOrigin(btVector3(0, height, -5));
startTransform.setRotation(btQuaternion(0, 0, 3.14159265 * 0.5));
btRigidBody* bodyA = localCreateRigidBody(massT, startTransform, createTorusShape());
height -= step;
startTransform.setOrigin(btVector3(0, height, -5));
startTransform.setRotation(btQuaternion(3.14159265 * 0.5, 0, 3.14159265 * 0.5));
btRigidBody* bodyB = localCreateRigidBody(massT, startTransform, createTorusShape());
}
*/
#endif
#endif
// Create Dynamic Boxes
for (int i = 0; i < 8; i++)
{
CollisionShape boxShape = new BoxShape(new Vector3(1, 1, 1));
CollisionShapes.Add(boxShape);
LocalCreateRigidBody(1, Matrix.Translation(2 * i - 5, 2, -3), boxShape);
}
}
public static UnityEngine.Vector3[] CreateStaticPlane(StaticPlaneShape shape, out int[] indices)
{
UnityEngine.Vector3 planeOrigin = shape.PlaneNormal.ToUnity() * shape.PlaneConstant;
Vector3 vec0, vec1;
PlaneSpace1(shape.PlaneNormal, out vec0, out vec1);
const float size = 1000;
indices = new int[] { 0, 2, 1, 0, 1, 3 };
return new UnityEngine.Vector3[]
{
planeOrigin + vec0.ToUnity()*size,
shape.PlaneNormal.ToUnity(),
planeOrigin - vec0.ToUnity()*size,
shape.PlaneNormal.ToUnity(),
planeOrigin + vec1.ToUnity()*size,
shape.PlaneNormal.ToUnity(),
planeOrigin - vec1.ToUnity()*size,
shape.PlaneNormal.ToUnity()
};
}
public CollisionShape CreatePlaneShape(ref Vector3 planeNormal, float planeConstant)
{
StaticPlaneShape shape = new StaticPlaneShape(planeNormal, planeConstant);
_allocatedCollisionShapes.Add(shape);
return shape;
}
public static Vector3[] CreateStaticPlane(StaticPlaneShape shape, out uint[] indices)
{
Vector3 planeOrigin = shape.PlaneNormal * shape.PlaneConstant;
Vector3 vec0, vec1;
PlaneSpace1(shape.PlaneNormal, out vec0, out vec1);
const float size = 1000;
indices = new uint[] { 1, 2, 0, 1, 3, 0 };
return new Vector3[]
{
planeOrigin + vec0*size,
shape.PlaneNormal,
planeOrigin - vec0*size,
shape.PlaneNormal,
planeOrigin + vec1*size,
shape.PlaneNormal,
planeOrigin - vec1*size,
shape.PlaneNormal
};
}
/// <summary>
/// Create a static ground plane facing upwards.
/// </summary>
/// <param name="yposition">The Y position that the plane is located at.</param>
void CreateGroundPlane(float yposition)
{
// make an infinite plane so we don't fall forever. TODO: hook up an event so when we collide with this, we respawn back on the track
Matrix4 matrix = new Matrix4();
matrix.MakeTransform(new Vector3(0, yposition, 0), Vector3.UNIT_SCALE, new Quaternion(0, 0, 0, 1));
CollisionShape groundShape = new StaticPlaneShape(Vector3.NEGATIVE_UNIT_Y, 1);
var groundInfo = new RigidBodyConstructionInfo(0, new DefaultMotionState(matrix), groundShape, Vector3.ZERO);
var groundBody = new RigidBody(groundInfo);
groundBody.UserObject = new CollisionObjectDataHolder(groundBody, PonykartCollisionGroups.Environment, "ground");
groundBody.CollisionFlags = CollisionFlags.StaticObject | CollisionFlags.DisableVisualizeObject;
world.AddRigidBody(groundBody, PonykartCollisionGroups.Environment, PonykartCollidesWithGroups.Environment);
}
Mesh CreateStaticPlaneShape(StaticPlaneShape shape)
{
// Load shader
if (planeShader == null)
{
Assembly assembly = Assembly.GetExecutingAssembly();
Stream shaderStream = assembly.GetManifestResourceStream("DemoFramework.checker_shader.fx");
planeShader = Effect.FromStream(device, shaderStream, ShaderFlags.None);
}
Vector3[] vertices = new Vector3[4 * 2];
Mesh mesh = new Mesh(device, 2, 4, MeshFlags.SystemMemory, VertexFormat.Position | VertexFormat.Normal);
Vector3 planeOrigin = shape.PlaneNormal * shape.PlaneConstant;
Vector3 vec0, vec1;
PlaneSpace1(shape.PlaneNormal, out vec0, out vec1);
float size = 1000;
Vector3[] verts = new Vector3[4]
{
planeOrigin + vec0*size,
planeOrigin - vec0*size,
planeOrigin + vec1*size,
planeOrigin - vec1*size
};
SlimDX.DataStream vertexBuffer = mesh.LockVertexBuffer(LockFlags.Discard);
vertexBuffer.Write(verts[0]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[1]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[2]);
vertexBuffer.Position += 12;
vertexBuffer.Write(verts[3]);
vertexBuffer.Position += 12;
mesh.UnlockVertexBuffer();
SlimDX.DataStream indexBuffer = mesh.LockIndexBuffer(LockFlags.Discard);
indexBuffer.Write((short)1);
indexBuffer.Write((short)2);
indexBuffer.Write((short)0);
indexBuffer.Write((short)1);
indexBuffer.Write((short)3);
indexBuffer.Write((short)0);
mesh.UnlockIndexBuffer();
mesh.ComputeNormals();
complexShapes.Add(shape, mesh);
return mesh;
}