internal DynamicWorldImp()
{
//Debug.WriteLine("DynamicWorldImp");
//Default
// collision configuration contains default setup for memory, collision setup
BtCollisionConf = new DefaultCollisionConfiguration();
BtDispatcher = new CollisionDispatcher(BtCollisionConf);
BtBroadphase = new DbvtBroadphase();
BtSolver = new SequentialImpulseConstraintSolver();
// BtCollisionShapes = new AlignedCollisionShapeArray();
BtWorld = new DiscreteDynamicsWorld(BtDispatcher, BtBroadphase, BtSolver, BtCollisionConf)
{
Gravity = new Vector3(0, -9.81f, 0)
};
BtWorld.SolverInfo.NumIterations = 5;
BtWorld.PerformDiscreteCollisionDetection();
//GImpactCollisionAlgorithm.RegisterAlgorithm(BtDispatcher);
// BtWorld.SetInternalTickCallback(MyTickCallBack);
//BtWorld.SetInternalTickCallback(TickTack);
//ManifoldPoint.ContactAdded += OnContactAdded;
//PersistentManifold.ContactDestroyed += OnContactDestroyed;
//PersistentManifold.ContactProcessed += OnContactProcessed;
}
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()
{
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);
}
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));
}
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();
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);
}
public KnightyCamera(string name)
: base(name)
{
var sceneMgr = LKernel.GetG<SceneManager>();
// make our camera and set some properties
Camera = sceneMgr.CreateCamera(name);
Camera.NearClipDistance = 0.1f;
Camera.FarClipDistance = 700f;
Camera.AutoAspectRatio = true;
// create the nodes we're going to interpolate
CameraNode = sceneMgr.RootSceneNode.CreateChildSceneNode(name + "_KnightyCameraNode", new Vector3(0, Settings.Default.CameraNodeYOffset, Settings.Default.CameraNodeZOffset));
TargetNode = sceneMgr.RootSceneNode.CreateChildSceneNode(name + "_KnightyCameraTargetNode", new Vector3(0, Settings.Default.CameraTargetYOffset, 0));
CameraNode.SetAutoTracking(true, TargetNode);
CameraNode.SetFixedYawAxis(true);
CameraNode.AttachObject(Camera);
// create the fixed nodes that are attached to the kart
followKart = LKernel.GetG<PlayerManager>().MainPlayer.Kart;
kartCamNode = followKart.RootNode.CreateChildSceneNode(name + "_KartKnightyCameraNode", new Vector3(0, Settings.Default.CameraNodeYOffset, Settings.Default.CameraNodeZOffset));
kartTargetNode = followKart.RootNode.CreateChildSceneNode(name + "_KartKnightyCameraTargetNode", new Vector3(0, Settings.Default.CameraTargetYOffset, 0));
CameraNode.Position = kartCamNode._getDerivedPosition();
TargetNode.Position = kartTargetNode._getDerivedPosition();
// initialise some stuff for the ray casting
rayLength = (CameraNode.Position - TargetNode.Position).Length;
world = LKernel.GetG<PhysicsMain>().World;
}
/// <summary>
/// We can't use constraints because otherwise we wouldn't be able to do loops.
/// </summary>
void PreSimulate(DiscreteDynamicsWorld world, FrameEvent evt)
{
// if the kart's gone, then we can get rid of this handler too
if (kart == null || kart.Vehicle.IsDisposed) {
Detach();
return;
}
// don't self-right if we're paused
else if (Pauser.IsPaused)
return;
// so first we get the kart's orientation
// then we basically get its local Y axis and average it with the global Y axis to make more of a smooth transition
Vector3 locY = kart.ActualOrientation.YAxis;
// first of all, if we're self righted enough, we can get rid of this handler
if (locY.DirectionEquals(Vector3.UNIT_Y, closeEnoughToUp)) { // 3 degrees
//Detach();
return;
}
// stop it spinning
kart.Body.AngularVelocity = Vector3.ZERO;
// update its rotation to point upwards
var quat = kart.ActualOrientation;
// make the x and z factors smaller, so that all that's left at the end is the Y pointing upwards
quat.x *= 0.92f;
quat.z *= 0.92f;
quat.Normalise();
// then update the body's transform
kart.Body.SetOrientation(quat);
}
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);
}
/*
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 Physics()
{
// 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
CollisionShape groundShape = new BoxShape(50, 50, 50);
collisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, BulletSharp.Math.Matrix.Translation(0, -50, 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);
float start_x = StartPosX - ArraySizeX / 2;
float start_y = StartPosY;
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++)
{
BulletSharp.Math.Matrix startTransform = BulletSharp.Math.Matrix.Translation(
new Vector3(
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);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
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);
}
public BulletSharpPhysicsComponent(Game game, BulletSharpPhysics.CollisionConfiguration collisionConf, BulletSharpPhysics.ConstraintSolver solver, Vector3 gravity)
: base(game)
{
BulletSharpPhysics.CollisionDispatcher Dispatcher = new BulletSharpPhysics.CollisionDispatcher(collisionConf);
World = new BulletSharpPhysics.DiscreteDynamicsWorld(Dispatcher, new BulletSharpPhysics.DbvtBroadphase(), solver, collisionConf);
//World = new BulletSharpPhysics.DiscreteDynamicsWorld(Dispatcher, new BulletSharpPhysics.AxisSweep3(new Vector3(-1000),new Vector3(1000),16384), solver, collisionConf);
World.Gravity = gravity;
}
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>();
}
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 BulletSharpPhysicsComponent(Game game, BulletSharpPhysics.CollisionConfiguration collisionConf, BulletSharpPhysics.ConstraintSolver solver, Vector3 gravity)
: base(game)
{
BulletSharpPhysics.CollisionDispatcher Dispatcher = new BulletSharpPhysics.CollisionDispatcher(collisionConf);
World = new BulletSharpPhysics.DiscreteDynamicsWorld(Dispatcher, new BulletSharpPhysics.DbvtBroadphase(), solver, collisionConf);
//World = new BulletSharpPhysics.DiscreteDynamicsWorld(Dispatcher, new BulletSharpPhysics.AxisSweep3(new Vector3(-1000),new Vector3(1000),16384), solver, collisionConf);
World.Gravity = gravity;
}
/// <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();
}
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;
}
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";
}
public World()
{
Children = new List<IRenderable>();
LinesPool = new Line2dPool();
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
PhysicalWorld = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
PhysicalWorld.Gravity = new Vector3(0, -10, 0);
PhysicalWorld.SolverInfo.SolverMode = SolverModes.InterleaveContactAndFrictionConstraints;
PhysicalWorld.SolverInfo.Restitution = 0;
CollisionObjects = new Dictionary<IRenderable, CollisionObject>();
UI = new UIRenderer();
if(Root == null)
Root = this;
}
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()
{
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 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);
}
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);
}
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();
}
}
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;
}
}
