public PlanetScene()
{
var sphere = Object3dInfo.LoadFromObjSingle(Media.Get("planet.obj"));
var planet = new Mesh3d(sphere, new GenericMaterial(Color.Red));
planet.Scale(30000);
(planet.MainMaterial as GenericMaterial).Type = GenericMaterial.MaterialType.PlanetSurface;
(planet.MainMaterial as GenericMaterial).TesselationMultiplier = 0.007f;
planet.Translate(0, -30500, 0);
Add(planet);
}
public FortressScene()
{
Object3dInfo skydomeInfo = Object3dInfo.LoadFromObjSingle(Media.Get("usky.obj"));
var skydomeMaterial = GenericMaterial.FromMedia("skyreal.png");
var skydome = new Mesh3d(skydomeInfo, skydomeMaterial);
skydome.Scale(55000);
skydome.Translate(0, -100, 0);
//skydome.IgnoreLighting = true;
//skydome.DiffuseComponent = 0.2f;
Add(skydome);
/* var sun = new Sun(new Vector3(0.1f, -1, 0).ToQuaternion(Vector3.UnitY), new Vector4(1, 0.97f, 0.92f, 120), 300, 100, 70, 40, 10, 1);
GLThread.OnUpdate += (o, e) =>
{
var kb = OpenTK.Input.Keyboard.GetState();
if(kb.IsKeyDown(OpenTK.Input.Key.U))
{
var quat = Quaternion.FromAxisAngle(sun.Orientation.GetTangent(MathExtensions.TangentDirection.Left), -0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
if(kb.IsKeyDown(OpenTK.Input.Key.J))
{
var quat = Quaternion.FromAxisAngle(sun.Orientation.GetTangent(MathExtensions.TangentDirection.Left), 0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
if(kb.IsKeyDown(OpenTK.Input.Key.H))
{
var quat = Quaternion.FromAxisAngle(Vector3.UnitY, -0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
if(kb.IsKeyDown(OpenTK.Input.Key.K))
{
var quat = Quaternion.FromAxisAngle(Vector3.UnitY, 0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
};*/
List<Mesh3d> nodes1 = new List<Mesh3d>();
List<Mesh3d> leaves1 = new List<Mesh3d>();
Random rand = new Random();
for(int x = 0; x < 3; x++)
{
for(int z = 0; z < 3; z++)
{
var tree = TreeGenerator.CreateTree(MathHelper.DegreesToRadians(30), MathHelper.DegreesToRadians(45), 4, 4, 6666, 0.3f, true);
var scale = (float)rand.NextDouble() * 2 + 1;
var tx = (float)rand.NextDouble() * 2 + 4;
var ty = (float)rand.NextDouble() * 2 + 4;
var mergedNodes = tree[0].Merge();
mergedNodes.Translate(x * 5 + tx, 0, z * 5 + ty);
mergedNodes.Scale(scale);
nodes1.Add(mergedNodes);
var mergedLeaves = tree[1].Merge();
mergedLeaves.Translate(x * 5 + tx, 0, z * 5 + ty);
mergedLeaves.Scale(scale);
leaves1.Add(mergedLeaves);
//tree[0].ObjectInfo.FreeCPUMemory();
//tree[1].ObjectInfo.FreeCPUMemory();
}
}
Mesh3d singleNodes = Mesh3d.Merge(nodes1);
Mesh3d singleLeaves = Mesh3d.Merge(leaves1);
foreach(var o in nodes1)
o.MainObjectInfo.FreeCPUMemory();
foreach(var o in leaves1)
o.MainObjectInfo.FreeCPUMemory();
InstancedMesh3d nodes = new InstancedMesh3d(singleNodes.MainObjectInfo, singleNodes.MainMaterial);
InstancedMesh3d leaves = new InstancedMesh3d(singleLeaves.MainObjectInfo, singleLeaves.MainMaterial);
for(int x = 0; x < 1; x++)
{
for(int z = 0; z < 1; z++)
{
nodes.Transformations.Add(new TransformationManager(new Vector3(x * 50, 0, z * 50)));
leaves.Transformations.Add(new TransformationManager(new Vector3(x * 50, 0, z * 50)));
}
}
nodes.UpdateMatrix();
leaves.UpdateMatrix();
Add(nodes);
Add(leaves);
/*GLThread.CreateTimer(() =>
{
GLThread.Invoke(() => read());
}, 2000).Start();*/
Object3dInfo waterInfo = Object3dGenerator.CreateTerrain(new Vector2(-200, -200), new Vector2(200, 200), new Vector2(100, 100), Vector3.UnitY, 333, (x, y) => 0);
var color = GenericMaterial.FromMedia("checked.png");
//color.SetBumpMapFromMedia("lightref.png");
Mesh3d water = new Mesh3d(waterInfo, color);
water.SetMass(0);
water.Translate(0, 0, 0);
water.SetCollisionShape(new BulletSharp.StaticPlaneShape(Vector3.UnitY, 0));
Add(water);
}
public OldCityScene()
{
var scene = Object3dInfo.LoadSceneFromObj(Media.Get("cryteksponza.obj"), Media.Get("cryteksponza.mtl"), 0.03f);
//var instances = InstancedMesh3d.FromMesh3dList(testroom);
foreach(var ob in scene)
{
ob.SetMass(0);
//ob.SetCollisionShape(ob.MainObjectInfo.GetAccurateCollisionShape());
//ob.SpecularComponent = 0.1f;
//ob.MainMaterial.ReflectionStrength = ob.MainMaterial.SpecularComponent;
//ob.SetCollisionShape(ob.ObjectInfo.GetAccurateCollisionShape());
// ob.Material = new SolidColorMaterial(new Vector4(1, 1, 1, 0.1f));
//(ob.MainMaterial as GenericMaterial).Type = GenericMaterial.MaterialType.WetDrops;
//(ob.MainMaterial as GenericMaterial).BumpMap = null;
this.Add(ob);
}
PathTracer tracer = new PathTracer();
tracer.PrepareTrianglesData(scene);
//var protagonist = Object3dInfo.LoadSceneFromObj(Media.Get("protagonist.obj"), Media.Get("protagonist.mtl"), 1.0f);
//foreach(var o in protagonist)
// Add(o);
/*
var fountainWaterObj = Object3dInfo.LoadFromObjSingle(Media.Get("turbinegun.obj"));
var water = new Mesh3d(fountainWaterObj, new GenericMaterial(new Vector4(1, 1, 1, 1)));
water.Transformation.Scale(1.0f);
water.Translate(0, 10, 0);
Add(water);*/
Object3dInfo waterInfo = Object3dGenerator.CreateTerrain(new Vector2(-200, -200), new Vector2(200, 200), new Vector2(100, 100), Vector3.UnitY, 333, (x, y) => 0);
var color = GenericMaterial.FromMedia("checked.png");
color.SetNormalMapFromMedia("stones_map.png");
//color.SetBumpMapFromMedia("lightref.png");
Mesh3d water2 = new Mesh3d(waterInfo, color);
water2.SetMass(0);
water2.Translate(0, 0.1f, 0);
water2.MainMaterial.ReflectionStrength = 1;
//water.SetCollisionShape(new BulletSharp.StaticPlaneShape(Vector3.UnitY, 0));
Add(water2);
var dragon3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("apple.obj"));
dragon3dInfo.ScaleUV(0.1f);
var mat = GenericMaterial.FromMedia("skin.jpg");
var dragon = new Mesh3d(dragon3dInfo, mat);
//mat.Type = GenericMaterial.MaterialType.WetDrops;
//dragon.Scale(5);
dragon.SetMass(0);
dragon.SetCollisionShape(dragon3dInfo.GetAccurateCollisionShape());
Add(dragon);
/*
Object3dInfo waterInfo = Object3dGenerator.CreateTerrain(new Vector2(-200, -200), new Vector2(200, 200), new Vector2(100, 100), Vector3.UnitY, 333, (x, y) => 0);
var color = new GenericMaterial(Color.Green);
color.SetBumpMapFromMedia("grassbump.png");
color.Type = GenericMaterial.MaterialType.Grass;
Mesh3d water = new Mesh3d(waterInfo, color);
water.SetMass(0);
water.Translate(0, 1, 0);
water.SetCollisionShape(new BulletSharp.StaticPlaneShape(Vector3.UnitY, 0));
Add(water);
var dragon3dInfo = Object3dInfo.LoadFromRaw(Media.Get("lucymidres.vbo.raw"), Media.Get("lucymidres.indices.raw"));
dragon3dInfo.ScaleUV(0.1f);
var dragon = new Mesh3d(dragon3dInfo, new GenericMaterial(Color.White));
//dragon.Translate(0, 0, 20);
dragon.Scale(80);
Add(dragon);
*/
}
public static List<Mesh3d> LoadSceneFromCollada(string infile)
{
List<Mesh3d> infos = new List<Mesh3d>();
XDocument xml = XDocument.Load(infile);
var colladaNode = xml.Elements().First();
var lib = colladaNode.SelectSingle("library_geometries");
var geometries = lib.SelectMany("geometry");
foreach(var geom in geometries)
{
try
{
string geoID = geom.Attribute("id").Value;
string geoName = geom.Attribute("name").Value;
List<float> xyzs = geom.SelectSingle("mesh").SelectMany("source").ElementAt(0).SelectSingle("float_array").Value.Split(new char[] { ' ' }).Select<string, float>((a) => float.Parse(a, System.Globalization.NumberFormatInfo.InvariantInfo)).ToList();
List<float> normals = geom.SelectSingle("mesh").SelectMany("source").ElementAt(1).SelectSingle("float_array").Value.Trim().Split(new char[] { ' ' }).Select<string, float>((a) => float.Parse(a, System.Globalization.NumberFormatInfo.InvariantInfo)).ToList();
List<float> uvs = null;
try
{
uvs = geom.SelectSingle("mesh").SelectMany("source").ElementAt(2).SelectSingle("float_array").Value.Trim().Split(new char[] { ' ' }).Select<string, float>((a) => float.Parse(a, System.Globalization.NumberFormatInfo.InvariantInfo)).ToList();
}
catch
{
uvs = new List<float>();
}
List<int> indices = geom.SelectSingle("mesh").SelectSingle("polylist").SelectSingle("p").Value.Trim().Split(new char[] { ' ' }).Select<string, int>((a) => int.Parse(a)).ToList();
List<float> VBO = new List<float>();
List<uint> indicesNew = new List<uint>();
uint vcount = 0;
for(int i = 0; i < indices.Count; )
{
int vid = indices[i] * 3;
int nid = indices[i + 1] * 3;
int uid = indices[i + 2] * 2;
indicesNew.Add(vcount++);
VBO.AddRange(new float[] { -xyzs[vid + 1], xyzs[vid + 2], -xyzs[vid] });
if(uvs.Count > 0)
{
VBO.AddRange(new float[] { uvs[uid], uvs[uid + 1] });
i += 3;
}
else
{
VBO.AddRange(new float[] { 0, 0 });
i += 2;
}
VBO.AddRange(new float[] { -normals[nid + 1], normals[nid + 2], -normals[nid] });
}
var objinfo = new Object3dInfo(VBO, indicesNew);
var transformationNode = colladaNode.SelectSingle("library_visual_scenes").SelectSingle("visual_scene").SelectMany("node").First((a) => a.SelectSingle("instance_geometry").Attribute("url").Value == "#" + geoID);
var mesh = new Mesh3d(objinfo, new GenericMaterial(Color.White));
List<float> transVector = transformationNode.SelectMany("translate").First((a) => a.Attribute("sid").Value == "location").Value.Trim().Split(new char[] { ' ' }).Select<string, float>((a) => float.Parse(a, System.Globalization.NumberFormatInfo.InvariantInfo)).ToList();
List<List<float>> rots = transformationNode.SelectMany("rotate").Select<XElement, List<float>>((a) => a.Value.Trim().Split(new char[] { ' ' }).Select<string, float>((ax) => float.Parse(ax, System.Globalization.NumberFormatInfo.InvariantInfo)).ToList()).ToList();
List<float> scale = transformationNode.SelectMany("scale").First((a) => a.Attribute("sid").Value == "scale").Value.Trim().Split(new char[] { ' ' }).Select<string, float>((a) => float.Parse(a, System.Globalization.NumberFormatInfo.InvariantInfo)).ToList();
mesh.Translate(-transVector[1], transVector[2], -transVector[0]);
foreach(var r in rots)
mesh.Rotate(Quaternion.FromAxisAngle(new Vector3(-r[1], r[2], -r[0]), MathHelper.DegreesToRadians(r[3])));
mesh.Scale(scale[1], scale[2], scale[0]);
infos.Add(mesh);
}
catch
{
}
}
return infos;
}
public SculptScene()
{
var sun = new Sun(new Vector3(0.1f, -1, 0).ToQuaternion(Vector3.UnitY), new Vector4(1, 0.97f, 0.92f, 120), 300, 100, 70, 40, 10, 1);
GLThread.OnUpdate += (o, e) =>
{
var kb = OpenTK.Input.Keyboard.GetState();
if(kb.IsKeyDown(OpenTK.Input.Key.U))
{
var quat = Quaternion.FromAxisAngle(sun.Orientation.GetTangent(MathExtensions.TangentDirection.Left), -0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
if(kb.IsKeyDown(OpenTK.Input.Key.J))
{
var quat = Quaternion.FromAxisAngle(sun.Orientation.GetTangent(MathExtensions.TangentDirection.Left), 0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
if(kb.IsKeyDown(OpenTK.Input.Key.H))
{
var quat = Quaternion.FromAxisAngle(Vector3.UnitY, -0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
if(kb.IsKeyDown(OpenTK.Input.Key.K))
{
var quat = Quaternion.FromAxisAngle(Vector3.UnitY, 0.01f);
sun.Orientation = Quaternion.Multiply(sun.Orientation, quat);
}
};
var skysphere = Object3dInfo.LoadFromObjSingle(Media.Get("skyicosphere.obj"));
var skymesh = new Mesh3d(skysphere, new GenericMaterial(Color.SkyBlue));
skymesh.Scale(8000);
skymesh.MainMaterial.IgnoreLighting = true;
Add(skymesh);
var dragon3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("apple.obj"));
dragon3dInfo.ScaleUV(0.1f);
var mat = GenericMaterial.FromMedia("skin.jpg");
var dragon = new Mesh3d(dragon3dInfo, mat);
//mat.Type = GenericMaterial.MaterialType.WetDrops;
dragon.Translate(0, 0, 20);
//dragon.Scale(5);
dragon.SetMass(0);
dragon.SetCollisionShape(dragon3dInfo.GetAccurateCollisionShape());
Add(dragon);
/*
var planeinfo = Object3dGenerator.CreateTerrain(new Vector2(-100, -100), new Vector2(100, 100), new Vector2(50, 50), Vector3.UnitY, 300, (x, y) => 0);
var plane = new Mesh3d(planeinfo, new GenericMaterial(Color.Gainsboro));
(plane.MainMaterial as GenericMaterial).SetBumpMapFromMedia("bumpy.jpg");
Add(plane);*/
//var text = new Text(0.0f, 0.5f, "Hello żółć 汉语 / 漢語; Hànyǔ or 中文; Zhōngwén", "Segoe UI", 24, Color.White);
//World.Root.UI.Elements.Add(text);
/*
var tree = TreeGenerator.CreateTreeSingle(MathHelper.DegreesToRadians(30), MathHelper.DegreesToRadians(45), 5, 5, 6666, 0.3f, false, true);
Mesh3d nodes = tree[0];
foreach(var t in tree)
Add(t);
Random rand = new Random();
GLThread.OnUpdate += (o, e) =>
{
foreach(var b in nodes.Bones)
{
if(b.Name == "root" || b.Name == "rootofroot")
continue;
var orient = b.Orientation;
var randomQuat = Quaternion.Multiply(Quaternion.FromAxisAngle(Vector3.UnitX, (float)rand.NextDouble() - 0.5f), Quaternion.FromAxisAngle(Vector3.UnitZ, (float)rand.NextDouble() - 0.5f));
var neworient = Quaternion.Slerp(orient, randomQuat, 0.11f);
b.Orientation = neworient;
}
};*/
}
public CarScene()
{
Object3dInfo waterInfo = Object3dGenerator.CreateGround(new Vector2(-200, -200), new Vector2(200, 200), new Vector2(100, 100), Vector3.UnitY);
var color = GenericMaterial.FromMedia("checked.png", "183_norm.JPG");
Mesh3d water = new Mesh3d(waterInfo, color);
water.SetMass(0);
water.Translate(0, -10, 0);
water.SetCollisionShape(new BulletSharp.StaticPlaneShape(Vector3.UnitY, 0));
World.Root.Add(water);
var lod1 = Object3dInfo.LoadFromRaw(Media.Get("lucy_lod1.vbo.raw"), Media.Get("lucy_lod1.indices.raw"));
var mat = new GenericMaterial(new Vector4(0, 0, 1, 1f));
var dragon = new Mesh3d(lod1, mat);
dragon.Transformation.Scale(2);
Add(dragon);
var rand = new Random();
var grasslod0 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod1 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod2 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod2.obj"));
var grasslod3 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod3.obj"));
var grasscolor = new GenericMaterial(Color.DarkGreen);
var grassInstanced = new InstancedMesh3d(grasslod2, grasscolor);
for(int x = -15; x < 15; x++)
{
for(int y = -15; y < 15; y++)
{
grassInstanced.Transformations.Add(new TransformationManager(new Vector3(x, 0, y), Quaternion.FromAxisAngle(Vector3.UnitY, (float)rand.NextDouble() * MathHelper.Pi), new Vector3(1, 1, 1)));
grassInstanced.Instances++;
}
}
grassInstanced.UpdateMatrix();
Add(grassInstanced);
ProjectionLight redConeLight = new ProjectionLight(new Vector3(1, 25, 1), Quaternion.Identity, 5000, 5000, MathHelper.PiOver2, 1.0f, 10000.0f);
redConeLight.LightColor = new Vector4(1, 1, 1, 1);
redConeLight.BuildOrthographicProjection(500, 500, -100, 100);
redConeLight.camera.LookAt(Vector3.Zero);
LightPool.Add(redConeLight);
var wheel3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarwheel.obj"));
var car3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarbody.obj"));
var car = new Mesh3d(car3dInfo, new GenericMaterial(Color.LightGreen));
car.SetMass(200);
//car.Translate(0, 3.76f, 0);
car.SetCollisionShape(new BoxShape(0.5f, 0.5f, 0.5f));
car.CreateRigidBody(new Vector3(0, -25, 0), true);
car.PhysicalBody.SetSleepingThresholds(0, 0);
car.PhysicalBody.ContactProcessingThreshold = 0;
car.PhysicalBody.CcdMotionThreshold = 0;
CurrentCar = car;
World.Root.Add(car);
GLThread.OnUpdate += (o, e) =>
{
redConeLight.SetPosition(car.GetPosition() + new Vector3(0, 15, 0));
};
var shape = new SphereShape(0.5f);
//var shape = wheel3dInfo.GetAccurateCollisionShape();
var wheelLF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLF.SetMass(100);
wheelLF.Translate(1.640539f, 0.48866f, -1.94906f);
wheelLF.SetCollisionShape(shape);
wheelLF.CreateRigidBody();
World.Root.Add(wheelLF);
var wheelRF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRF.SetMass(100);
wheelRF.Translate(1.640539f, 0.48866f, 1.94906f);
wheelRF.SetCollisionShape(shape);
wheelRF.CreateRigidBody();
World.Root.Add(wheelRF);
var wheelLR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLR.SetMass(100);
wheelLR.Translate(-1.640539f, 0.48866f, -1.94906f);
wheelLR.SetCollisionShape(shape);
wheelLR.CreateRigidBody();
World.Root.Add(wheelLR);
var wheelRR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRR.SetMass(100);
wheelRR.Translate(-1.640539f, 0.48866f, 1.94906f);
wheelRR.SetCollisionShape(shape);
wheelRR.CreateRigidBody();
World.Root.Add(wheelRR);
wheelLF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLF.PhysicalBody.ContactProcessingThreshold = 0;
wheelLF.PhysicalBody.CcdMotionThreshold = 0;
wheelRF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRF.PhysicalBody.ContactProcessingThreshold = 0;
wheelRF.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelRR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRR.PhysicalBody.ContactProcessingThreshold = 0;
wheelRR.PhysicalBody.CcdMotionThreshold = 0;
wheelLF.PhysicalBody.Friction = 1200;
wheelRF.PhysicalBody.Friction = 1200;
wheelLR.PhysicalBody.Friction = 1200;
wheelRR.PhysicalBody.Friction = 1200;
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLR.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRR.PhysicalBody, true);
// location left rear x -5.27709 y 1.56474 z -3.13906
// location right rear x -5.27709 y 1.56474 z 3.13906
// location left front x 5.500539 y 1.56474 z -3.13906
// location right front x 5.500539 y 1.56474 z 3.13906
//public HingeConstraint(RigidBody rigidBodyA, RigidBody rigidBodyB, Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB);
var frontAxis = new HingeConstraint(wheelLF.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, 0.48866f, 1.94906f), new Vector3(1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var rearAxis = new HingeConstraint(wheelLR.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, 0.48866f, 1.94906f), new Vector3(-1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis1 = new HingeConstraint(car.PhysicalBody, wheelLF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis2 = new HingeConstraint(car.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis3 = new HingeConstraint(car.PhysicalBody, wheelLR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis4 = new HingeConstraint(car.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
centerAxis1.SetLimit(0, 10, 0, 0, 0);
centerAxis2.SetLimit(0, 10, 0, 0, 0);
centerAxis3.SetLimit(0, 10, 0, 0, 0);
centerAxis4.SetLimit(0, 10, 0, 0, 0);
//World.Root.PhysicalWorld.AddConstraint(frontAxis);
// World.Root.PhysicalWorld.AddConstraint(rearAxis);
// centerAxis1.SetLimit(0, 0.01f);
// centerAxis2.SetLimit(0, 0.01f);
//centerAxis3.SetLimit(0, 0.01f);
//centerAxis4.SetLimit(0, 0.01f);
World.Root.PhysicalWorld.AddConstraint(centerAxis1);
World.Root.PhysicalWorld.AddConstraint(centerAxis2);
World.Root.PhysicalWorld.AddConstraint(centerAxis3);
World.Root.PhysicalWorld.AddConstraint(centerAxis4);
GLThread.OnKeyDown += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.R)
{
car.SetOrientation(Quaternion.Identity);
}
if(e.Key == OpenTK.Input.Key.Space)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, -100.0f, 10.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, -100.0f, 10.0f);
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, 100.0f, 6.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, 100.0f, 6.0f);
}
if(e.Key == OpenTK.Input.Key.Left)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(1, 0, 1));
//centerAxis4.SetAxis(new Vector3(1, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(-1, 0, 1));
//centerAxis4.SetAxis(new Vector3(-1, 0, 1));
}
};
GLThread.OnKeyUp += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Left)
{
centerAxis3.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
centerAxis3.SetFrames( Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
};
}