public void Init()
{
#region MUNDO_FISICO //Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration)
{
Gravity = new TGCVector3(0, -20f, 0).ToBsVector
};
#endregion
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "texturas\\terrain\\NormalMapMar.png");
//Creamos shapes y bodies.
#region PISO
//El piso es un plano estatico se dice que si tiene masa 0 es estatico.
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBsVector, 0);
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
dynamicsWorld.AddRigidBody(floorBody);
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "modelos\\Textures\\Canionero.jpg");
floorMesh = new TgcPlane(new TGCVector3(0, 500, 0), new TGCVector3(400, 0f, 400), TgcPlane.Orientations.XZplane, floorTexture);
#endregion
#region CAJA
//Se crea una caja de tamaño 20 con rotaciones y origien en 10,100,10 y 1kg de masa.
var boxShape = new BoxShape(10, 10, 10);
var boxTransform = TGCMatrix.RotationYawPitchRoll(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI).ToBsMatrix;
boxTransform.Origin = new TGCVector3(0, 600, 0).ToBsVector;
DefaultMotionState boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(1f);
var boxInfo = new RigidBodyConstructionInfo(1f, boxMotionState, boxShape, boxLocalInertia);
boxBody = new RigidBody(boxInfo);
dynamicsWorld.AddRigidBody(boxBody);
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
boxMesh = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
#endregion
#region BOLA
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
//Crea una bola de radio 10 origen 50 de 1 kg.
var ballShape = new SphereShape(10);
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = new TGCVector3(0, 200, 0);
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
//Podriamos no calcular la inercia para que no rote, pero es correcto que rote tambien.
var ballLocalInertia = ballShape.CalculateLocalInertia(1f);
var ballInfo = new RigidBodyConstructionInfo(1, ballMotionState, ballShape, ballLocalInertia);
ballBody = new RigidBody(ballInfo);
dynamicsWorld.AddRigidBody(ballBody);
sphereMesh = new TGCSphere(1, texture.Clone(), TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
#endregion
callback = new MyContactResultCallback(dispatcher, dynamicsWorld, floorBody);// boxBody);
}
public void AddContactPairTest(RigidBody firstBody, RigidBody secondBody, ContactResultCallback callback) => dynamicsWorld.ContactPairTest(firstBody, secondBody, callback);
///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. ///it reports one or more contact points for every overlapping object (including the one with deepest penetration) void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. ///it reports one or more contact points (including the one with deepest penetration) void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
///it reports one or more contact points (including the one with deepest penetration)
void contactPairTest( btCollisionObject colObjA, btCollisionObject colObjB, ContactResultCallback resultCallback )
{
btCollisionObjectWrapper obA = BulletGlobals.CollisionObjectWrapperPool.Get();
obA.Initialize( null, colObjA.getCollisionShape(), colObjA, -1, -1 );
btCollisionObjectWrapper obB = BulletGlobals.CollisionObjectWrapperPool.Get();
obB.Initialize( null, colObjB.getCollisionShape(), colObjB, -1, -1 );
btCollisionAlgorithm algorithm = m_dispatcher1.findAlgorithm( obA, obB, null );
if( algorithm != null )
{
btBridgedManifoldResult contactPointResult = BulletGlobals.BridgedManifoldResultPool.Get();
contactPointResult.Initialize( obA, obB, resultCallback );
//discrete collision detection query
algorithm.processCollision( obA, ref obA.m_collisionObject.m_worldTransform
, obB, ref obB.m_collisionObject.m_worldTransform
, getDispatchInfo(), contactPointResult );
//algorithm.~btCollisionAlgorithm();
m_dispatcher1.freeCollisionAlgorithm( algorithm );
BulletGlobals.BridgedManifoldResultPool.Free( contactPointResult );
}
BulletGlobals.CollisionObjectWrapperPool.Free( obA );
BulletGlobals.CollisionObjectWrapperPool.Free( obB );
}
///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.
///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
void contactTest( btCollisionObject colObj, ContactResultCallback resultCallback )
{
btVector3 aabbMin, aabbMax;
colObj.getCollisionShape().getAabb( ref colObj.m_worldTransform, out aabbMin, out aabbMax );
btSingleContactCallback contactCB = new btSingleContactCallback( colObj, this, resultCallback );
m_broadphasePairCache.aabbTest( ref aabbMin, ref aabbMax, contactCB );
}
internal btSingleContactCallback( btCollisionObject collisionObject, btCollisionWorld world, ContactResultCallback resultCallback )
{
m_collisionObject = ( collisionObject );
m_world = ( world );
m_resultCallback = ( resultCallback );
}
internal void Initialize( btCollisionObjectWrapper obj0Wrap, btCollisionObjectWrapper obj1Wrap, ContactResultCallback resultCallback )
{
base.Initialize( obj0Wrap, obj1Wrap );
m_resultCallback = ( resultCallback );
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(ContactResultCallback obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
