static Collisions()
{
collisionConfig = new DefaultCollisionConfiguration();
collisionDispatcher = new CollisionDispatcher(collisionConfig);
broadphase = new DbvtBroadphase();
colWorld = new DiscreteDynamicsWorld(collisionDispatcher, broadphase, null, collisionConfig);
colWorld.Gravity = new BulletSharp.Math.Vector3(0, 0, 0);
HardCollisionAction = null;
SoftCollisionAction = null;
//Prepare simulation parameters, try 25 steps to see the ball mid air
// var simulationIterations = 125;
// var simulationTimestep = 1f / 60f;
// //Step through the desired amount of simulation ticks
// for (var i = 0; i < simulationIterations; i++)
// {
// Update(simulationTimestep);
// }
balls = new List <BallInfo>();
boxes = new List <BoxInfo>();
}
private void _worker_DoWork(object sender, DoWorkEventArgs e)
{
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var broadphase = new DbvtBroadphase();
var Solver = new SequentialImpulseConstraintSolver();
//var Solver = new MultiBodyConstraintSolver();
world = new DiscreteDynamicsWorld(dispatcher, broadphase, Solver, conf);
world.Gravity = new Vector3(0, 0, 0);
world.SolverInfo.NumIterations = 120;
world.SolverInfo.SolverMode = SolverModes.RandomizeOrder;
world.DispatchInfo.UseContinuous = true;
CreateParticles();
CreateWalls();
SetupDoubleSlit();
while (_worker.CancellationPending == false)
{
world.StepSimulation(1.0f / 60.0f);
for (int i = 0; i < Photons.Count; i++)
{
RigidBody r = Photons[i];
r.ApplyCentralImpulse(new Vector3(5, 0, 0));
}
}
}
protected override void OnInitializePhysics()
{
shootBoxInitialSpeed = 4000;
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
//Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape,
// CollisionConf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.ConvexShape, BroadphaseNativeType.ConvexShape));
Broadphase = new DbvtBroadphase();
// the default constraint solver
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SolverMode |= SolverModes.Use2FrictionDirections | SolverModes.RandomizeOrder;
//World.SolverInfo.SplitImpulse = 0;
World.SolverInfo.NumIterations = 20;
World.DispatchInfo.UseContinuous = ccdMode;
World.Gravity = new Vector3(0, -10, 0);
CreateGround();
CreateBoxStack();
}
public DistanceDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
Vector3[] rotatingPoints =
{
new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1)
};
_rotatingShape = new ConvexHullShape(rotatingPoints);
_rotatingBody = PhysicsHelper.CreateStaticBody(_rotBodyPosition, _rotatingShape, World);
_rotatingBody.CollisionFlags |= CollisionFlags.KinematicObject;
_rotatingBody.ActivationState = ActivationState.DisableDeactivation;
Vector3[] staticPoints =
{
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)
};
_staticShape = new ConvexHullShape(staticPoints);
Matrix staticBodyPosition = Matrix.Translation(0, 5, 0);
_staticBody = PhysicsHelper.CreateStaticBody(staticBodyPosition, _staticShape, World);
}
public Box2DDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
_simplexSolver = new VoronoiSimplexSolver();
_penetrationDepthSolver = new MinkowskiPenetrationDepthSolver();
_convexAlgo2D = new Convex2DConvex2DAlgorithm.CreateFunc(_simplexSolver, _penetrationDepthSolver);
_boxAlgo2D = new Box2DBox2DCollisionAlgorithm.CreateFunc();
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, _convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, _convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, _convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, _boxAlgo2D);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
Create2dBodies();
}
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;
var bspLoader = new BspLoader();
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
bspLoader.LoadBspFile(Path.Combine("data", "BspDemo.bsp"));
}
else
{
bspLoader.LoadBspFile(args[1]);
}
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher.
Dispatcher = new CollisionDispatcher(CollisionConf);
var simplex = new VoronoiSimplexSolver();
var pdSolver = new MinkowskiPenetrationDepthSolver();
var convexAlgo2D = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2D);
Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc());
Broadphase = new DbvtBroadphase();
// the default constraint solver.
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
CreateGround();
Create2dBodies();
}
public override void InitializeDemo()
{
base.InitializeDemo();
SetCameraDistance(SCALING * 50f);
//string filename = @"C:\users\man\bullett\xna-largemesh-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new DefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
//pairCache = new SortedOverlappingPairCache();
//m_broadphase = new SimpleBroadphase(10000, pairCache);
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
m_profileManager = new BasicProfileManager();
BulletGlobals.g_profileManager = m_profileManager;
m_profileIterator = m_profileManager.getIterator();
///create a few basic rigid bodies
IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
//IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
//CollisionShape groundShape = new BoxShape(ref halfExtents);
CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 0);
LocalCreateRigidBody(0f, IndexedMatrix.Identity, groundShape);
//CollisionShape groundShape = BuildLargeMesh();
m_collisionShapes.Add(groundShape);
CollisionShape sphereShape = new SphereShape(0.2f);
int size = 16;// 5; // 16
for (int i = 0; i < size; ++i)
{
for (int j = 0; j < size; ++j)
{
IndexedMatrix m = IndexedMatrix.CreateTranslation(new IndexedVector3(i, 1, j));
RigidBody rb = LocalCreateRigidBody(1f, m, sphereShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
ClientResetScene();
}
public ConstraintDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
_cubeShape = new BoxShape(CubeHalfExtent);
CreateGears();
CreateHingedBoxes();
CreateMotorHinge();
CreateMotorHinge2();
CreateSlider();
CreateD6Slider();
CreateDoor();
CreateGeneric6DofConstraint();
CreateConeTwist();
CreateUniversalConstraint();
CreateGeneric6DofSpringConstraint();
CreateHinge();
CreateHinge2();
}
public PhysicsEngine()
{
//CreateSchedulers();
//NextTaskScheduler();
using (var collisionConfigurationInfo = new DefaultCollisionConstructionInfo
{
DefaultMaxPersistentManifoldPoolSize = 800,
DefaultMaxCollisionAlgorithmPoolSize = 800
})
{
collisionConf = new DefaultCollisionConfiguration(collisionConfigurationInfo);
};
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
var solver = new SequentialImpulseConstraintSolver();
//var Solver = new NncgConstraintSolver();
//DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, Solver, collisionConf);
World = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConf);
//dispatcher = new CollisionDispatcherMultiThreaded(collisionConf);
//Solver = new ConstraintSolverPoolMultiThreaded(MaxThreadCount);
//World = new DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, Solver, null, collisionConf);
//World.SolverInfo.SolverMode = SolverModes.Simd | SolverModes.UseWarmStarting;
//World = new DiscreteDynamicsWorldMultiThreaded(dispatcher, broadphase, cspm, csM, collisionConf);
//World.Gravity = new Vector3(0, 0f, 0);
// CreateFloor();
//World.LatencyMotionStateInterpolation = false;
//for character controllers
broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
World.DebugDrawer = new PhysicsDebugDraw(World);
}
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);
CreateGround();
Vector3[] rotatingPoints =
{
new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1)
};
_rotatingShape = new ConvexHullShape(rotatingPoints);
_rotatingBody = LocalCreateRigidBody(0, _rotBodyPosition, _rotatingShape);
_rotatingBody.CollisionFlags |= CollisionFlags.KinematicObject;
_rotatingBody.ActivationState = ActivationState.DisableDeactivation;
Vector3[] staticPoints =
{
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)
};
_staticShape = new ConvexHullShape(staticPoints);
_staticBody = LocalCreateRigidBody(0, _staticBodyPosition, _staticShape);
}
public Physics()
{
CLStuff.InitCL();
cloths = new Cloth[numFlags];
for (int flagIndex = 0; flagIndex < numFlags; ++flagIndex)
{
cloths[flagIndex] = new Cloth();
cloths[flagIndex].CreateBuffers(clothWidth, clothHeight);
}
gSolver = new OpenCLSoftBodySolver(CLStuff.commandQueue, CLStuff.cxMainContext);
softBodyOutput = new SoftBodySolverOutputCLToCpu();
// collision configuration contains default setup for memory, collision setup
CollisionConf = new SoftBodyRigidBodyCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new SequentialImpulseConstraintSolver();
World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf, gSolver);
World.Gravity = new Vector3(0, -10, 0);
// create the ground
CollisionShape groundShape = new BoxShape(50, 50, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -60, 0), groundShape);
ground.UserObject = "Ground";
SoftWorld.WorldInfo.AirDensity = 1.2f;
SoftWorld.WorldInfo.WaterDensity = 0;
SoftWorld.WorldInfo.WaterOffset = 0;
SoftWorld.WorldInfo.WaterNormal = Vector3.Zero;
SoftWorld.WorldInfo.Gravity = new Vector3(0, -10, 0);
CreateFlag(clothWidth, clothHeight, out flags);
// Create output buffer descriptions for ecah flag
// These describe where the simulation should send output data to
for (int flagIndex = 0; flagIndex < flags.Count; ++flagIndex)
{
// flags[flagIndex].WindVelocity = new Vector3(0, 0, 15.0f);
// In this case we have a DX11 output buffer with a vertex at index 0, 8, 16 and so on as well as a normal at 3, 11, 19 etc.
// Copies will be performed GPU-side directly into the output buffer
CpuVertexBufferDescriptor vertexBufferDescriptor = new CpuVertexBufferDescriptor(cloths[flagIndex].CpuBuffer, 0, 8, 3, 8);
cloths[flagIndex].VertexBufferDescriptor = vertexBufferDescriptor;
}
gSolver.Optimize(SoftWorld.SoftBodyArray);
World.StepSimulation(1.0f / 60.0f, 0);
}
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);
}
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, 1, 50);
CollisionShapes.Add(groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, 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++)
{
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);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
public void SetUp()
{
_conf = new DefaultCollisionConfiguration();
_dispatcher = new CollisionDispatcher(_conf);
_broadphase = new DbvtBroadphase();
_solver = new SequentialImpulseConstraintSolver();
_world = new DiscreteDynamicsWorld(_dispatcher, _broadphase, _solver, _conf);
}
protected override void Initialize()
{
base.Initialize();
// 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);
World.DebugDrawer = DebugDrawer;
// create the ground
_groundShape = new BoxShape(50, 1, 50);
LoadModel("ground", _groundShape);
CollisionShapes.Add(_groundShape);
CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, _groundShape);
// create a few dynamic rigidbodies
const float mass = 1.0f;
_boxShape = new BoxShape(1);
LoadModel("cube", _boxShape);
CollisionShapes.Add(_boxShape);
var rbInfo = new RigidBodyConstructionInfo(mass, null, _boxShape);
rbInfo.LocalInertia = _boxShape.CalculateLocalInertia(mass);
for (int k = 0; k < ArraySizeY; k++)
{
for (int i = 0; i < ArraySizeX; i++)
{
for (int j = 0; j < ArraySizeZ; j++)
{
Matrix startTransform = Matrix.CreateTranslation(
_start + new Vector3(2 * i, 2 * k, 2 * j));
// using motionstate is recommended, it provides interpolation capabilities
// and only synchronizes 'active' objects
rbInfo.MotionState = new DefaultMotionState(startTransform);
var body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
FreeLook.SetEyeTarget(ref _eye, ref _target);
}
/// <summary>
/// Creates the System with a default DiscreteDynamicsWorld
/// </summary>
public BulletPhysicsSystem()
{
CollisionConfiguration Config = new DefaultCollisionConfiguration();
Dispatcher Disp = new CollisionDispatcher(Config);
BroadphaseInterface Interface = new DbvtBroadphase();
ConstraintSolver Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Disp, Interface, Solver, Config);
}
public void Create()
{
var bp = new DbvtBroadphase();
var conf = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(conf);
var solver = new SequentialImpulseConstraintSolver();
world = new DiscreteDynamicsWorld(dispatcher, bp, solver, conf);
}
public BulletPhysics()
{
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
physics_world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
physics_world.Gravity = new Vector3(0, 0, -384);
}
public PhysicsWorld()
{
collisionConf = new DefaultCollisionConfiguration();
btDispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
btWorld = new DiscreteDynamicsWorld(btDispatcher, broadphase, null, collisionConf);
btWorld.Gravity = BM.Vector3.Zero;
}
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 override void InitializeDemo()
{
//string filename = @"C:\users\man\bullet\xna-motor-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
m_Time = 0;
m_fCyclePeriod = 2000.0f; // in milliseconds
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits)
// currently solver uses 10 iterations, so:
m_fMuscleStrength = 0.5f;
SetCameraDistance(5.0f);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
m_broadphase = new SimpleBroadphase(1000, pairCache);
SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
m_constraintSolver = sol;
m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);
IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
m_dynamicsWorld.SetGravity(ref gravity);
m_dynamicsWorld.SetInternalTickCallback(new MotorPreTickCallback(), this, true);
// Setup a big ground box
{
CollisionShape groundShape = new BoxShape(new IndexedVector3(200.0f, 10.0f, 200.0f));
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0, -10, 0);
LocalCreateRigidBody(0f, ref groundTransform, groundShape);
}
// Spawn one ragdoll
IndexedVector3 startOffset = new IndexedVector3(1, 0.5f, 0);
SpawnTestRig(ref startOffset, false);
startOffset = new IndexedVector3(-2, 0.5f, 0);
SpawnTestRig(ref startOffset, true);
ClientResetScene();
}
static void InitPhysics()
{
PhysConfig = new DefaultCollisionConfiguration();
PhysDispatcher = new CollisionDispatcher(PhysConfig);
Broadphase = new DbvtBroadphase();
PhysWorld = new DiscreteDynamicsWorld(PhysDispatcher, Broadphase, null, PhysConfig);
PhysWorld.Gravity = new Vector3(0, -9.81f, 0);
}
public BasicDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
CreateBoxes();
}
private void InitializePhysics()
{
_collisionConfiguration = new DefaultCollisionConfiguration();
_dispatcher = new CollisionDispatcher(_collisionConfiguration);
_broadPhase = new DbvtBroadphase();
_world = new DiscreteDynamicsWorld(_dispatcher, _broadPhase, null, _collisionConfiguration)
{
Gravity = new Vector3(0, 0, -10)
};
}
public UrdfDemoSimulation(string urdfFileName)
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
LoadUrdf(urdfFileName);
}
public Physics()
{
_Main = this;
collisionConf = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConf);
broadphase = new DbvtBroadphase();
_World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf);
_World.Gravity = new Vector3(0, -10, 0);
}
public CollisionManager(Program debug)
{
var defaultCollisionConfiguration = new DefaultCollisionConfiguration();
var collisionDispatcher = new CollisionDispatcher(defaultCollisionConfiguration);
var broadphase = new DbvtBroadphase();
this.World = new CollisionWorld(collisionDispatcher, broadphase, defaultCollisionConfiguration);
if (debug != null)
{
this.World.DebugDrawer = new BulletDebugDrawer(debug);
}
}
public void InitializeWorld()
{
DbvtBroadphase broadphase = new DbvtBroadphase();
DefaultCollisionConfiguration conf = new DefaultCollisionConfiguration();
CollisionDispatcher dispacher = new CollisionDispatcher(conf);
SequentialImpulseConstraintSolver solver = new SequentialImpulseConstraintSolver();
dynamicsWorld = new DiscreteDynamicsWorld(dispacher, broadphase, solver, conf);
BulletSharp.Math.Vector3 gravity = new BulletSharp.Math.Vector3(0, -10, 0);
dynamicsWorld.SetGravity(ref gravity);
}
public BspDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.Gravity = Up * -10.0f;
LoadBspFile();
}
//C#ではstackにclassのメモリを確保できず、XBoxでは毎フレームヒープにメモリを取るとGCが作動しフレームオチするため
//このクラスをnewせずに使うルーチンを製作。
public static void Process(DbvtBroadphase pbp, DbvtNode na, DbvtNode nb)
{
if (na != nb)
{
DbvtProxy pa = (DbvtProxy)na.data;
DbvtProxy pb = (DbvtProxy)nb.data;
#if DBVT_BP_SORTPAIRS
if(pa->m_uniqueId>pb->m_uniqueId)
btSwap(pa,pb);
#endif
pbp.m_paircache.addOverlappingPair(pa, pb);
++pbp.m_newpairs;
}
}
public DbvtTreeCollider(DbvtBroadphase p) { pbp = p; }
