public void SetUp()
{
_conf = new DefaultCollisionConfiguration();
_dispatcher = new CollisionDispatcher(_conf);
//_broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
_broadphase = new DbvtBroadphase();
_world = new DiscreteDynamicsWorld(_dispatcher, _broadphase, null, _conf);
_shape = new BoxShape(2);
_sphere1 = CreateBody(0, Matrix.Translation(0, 0, 0), _shape);
_sphere2 = CreateBody(1, Matrix.Translation(0, 1, 0), _shape);
_callback = new CustomOverlapFilterCallback(_sphere1, _sphere2);
}
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);
CreateGround();
CreateBoxes();
}
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);
}
//GUIHelperInterface m_guiHelper;
public CommonMultiBodyBase()
{
//m_filterCallback = null;
m_pairCache = null;
m_broadphase = null;
m_dispatcher = null;
m_solver = null;
m_collisionConfiguration = null;
m_dynamicsWorld = null;
//m_pickedBody = null;
//m_pickedConstraint = null;
//m_pickingMultiBodyPoint2Point = null;
m_prevCanSleep = false;
//m_guiHelper = null;
}
public RagdollDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
//World.DispatchInfo.UseConvexConservativeDistanceUtil = true;
//World.DispatchInfo.ConvexConservativeDistanceThreshold = 0.01f;
CreateGround();
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 DbvtBroadphase();
_solver = new SequentialImpulseConstraintSolver();
_world = new DiscreteDynamicsWorld(_dispatcher, _broadphase, _solver, _conf);
_shape = new BoxShape(1);
using (var bodyInfo = new RigidBodyConstructionInfo(1, null, _shape))
{
_body1 = new RigidBody(bodyInfo);
_body2 = new RigidBody(bodyInfo);
}
}
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(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
ghostObject = new PairCachingGhostObject();
ghostObject.WorldTransform = startTransform;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
ghostObject.CollisionShape = capsule;
ghostObject.CollisionFlags = CollisionFlags.CharacterObject;
const float stepHeight = 0.35f;
character = new KinematicCharacterController(ghostObject, capsule, stepHeight);
BspLoader bspLoader = new BspLoader();
//string filename = UnityEngine.Application.dataPath + "BuletSharpExamples/Demos/CharacterDemo/data/BspDemo.bsp";
bspLoader.LoadBspFile(UnityEngine.Application.dataPath + "/BulletSharpExamples/Demos/CharacterDemo/data/BspDemo.bsp");
BspConverter bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
World.AddAction(character);
Vector3 zero = Vector3.Zero;
convexResultCallback = new ClosestConvexResultCallback(ref zero, ref zero);
convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
cameraSphere = new SphereShape(0.2f);
}
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(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
var groundShape = new BoxShape(30, 1, 30);
var ground = LocalCreateRigidBody(0, Matrix.Translation(0, -5, 0), groundShape);
ground.UserObject = "metal.wav";
ground = LocalCreateRigidBody(0, Matrix.Translation(0, 0, 0) * Matrix.RotationZ((float)-Math.PI / 4), groundShape);
ground.UserObject = "metal.wav";
var groundShape2 = new BoxShape(5, 1, 30);
ground = LocalCreateRigidBody(0, Matrix.Translation(25, -3, 0), groundShape2);
ground.UserObject = "metal.wav";
var boxShape = new BoxShape(1, 0.5f, 2);
for (int i = 0; i < 4; i++)
{
var box = LocalCreateRigidBody(1, Matrix.Translation(i * 1.5f, i * 3 + 10, i * 3), boxShape);
box.UserObject = "metal.wav";
}
var sphereShape = new SphereShape(1);
for (int i = 0; i < 4; i++)
{
var sphere = LocalCreateRigidBody(1, Matrix.Translation(i, i * 3 + 20, 0), sphereShape);
sphere.UserObject = "rubber.wav";
}
var cylinderShape = new CylinderShape(0.5f, 1, 0.5f);
for (int i = 0; i < 4; i++)
{
var cylinder = LocalCreateRigidBody(1, Matrix.Translation(i, i * 3 + 20, 3), cylinderShape);
cylinder.UserObject = "can.wav";
}
ManifoldPoint.ContactAdded += ContactAdded;
}
public ConcaveRaycastDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(_worldMin, _worldMax);
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SolverInfo.SplitImpulse = 1;
_raycastBar = new RaycastBar(4000.0f, 0.0f, -1000.0f, 10);
//_raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
CreateBoxes();
CreateGround();
}
public VehicleDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Vector3 worldMin = new Vector3(-10000, -10000, -10000);
Vector3 worldMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldMin, worldMax);
//Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SetInternalTickCallback(PickingPreTickCallback, this, true);
CreateScene();
}
private void Init()
{
var collisionConfiguration = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
DynamicsWorld = new DiscreteDynamicsWorld(
dispatcher,
new DbvtBroadphase(),
new SequentialImpulseConstraintSolver(),
collisionConfiguration
)
{
Gravity = Vector3.Zero, // new TGCVector3(0, -10f, 0).ToBulletVector3(),
};
}
public static void CreateInstance()
{
var CollisionConfiguration = new DefaultCollisionConfiguration();
var Dispatcher = new CollisionDispatcher(CollisionConfiguration);
var Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
var World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.Gravity = new Vector3(0, 0, -9.8f);
//set debug draw
World.DebugDrawer = new PhysicsDebugDraw(new OpenGLDrawContext());
World.DebugDrawer.DebugMode = DebugDrawModes.All;
Debug.LogLine("Debug Draw Mode: {0}", World.DebugDrawer.DebugMode.ToString());
Instance = World;
}
public ConcaveConvexCastDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(_worldMin, _worldMax);
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SolverInfo.SplitImpulse = 1;
_convexcastBatch = new ConvexcastBatch(40.0f, 0.0f, -10.0f, 80.0f);
_callback = new ClosestConvexResultCallback();
CreateGround();
CreateBoxes();
}
public override void InitializeDemo()
{
//maxiterations = 10;
SetCameraDistance(100f);
m_cameraTargetPosition = new IndexedVector3();
m_cameraPosition = new IndexedVector3(0, 0, -m_cameraDistance);
//string filename = @"E:\users\man\bullet\xna-basic-output-1.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(1000, pairCache);
m_broadphase = new DbvtBroadphase();
IndexedVector3 worldAabbMin = new IndexedVector3(-200, -200, -200);
IndexedVector3 worldAabbMax = -worldAabbMin;
//m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, true);
///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();
BuildBoard();
}
public PhysicsEngine()
{
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
BroadphaseInterface overlappingPairCache = new DbvtBroadphase();
collisionWorld = new CollisionWorld(dispatcher, overlappingPairCache, collisionConfiguration);
listaMisilesEnemigo = new Dictionary <int, CollisionObject>();
listaMisilesXwing = new Dictionary <int, CollisionObject>();
listaTorretas = new Dictionary <int, Torreta>();
listaObstaculos = new Dictionary <int, Obstaculo>();
listaIdMisilesQueColisionaronConXwing = new List <int>();
listaColisionesTorretaMisil = new HashSet <Colision>(new ColisionCompare());
listaColisionesObstaculoMisil = new HashSet <Colision>(new ColisionCompare());
collisionWorld.DebugDrawer = new Debug_Draw_Bullet();
collisionWorld.DebugDrawer.DebugMode = DebugDrawModes.DrawWireframe;
}
/*
* 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";
}
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(-1000, -1000, -1000),
new Vector3(1000, 1000, 1000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
renderCallback = new DrawingResult(World);
var boxA = new BoxShape(1.0f)
{
Margin = 0
};
var boxB = new BoxShape(0.5f)
{
Margin = 0
};
CollisionShapes.Add(boxA);
CollisionShapes.Add(boxB);
Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f);
rotA.Normalize();
objectA = new CollisionObject
{
CollisionShape = boxA,
WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0)
};
objectB = new CollisionObject
{
CollisionShape = boxB,
WorldTransform = Matrix.Translation(0, 4.248f, 0)
};
//World.AddCollisionObject(objectA);
World.AddCollisionObject(objectB);
}
internal void Initialize()
{
// Build the broadphase
broadphase = new DbvtBroadphase();
// Set up the collision configuration and dispatcher
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
// The actual physics solver
solver = new SequentialImpulseConstraintSolver();
// The world
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);
BulletSharp.Math.Vector3 grav = Gravity;
dynamicsWorld.SetGravity(ref grav);
collisionWorld = new CollisionWorld(dispatcher, broadphase, collisionConfiguration);
}
public MotorDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
var worldAabbMin = new Vector3(-10000, -10000, -10000);
var worldAabbMax = new Vector3(10000, 10000, 10000);
Broadphase = new AxisSweep3(worldAabbMin, worldAabbMax);
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
World.SetInternalTickCallback(MotorPreTickCallback, this, true);
CreateGround();
SpawnTestRig(new Vector3(1, 0.5f, 0), false);
SpawnTestRig(new Vector3(-2, 0.5f, 0), true);
}
public virtual void createEmptyDynamicsWorld()
{
///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 (see Extras/BulletMultiThreaded)
Dispatcher = new CollisionDispatcher(CollisionConf);
m_pairCache = new HashedOverlappingPairCache();
Broadphase = new DbvtBroadphase(m_pairCache);
m_solver = new MultiBodyConstraintSolver();
World = m_dynamicsWorld = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, m_solver, CollisionConf);
m_dynamicsWorld.Gravity = (new BulletSharp.Math.Vector3(0, -10, 0));
}
public World()
{
CollisionConfiguration collisionConfiguration = new DefaultCollisionConfiguration();
var collisionDispatcher = new CollisionDispatcher(collisionConfiguration);
var broadphase = new DbvtBroadphase();
_physicsWorld = new DiscreteDynamicsWorld(collisionDispatcher, broadphase, null, collisionConfiguration)
{
Gravity = new Vector3(0, -9.81f, 0).ToBullet()
};
// Create Ground plane
var groundShape = new StaticPlaneShape(Vector3.UnitY.ToBullet(), 1);
_collisionShapes.Add(groundShape);
CollisionObject ground = AddRigidBody(0, Matrix4.Identity, groundShape);
ground.UserObject = "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(Path.Combine("data", "bullet_basic.xml")))
{
//throw new FileNotFoundException();
}
}
internal void CreateWorld()
{
CollisionShapes = new List <CollisionShape>();
BroadPhase = new DbvtBroadphase();
Collisions = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(Collisions);
Solver = new SequentialImpulseConstraintSolver();
Objects = new Dictionary <Entity, RigidBody>();
World = new DiscreteDynamicsWorld(Dispatcher,
BroadPhase,
Solver,
Collisions)
{
Gravity = new Vector3(0.0f, -9.8f, 0.0f)
};
Status = EngineStatus.LoadedWorld;
}
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(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
//World.Gravity = Freelook.Up * -10.0f;
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
_capsuleShape = new CapsuleShape(characterWidth, characterHeight);
_ghostObject = new PairCachingGhostObject()
{
CollisionShape = _capsuleShape,
CollisionFlags = CollisionFlags.CharacterObject,
WorldTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f)
};
World.AddCollisionObject(_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
const float stepHeight = 0.35f;
_character = new KinematicCharacterController(_ghostObject, _capsuleShape, stepHeight);
World.AddAction(_character);
var bspLoader = new BspLoader();
bspLoader.LoadBspFile(Path.Combine("data", "BspDemo.bsp"));
var bsp2Bullet = new BspToBulletConverter(this);
bsp2Bullet.ConvertBsp(bspLoader, 0.1f);
_convexResultCallback = new ClosestConvexResultCallback();
_convexResultCallback.CollisionFilterMask = CollisionFilterGroups.StaticFilter;
_cameraSphere = new SphereShape(0.2f);
}
public UrdfDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
string[] args = Environment.GetCommandLineArgs();
if (args.Length == 1)
{
LoadUrdf("hinge.urdf");
}
else
{
LoadUrdf(args[1]);
}
}
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());
}
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);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Vector3 worldMin = new Vector3(-1000, -1000, -1000);
Vector3 worldMax = new Vector3(1000, 1000, 1000);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
IsDebugDrawEnabled = true;
CollisionShape colShape = new BoxShape(1);
CollisionShapes.Add(colShape);
for (int j = 0; j < NumDynamicBoxesX; j++)
{
for (int i = 0; i < NumDynamicBoxesY; i++)
{
//CollisionShape colShape = new CapsuleShape(0.5f,2.0f);//boxShape = new SphereShape(1.0f);
Matrix startTransform = Matrix.Translation(5 * (i - NumDynamicBoxesX / 2), 10, 5 * (j - NumDynamicBoxesY / 2));
LocalCreateRigidBody(1.0f, startTransform, colShape);
}
}
SetVertexPositions(WaveHeight, 0.0f);
const bool useQuantizedAabbCompression = true;
groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
CollisionShapes.Add(groundShape);
staticBody = LocalCreateRigidBody(0.0f, Matrix.Identity, groundShape);
staticBody.CollisionFlags |= CollisionFlags.StaticObject;
staticBody.UserObject = "Ground";
}
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);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new AxisSweep3(worldMin, worldMax);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.SolverInfo.SplitImpulse = 1;
World.Gravity = new Vector3(0, -10, 0);
raycastBar = new RaycastBar(4000.0f, 0.0f, -1000.0f, 10);
//raycastBar = new RaycastBar(true, 40.0f, -50.0f, 50.0f);
CreateBoxes();
CreateGround();
}
