public virtual RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, bool isKinematic = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
_world.AddRigidBody(body);
return(body);
}
public RigidBody LocalCreateRigidBody(float mass, Matrix startTransform, CollisionShape shape)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBody body;
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia))
{
body = new RigidBody(rbInfo);
}
ownerWorld.AddRigidBody(body);
return(body);
}
private void UpdateEnd(Engine Sender, EventArgs Args)
{
BulletPhysicsComponent Component;
while (ToAdd.TryDequeue(out Component))
{
//Add the component's RigidBody
World.AddRigidBody(Component.Body);
//Remove the component
Components.Add(Component);
}
while (ToRemove.TryDequeue(out Component))
{
//Remove the component's RigidBody
World.RemoveRigidBody(Component.Body);
//Remove the component
Components.Remove(Component);
}
Action <DynamicsWorld> Func;
while (Actions.TryDequeue(out Func))
{
//Execute the function
Func(World);
}
}
public static RigidBody CreateBody(float mass, Matrix startTransform, CollisionShape shape, DynamicsWorld world)
{
// A body with zero mass is considered static
if (mass == 0)
{
return(CreateStaticBody(startTransform, shape, world));
}
// Using a motion state is recommended,
// it provides interpolation capabilities and only synchronizes "active" objects
var myMotionState = new DefaultMotionState(startTransform);
Vector3 localInertia = shape.CalculateLocalInertia(mass);
RigidBody body;
using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia))
{
body = new RigidBody(rbInfo);
}
if (world != null)
{
world.AddRigidBody(body);
}
return(body);
}
public override void AddObject(IPhysicObject obj)
{
if (obj is BulletPhysicObject && obj.PhysicObjectTypes != PhysicObjectTypes.GHOST)
{
BulletPhysicObject BulletPhysicObject = obj as BulletPhysicObject;
world.AddRigidBody(BulletPhysicObject.Body, BulletPhysicObject.CollisionFilterGroup, BulletPhysicObject.CollisionFilterMask);
BulletPhysicObject.Body.UserObject = obj;
}
objs.Add(obj);
}
/// <summary>
/// add to default world
/// </summary>
private void AddToWorld()
{
for (int i = 0; i < RigidBodies.Length; i++)
{
World.AddRigidBody(RigidBodies[i]);
}
for (int i = 0; i < Constraints.Length; i++)
{
World.AddConstraint(Constraints[i], true);
}
}
public bool AddRigidBody(BRigidBody rb)
{
if (!_isDisposed)
{
Debug.LogFormat("Adding rigidbody {0} to world", rb);
if (rb._BuildRigidBody())
{
World.AddRigidBody(rb.GetRigidBody());
}
return(true);
}
return(false);
}
// Creates a rigid body from the given shape and adds it to the Unity scene.
protected RigidBody CreateRigidBody(float mass, Matrix startTransform, CollisionShape shape, Material renderMat, float friction = 0.5f, bool isKinematic = false, bool viz = false)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.0f);
BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
rbInfo.Friction = friction;
RigidBody body = new RigidBody(rbInfo);
if (isKinematic)
{
body.CollisionFlags = body.CollisionFlags | BulletSharp.CollisionFlags.KinematicObject;
body.ActivationState = ActivationState.DisableDeactivation;
}
rbInfo.Dispose();
m_world.AddRigidBody(body);
// create unity object from it
if (viz)
{
AddUnityObject(body, renderMat);
}
return(body);
}
public RigidBody LocalCreateRigidBody(float mass, Matrix4 startTransform, CollisionShape shape)
{
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.ZERO;
if (isDynamic)
{
shape.CalculateLocalInertia(mass, out localInertia);
}
DefaultMotionState myMotionState = new DefaultMotionState(startTransform);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, shape, localInertia);
RigidBody body = new RigidBody(rbInfo);
World.AddRigidBody(body);
return(body);
}
public static RigidBody CreateStaticBody(Matrix startTransform, CollisionShape shape, DynamicsWorld world)
{
const float staticMass = 0;
RigidBody body;
using (var rbInfo = new RigidBodyConstructionInfo(staticMass, null, shape)
{
StartWorldTransform = startTransform
})
{
body = new RigidBody(rbInfo);
}
if (world != null)
{
world.AddRigidBody(body);
}
return(body);
}
public override void Run()
{
#region Create renderers
// Note: the renderers take care of creating their own
// device resources and listen for DeviceManager.OnInitialize
// Create a axis-grid renderer
var axisGrid = ToDispose(new AxisGridRenderer());
axisGrid.Initialize(this);
// Create and initialize the mesh renderer
var loadedMesh = Common.Mesh.LoadFromFile("PhysicsScene1.cmo");
List <MeshRenderer> meshes = new List <MeshRenderer>();
meshes.AddRange(from mesh in loadedMesh
select ToDispose(new MeshRenderer(mesh)));
foreach (var m in meshes)
{
m.Initialize(this);
m.World = Matrix.Identity;
}
// Set the first animation as the current animation and start clock
foreach (var m in meshes)
{
if (m.Mesh.Animations != null && m.Mesh.Animations.Any())
{
m.CurrentAnimation = m.Mesh.Animations.First().Value;
}
m.Clock.Start();
}
loadedMesh = Common.Mesh.LoadFromFile("SubdividedPlane.cmo");
var waterMesh = ToDispose(new MeshRenderer(loadedMesh.First()));
waterMesh.Initialize(this);
loadedMesh = Common.Mesh.LoadFromFile("Bataux.cmo");
List <MeshRenderer> shipMeshes = new List <MeshRenderer>();
shipMeshes.AddRange((from mesh in loadedMesh
select ToDispose(new MeshRenderer(mesh))));
foreach (var m in shipMeshes)
{
m.Initialize(this);
m.World = Matrix.Scaling(3) * Matrix.RotationAxis(Vector3.UnitY, -1.57079f);
}
//var anchor = new SphereRenderer(0.05f);
//anchor.Initialize(this);
//var anchorWorld = Matrix.Identity;
//var sphere = new SphereRenderer();
//sphere.Initialize(this);
//var sphereWorld = Matrix.Identity;
// Create and initialize a Direct2D FPS text renderer
var fps = ToDispose(new Common.FpsRenderer("Calibri", Color.CornflowerBlue, new Point(8, 8), 16));
fps.Initialize(this);
// Create and initialize a general purpose Direct2D text renderer
// This will display some instructions and the current view and rotation offsets
var textRenderer = ToDispose(new Common.TextRenderer("Calibri", Color.CornflowerBlue, new Point(8, 40), 12));
textRenderer.Initialize(this);
#endregion
#region Initialize physics engine
CollisionConfiguration defaultConfig = new DefaultCollisionConfiguration();
ConstraintSolver solver = new SequentialImpulseConstraintSolver();
BulletSharp.Dispatcher dispatcher = new CollisionDispatcher(defaultConfig);
BroadphaseInterface broadphase = new DbvtBroadphase();
DynamicsWorld world = null;
Action initializePhysics = () =>
{
RemoveAndDispose(ref world);
world = ToDispose(new BulletSharp.DiscreteDynamicsWorld(dispatcher, broadphase, solver, defaultConfig));
world.Gravity = new Vector3(0, -10, 0);
// For each mesh, create a RigidBody and add to "world" for simulation
meshes.ForEach(m =>
{
// We use the name of the mesh to determine the correct body
if (String.IsNullOrEmpty(m.Mesh.Name))
{
return;
}
var name = m.Mesh.Name.ToLower();
var extent = m.Mesh.Extent;
BulletSharp.CollisionShape shape;
#region Create collision shape
if (name.Contains("box") || name.Contains("cube"))
{
// Assumes the box/cube has an axis-aligned neutral orientation
shape = new BulletSharp.BoxShape(
Math.Abs(extent.Max.Z - extent.Min.Z) / 2.0f,
Math.Abs(extent.Max.Y - extent.Min.Y) / 2.0f,
Math.Abs(extent.Max.X - extent.Min.X) / 2.0f);
}
else if (name.Contains("sphere"))
{
shape = new BulletSharp.SphereShape(extent.Radius);
}
else // use mesh vertices directly
{
// for each SubMesh, retrieve the vertex and index buffers
// to create a TriangleMeshShape for collision detection.
List <Vector3> vertices = new List <Vector3>();
List <int> indices = new List <int>();
int vertexOffset = 0;
foreach (var sm in m.Mesh.SubMeshes)
{
vertexOffset += vertices.Count;
indices.AddRange(
(from indx in m.Mesh.IndexBuffers[(int)sm.IndexBufferIndex]
select vertexOffset + (int)indx));
vertices.AddRange(
(from v in m.Mesh
.VertexBuffers[(int)sm.VertexBufferIndex]
select v.Position - extent.Center));
}
// Create the collision shape
var iva = new BulletSharp.TriangleIndexVertexArray(indices.ToArray(), vertices.ToArray());
shape = new BulletSharp.BvhTriangleMeshShape(iva, true);
}
#endregion
m.World = Matrix.Identity; // Reset mesh location
float mass; Vector3 vec;
shape.GetBoundingSphere(out vec, out mass);
var body = new BulletSharp.RigidBody(
new BulletSharp.RigidBodyConstructionInfo(name.Contains("static") ? 0 : mass,
new MeshMotionState(m),
shape, shape.CalculateLocalInertia(mass)));
if (body.IsStaticObject)
{
body.Restitution = 1f;
body.Friction = 0.4f;
}
// Add to the simulation
world.AddRigidBody(body);
});
#if DEBUG
world.DebugDrawer = ToDispose(new PhysicsDebugDraw(this.DeviceManager));
world.DebugDrawer.DebugMode = DebugDrawModes.DrawAabb | DebugDrawModes.DrawWireframe;
#endif
};
initializePhysics();
// Newton's Cradle
//var box = new Jitter.Dynamics.RigidBody(new Jitter.Collision.Shapes.BoxShape(7, 1, 2));
//box.Position = new Jitter.LinearMath.JVector(0, 8, 0);
//world.AddBody(box);
//box.IsStatic = true;
//var anchorBody = new Jitter.Dynamics.RigidBody(new Jitter.Collision.Shapes.SphereShape(0.05f));
//anchorBody.Position = new Jitter.LinearMath.JVector(0, 4, 0);
//world.AddBody(anchorBody);
//anchorBody.IsStatic = true;
//for (var bodyCount = -3; bodyCount < 4; bodyCount++)
//{
// var testBody = new Jitter.Dynamics.RigidBody(new Jitter.Collision.Shapes.SphereShape(0.501f));
// testBody.Position = new Jitter.LinearMath.JVector(bodyCount, 0, 0);
// world.AddBody(testBody);
// world.AddConstraint(new Jitter.Dynamics.Constraints.PointPointDistance(box, testBody,
// testBody.Position + Jitter.LinearMath.JVector.Up * 8f + Jitter.LinearMath.JVector.Forward * 3f + Jitter.LinearMath.JVector.Down * 0.5f,
// testBody.Position) { Softness = 1.0f, BiasFactor = 0.8f });
// world.AddConstraint(new Jitter.Dynamics.Constraints.PointPointDistance(box, testBody,
// testBody.Position + Jitter.LinearMath.JVector.Up * 8f + Jitter.LinearMath.JVector.Backward * 3f + Jitter.LinearMath.JVector.Down * 0.5f,
// testBody.Position) { Softness = 1.0f, BiasFactor = 0.8f });
// testBody.Material.Restitution = 1.0f;
// testBody.Material.StaticFriction = 1.0f;
//}
#endregion
// Initialize the world matrix
var worldMatrix = Matrix.Identity;
// Set the camera position slightly behind (z)
var cameraPosition = new Vector3(0, 1, 10);
var cameraTarget = Vector3.Zero; // Looking at the origin 0,0,0
var cameraUp = Vector3.UnitY; // Y+ is Up
// Prepare matrices
// Create the view matrix from our camera position, look target and up direction
var viewMatrix = Matrix.LookAtRH(cameraPosition, cameraTarget, cameraUp);
viewMatrix.TranslationVector += new Vector3(0, -0.98f, 0);
// Create the projection matrix
/* FoV 60degrees = Pi/3 radians */
// Aspect ratio (based on window size), Near clip, Far clip
var projectionMatrix = Matrix.PerspectiveFovRH((float)Math.PI / 3f, Width / (float)Height, 0.1f, 100f);
// Maintain the correct aspect ratio on resize
Window.Resize += (s, e) =>
{
projectionMatrix = Matrix.PerspectiveFovRH((float)Math.PI / 3f, Width / (float)Height, 0.1f, 100f);
};
bool debugDraw = false;
bool paused = false;
var simTime = new System.Diagnostics.Stopwatch();
simTime.Start();
float time = 0.0f;
float timeStep = 0.0f;
#region Rotation and window event handlers
// Create a rotation vector to keep track of the rotation
// around each of the axes
var rotation = new Vector3(0.0f, 0.0f, 0.0f);
// We will call this action to update text
// for the text renderer
Action updateText = () =>
{
textRenderer.Text =
String.Format("Rotation ({0}) (Up/Down Left/Right Wheel+-)\nView ({1}) (A/D, W/S, Shift+Wheel+-)"
//+ "\nPress 1,2,3,4,5,6,7,8 to switch shaders"
+ "\nTime: {2:0.00} (P to toggle, R to reset scene)"
+ "\nPhysics debug draw: {3} (E to toggle)"
+ "\nBackspace: toggle between Physics and Waves",
rotation,
viewMatrix.TranslationVector,
simTime.Elapsed.TotalSeconds,
debugDraw);
};
Dictionary <Keys, bool> keyToggles = new Dictionary <Keys, bool>();
keyToggles[Keys.Z] = false;
keyToggles[Keys.F] = false;
keyToggles[Keys.Back] = false;
// Support keyboard/mouse input to rotate or move camera view
var moveFactor = 0.02f; // how much to change on each keypress
var shiftKey = false;
var ctrlKey = false;
var background = Color.White;
var showNormals = false;
var enableNormalMap = true;
Window.KeyDown += (s, e) =>
{
var context = DeviceManager.Direct3DContext;
shiftKey = e.Shift;
ctrlKey = e.Control;
switch (e.KeyCode)
{
// WASD -> pans view
case Keys.A:
viewMatrix.TranslationVector += new Vector3(moveFactor * 2, 0f, 0f);
break;
case Keys.D:
viewMatrix.TranslationVector -= new Vector3(moveFactor * 2, 0f, 0f);
break;
case Keys.S:
if (shiftKey)
{
viewMatrix.TranslationVector += new Vector3(0f, moveFactor * 2, 0f);
}
else
{
viewMatrix.TranslationVector -= new Vector3(0f, 0f, 1) * moveFactor * 2;
}
break;
case Keys.W:
if (shiftKey)
{
viewMatrix.TranslationVector -= new Vector3(0f, moveFactor * 2, 0f);
}
else
{
viewMatrix.TranslationVector += new Vector3(0f, 0f, 1) * moveFactor * 2;
}
break;
// Up/Down and Left/Right - rotates around X / Y respectively
// (Mouse wheel rotates around Z)
case Keys.Down:
worldMatrix *= Matrix.RotationX(moveFactor);
rotation += new Vector3(moveFactor, 0f, 0f);
break;
case Keys.Up:
worldMatrix *= Matrix.RotationX(-moveFactor);
rotation -= new Vector3(moveFactor, 0f, 0f);
break;
case Keys.Left:
worldMatrix *= Matrix.RotationY(moveFactor);
rotation += new Vector3(0f, moveFactor, 0f);
break;
case Keys.Right:
worldMatrix *= Matrix.RotationY(-moveFactor);
rotation -= new Vector3(0f, moveFactor, 0f);
break;
case Keys.T:
fps.Show = !fps.Show;
textRenderer.Show = !textRenderer.Show;
break;
case Keys.B:
if (background == Color.White)
{
background = new Color(30, 30, 34);
}
else
{
background = Color.White;
}
break;
case Keys.G:
axisGrid.Show = !axisGrid.Show;
break;
case Keys.P:
paused = !paused;
if (paused)
{
simTime.Stop();
}
else
{
simTime.Start();
}
// Pause or resume mesh animation
meshes.ForEach(m => {
if (m.Clock.IsRunning)
{
m.Clock.Stop();
}
else
{
m.Clock.Start();
}
});
updateText();
break;
case Keys.X:
// To test for correct resource recreation
// Simulate device reset or lost.
System.Diagnostics.Debug.WriteLine(SharpDX.Diagnostics.ObjectTracker.ReportActiveObjects());
DeviceManager.Initialize(DeviceManager.Dpi);
System.Diagnostics.Debug.WriteLine(SharpDX.Diagnostics.ObjectTracker.ReportActiveObjects());
break;
case Keys.Z:
keyToggles[Keys.Z] = !keyToggles[Keys.Z];
if (keyToggles[Keys.Z])
{
context.PixelShader.Set(depthPixelShader);
}
else
{
context.PixelShader.Set(pixelShader);
}
break;
case Keys.F:
keyToggles[Keys.F] = !keyToggles[Keys.F];
RasterizerStateDescription rasterDesc;
if (context.Rasterizer.State != null)
{
rasterDesc = context.Rasterizer.State.Description;
}
else
{
rasterDesc = new RasterizerStateDescription()
{
CullMode = CullMode.None,
FillMode = FillMode.Solid
}
};
if (keyToggles[Keys.F])
{
rasterDesc.FillMode = FillMode.Wireframe;
context.Rasterizer.State = ToDispose(new RasterizerState(context.Device, rasterDesc));
}
else
{
rasterDesc.FillMode = FillMode.Solid;
context.Rasterizer.State = ToDispose(new RasterizerState(context.Device, rasterDesc));
}
break;
case Keys.N:
if (!shiftKey)
{
showNormals = !showNormals;
}
else
{
enableNormalMap = !enableNormalMap;
}
break;
case Keys.E:
debugDraw = !debugDraw;
break;
case Keys.R:
//world = new Jitter.World(new Jitter.Collision.CollisionSystemSAP());
initializePhysics();
if (simTime.IsRunning)
{
simTime.Restart();
}
else
{
simTime.Reset();
}
break;
case Keys.D1:
context.PixelShader.Set(pixelShader);
break;
case Keys.D2:
context.PixelShader.Set(lambertShader);
break;
case Keys.D3:
context.PixelShader.Set(phongShader);
break;
case Keys.D4:
context.PixelShader.Set(blinnPhongShader);
break;
case Keys.Back:
keyToggles[Keys.Back] = !keyToggles[Keys.Back];
break;
}
updateText();
};
Window.KeyUp += (s, e) =>
{
// Clear the shift/ctrl keys so they aren't sticky
if (e.KeyCode == Keys.ShiftKey)
{
shiftKey = false;
}
if (e.KeyCode == Keys.ControlKey)
{
ctrlKey = false;
}
};
Window.MouseWheel += (s, e) =>
{
if (shiftKey)
{
// Zoom in/out
viewMatrix.TranslationVector += new Vector3(0f, 0f, (e.Delta / 120f) * moveFactor * 2);
}
else
{
// rotate around Z-axis
viewMatrix *= Matrix.RotationZ((e.Delta / 120f) * moveFactor);
rotation += new Vector3(0f, 0f, (e.Delta / 120f) * moveFactor);
}
updateText();
};
var lastX = 0;
var lastY = 0;
Window.MouseDown += (s, e) =>
{
if (e.Button == MouseButtons.Left)
{
lastX = e.X;
lastY = e.Y;
}
};
Window.MouseMove += (s, e) =>
{
if (e.Button == MouseButtons.Left)
{
var yRotate = lastX - e.X;
var xRotate = lastY - e.Y;
lastY = e.Y;
lastX = e.X;
// Mouse move changes
viewMatrix *= Matrix.RotationX(-xRotate * moveFactor);
viewMatrix *= Matrix.RotationY(-yRotate * moveFactor);
updateText();
}
};
// Display instructions with initial values
updateText();
#endregion
var clock = new System.Diagnostics.Stopwatch();
clock.Start();
#region Render loop
// Create and run the render loop
RenderLoop.Run(Window, () =>
{
// Update simulation, at 60fps
if (!paused)
{
if ((float)simTime.Elapsed.TotalSeconds < time)
{
time = 0;
timeStep = 0;
}
timeStep = ((float)simTime.Elapsed.TotalSeconds - time);
time = (float)simTime.Elapsed.TotalSeconds;
world.StepSimulation(timeStep, 7);
// For how to choose the maxSubSteps see:
// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Stepping_The_World
}
updateText();
// Start of frame:
// Retrieve immediate context
var context = DeviceManager.Direct3DContext;
// Clear depth stencil view
context.ClearDepthStencilView(DepthStencilView, DepthStencilClearFlags.Depth | DepthStencilClearFlags.Stencil, 1.0f, 0);
// Clear render target view
context.ClearRenderTargetView(RenderTargetView, background);
// Create viewProjection matrix
var viewProjection = Matrix.Multiply(viewMatrix, projectionMatrix);
// Extract camera position from view
var camPosition = Matrix.Transpose(Matrix.Invert(viewMatrix)).Column4;
cameraPosition = new Vector3(camPosition.X, camPosition.Y, camPosition.Z);
var perFrame = new ConstantBuffers.PerFrame();
perFrame.Light.Color = new Color(0.8f, 0.8f, 0.8f, 1.0f);
var lightDir = Vector3.Transform(new Vector3(1f, -1f, -1f), worldMatrix);
perFrame.Light.Direction = new Vector3(lightDir.X, lightDir.Y, lightDir.Z);
perFrame.CameraPosition = cameraPosition;
perFrame.Time = (float)simTime.Elapsed.TotalSeconds; // Provide simulation time to shader
context.UpdateSubresource(ref perFrame, perFrameBuffer);
// Render each object
var perMaterial = new ConstantBuffers.PerMaterial();
perMaterial.Ambient = new Color4(0.2f);
perMaterial.Diffuse = Color.White;
perMaterial.Emissive = new Color4(0);
perMaterial.Specular = Color.White;
perMaterial.SpecularPower = 20f;
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
var perObject = new ConstantBuffers.PerObject();
// MESH
if (!keyToggles[Keys.Back])
{
meshes.ForEach((m) =>
{
perObject.World = m.World * worldMatrix;
// Provide the material constant buffer to the mesh renderer
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
m.PerMaterialBuffer = perMaterialBuffer;
m.PerArmatureBuffer = perArmatureBuffer;
m.Render();
if (showNormals)
{
using (var prevPixelShader = context.PixelShader.Get())
{
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
context.PixelShader.Set(pixelShader);
context.GeometryShader.Set(debugNormals);
m.Render();
context.PixelShader.Set(prevPixelShader);
context.GeometryShader.Set(null);
}
}
});
if (debugDraw)
{
perObject.World = Matrix.Identity;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
(world.DebugDrawer as PhysicsDebugDraw).DrawDebugWorld(world);
context.VertexShader.Set(vertexShader);
context.PixelShader.Set(pixelShader);
context.InputAssembler.InputLayout = vertexLayout;
}
}
else
{
perObject.World = waterMesh.World * worldMatrix;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
waterMesh.EnableNormalMap = enableNormalMap;
waterMesh.PerMaterialBuffer = perMaterialBuffer;
waterMesh.PerArmatureBuffer = perArmatureBuffer;
context.VertexShader.Set(waterVertexShader);
waterMesh.Render();
if (showNormals)
{
using (var prevPixelShader = context.PixelShader.Get())
{
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
context.PixelShader.Set(pixelShader);
context.GeometryShader.Set(debugNormals);
waterMesh.Render();
context.PixelShader.Set(prevPixelShader);
context.GeometryShader.Set(null);
}
}
context.VertexShader.Set(vertexShader);
foreach (var m in shipMeshes)
{
perObject.World = m.World * worldMatrix;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
// Provide the material constant buffer to the mesh renderer
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
m.PerMaterialBuffer = perMaterialBuffer;
m.PerArmatureBuffer = perArmatureBuffer;
m.Render();
if (showNormals)
{
using (var prevPixelShader = context.PixelShader.Get())
{
perMaterial.HasTexture = 0;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
context.PixelShader.Set(pixelShader);
context.GeometryShader.Set(debugNormals);
m.Render();
context.PixelShader.Set(prevPixelShader);
context.GeometryShader.Set(null);
}
}
}
}
perMaterial.Ambient = new Color4(0.2f);
perMaterial.Diffuse = Color.White;
perMaterial.Emissive = new Color4(0);
perMaterial.Specular = Color.White;
perMaterial.SpecularPower = 20f;
perMaterial.UVTransform = Matrix.Identity;
context.UpdateSubresource(ref perMaterial, perMaterialBuffer);
// AXIS GRID
context.HullShader.Set(null);
context.DomainShader.Set(null);
context.GeometryShader.Set(null);
using (var prevPixelShader = context.PixelShader.Get())
using (var prevVertexShader = context.VertexShader.Get())
{
context.VertexShader.Set(vertexShader);
context.PixelShader.Set(pixelShader);
perObject.World = worldMatrix;
perObject.WorldInverseTranspose = Matrix.Transpose(Matrix.Invert(perObject.World));
perObject.WorldViewProjection = perObject.World * viewProjection;
perObject.ViewProjection = viewProjection;
perObject.Transpose();
context.UpdateSubresource(ref perObject, perObjectBuffer);
axisGrid.Render();
context.PixelShader.Set(prevPixelShader);
context.VertexShader.Set(prevVertexShader);
}
// Render FPS
fps.Render();
// Render instructions + position changes
textRenderer.Render();
// Present the frame
Present();
});
#endregion
}
public Physics(SceneManager sceneMgr)
{
// 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, Matrix4.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++)
{
Matrix4 startTransform = new Matrix4();
startTransform.MakeTrans(
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
int index = (k * ArraySizeX + i) * ArraySizeZ + j;
Entity box = sceneMgr.CreateEntity("Box" + index.ToString(), "box.mesh");
box.SetMaterialName("BoxMaterial/Active");
SceneNode boxNode = sceneMgr.RootSceneNode.CreateChildSceneNode("BoxNode" + index.ToString());
boxNode.AttachObject(box);
boxNode.Scale(new Vector3(2, 2, 2));
MogreMotionState myMotionState = new MogreMotionState(box, boxNode, startTransform);
RigidBodyConstructionInfo rbInfo =
new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia);
RigidBody body = new RigidBody(rbInfo);
myMotionState.Body = body;
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
//
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
private void Initialize()
{
Inventor.Application InvApp = AdnInventorUtilities.InvApplication;
if(!(InvApp.ActiveDocument is AssemblyDocument))
return;
AssemblyDocument doc = InvApp.ActiveDocument as AssemblyDocument;
_dynamicsWorld = new DynamicsWorld();
_mapOccurrencesToBodies.Clear();
//create dynamic bodies
double[] transfo = new double[16];
for(int idx=1; idx < doc.ComponentDefinition.Occurrences.Count; ++idx)
{
ComponentOccurrence occurrence = doc.ComponentDefinition.Occurrences[idx];
PartComponentDefinition compDef = occurrence.Definition as PartComponentDefinition;
if (occurrence.Grounded)
{
}
else
{
occurrence.Transformation.GetMatrixData(ref transfo);
int vertexCount;
int facetCount;
double[] vertexCoords = new double[]{};
double[] normals = new double[]{};
int[] indices = new int[]{};
compDef.SurfaceBodies[1].CalculateFacets(0.01,
out vertexCount,
out facetCount,
out vertexCoords,
out normals,
out indices);
RigidBody body = new RigidBody(facetCount, vertexCoords, normals, indices, occurrence.MassProperties.Mass, transfo);
ValueTypeEnum type;
int vx = 0, vy = 0, vz = 0;
object ovx = null, ovy = null, ovz = null;
if (AdnInventorUtilities.ReadAttribute((object)occurrence, "Simulation", "xVelInit", out ovx, out type))
vx = (int)ovx;
if(AdnInventorUtilities.ReadAttribute((object)occurrence, "Simulation", "yVelInit", out ovy, out type))
vy = (int)ovy;
if(AdnInventorUtilities.ReadAttribute((object)occurrence, "Simulation", "zVelInit", out ovz, out type))
vz = (int)ovz;
body.SetLinearVelocity(vx, vy, vz);
_mapOccurrencesToBodies.Add(occurrence, body);
_dynamicsWorld.AddRigidBody(body);
}
}
ComponentOccurrence groundOcc =
doc.ComponentDefinition.Occurrences[doc.ComponentDefinition.Occurrences.Count];
double[] pos = new double[]
{
groundOcc.Transformation.Translation.X,
groundOcc.Transformation.Translation.Y,
groundOcc.Transformation.Translation.Z
};
RigidBody groundBody = new RigidBody(pos);
_dynamicsWorld.AddRigidBody(groundBody);
}
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);
CollisionShapes = new List <CollisionShape>();
// 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);
var rbInfo = new RigidBodyConstructionInfo(mass, null, colShape, localInertia);
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.CreateTranslation(
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
rbInfo.MotionState = new DefaultMotionState(startTransform);
RigidBody body = new RigidBody(rbInfo);
// make it drop from a height
body.Translate(new Vector3(0, 20, 0));
World.AddRigidBody(body);
}
}
}
rbInfo.Dispose();
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
//
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
private void Initialize()
{
Inventor.Application InvApp = AdnInventorUtilities.InvApplication;
if (!(InvApp.ActiveDocument is AssemblyDocument))
{
return;
}
AssemblyDocument doc = InvApp.ActiveDocument as AssemblyDocument;
_dynamicsWorld = new DynamicsWorld();
_mapOccurrencesToBodies.Clear();
//create dynamic bodies
double[] transfo = new double[16];
for (int idx = 1; idx < doc.ComponentDefinition.Occurrences.Count; ++idx)
{
ComponentOccurrence occurrence = doc.ComponentDefinition.Occurrences[idx];
PartComponentDefinition compDef = occurrence.Definition as PartComponentDefinition;
if (occurrence.Grounded)
{
}
else
{
occurrence.Transformation.GetMatrixData(ref transfo);
int vertexCount;
int facetCount;
double[] vertexCoords = new double[] {};
double[] normals = new double[] {};
int[] indices = new int[] {};
compDef.SurfaceBodies[1].CalculateFacets(0.01,
out vertexCount,
out facetCount,
out vertexCoords,
out normals,
out indices);
RigidBody body = new RigidBody(facetCount, vertexCoords, normals, indices, occurrence.MassProperties.Mass, transfo);
ValueTypeEnum type;
int vx = 0, vy = 0, vz = 0;
object ovx = null, ovy = null, ovz = null;
if (AdnInventorUtilities.ReadAttribute((object)occurrence, "Simulation", "xVelInit", out ovx, out type))
{
vx = (int)ovx;
}
if (AdnInventorUtilities.ReadAttribute((object)occurrence, "Simulation", "yVelInit", out ovy, out type))
{
vy = (int)ovy;
}
if (AdnInventorUtilities.ReadAttribute((object)occurrence, "Simulation", "zVelInit", out ovz, out type))
{
vz = (int)ovz;
}
body.SetLinearVelocity(vx, vy, vz);
_mapOccurrencesToBodies.Add(occurrence, body);
_dynamicsWorld.AddRigidBody(body);
}
}
ComponentOccurrence groundOcc =
doc.ComponentDefinition.Occurrences[doc.ComponentDefinition.Occurrences.Count];
double[] pos = new double[]
{
groundOcc.Transformation.Translation.X,
groundOcc.Transformation.Translation.Y,
groundOcc.Transformation.Translation.Z
};
RigidBody groundBody = new RigidBody(pos);
_dynamicsWorld.AddRigidBody(groundBody);
}