void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
//-------------------------------------------------------
btCollisionShape fallShape = new btSphereShape( btScalar.BT_ONE );
btVector3 origin = new btVector3( 0, 50, 0 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
//-------------------------------------------------------
btCollisionShape fallShape2;
if( !box )
fallShape2 = new btSphereShape( btScalar.BT_ONE );
else
fallShape2 = new btBoxShape( ref btVector3.One );
origin = new btVector3( sloped ? -34 : 0.25, 1, 0.25 );
init = new btTransform( ref btQuaternion.Identity, ref origin );
fallMotionState = new btDefaultMotionState( ref init );
mass = 1;
fallShape2.calculateLocalInertia( mass, out fallInertia );
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape2, ref fallInertia );
fallingRigidBody2 = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody2 );
}
internal static void getClosestPoints( btBoxShape m_box1, btBoxShape m_box2
, btDiscreteCollisionDetectorInterface.ClosestPointInput input
, btDiscreteCollisionDetectorInterface.Result output
, btIDebugDraw debugDraw, bool swapResults = false )
{
//btTransform transformA; input.m_transformA.Get( out transformA );
//btTransform transformB; input.m_transformB.Get( out transformB );
int skip = 0;
//dContactGeom* contact = 0;
double[] R1 = new double[12];
double[] R2 = new double[12];
//dMatrix3 R1;
//dMatrix3 R2;
for( int j = 0; j < 3; j++ )
{
R1[0 + 4 * j] = btMatrix3x3.getValue( ref input.m_transformA.m_basis, j,0 );
R2[0 + 4 * j] = btMatrix3x3.getValue( ref input.m_transformB.m_basis, j, 0 );
R1[1 + 4 * j] = btMatrix3x3.getValue( ref input.m_transformA.m_basis,j,1);
R2[1 + 4 * j] = btMatrix3x3.getValue( ref input.m_transformB.m_basis,j,1 );
R1[2 + 4 * j] = btMatrix3x3.getValue( ref input.m_transformA.m_basis,j,2 );
R2[2 + 4 * j] = btMatrix3x3.getValue( ref input.m_transformB.m_basis,j,2 );
}
//btVector3 normal;
//double depth;
//int return_code;
int maxc = 4;
btVector3 half1, half2;
m_box1.getHalfExtentsWithMargin( out half1 );
half1.Mult( btScalar.BT_TWO, out half1 );
m_box2.getHalfExtentsWithMargin( out half2 );
half2.Mult( btScalar.BT_TWO, out half2 );
dBoxBox2( ref input.m_transformA.m_origin,
R1,
ref half1,
ref input.m_transformB.m_origin,
R2,
ref half2,
//out normal, out depth, out return_code,
maxc, skip,
output
);
}
void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
//-------------------------------------------------------
btCollisionShape staticShape = new btBoxShape( ref btVector3.One );
btVector3 origin = new btVector3( -3, 4, 0 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 0;
btVector3 fallInertia;
staticShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, staticShape, ref fallInertia );
staticRigidBody[0] = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( staticRigidBody[0] );
//-------------------------------------------------------
btCollisionShape fallShape = new btBoxShape( ref btVector3.One );
origin = new btVector3( -3, 10, 0 );
init = new btTransform( ref btQuaternion.Identity, ref origin );
fallMotionState = new btDefaultMotionState( ref init );
mass = 1;
fallShape.calculateLocalInertia( mass, out fallInertia );
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
//-------------------------------------------------------
btCollisionShape fallShape2 = new btBoxShape( ref btVector3.One );
origin = new btVector3( 3, 10, 0 );
init = new btTransform( ref btQuaternion.Identity, ref origin );
fallMotionState = new btDefaultMotionState( ref init );
mass = 1;
fallShape2.calculateLocalInertia( mass, out fallInertia );
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape2, ref fallInertia );
fallingRigidBody2 = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody2 );
//---------------------------------------------------
// Hinge them together
btVector3 pivotInA; btVector3.xAxis.Mult( 3, out pivotInA );
btVector3 axisInA = btVector3.yAxis;
btVector3 pivotInB; btVector3.xAxis.Mult( -3, out pivotInB );
btVector3 axisInB = btVector3.yAxis;
btHingeConstraint constraint = new btHingeConstraint( fallingRigidBody, fallingRigidBody2
, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB );
//constraint.enableMotor( true );
//constraint.setMotorTargetVelocity( 1 );
//constraint.setLimit( -btScalar.SIMD_2_PI, btScalar.SIMD_2_PI );
constraint.enableAngularMotor( true, -1, -0.1 );
world.addConstraint( constraint );
}
public void Setup()
{
world = new btDiscreteDynamicsWorld();
world.setDebugDrawer( Program.Drawer );
btVector3 tmp; btVector3.yAxis.Add( ref btVector3.xAxis, out tmp );
tmp.normalized( out tmp );
btCollisionShape groundShape;
if( sloped )
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref tmp );
else
groundShape = new btStaticPlaneShape( ref btVector3.Zero, ref btVector3.yAxis );
btDefaultMotionState groundMotionState = new btDefaultMotionState();
btRigidBody.btRigidBodyConstructionInfo
groundRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( 0, groundMotionState
, groundShape, ref btVector3.Zero );
btRigidBody groundRigidBody = new btRigidBody( groundRigidBodyCI );
world.addRigidBody( groundRigidBody );
btCollisionShape fallShape = new btBoxShape( ref btVector3.One );
if( large_count )
{
int n;
int cubes = 5;
for( n = 0; n < cubes * cubes * cubes; n++ )
{
btVector3 origin = new btVector3( ( n %cubes - cubes/2) * 3, 50 + ( n/(cubes*cubes))*3, (( n / cubes)%cubes - cubes/2 ) * 3 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
if( n % (cubes* cubes ) == 0 )
Console.Write( "." );
}
}
else
{
btVector3 origin = new btVector3( 1, 50, 1 );
btTransform init = new btTransform( ref btQuaternion.Identity, ref origin );
btDefaultMotionState fallMotionState = new btDefaultMotionState( ref init );
btScalar mass = 1;
btVector3 fallInertia;
fallShape.calculateLocalInertia( mass, out fallInertia );
btRigidBody.btRigidBodyConstructionInfo
fallingRigidBodyCI = new btRigidBody.btRigidBodyConstructionInfo( mass, fallMotionState
, fallShape, ref fallInertia );
fallingRigidBody = new btRigidBody( fallingRigidBodyCI );
world.addRigidBody( fallingRigidBody );
}
}