public virtual void OnHandleInput() { if (Input.KeysPressed.Count != 0) { switch (Input.KeysPressed[0]) { case Keys.Escape: case Keys.Q: Graphics.Form.Close(); return; case Keys.F1: MessageBox.Show( "Move using WASD + shift\n" + "Left click - point camera\n" + "Right click - pick up an object using a Point2PointConstraint\n" + "Right click + shift - pick up an object using a fixed Generic6DofConstraint\n" + "Space - shoot box\n" + "Q - quit\n\n" + Graphics.InfoText, "Help"); // Key release won't be captured Input.KeysDown.Remove(Keys.F1); break; case Keys.F3: IsDebugDrawEnabled = !IsDebugDrawEnabled; break; case Keys.F8: Input.ClearKeyCache(); GraphicsLibraryManager.ExitWithReload = true; Graphics.Form.Close(); break; case Keys.F11: Graphics.IsFullScreen = !Graphics.IsFullScreen; break; case (Keys.Control | Keys.F): const int maxSerializeBufferSize = 1024 * 1024 * 5; using (var serializer = new DefaultSerializer(maxSerializeBufferSize)) { World.Serialize(serializer); byte[] dataBytes = new byte[serializer.CurrentBufferSize]; System.Runtime.InteropServices.Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length); using (var file = new System.IO.FileStream("world.bullet", System.IO.FileMode.Create)) { file.Write(dataBytes, 0, dataBytes.Length); } } break; case Keys.G: //shadowsEnabled = !shadowsEnabled; break; case Keys.Space: ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView)); break; case Keys.Return: ClientResetScene(); break; } } if (Input.MousePressed != MouseButtons.None) { Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView); if (Input.MousePressed == MouseButtons.Right) { if (World != null) { Vector3 rayFrom = Freelook.Eye; ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo); World.RayTestRef(ref rayFrom, ref rayTo, rayCallback); if (rayCallback.HasHit) { Vector3 pickPos = rayCallback.HitPointWorld; RigidBody body = rayCallback.CollisionObject as RigidBody; if (body != null) { if (!(body.IsStaticObject || body.IsKinematicObject)) { pickedBody = body; pickedBody.ActivationState = ActivationState.DisableDeactivation; Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform)); if (Input.KeysDown.Contains(Keys.ShiftKey)) { Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false) { LinearLowerLimit = Vector3.Zero, LinearUpperLimit = Vector3.Zero, AngularLowerLimit = Vector3.Zero, AngularUpperLimit = Vector3.Zero }; World.AddConstraint(dof6); pickConstraint = dof6; dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5); } else { Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot); World.AddConstraint(p2p); pickConstraint = p2p; p2p.Setting.ImpulseClamp = 30; //very weak constraint for picking p2p.Setting.Tau = 0.001f; /* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2); p2p.SetParam(ConstraintParams.Erp, 0.1f, 0); p2p.SetParam(ConstraintParams.Erp, 0.1f, 1); p2p.SetParam(ConstraintParams.Erp, 0.1f, 2); */ } } } else { MultiBodyLinkCollider multiCol = rayCallback.CollisionObject as MultiBodyLinkCollider; if (multiCol != null && multiCol.MultiBody != null) { MultiBody mb = multiCol.MultiBody; prevCanSleep = mb.CanSleep; mb.CanSleep = false; Vector3 pivotInA = mb.WorldPosToLocal(multiCol.Link, pickPos); MultiBodyPoint2Point p2p = new MultiBodyPoint2Point(mb, multiCol.Link, null, pivotInA, pickPos); p2p.MaxAppliedImpulse = 2; (World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(p2p); pickingMultiBodyPoint2Point = p2p; } } oldPickingDist = (pickPos - rayFrom).Length; } rayCallback.Dispose(); } } } else if (Input.MouseReleased == MouseButtons.Right) { RemovePickingConstraint(); } // Mouse movement if (Input.MouseDown == MouseButtons.Right) { MovePickedBody(); } }
public virtual void OnHandleInput() { if (_input.KeysPressed.Count != 0) { switch (_input.KeysPressed[0]) { case Keys.Escape: case Keys.Q: Graphics.Form.Close(); return; case Keys.F3: IsDebugDrawEnabled = !IsDebugDrawEnabled; break; case Keys.F8: Input.ClearKeyCache(); LibraryManager.ExitWithReload = true; Graphics.Form.Close(); break; case Keys.F11: Graphics.IsFullScreen = !Graphics.IsFullScreen; break; case Keys.G: //shadowsEnabled = !shadowsEnabled; break; case Keys.Space: ShootBox(_freelook.Eye, GetRayTo(_input.MousePoint, _freelook.Eye, _freelook.Target, Graphics.FieldOfView)); break; case Keys.Return: ClientResetScene(); break; } } if (_input.MousePressed != MouseButtons.None) { Vector3 rayTo = GetRayTo(_input.MousePoint, _freelook.Eye, _freelook.Target, Graphics.FieldOfView); if (_input.MousePressed == MouseButtons.Right) { if (_world != null) { Vector3 rayFrom = _freelook.Eye; CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(ref rayFrom, ref rayTo); _world.RayTest(ref rayFrom, ref rayTo, rayCallback); if (rayCallback.HasHit) { RigidBody body = rayCallback.CollisionObject as RigidBody; if (body != null) { if (!(body.IsStaticObject || body.IsKinematicObject)) { pickedBody = body; pickedBody.ActivationState = ActivationState.DisableDeactivation; Vector3 pickPos = rayCallback.HitPointWorld; Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform)); if (_input.KeysDown.Contains(Keys.ShiftKey)) { Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false) { LinearLowerLimit = Vector3.Zero, LinearUpperLimit = Vector3.Zero, AngularLowerLimit = Vector3.Zero, AngularUpperLimit = Vector3.Zero }; _world.AddConstraint(dof6); pickConstraint = dof6; dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5); } else { Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot); _world.AddConstraint(p2p); pickConstraint = p2p; p2p.Setting.ImpulseClamp = 30; //very weak constraint for picking p2p.Setting.Tau = 0.001f; /* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2); p2p.SetParam(ConstraintParams.Erp, 0.1f, 0); p2p.SetParam(ConstraintParams.Erp, 0.1f, 1); p2p.SetParam(ConstraintParams.Erp, 0.1f, 2); */ } oldPickingDist = (pickPos - rayFrom).Length(); } } } rayCallback.Dispose(); } } } else if (_input.MouseReleased == MouseButtons.Right) { RemovePickingConstraint(); } // Mouse movement if (_input.MouseDown == MouseButtons.Right) { if (pickConstraint != null) { Vector3 newRayTo = GetRayTo(_input.MousePoint, _freelook.Eye, _freelook.Target, Graphics.FieldOfView); if (pickConstraint.ConstraintType == TypedConstraintType.D6) { Generic6DofConstraint pickCon = pickConstraint as Generic6DofConstraint; //keep it at the same picking distance Vector3 rayFrom = _freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; Vector3 newPivotB = rayFrom + dir; Matrix tempFrameOffsetA = pickCon.FrameOffsetA; tempFrameOffsetA.M41 = newPivotB.X; tempFrameOffsetA.M42 = newPivotB.Y; tempFrameOffsetA.M43 = newPivotB.Z; pickCon.FrameOffsetA = tempFrameOffsetA; } else { Point2PointConstraint pickCon = pickConstraint as Point2PointConstraint; //keep it at the same picking distance Vector3 rayFrom = _freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; pickCon.PivotInB = rayFrom + dir; } } } }
protected virtual void OnHandleInput() { if (Input.KeysPressed.Count != 0) { switch (Input.KeysPressed[0]) { case Keys.Escape: case Keys.Q: Form.Close(); return; case Keys.F1: MessageBox.Show( "Move using mouse and WASD + shift\n" + "Space - Shoot box\n" + "Q - Quit\n\n" + "G - Toggle shadows\n" + "L - Toggle deferred lighting\n", "Help"); return; case Keys.F3: //IsDebugDrawEnabled = !IsDebugDrawEnabled; break; case Keys.F11: //ToggleFullScreen(); break; case (Keys.Control | Keys.F): const int maxSerializeBufferSize = 1024 * 1024 * 5; DefaultSerializer serializer = new DefaultSerializer(maxSerializeBufferSize); PhysicsContext.World.Serialize(serializer); byte[] dataBytes = new byte[serializer.CurrentBufferSize]; System.Runtime.InteropServices.Marshal.Copy(serializer.BufferPointer, dataBytes, 0, dataBytes.Length); System.IO.FileStream file = new System.IO.FileStream("world.bullet", System.IO.FileMode.Create); file.Write(dataBytes, 0, dataBytes.Length); file.Dispose(); break; case Keys.G: shadowsEnabled = !shadowsEnabled; break; case Keys.L: deferredLightingEnabled = !deferredLightingEnabled; break; case Keys.Space: PhysicsContext.ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView)); break; } } if (Input.MousePressed != MouseButtons.None) { Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView); if (Input.MousePressed == MouseButtons.Right) { if (PhysicsContext.World != null) { Vector3 rayFrom = Freelook.Eye; ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo); PhysicsContext.World.RayTest(rayFrom, rayTo, rayCallback); if (rayCallback.HasHit) { RigidBody body = rayCallback.CollisionObject as RigidBody; if (body != null) { if (!(body.IsStaticObject || body.IsKinematicObject)) { pickedBody = body; pickedBody.ActivationState = ActivationState.DisableDeactivation; Vector3 pickPos = rayCallback.HitPointWorld; Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform)); if (Input.KeysDown.Contains(Keys.ShiftKey)) { Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false) { LinearLowerLimit = Vector3.Zero, LinearUpperLimit = Vector3.Zero, AngularLowerLimit = Vector3.Zero, AngularUpperLimit = Vector3.Zero }; PhysicsContext.World.AddConstraint(dof6); pickConstraint = dof6; dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5); } else { Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot); PhysicsContext.World.AddConstraint(p2p); pickConstraint = p2p; p2p.Setting.ImpulseClamp = 30; //very weak constraint for picking p2p.Setting.Tau = 0.001f; /* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2); p2p.SetParam(ConstraintParams.Erp, 0.1f, 0); p2p.SetParam(ConstraintParams.Erp, 0.1f, 1); p2p.SetParam(ConstraintParams.Erp, 0.1f, 2); */ } oldPickingDist = (pickPos - rayFrom).Length(); } } } rayCallback.Dispose(); } } } else if (Input.MouseReleased == MouseButtons.Right) { RemovePickingConstraint(); } // Mouse movement if (Input.MouseDown == MouseButtons.Right) { if (pickConstraint != null) { Vector3 newRayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView); if (pickConstraint.ConstraintType == TypedConstraintType.D6) { Generic6DofConstraint pickCon = pickConstraint as Generic6DofConstraint; //keep it at the same picking distance Vector3 rayFrom = Freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; Vector3 newPivotB = rayFrom + dir; Matrix tempFrameOffsetA = pickCon.FrameOffsetA; tempFrameOffsetA.M41 = newPivotB.X; tempFrameOffsetA.M42 = newPivotB.Y; tempFrameOffsetA.M43 = newPivotB.Z; pickCon.SetFrames(tempFrameOffsetA, pickCon.FrameOffsetB); } else { Point2PointConstraint pickCon = pickConstraint as Point2PointConstraint; //keep it at the same picking distance Vector3 rayFrom = Freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; pickCon.PivotInB = rayFrom + dir; } } } }
protected virtual void OnHandleInput() { if (Input.KeysPressed.Count != 0) { Keys key = Input.KeysPressed[0]; switch (key) { case Keys.Escape: case Keys.Q: Quit(); return; case Keys.F3: IsDebugDrawEnabled = !IsDebugDrawEnabled; break; case Keys.F11: ToggleFullScreen(); break; case Keys.Space: PhysicsContext.ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView)); break; } } if (Input.MousePressed != MouseButtonFlags.None) { Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView); if (Input.MousePressed == MouseButtonFlags.RightDown) { if (PhysicsContext.World != null) { Vector3 rayFrom = Freelook.Eye; CollisionWorld.ClosestRayResultCallback rayCallback = new CollisionWorld.ClosestRayResultCallback(rayFrom, rayTo); PhysicsContext.World.RayTest(rayFrom, rayTo, rayCallback); if (rayCallback.HasHit) { RigidBody body = rayCallback.CollisionObject as RigidBody; if (body != null) { if (!(body.IsStaticObject || body.IsKinematicObject)) { pickedBody = body; pickedBody.ActivationState = ActivationState.DisableDeactivation; Vector3 pickPos = rayCallback.HitPointWorld; Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform)); if (use6Dof) { Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false); dof6.LinearLowerLimit = Vector3.Zero; dof6.LinearUpperLimit = Vector3.Zero; dof6.AngularLowerLimit = Vector3.Zero; dof6.AngularUpperLimit = Vector3.Zero; PhysicsContext.World.AddConstraint(dof6); pickConstraint = dof6; dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5); } else { Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot); PhysicsContext.World.AddConstraint(p2p); pickConstraint = p2p; p2p.Setting.ImpulseClamp = 30; //very weak constraint for picking p2p.Setting.Tau = 0.001f; /* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2); p2p.SetParam(ConstraintParams.Erp, 0.1f, 0); p2p.SetParam(ConstraintParams.Erp, 0.1f, 1); p2p.SetParam(ConstraintParams.Erp, 0.1f, 2); */ } use6Dof = !use6Dof; oldPickingDist = (pickPos - rayFrom).Length(); } } } } } else if (Input.MousePressed == MouseButtonFlags.RightUp) { if (pickConstraint != null && PhysicsContext.World != null) { PhysicsContext.World.RemoveConstraint(pickConstraint); pickConstraint.Dispose(); pickConstraint = null; pickedBody.ForceActivationState(ActivationState.ActiveTag); pickedBody.DeactivationTime = 0; pickedBody = null; } } } // Mouse movement if (Input.MouseDown == MouseButtonFlags.RightDown) { if (pickConstraint != null) { Vector3 newRayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, FieldOfView); if (pickConstraint.ConstraintType == TypedConstraintType.D6) { Generic6DofConstraint pickCon = pickConstraint as Generic6DofConstraint; //keep it at the same picking distance Vector3 rayFrom = Freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; Vector3 newPivotB = rayFrom + dir; Matrix tempFrameOffsetA = pickCon.FrameOffsetA; tempFrameOffsetA.M41 = newPivotB.X; tempFrameOffsetA.M42 = newPivotB.Y; tempFrameOffsetA.M43 = newPivotB.Z; pickCon.FrameOffsetA = tempFrameOffsetA; } else { Point2PointConstraint pickCon = pickConstraint as Point2PointConstraint; //keep it at the same picking distance Vector3 rayFrom = Freelook.Eye; Vector3 dir = newRayTo - rayFrom; dir.Normalize(); dir *= oldPickingDist; pickCon.PivotInB = rayFrom + dir; } } } }
public virtual void OnHandleInput() { if (Input.KeysPressed.Count != 0) { switch (Input.KeysPressed[0]) { case Keys.Escape: case Keys.Q: Graphics.Form.Close(); return; case Keys.F3: IsDebugDrawEnabled = !IsDebugDrawEnabled; break; case Keys.F8: Input.ClearKeyCache(); GraphicsLibraryManager.ExitWithReload = true; Graphics.Form.Close(); break; case Keys.F11: Graphics.IsFullScreen = !Graphics.IsFullScreen; break; case Keys.G: //shadowsEnabled = !shadowsEnabled; break; case Keys.Space: ShootBox(Freelook.Eye, GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView)); break; case Keys.Return: ClientResetScene(); break; } } if (Input.MousePressed != MouseButtons.None) { Vector3 rayTo = GetRayTo(Input.MousePoint, Freelook.Eye, Freelook.Target, Graphics.FieldOfView); if (Input.MousePressed == MouseButtons.Right) { if (_world != null) { Vector3 rayFrom = Freelook.Eye; ClosestRayResultCallback rayCallback = new ClosestRayResultCallback(ref rayFrom, ref rayTo); _world.RayTest(ref rayFrom, ref rayTo, rayCallback); if (rayCallback.HasHit) { Vector3 pickPos = rayCallback.HitPointWorld; RigidBody body = rayCallback.CollisionObject as RigidBody; if (body != null) { if (!(body.IsStaticObject || body.IsKinematicObject)) { pickedBody = body; pickedBody.ActivationState = ActivationState.DisableDeactivation; Vector3 localPivot = Vector3.TransformCoordinate(pickPos, Matrix.Invert(body.CenterOfMassTransform)); if (Input.KeysDown.Contains(Keys.ShiftKey)) { Generic6DofConstraint dof6 = new Generic6DofConstraint(body, Matrix.Translation(localPivot), false) { LinearLowerLimit = Vector3.Zero, LinearUpperLimit = Vector3.Zero, AngularLowerLimit = Vector3.Zero, AngularUpperLimit = Vector3.Zero }; _world.AddConstraint(dof6); pickConstraint = dof6; dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 0); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 1); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 2); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 3); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 4); dof6.SetParam(ConstraintParam.StopCfm, 0.8f, 5); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 0); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 1); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 2); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 3); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 4); dof6.SetParam(ConstraintParam.StopErp, 0.1f, 5); } else { Point2PointConstraint p2p = new Point2PointConstraint(body, localPivot); _world.AddConstraint(p2p); pickConstraint = p2p; p2p.Setting.ImpulseClamp = 30; //very weak constraint for picking p2p.Setting.Tau = 0.001f; /* p2p.SetParam(ConstraintParams.Cfm, 0.8f, 0); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 1); p2p.SetParam(ConstraintParams.Cfm, 0.8f, 2); p2p.SetParam(ConstraintParams.Erp, 0.1f, 0); p2p.SetParam(ConstraintParams.Erp, 0.1f, 1); p2p.SetParam(ConstraintParams.Erp, 0.1f, 2); */ } } } else { MultiBodyLinkCollider multiCol = rayCallback.CollisionObject as MultiBodyLinkCollider; if (multiCol != null && multiCol.MultiBody != null) { MultiBody mb = multiCol.MultiBody; prevCanSleep = mb.CanSleep; mb.CanSleep = false; Vector3 pivotInA = mb.WorldPosToLocal(multiCol.Link, pickPos); MultiBodyPoint2Point p2p = new MultiBodyPoint2Point(mb, multiCol.Link, null, pivotInA, pickPos); p2p.MaxAppliedImpulse = 2; (World as MultiBodyDynamicsWorld).AddMultiBodyConstraint(p2p); pickingMultiBodyPoint2Point = p2p; } } oldPickingDist = (pickPos - rayFrom).Length; } rayCallback.Dispose(); } } } else if (Input.MouseReleased == MouseButtons.Right) { RemovePickingConstraint(); } // Mouse movement if (Input.MouseDown == MouseButtons.Right) { MovePickedBody(); } }