public WheelInfo AddWheel(Vector3 connectionPointCS, Vector3 wheelDirectionCS0, Vector3 wheelAxleCS, float suspensionRestLength, float wheelRadius, VehicleTuning tuning, bool isFrontWheel) { var ci = new WheelInfoConstructionInfo() { ChassisConnectionCS = connectionPointCS, WheelDirectionCS = wheelDirectionCS0, WheelAxleCS = wheelAxleCS, SuspensionRestLength = suspensionRestLength, WheelRadius = wheelRadius, IsFrontWheel = isFrontWheel, SuspensionStiffness = tuning.SuspensionStiffness, WheelsDampingCompression = tuning.SuspensionCompression, WheelsDampingRelaxation = tuning.SuspensionDamping, FrictionSlip = tuning.FrictionSlip, MaxSuspensionTravelCm = tuning.MaxSuspensionTravelCm, MaxSuspensionForce = tuning.MaxSuspensionForce }; Array.Resize(ref wheelInfo, wheelInfo.Length + 1); var wheel = new WheelInfo(ci); wheelInfo[wheelInfo.Length - 1] = wheel; UpdateWheelTransformsWS(wheel, false); UpdateWheelTransform(NumWheels - 1, false); return(wheel); }
public RaycastVehicle(VehicleTuning tuning, RigidBody chassis, IVehicleRaycaster raycaster) { chassisBody = chassis; vehicleRaycaster = raycaster; }
protected override void OnInitializePhysics() { CollisionShape groundShape = new BoxShape(50, 3, 50); CollisionShapes.Add(groundShape); CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Solver = new SequentialImpulseConstraintSolver(); 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, Solver, CollisionConf); int i; Matrix tr; Matrix vehicleTr; //if (UseTrimeshGround) { const float scale = 20.0f; //create a triangle-mesh ground const int NumVertsX = 20; const int NumVertsY = 20; const int totalVerts = NumVertsX * NumVertsY; const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1); TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray(); IndexedMesh mesh = new IndexedMesh(); mesh.Allocate(totalTriangles, totalVerts); mesh.NumTriangles = totalTriangles; mesh.NumVertices = totalVerts; mesh.TriangleIndexStride = 3 * sizeof(int); mesh.VertexStride = Vector3.SizeInBytes; using (var indicesStream = mesh.GetTriangleStream()) { var indices = new BinaryWriter(indicesStream); for (i = 0; i < NumVertsX - 1; i++) { for (int j = 0; j < NumVertsY - 1; j++) { indices.Write(j * NumVertsX + i); indices.Write(j * NumVertsX + i + 1); indices.Write((j + 1) * NumVertsX + i + 1); indices.Write(j * NumVertsX + i); indices.Write((j + 1) * NumVertsX + i + 1); indices.Write((j + 1) * NumVertsX + i); } } indices.Dispose(); } using (var vertexStream = mesh.GetVertexStream()) { var vertices = new BinaryWriter(vertexStream); for (i = 0; i < NumVertsX; i++) { for (int j = 0; j < NumVertsY; j++) { float wl = .2f; float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl)); vertices.Write((i - NumVertsX * 0.5f) * scale); vertices.Write(height); vertices.Write((j - NumVertsY * 0.5f) * scale); } } vertices.Dispose(); } vertexArray.AddIndexedMesh(mesh); groundShape = new BvhTriangleMeshShape(vertexArray, true); tr = Matrix.Identity; vehicleTr = Matrix.Translation(0, -2, 0); }/* else { // Use HeightfieldTerrainShape int width = 40, length = 40; //int width = 128, length = 128; // Debugging is too slow for this float maxHeight = 10.0f; float heightScale = maxHeight / 256.0f; Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f); //PhyScalarType scalarType = PhyScalarType.PhyUChar; //FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read); // Use float data PhyScalarType scalarType = PhyScalarType.PhyFloat; byte[] terr = new byte[width * length * 4]; MemoryStream file = new MemoryStream(terr); BinaryWriter writer = new BinaryWriter(file); for (i = 0; i < width; i++) for (int j = 0; j < length; j++) writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i))); writer.Flush(); file.Position = 0; HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length, file, heightScale, 0, maxHeight, upIndex, scalarType, false); heightterrainShape.SetUseDiamondSubdivision(true); groundShape = heightterrainShape; groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z); tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2)); vehicleTr = Matrix.Translation(new Vector3(20, 3, -3)); // Create graphics object file.Position = 0; BinaryReader reader = new BinaryReader(file); int totalTriangles = (width - 1) * (length - 1) * 2; int totalVerts = width * length; game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts, MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal); SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None); for (i = 0; i < width; i++) { for (int j = 0; j < length; j++) { float height; if (scalarType == PhyScalarType.PhyFloat) { // heightScale isn't applied internally for float data height = reader.ReadSingle(); } else if (scalarType == PhyScalarType.PhyUChar) { height = file.ReadByte() * heightScale; } else { height = 0.0f; } data.Write((j - length * 0.5f) * scale.X); data.Write(height); data.Write((i - width * 0.5f) * scale.Z); // Normals will be calculated later data.Position += 12; } } game.groundMesh.UnlockVertexBuffer(); file.Close(); data = game.groundMesh.LockIndexBuffer(LockFlags.None); for (i = 0; i < width - 1; i++) { for (int j = 0; j < length - 1; j++) { // Using diamond subdivision if ((j + i) % 2 == 0) { data.Write(j * width + i); data.Write((j + 1) * width + i + 1); data.Write(j * width + i + 1); data.Write(j * width + i); data.Write((j + 1) * width + i); data.Write((j + 1) * width + i + 1); } else { data.Write(j * width + i); data.Write((j + 1) * width + i); data.Write(j * width + i + 1); data.Write(j * width + i + 1); data.Write((j + 1) * width + i); data.Write((j + 1) * width + i + 1); } / * // Not using diamond subdivision data.Write(j * width + i); data.Write((j + 1) * width + i); data.Write(j * width + i + 1); data.Write(j * width + i + 1); data.Write((j + 1) * width + i); data.Write((j + 1) * width + i + 1); * / } } game.groundMesh.UnlockIndexBuffer(); game.groundMesh.ComputeNormals(); }*/ CollisionShapes.Add(groundShape); //create ground object RigidBody ground = LocalCreateRigidBody(0, tr, groundShape); ground.UserObject = "Ground"; CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f); CollisionShapes.Add(chassisShape); CompoundShape compound = new CompoundShape(); CollisionShapes.Add(compound); //localTrans effectively shifts the center of mass with respect to the chassis Matrix localTrans = Matrix.Translation(Vector3.UnitY); compound.AddChildShape(localTrans, chassisShape); RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound); carChassis.UserObject = "Chassis"; //carChassis.SetDamping(0.2f, 0.2f); //CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius); // clientResetScene(); // create vehicle VehicleTuning tuning = new VehicleTuning(); IVehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(World); //vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster); vehicle = new CustomVehicle(tuning, carChassis, vehicleRayCaster); carChassis.ActivationState = ActivationState.DisableDeactivation; World.AddAction(vehicle); const float connectionHeight = 1.2f; bool isFrontWheel = true; // choose coordinate system vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex); BulletSharp.Math.Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius); vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius); vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); isFrontWheel = false; connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius); vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius); vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel); for (i = 0; i < vehicle.NumWheels; i++) { WheelInfo wheel = vehicle.GetWheelInfo(i); wheel.SuspensionStiffness = suspensionStiffness; wheel.WheelsDampingRelaxation = suspensionDamping; wheel.WheelsDampingCompression = suspensionCompression; wheel.FrictionSlip = wheelFriction; wheel.RollInfluence = rollInfluence; } vehicle.RigidBody.WorldTransform = vehicleTr; }
public WheelInfo AddWheel(Vector3 connectionPointCS, Vector3 wheelDirectionCS0, Vector3 wheelAxleCS, float suspensionRestLength, float wheelRadius, VehicleTuning tuning, bool isFrontWheel) { WheelInfoConstructionInfo ci = new WheelInfoConstructionInfo(); ci.ChassisConnectionCS = connectionPointCS; ci.WheelDirectionCS = wheelDirectionCS0; ci.WheelAxleCS = wheelAxleCS; ci.SuspensionRestLength = suspensionRestLength; ci.WheelRadius = wheelRadius; ci.SuspensionStiffness = tuning.SuspensionStiffness; ci.WheelsDampingCompression = tuning.SuspensionCompression; ci.WheelsDampingRelaxation = tuning.SuspensionDamping; ci.FrictionSlip = tuning.FrictionSlip; ci.IsFrontWheel = isFrontWheel; ci.MaxSuspensionTravelCm = tuning.MaxSuspensionTravelCm; ci.MaxSuspensionForce = tuning.MaxSuspensionForce; Array.Resize<WheelInfo>(ref wheelInfo, wheelInfo.Length + 1); WheelInfo wheel = new WheelInfo(ci); wheelInfo[wheelInfo.Length - 1] = wheel; UpdateWheelTransformsWS(wheel, false); UpdateWheelTransform(NumWheels - 1, false); return wheel; }
public WheelInfo AddWheel(Vector3 connectionPointCS, Vector3 wheelDirectionCS0, Vector3 wheelAxleCS, float suspensionRestLength, float wheelRadius, VehicleTuning tuning, bool isFrontWheel) { WheelInfoConstructionInfo ci = new WheelInfoConstructionInfo(); ci.ChassisConnectionCS = connectionPointCS; ci.WheelDirectionCS = wheelDirectionCS0; ci.WheelAxleCS = wheelAxleCS; ci.SuspensionRestLength = suspensionRestLength; ci.WheelRadius = wheelRadius; ci.SuspensionStiffness = tuning.SuspensionStiffness; ci.WheelsDampingCompression = tuning.SuspensionCompression; ci.WheelsDampingRelaxation = tuning.SuspensionDamping; ci.FrictionSlip = tuning.FrictionSlip; ci.IsFrontWheel = isFrontWheel; ci.MaxSuspensionTravelCm = tuning.MaxSuspensionTravelCm; ci.MaxSuspensionForce = tuning.MaxSuspensionForce; Array.Resize <WheelInfo>(ref wheelInfo, wheelInfo.Length + 1); WheelInfo wheel = new WheelInfo(ci); wheelInfo[wheelInfo.Length - 1] = wheel; UpdateWheelTransformsWS(wheel, false); UpdateWheelTransform(NumWheels - 1, false); return(wheel); }