public override void InitializeDemo() { base.InitializeDemo(); SetCameraDistance(50); heightFields.Clear(); //collisionShapes = new ObjectArray<CollisionShape>(); 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(); m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); // Needed once to enable ghost objects inside Bullet //broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); //new DbvtBroadphase(); SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver(); m_constraintSolver = sol; m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f); //world.DispatchInfo.AllowedCcdPenetration = 0.0001f; //world.Gravity = new Vector3(0, gravity, 0); mobControllers = new Dictionary<SceneNode, BulletMobState>(); LoadPlayerController(new Entity(), new SceneNode(), null, Vector3.Zero); //IndexedVector3 walkDir = new IndexedVector3(0, 0, -1); //playerController.SetWalkDirection(ref walkDir); //float[,] heights = new float[128, 128]; //LoadHeightField(heights, 10, 129, 129, Vector3.Zero, 1); float[,] heights = new float[32, 32]; LoadHeightField(heights, 10, 33, 33, Vector3.Zero, 1); ClientResetScene(); }
private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); p.angularDamping = BSParam.AngularDamping; p.defaultFriction = o[0].defaultFriction; p.defaultFriction = o[0].defaultFriction; p.defaultDensity = o[0].defaultDensity; p.defaultRestitution = o[0].defaultRestitution; p.collisionMargin = o[0].collisionMargin; p.gravity = o[0].gravity; p.linearDamping = BSParam.LinearDamping; p.angularDamping = BSParam.AngularDamping; p.deactivationTime = BSParam.DeactivationTime; p.linearSleepingThreshold = BSParam.LinearSleepingThreshold; p.angularSleepingThreshold = BSParam.AngularSleepingThreshold; p.ccdMotionThreshold = BSParam.CcdMotionThreshold; p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius; p.contactProcessingThreshold = BSParam.ContactProcessingThreshold; p.terrainImplementation = BSParam.TerrainImplementation; p.terrainFriction = BSParam.TerrainFriction; p.terrainHitFraction = BSParam.TerrainHitFraction; p.terrainRestitution = BSParam.TerrainRestitution; p.terrainCollisionMargin = BSParam.TerrainCollisionMargin; p.avatarFriction = BSParam.AvatarFriction; p.avatarStandingFriction = BSParam.AvatarStandingFriction; p.avatarDensity = BSParam.AvatarDensity; p.avatarRestitution = BSParam.AvatarRestitution; p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth; p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; p.vehicleAngularDamping = BSParam.VehicleAngularDamping; p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; p.numberOfSolverIterations = o[0].numberOfSolverIterations; p.linksetImplementation = BSParam.LinksetImplementation; p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset); p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor); p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; p.linkConstraintERP = BSParam.LinkConstraintERP; p.linkConstraintCFM = BSParam.LinkConstraintCFM; p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; p.physicsLoggingFrames = o[0].physicsLoggingFrames; DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); if (p.maxPersistantManifoldPoolSize > 0) cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; if (p.shouldDisableContactPoolDynamicAllocation !=0) m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); //if (p.maxCollisionAlgorithmPoolSize >0 ) DbvtBroadphase m_broadphase = new DbvtBroadphase(); //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); world.LastCollisionDesc = 0; world.LastEntityProperty = 0; world.WorldSettings.Params = p; world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; if (p.shouldRandomizeSolverOrder != 0) world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port if (p.shouldEnableFrictionCaching != 0) world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; if (p.numberOfSolverIterations > 0) world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; world.GetSolverInfo().m_globalCfm = 0.0f; world.GetSolverInfo().m_tau = 0.6f; world.GetSolverInfo().m_friction = 0.3f; world.GetSolverInfo().m_maxErrorReduction = 20f; world.GetSolverInfo().m_numIterations = 10; world.GetSolverInfo().m_erp = 0.2f; world.GetSolverInfo().m_erp2 = 0.1f; world.GetSolverInfo().m_sor = 1.0f; world.GetSolverInfo().m_splitImpulse = false; world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; world.GetSolverInfo().m_linearSlop = 0.0f; world.GetSolverInfo().m_warmstartingFactor = 0.85f; world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; world.SetForceUpdateAllAabbs(true); //BSParam.TerrainImplementation = 0; world.SetGravity(new IndexedVector3(0,0,p.gravity)); // Turn off Pooling since globals and pooling are bad for threading. BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false); BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false); BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false); BulletGlobals.CastResultPool.SetPoolingEnabled(false); BulletGlobals.SphereShapePool.SetPoolingEnabled(false); BulletGlobals.DbvtNodePool.SetPoolingEnabled(false); BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false); BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false); BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false); BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false); BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false); BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false); BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false); BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false); BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false); BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false); BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false); BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false); BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false); BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false); BulletGlobals.GJKPool.SetPoolingEnabled(false); BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false); BulletGlobals.TriangleShapePool.SetPoolingEnabled(false); BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false); BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false); BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false); BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false); BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false); BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false); BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false); BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false); BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false); BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false); return world; }
private static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); p.angularDamping = o[0].XangularDamping; p.defaultFriction = o[0].defaultFriction; p.defaultFriction = o[0].defaultFriction; p.defaultDensity = o[0].defaultDensity; p.defaultRestitution = o[0].defaultRestitution; p.collisionMargin = o[0].collisionMargin; p.gravity = o[0].gravity; p.linearDamping = o[0].XlinearDamping; p.angularDamping = o[0].XangularDamping; p.deactivationTime = o[0].XdeactivationTime; p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; p.angularSleepingThreshold = o[0].XangularSleepingThreshold; p.ccdMotionThreshold = o[0].XccdMotionThreshold; p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; p.terrainImplementation = o[0].XterrainImplementation; p.terrainFriction = o[0].XterrainFriction; p.terrainHitFraction = o[0].XterrainHitFraction; p.terrainRestitution = o[0].XterrainRestitution; p.terrainCollisionMargin = o[0].XterrainCollisionMargin; p.avatarFriction = o[0].XavatarFriction; p.avatarStandingFriction = o[0].XavatarStandingFriction; p.avatarDensity = o[0].XavatarDensity; p.avatarRestitution = o[0].XavatarRestitution; p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; p.vehicleAngularDamping = o[0].XvehicleAngularDamping; p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; p.numberOfSolverIterations = o[0].numberOfSolverIterations; p.linksetImplementation = o[0].XlinksetImplementation; p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; p.linkConstraintERP = o[0].XlinkConstraintERP; p.linkConstraintCFM = o[0].XlinkConstraintCFM; p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; p.physicsLoggingFrames = o[0].XphysicsLoggingFrames; DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); if (p.maxPersistantManifoldPoolSize > 0) cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; if (p.shouldDisableContactPoolDynamicAllocation !=0) m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); //if (p.maxCollisionAlgorithmPoolSize >0 ) DbvtBroadphase m_broadphase = new DbvtBroadphase(); //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); world.UpdatedObjects = updateArray; world.UpdatedCollisions = collisionArray; world.WorldSettings.Params = p; world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; if (p.shouldRandomizeSolverOrder != 0) world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port if (p.shouldEnableFrictionCaching != 0) world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; if (p.numberOfSolverIterations > 0) world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; world.GetSolverInfo().m_globalCfm = 0.0f; world.GetSolverInfo().m_tau = 0.6f; world.GetSolverInfo().m_friction = 0.3f; world.GetSolverInfo().m_maxErrorReduction = 20f; world.GetSolverInfo().m_numIterations = 10; world.GetSolverInfo().m_erp = 0.2f; world.GetSolverInfo().m_erp2 = 0.1f; world.GetSolverInfo().m_sor = 1.0f; world.GetSolverInfo().m_splitImpulse = false; world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; world.GetSolverInfo().m_linearSlop = 0.0f; world.GetSolverInfo().m_warmstartingFactor = 0.85f; world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; world.SetForceUpdateAllAabbs(true); world.SetGravity(new IndexedVector3(0,0,p.gravity)); return world; }