Пример #1
0
 public void Initialize(ConvexShape shapeA, StaticPlaneShape plane)
 {
     m_convexA = shapeA;
     m_planeShape = plane;
     m_simplexSolver = null;
     m_penetrationDepthSolver = null;
 }
        public override void InitializeDemo()
        {
            base.InitializeDemo();
            SetCameraDistance(SCALING * 50f);

            //string filename = @"C:\users\man\bullett\xna-largemesh-output.txt";
            //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
            //BulletGlobals.g_streamWriter = new StreamWriter(filestream);

            ///collision configuration contains default setup for memory, collision setup
            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();
            IOverlappingPairCache pairCache = null;
            //pairCache = new SortedOverlappingPairCache();

            //m_broadphase = new SimpleBroadphase(10000, pairCache);

            ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
            SequentialImpulseConstraintSolver sol = new SequentialImpulseConstraintSolver();
            m_constraintSolver = sol;

            m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);

            IndexedVector3 gravity = new IndexedVector3(0, -10, 0);
            m_dynamicsWorld.SetGravity(ref gravity);

            m_profileManager = new BasicProfileManager();
            BulletGlobals.g_profileManager = m_profileManager;
            m_profileIterator = m_profileManager.getIterator();

            ///create a few basic rigid bodies
            IndexedVector3 halfExtents = new IndexedVector3(50, 50, 50);
            //IndexedVector3 halfExtents = new IndexedVector3(10, 10, 10);
            //CollisionShape groundShape = new BoxShape(ref halfExtents);
            CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0,1,0), 0);
            LocalCreateRigidBody(0f, IndexedMatrix.Identity, groundShape);
            //CollisionShape groundShape = BuildLargeMesh();
            m_collisionShapes.Add(groundShape);
            CollisionShape sphereShape = new SphereShape(0.2f);
            int size = 16;// 5; // 16
            for (int i = 0; i < size; ++i)
            {
                for (int j = 0; j < size; ++j)
                {
                    IndexedMatrix m = IndexedMatrix.CreateTranslation(new IndexedVector3(i, 1, j));
                    RigidBody rb = LocalCreateRigidBody(1f, m, sphereShape);
                    rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
                }
            }

            ClientResetScene();

        }
        public static void GetPlaneEquationTransformed(StaticPlaneShape plane,ref IndexedMatrix trans, out IndexedVector4 equation)
        {
            equation = new IndexedVector4();
            IndexedVector3 planeNormal = plane.GetPlaneNormal();

            equation.X = trans._basis.GetRow(0).Dot(ref planeNormal);
            equation.Y = trans._basis.GetRow(1).Dot(ref planeNormal);
            equation.Z = trans._basis.GetRow(2).Dot(ref planeNormal);
            equation.W = trans._origin.Dot(ref planeNormal) + plane.GetPlaneConstant();
        }
Пример #4
0
 public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin)
 {
     StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
     m_planeshape.SetMargin(pcollisionMargin);
     m_planeshape.SetUserPointer(pLocalId);
     return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
 }
        protected void GImpactTrimeshpartVsPlaneCollision(
                          CollisionObject body0,
                          CollisionObject body1,
                          GImpactMeshShapePart shape0,
                          StaticPlaneShape shape1, bool swapped)
        {
            IndexedMatrix orgtrans0 = body0.GetWorldTransform();
            IndexedMatrix orgtrans1 = body1.GetWorldTransform();

            IndexedVector4 plane;
            PlaneShape.GetPlaneEquationTransformed(shape1,ref orgtrans1, out plane);

            //test box against plane

            AABB tribox = new AABB();
            shape0.GetAabb(ref orgtrans0, out tribox.m_min, out tribox.m_max);
            tribox.IncrementMargin(shape1.GetMargin());

            if (tribox.PlaneClassify(ref plane) != BT_PLANE_INTERSECTION_TYPE.BT_CONST_COLLIDE_PLANE) return;

            shape0.LockChildShapes();

            float margin = shape0.GetMargin() + shape1.GetMargin();

            IndexedVector3 vertex;
            int vi = shape0.GetVertexCount();
            while (vi-- != 0)
            {
                shape0.GetVertex(vi, out vertex);
                vertex = orgtrans0 * vertex;

                float distance = IndexedVector3.Dot(vertex, MathUtil.Vector4ToVector3(ref plane)) - plane.W - margin;

                if (distance < 0.0f)//add contact
                {
                    if (swapped)
                    {
                        AddContactPoint(body1, body0,
                            vertex,
                            MathUtil.Vector4ToVector3(-plane),
                            distance);
                    }
                    else
                    {
                        AddContactPoint(body0, body1,
                            vertex,
                            MathUtil.Vector4ToVector3(ref plane),
                            distance);
                    }
                }
            }

            shape0.UnlockChildShapes();

        }
        public static void GetPlaneEquation(StaticPlaneShape plane,out IndexedVector4 equation)
        {
            equation = new IndexedVector4(plane.GetPlaneNormal(),plane.GetPlaneConstant());

        }
Пример #7
0
 internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
 {
     StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
     m_planeshape.SetMargin(pcollisionMargin);
     m_planeshape.SetUserPointer(pLocalId);
     return m_planeshape;
 }
Пример #8
0
 public ContinuousConvexCollision(ConvexShape shapeA, StaticPlaneShape plane)
 {
     m_convexA = shapeA;
     m_planeShape = plane;
 }
Пример #9
0
        public override void InitializeDemo()
        {
            m_cameraDistance = 10.0f;
            //string filename = @"e:\users\man\bullet\gimpact-demo-xna.txt";
            //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
            //BulletGlobals.g_streamWriter = new StreamWriter(filestream);

            /// Init Bullet
            m_collisionConfiguration = new DefaultCollisionConfiguration();

            m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
            //btOverlappingPairCache* broadphase = new btSimpleBroadphase();
            //m_broadphase = new btSimpleBroadphase();

            int maxProxies = 1024;
            IndexedVector3 worldAabbMin = new IndexedVector3(-10000, -10000, -10000);
            IndexedVector3 worldAabbMax = new IndexedVector3(10000, 10000, 10000);
            m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, false);  
            //m_broadphase = new SimpleBroadphase(16384,null);
            m_constraintSolver = new SequentialImpulseConstraintSolver();

            m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration);

            //create trimesh model and shape
            InitGImpactCollision();



            /// Create Scene
            float mass = 0.0f;
            IndexedMatrix startTransform = IndexedMatrix.Identity;


            CollisionShape staticboxShape1 = new BoxShape(new IndexedVector3(200, 1, 200));//floor
            staticboxShape1.SetUserPointer("Floor");
            CollisionShape staticboxShape2 = new BoxShape(new IndexedVector3(1, 50, 200));//left wall
            staticboxShape1.SetUserPointer("LeftWall");
            CollisionShape staticboxShape3 = new BoxShape(new IndexedVector3(1, 50, 200));//right wall
            staticboxShape1.SetUserPointer("RightWall");
            CollisionShape staticboxShape4 = new BoxShape(new IndexedVector3(200, 50, 1));//front wall
            staticboxShape1.SetUserPointer("FrontWall");
            CollisionShape staticboxShape5 = new BoxShape(new IndexedVector3(200, 50, 1));//back wall
            staticboxShape1.SetUserPointer("BackWall");

            CompoundShape staticScenario = new CompoundShape();//static scenario

            startTransform._origin = new IndexedVector3(0, 0, 0);
            staticScenario.AddChildShape(ref startTransform, staticboxShape1);
            startTransform._origin = new IndexedVector3(-200, 25, 0);
            staticScenario.AddChildShape(ref startTransform, staticboxShape2);
            startTransform._origin = new IndexedVector3(200, 25, 0);
            staticScenario.AddChildShape(ref startTransform, staticboxShape3);
            startTransform._origin = new IndexedVector3(0, 25, 200);
            staticScenario.AddChildShape(ref startTransform, staticboxShape4);
            startTransform._origin = new IndexedVector3(0, 25, -200);
            staticScenario.AddChildShape(ref startTransform, staticboxShape5);

            startTransform._origin = new IndexedVector3(0, 0, 0);

            //RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticScenario);
            RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticboxShape1);


	        staticBody.SetCollisionFlags(staticBody.GetCollisionFlags()|CollisionFlags.CF_STATIC_OBJECT);

	        //enable custom material callback
	        staticBody.SetCollisionFlags(staticBody.GetCollisionFlags()|CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK);

	        //static plane
	        IndexedVector3 normal = new IndexedVector3(0.4f,1.5f,-0.4f);
	        normal.Normalize();
	        CollisionShape staticplaneShape6 = new StaticPlaneShape(ref normal,0.0f);// A plane

	        startTransform._origin = IndexedVector3.Zero;

            RigidBody staticBody2 = LocalCreateRigidBody(mass, startTransform, staticplaneShape6);

	        staticBody2.SetCollisionFlags(staticBody2.GetCollisionFlags()|CollisionFlags.CF_STATIC_OBJECT);

            startTransform = IndexedMatrix.Identity;

            /// Create Dynamic Boxes
            {
                int numBoxes = 1;
                for (int i = 0; i < numBoxes; i++)
                {
                    CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1));
                    //CollisionShape mesh = new BvhTriangleMeshShape(m_indexVertexArrays2,true,true);
                    startTransform._origin = new IndexedVector3(2 * i - (numBoxes-1), 2, -3);
                    //startTransform._origin = new IndexedVector3(2 * i - 5, 10, -3);
                    //LocalCreateRigidBody(1, startTransform, m_trimeshShape2);
                    LocalCreateRigidBody(1, startTransform, boxShape);
                }
            }
        }
Пример #10
0
        public override void InitializeDemo()
        {
            //string filename = @"E:\users\man\bullet\xna-constraint-output.txt";
            //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
            //BulletGlobals.g_streamWriter = new StreamWriter(filestream);

            //maxiterations = 100;

	        m_collisionConfiguration = new DefaultCollisionConfiguration();
	        m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
	        IndexedVector3 worldMin = new IndexedVector3(-1000,-1000,-1000);
	        IndexedVector3 worldMax = new IndexedVector3(1000,1000,1000);
            m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false);
	        m_constraintSolver = new SequentialImpulseConstraintSolver();
	        m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration);
            m_dynamicsWorld.SetDebugDrawer(m_debugDraw);

            SetCameraDistance(26f);

            //CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f));
            CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40);

            m_collisionShapes.Add(groundShape);
            IndexedMatrix groundTransform = IndexedMatrix.Identity;
            groundTransform._origin = new IndexedVector3(0, -56, 0);
            RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape);

            CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
            m_collisionShapes.Add(shape);
            IndexedMatrix trans = IndexedMatrix.Identity;
            trans._origin = new IndexedVector3(0, 20, 0);

	        float mass = 1f;

#if true
	    //point to point constraint with a breaking threshold
	    {
		    trans = IndexedMatrix.Identity;
		    trans._origin = new IndexedVector3(1,30,-5);
		    LocalCreateRigidBody( mass,trans,shape);
		    trans._origin = new IndexedVector3(0,0,-5);

		    RigidBody body0 = LocalCreateRigidBody( mass,trans,shape);
		    
            trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0);
		    mass = 1.0f;
		    RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape);
		    IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
		    TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA);
		    m_dynamicsWorld.AddConstraint(p2p);
		    p2p.SetBreakingImpulseThreshold(10.2f);
		    p2p.SetDbgDrawSize(5.0f);
	    }
#endif



#if true
        //point to point constraint (ball socket)
			//SEEMS OK
	        {
                //trans = IndexedMatrix.Identity;
		        RigidBody body0 = LocalCreateRigidBody( mass,ref trans,shape);
		        trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0);

		        mass = 1f;
		        RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape);

		        IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
		        IndexedVector3 axisInA = new IndexedVector3(0,0,1);

                IndexedVector3 pivotInB = body1 != null ? body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA;
                IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis * axisInA)) :
                body0.GetCenterOfMassTransform()._basis * axisInA;
#if P2P
		TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA);
		//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
		//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
		m_dynamicsWorld.AddConstraint(p2p);
		p2p.SetDbgDrawSize(5.0f);
#else

		        HingeConstraint hinge = new HingeConstraint(body0,ref pivotInA,ref axisInA,false);
        		
		        float	targetVelocity = 1f;
		        float	maxMotorImpulse = 1.0f;
		        hinge.EnableAngularMotor(true,targetVelocity,maxMotorImpulse);

		        m_dynamicsWorld.AddConstraint(hinge);//p2p);
		        hinge.SetDbgDrawSize(5f);
        #endif
	        }
#endif

#if true
            //create a slider, using the generic D6 constraint
			// SEEMS OK
	        {
		        mass = 1f;
		        IndexedVector3 sliderWorldPos = new IndexedVector3(0,10,0);
		        IndexedVector3 sliderAxis = new IndexedVector3(1,0,0);
		        float angle=0f;//SIMD_RADS_PER_DEG * 10.f;
		        IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(new IndexedQuaternion(sliderAxis,angle));
		        trans = IndexedMatrix.Identity;
		        trans._origin = sliderWorldPos;
		        //trans.setBasis(sliderOrientation);
		        sliderTransform = trans;

		        d6body0 = LocalCreateRigidBody( mass,ref trans,shape);
		        d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		        RigidBody fixedBody1 = LocalCreateRigidBody(0,ref trans,null);
		        m_dynamicsWorld.AddRigidBody(fixedBody1);

		        IndexedMatrix frameInA, frameInB;
		        frameInA = IndexedMatrix.Identity;
		        frameInB = IndexedMatrix.Identity;
                frameInA._origin = new IndexedVector3(0, 5, 0);
                frameInB._origin = new IndexedVector3(0, 5, 0);

        //		bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
		        bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
		        spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0,ref frameInA,ref frameInB,useLinearReferenceFrameA);
                spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit);
                spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit);

		        //range should be small, otherwise singularities will 'explode' the constraint
                IndexedVector3 angularLower = new IndexedVector3(-1.5f,0,0);
                IndexedVector3 angularUpper = -angularLower;
                spSlider6Dof.SetAngularLowerLimit(ref angularLower);
                spSlider6Dof.SetAngularUpperLimit(ref angularUpper);
        //		slider.setAngularLowerLimit(IndexedVector3(0,0,0));
        //		slider.setAngularUpperLimit(IndexedVector3(0,0,0));
                spSlider6Dof.SetAngularLowerLimit(new IndexedVector3(-MathUtil.SIMD_PI, 0, 0));
                spSlider6Dof.SetAngularUpperLimit(new IndexedVector3(1.5f, 0, 0));

                spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
                spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f;
                spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f;


                m_dynamicsWorld.AddConstraint(spSlider6Dof);
                spSlider6Dof.SetDbgDrawSize(5f);

	        }
#endif
#if true
	        { // create a door using hinge constraint attached to the world
		        CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f));
		        m_collisionShapes.Add(pDoorShape);
		        IndexedMatrix doorTrans = IndexedMatrix.Identity;
		        doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f);
		        RigidBody pDoorBody = LocalCreateRigidBody( 1.0f, ref doorTrans, pDoorShape);
		        pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		        IndexedVector3 btPivotA = new IndexedVector3( 10f+2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
		        IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis

		        spDoorHinge = new HingeConstraint( pDoorBody, ref btPivotA, ref btAxisA,false );

                spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f);
		        m_dynamicsWorld.AddConstraint(spDoorHinge);
		        spDoorHinge.SetDbgDrawSize(5.0f);

	        }
#endif
#if true
            { // create a generic 6DOF constraint
				// SEEMS OK - But debug draw a bit wrong?
		        IndexedMatrix tr = IndexedMatrix.Identity;
		        tr._origin = new IndexedVector3(10f, 6f, 0f);
                //tr.getBasis().setEulerZYX(0,0,0);
        //		RigidBody pBodyA = localCreateRigidBody( mass, tr, shape);
		        RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
        //		RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0);
		        pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);

                tr = IndexedMatrix.Identity;
		        tr._origin = new IndexedVector3(0f, 6f, 0f);		        
                //tr.getBasis().setEulerZYX(0,0,0);
		        RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape);
		        pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);

		        IndexedMatrix frameInA, frameInB;
		        frameInA = IndexedMatrix.CreateTranslation(-5,0,0);
		        frameInB = IndexedMatrix.CreateTranslation(5,0,0);

		        Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
        //		btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
		        IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1);
                pGen6DOF.SetLinearLowerLimit(ref linearLower);
                IndexedVector3 linearUpper = new IndexedVector3(10,2,1);
		        pGen6DOF.SetLinearUpperLimit(ref linearUpper);
                // ? why again?
                //linearLower = new IndexedVector3(-10,0,0);
                //pGen6DOF.setLinearLowerLimit(ref linearLower);
        //		pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.));
        //		pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.));
        //		pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.));

        //		pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true;
        //		pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
        //		pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;


        //		pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.));
        //		pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.));
        //		pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI));
        //		pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI));

                IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f);
                IndexedVector3 angularUpper = -angularLower;
		        pGen6DOF.SetAngularLowerLimit(ref angularLower);
		        pGen6DOF.SetAngularUpperLimit(ref angularUpper);
        //		pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
        //		pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
        //		pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
        //		pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f,  -SIMD_HALF_PI * 1.98f));

        		
        		
        //		pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5));
        //		pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5));
        //		pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.));
        //		pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.));

		        m_dynamicsWorld.AddConstraint(pGen6DOF, true);
		        pGen6DOF.SetDbgDrawSize(5.0f);
	        }
#endif
#if true
            { // create a ConeTwist constraint

		        IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10,5,0);

		        RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape);
		        pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);

		        tr = IndexedMatrix.CreateTranslation(-10,-5,0);

		        RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape);

		        IndexedMatrix frameInA, frameInB;
                frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                frameInA._origin = new IndexedVector3(0, -5, 0);
				frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI);
                frameInB._origin = new IndexedVector3(0, 5, 0);

		        ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB);
		        pCT.SetLimit(MathUtil.SIMD_QUARTER_PI * 0.6f, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 0.5f); // soft limit == hard limit
		        m_dynamicsWorld.AddConstraint(pCT, true);
		        pCT.SetDbgDrawSize(5.0f);
	        }
#endif
#if true
            { // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
				// WORKS OK
		        IndexedMatrix tr = IndexedMatrix.Identity;
		        RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape);
		        pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		        IndexedVector3 btPivotA = new IndexedVector3( 10.0f, 0.0f, 0.0f );
		        IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 0.0f, 1.0f );

		        HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA,false);
        //		pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver
		        pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
		        m_dynamicsWorld.AddConstraint(pHinge);
		        pHinge.SetDbgDrawSize(5.0f);
	        }
#endif
#if true
            {
		// WORKS OK
		// create a universal joint using generic 6DOF constraint
		// create two rigid bodies
		// static bodyA (parent) on top:
		IndexedMatrix tr = IndexedMatrix.CreateTranslation(20,4,0);
		RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
		pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		// dynamic bodyB (child) below it :
		tr = IndexedMatrix.CreateTranslation(20,0,0);
		RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
		pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		// add some (arbitrary) data to build constraint frames
		IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f); 
		IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f);
        IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f);

		UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
        pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f);
        pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
		// add constraint to world
		m_dynamicsWorld.AddConstraint(pUniv, true);
		// draw constraint frames and limits for debugging
		pUniv.SetDbgDrawSize(5.0f);
	}
#endif

#if true
            // WORKS OK
	{ // create a generic 6DOF constraint with springs 

		IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,16f,0f);
        //tr.setIdentity();
        //tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
        //tr.getBasis().setEulerZYX(0,0,0);
		RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
		pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);

        //tr.setIdentity();
        //tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
        //tr.getBasis().setEulerZYX(0,0,0);
        tr = IndexedMatrix.CreateTranslation(-10,16,0);
		RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
		pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);

        IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f,0f,0f);
        IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f,0f,0f);

		Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true);
		pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f));
		pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f));

		pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f));
		pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f));

		m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true);
		pGen6DOFSpring.SetDbgDrawSize(5.0f);
		
		pGen6DOFSpring.EnableSpring(0, true);
		pGen6DOFSpring.SetStiffness(0, 39.478f);
		pGen6DOFSpring.SetDamping(0, 0.5f);
		pGen6DOFSpring.EnableSpring(5, true);
		pGen6DOFSpring.SetStiffness(5, 39.478f);
		pGen6DOFSpring.SetDamping(0, 0.3f);
		pGen6DOFSpring.SetEquilibriumPoint();
	}
#endif
#if true
    {
		// WORKS OK
		// create a Hinge2 joint
		// create two rigid bodies
		// static bodyA (parent) on top:
		IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,4f,0f);
        
        RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape);
		pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		// dynamic bodyB (child) below it :
		tr = IndexedMatrix.CreateTranslation(-20f,0f,0f);
        RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape);
		pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		// add some data to build constraint frames
		IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f); 
		IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f);
        IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f);
		Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis);
		pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f);
        pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f);
		// add constraint to world
		m_dynamicsWorld.AddConstraint(pHinge2, true);
		// draw constraint frames and limits for debugging
		pHinge2.SetDbgDrawSize(5.0f);
	}
#endif
#if true
    { 
			// WORKS OK
		// create a Hinge joint between two dynamic bodies
		// create two rigid bodies
		// static bodyA (parent) on top:
		IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,-2f,0f);
		RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape);
		pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		// dynamic bodyB:
		tr = IndexedMatrix.CreateTranslation(-30f,-2f,0f);
		RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape);
		pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		// add some data to build constraint frames
		IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f); 
		IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f); 
		IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f);
        IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f);
		
        spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB);
        spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f);
		// add constraint to world
		m_dynamicsWorld.AddConstraint(spHingeDynAB, true);
		// draw constraint frames and limits for debugging
		spHingeDynAB.SetDbgDrawSize(5.0f);
	}
#endif

#if true
    { // 6DOF connected to the world, with motor
		IndexedMatrix tr = IndexedMatrix.CreateTranslation(10,-15,0);
		RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape);
		pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION);
		IndexedMatrix frameB = IndexedMatrix.Identity;
		Generic6DofConstraint pGen6Dof = new Generic6DofConstraint(pBody, ref frameB, false );
		m_dynamicsWorld.AddConstraint(pGen6Dof);
		pGen6Dof.SetDbgDrawSize(5.0f);

		pGen6Dof.SetAngularLowerLimit(new IndexedVector3(0,0,0));
		pGen6Dof.SetAngularUpperLimit(new IndexedVector3(0,0,0));
		pGen6Dof.SetLinearLowerLimit(new IndexedVector3(-10.0f, 0, 0));
		pGen6Dof.SetLinearUpperLimit(new IndexedVector3(10.0f, 0, 0));

		pGen6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true;
		pGen6Dof.GetTranslationalLimitMotor().m_targetVelocity[0] = 5.0f;
		pGen6Dof.GetTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f;
	}
#endif
        }
Пример #11
0
		    private void BuildBoard()
		    {
                float width = 40;
                float height = 40;

			    IndexedVector3 boardBackExtents = new IndexedVector3(width,height,2) /2f;
			    IndexedVector3 boardSideExtents = new IndexedVector3(1,height,2) /2f;
			    IndexedVector3 boardBarExtents = new IndexedVector3(width,1,2)/2f;
			    IndexedVector3 pinExtent = new IndexedVector3(0.5f,1f,2f);
			
			
			    IndexedVector3 boardCenter = new IndexedVector3(0,0,0);
			
			    // build frame.objects
			
			    BoxShape boardBack = new BoxShape(boardBackExtents);
			    BoxShape boardSide = new BoxShape(boardSideExtents);
			    BoxShape boardBar = new BoxShape(boardBarExtents);
			    StaticPlaneShape boardFront = new StaticPlaneShape(new IndexedVector3(0,0,-1),-(boardBackExtents.Z+boardSideExtents.Z));
			
			    CollisionShape pinShape = new CapsuleShapeZ(pinExtent.Y,pinExtent.Z);
                //pinShape = new BoxShape(pinExtent);

                //pinShape = new SphereShape(pinExtent.Y);

                m_cameraUp = Vector3.Up;
			
			    // now RB's
                Matrix m = Matrix.Identity;
                IndexedMatrix trans = m;
                trans._origin = boardCenter;
			
			    float mass = 0f;
			
                //LocalCreateRigidBody(mass,trans,boardBack);
                //LocalCreateRigidBody(mass, trans, boardFront);


                IndexedVector3 leftSide = new IndexedVector3(boardCenter.X - boardBackExtents.X + boardSideExtents.X, boardCenter.Y, boardCenter.Z + boardSideExtents.Z);
                IndexedVector3 rightSide = new IndexedVector3(boardCenter.X + boardBackExtents.X - boardSideExtents.X, boardCenter.Y, boardCenter.Z + boardSideExtents.Z);

                IndexedVector3 topBar = new IndexedVector3(boardCenter.X, boardCenter.Y + boardBackExtents.Y - boardBarExtents.Y, boardCenter.Z + boardSideExtents.Z);
                IndexedVector3 bottomBar = new IndexedVector3(boardCenter.X, boardCenter.Y - boardBackExtents.Y + boardBarExtents.Y, boardCenter.Z + boardSideExtents.Z);


                trans._origin = leftSide;
                LocalCreateRigidBody(mass, trans, boardSide);
                trans._origin = rightSide;
                LocalCreateRigidBody(mass, trans, boardSide);
                trans._origin = topBar;
                LocalCreateRigidBody(mass, trans, boardBar);
                trans._origin = bottomBar;
                LocalCreateRigidBody(mass, trans, boardBar);




                // now place the pins? (simple offset grid to start)

                int numPinsX = 8;
                int numPinsY = 8;

                // fixme
                IndexedVector3 pinTopLeft = new IndexedVector3(-boardBackExtents.X + 4, boardBackExtents.Y - 5, boardCenter.Z + boardSideExtents.Z);
                IndexedVector3 pinSpacer = new IndexedVector3(pinExtent.Y * 4f, -pinExtent.Y * 4f, 0);


                
                float ballRadius = 0.9f;
                float fudge = 3f;
                m_dropSphereShape = new SphereShape(ballRadius);

                m_ballDropSpot = new Vector3(1f, pinTopLeft.Y + 1, boardCenter.Z + boardBackExtents.Z+ballRadius);
                //new SphereShape(0.95f);


                m_debugDraw.SetDebugMode(m_debugDraw.GetDebugMode() | DebugDrawModes.DBG_DrawAabb);

                trans._origin = pinTopLeft;

                LocalCreateRigidBody(mass, trans, pinShape);


                for (int i = 0; i < numPinsX; ++i)
                {
                    for (int j = 0; j < numPinsY; ++j)
                    {
                        IndexedVector3 pos = new IndexedVector3(pinSpacer.X * i, (pinSpacer.Y * j), pinSpacer.Z);
                        // stagger rows.
                        if (j % 2 == 1)
                        {
                            pos.X += pinSpacer.X/2f;
                        }

                        trans._origin = pinTopLeft + pos;
                        LocalCreateRigidBody(mass, trans, pinShape);
                    }
                }
			
		    }