/// <summary>
/// Tries to reset the robot
/// </summary>
public void ResetRobot()
{
if (Skeleton == null)
{
return;
}
List <BulletRigidNode> Wheels = new List <BulletRigidNode>();
foreach (RigidNode_Base node in Skeleton.ListAllNodes())
{
BulletRigidNode bNode = (BulletRigidNode)node;
if (bNode.BulletObject == null)
{
continue;
}
WheelDriverMeta wheel;
if ((wheel = bNode.GetSkeletalJoint()?.cDriver?.GetInfo <WheelDriverMeta>()) != null)
{
Wheels.Add(bNode);
}
AuxFunctions.OrientRobot(Wheels, Skeleton.BulletObject);
bNode.BulletObject.WorldTransform = Matrix4.CreateTranslation(0, 10, 0);
bNode.BulletObject.InterpolationLinearVelocity = Vector3.Zero;
bNode.BulletObject.InterpolationAngularVelocity = Vector3.Zero;
}
}
/// <summary>
/// Default Constructor
/// </summary>
public Physics()
{
DantzigSolver mlcp = new DantzigSolver();
collisionConf = new SoftBodyRigidBodyCollisionConfiguration();
dispatcher = new CollisionDispatcher(new DefaultCollisionConfiguration());
solver = new DefaultSoftBodySolver();
ConstraintSolver cSolver = new MultiBodyConstraintSolver();
broadphase = new DbvtBroadphase();
World = new SoftRigidDynamicsWorld(dispatcher, broadphase, cSolver, collisionConf, solver);
//Actual scaling is unknown, this gravity is probably not right
World.Gravity = new Vector3(0, -98.1f, 0);
World.SetInternalTickCallback(new DynamicsWorld.InternalTickCallback((w, f) => DriveJoints.UpdateAllMotors(Skeleton, cachedArgs)));
//Roobit
RigidNode_Base.NODE_FACTORY = (Guid guid) => new BulletRigidNode(guid);
string RobotPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Robots\";
string dir = RobotPath;
GetFromDirectory(RobotPath, s => { Skeleton = (BulletRigidNode)BXDJSkeleton.ReadSkeleton(s + "skeleton.bxdj"); dir = s; });
List <RigidNode_Base> nodes = Skeleton.ListAllNodes();
for (int i = 0; i < nodes.Count; i++)
{
BulletRigidNode bNode = (BulletRigidNode)nodes[i];
bNode.CreateRigidBody(dir + bNode.ModelFileName);
bNode.CreateJoint();
if (bNode.joint != null)
{
World.AddConstraint(bNode.joint, true);
}
World.AddCollisionObject(bNode.BulletObject);
collisionShapes.Add(bNode.BulletObject.CollisionShape);
}
//Field
string fieldPath = @"C:\Program Files (x86)\Autodesk\Synthesis\Synthesis\Fields\";
GetFromDirectory(fieldPath, s => f = BulletFieldDefinition.FromFile(s));
foreach (RigidBody b in f.Bodies)
{
World.AddRigidBody(b);
collisionShapes.Add(b.CollisionShape);
}
}
