public override void Init(BulletExampleWall ctx)
{
base.Init(ctx);
//Creamos shapes y bodies.
//El piso es un plano estatico se dice que si tiene masa 0 es estatico.
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBulletVector3(), 0);
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
dynamicsWorld.AddRigidBody(floorBody);
//Se crea una caja de tamaño 20 con rotaciones y origien en 10,100,10 y 1kg de masa.
var boxShape = new BoxShape(10, 10, 10);
var boxTransform = TGCMatrix.RotationYawPitchRoll(MathUtil.SIMD_HALF_PI, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_2_PI).ToBsMatrix;
boxTransform.Origin = new TGCVector3(10, 100, 10).ToBulletVector3();
DefaultMotionState boxMotionState = new DefaultMotionState(boxTransform);
//Es importante calcular la inercia caso contrario el objeto no rotara.
var boxLocalInertia = boxShape.CalculateLocalInertia(1f);
var boxInfo = new RigidBodyConstructionInfo(1f, boxMotionState, boxShape, boxLocalInertia);
boxBody = new RigidBody(boxInfo);
dynamicsWorld.AddRigidBody(boxBody);
//Crea una bola de radio 10 origen 50 de 1 kg.
var ballShape = new SphereShape(10);
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = new TGCVector3(0, 50, 0);
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
//Podriamos no calcular la inercia para que no rote, pero es correcto que rote tambien.
var ballLocalInertia = ballShape.CalculateLocalInertia(1f);
var ballInfo = new RigidBodyConstructionInfo(1, ballMotionState, ballShape, ballLocalInertia);
ballBody = new RigidBody(ballInfo);
dynamicsWorld.AddRigidBody(ballBody);
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"Texturas\granito.jpg");
floorMesh = new TgcPlane(new TGCVector3(-200, 0, -200), new TGCVector3(400, 0f, 400), TgcPlane.Orientations.XZplane, floorTexture);
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"Texturas\madera.jpg");
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
boxMesh = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
sphereMesh = new TGCSphere(1, texture.Clone(), TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
}
public virtual void Init(BulletExampleWall ctx)
{
Ctx = ctx;
//Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase(); //AxisSweep3(new BsVector3(-5000f, -5000f, -5000f), new BsVector3(5000f, 5000f, 5000f), 8192);
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = new TGCVector3(0, -20f, 0).ToBsVector;
}
public override void Init(BulletExampleWall ctx)
{
base.Init(ctx);
//Creamos shapes y bodies.
//El piso es un plano estatico se dice que si tiene masa 0 es estatico.
var floorShape = new StaticPlaneShape(TGCVector3.Up.ToBsVector, 0);
var floorMotionState = new DefaultMotionState();
var floorInfo = new RigidBodyConstructionInfo(0, floorMotionState, floorShape);
floorBody = new RigidBody(floorInfo);
floorBody.Friction = 1;
floorBody.RollingFriction = 1;
// ballBody.SetDamping(0.1f, 0.9f);
floorBody.Restitution = 1f;
floorBody.UserObject = "floorBody";
dynamicsWorld.AddRigidBody(floorBody);
for (var i = -10; i < 10; i++)
{
for (var j = 0; j < 10; j++)
{
var boxBody = BulletRigidBodyConstructor.CreateBox(new TGCVector3(10, 10, 10), 1, new TGCVector3(i * 20f + 5f, j * 20f + 5f, 0f), 0, 0, 0, 0.5f);
boxBodys.Add(boxBody);
dynamicsWorld.AddRigidBody(boxBody);
}
}
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"Texturas\granito.jpg");
floorMesh = new TgcPlane(new TGCVector3(-2000, 0, -2000), new TGCVector3(4000, 0f, 4000), TgcPlane.Orientations.XZplane, floorTexture);
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"\MeshCreator\Scenes\Deposito\Textures\box1.jpg");
//Es importante crear todos los mesh con centro en el 0,0,0 y que este coincida con el centro de masa definido caso contrario rotaria de otra forma diferente a la dada por el motor de fisica.
boxMesh1 = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"\MeshCreator\Scenes\Deposito\Textures\box4.jpg");
boxMesh2 = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"\MeshCreator\Scenes\Deposito\Textures\box3.jpg");
boxMesh3 = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"\MeshCreator\Scenes\Deposito\Textures\box4.jpg");
boxMesh4 = TGCBox.fromSize(new TGCVector3(20, 20, 20), texture);
texture = TgcTexture.createTexture(D3DDevice.Instance.Device, Ctx.MediaDir + @"\Texturas\pokeball.jpg");
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
sphereMesh = new TGCSphere(1, texture, TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
}
