public override void InitializeDemo() { //string filename = @"C:\users\man\bullet\xna-motor-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); m_Time = 0; m_fCyclePeriod = 2000.0f; // in milliseconds // new SIMD solver for joints clips accumulated impulse, so the new limits for the motor // should be (numberOfsolverIterations * oldLimits) // currently solver uses 10 iterations, so: m_fMuscleStrength = 0.5f; SetCameraDistance(5.0f); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); m_broadphase = new DbvtBroadphase(); IOverlappingPairCache pairCache = null; m_broadphase = new SimpleBroadphase(1000, pairCache); 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_dynamicsWorld.SetInternalTickCallback(new MotorPreTickCallback(), this, true); // Setup a big ground box { CollisionShape groundShape = new BoxShape(new IndexedVector3(200.0f, 10.0f, 200.0f)); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0, -10, 0); LocalCreateRigidBody(0f, ref groundTransform, groundShape); } // Spawn one ragdoll IndexedVector3 startOffset = new IndexedVector3(1, 0.5f, 0); SpawnTestRig(ref startOffset, false); startOffset = new IndexedVector3(-2, 0.5f, 0); SpawnTestRig(ref startOffset, true); ClientResetScene(); }
public override void InitializeDemo() { // Setup the basic world SetTexturing(true); SetShadows(true); SetCameraDistance(5.0f); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); 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, true); m_broadphase = new SimpleBroadphase(1000, null); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); //m_dynamicsWorld.getDispatchInfo().m_useConvexConservativeDistanceUtil = true; //m_dynamicsWorld.getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f; // Setup a big ground box { CollisionShape groundShape = new BoxShape(new IndexedVector3(200.0f, 10.0f, 200.0f)); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0, -10, 0); CollisionObject fixedGround = new CollisionObject(); fixedGround.SetCollisionShape(groundShape); fixedGround.SetWorldTransform(ref groundTransform); fixedGround.SetUserPointer("Ground"); m_dynamicsWorld.AddCollisionObject(fixedGround); } // Spawn one ragdoll IndexedVector3 startOffset = new IndexedVector3(1, 0.5f, 0); //string filename = @"c:\users\man\bullet\xna-ragdoll-constraints-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); SpawnRagdoll(ref startOffset, BulletGlobals.g_streamWriter); //startOffset = new IndexedVector3(-1,0.5f,0); //spawnRagdoll(ref startOffset); ClientResetScene(); }
public override void InitializeDemo() { SetCameraDistance(50f); 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); IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = -worldMin; //m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); //m_broadphase = new DbvtBroadphase(); IOverlappingPairCache pairCache = null; //pairCache = new SortedOverlappingPairCache(); m_broadphase = new SimpleBroadphase(1000, 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); ///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), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBody(mass, ref groundTransform, groundShape); CollisionShape shape = SetupShape(); IndexedMatrix objTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 2, 0)); LocalCreateRigidBody(mass, ref objTransform, shape); //ClientResetScene(); }
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); } } }
//---------------------------------------------------------------------------------------------------------------- public override void InitializeDemo() { CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 3, 50)); //CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f); m_collisionShapes.Add(groundShape); 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_broadphase = new SimpleBroadphase(100, null); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); //m_dynamicsWorld.setGravity(new IndexedVector3(0,0,0)); IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0); //either use heightfield or triangle mesh //create ground object LocalCreateRigidBody(0f, ref tr, groundShape); CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f)); m_collisionShapes.Add(chassisShape); CompoundShape compound = new CompoundShape(); m_collisionShapes.Add(compound); //localTrans effectively shifts the center of mass with respect to the chassis IndexedMatrix localTrans = IndexedMatrix.CreateTranslation(0, 1, 0); compound.AddChildShape(ref localTrans, chassisShape); { CollisionShape suppShape = new BoxShape(new IndexedVector3(0.5f, 0.1f, 0.5f)); //localTrans effectively shifts the center of mass with respect to the chassis IndexedMatrix suppLocalTrans = IndexedMatrix.CreateTranslation(0f, 1.0f, 2.5f); compound.AddChildShape(ref suppLocalTrans, suppShape); } tr._origin = IndexedVector3.Zero; m_carChassis = LocalCreateRigidBody(800f, ref tr, compound);//chassisShape); //m_carChassis = LocalCreateRigidBody(800f, ref tr, chassisShape);//chassisShape); //CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f)); //m_collisionShapes.Add(liftShape); //m_liftStartPos = new IndexedVector3(0.0f, 2.5f, 3.05f); //IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos); //m_liftBody = LocalCreateRigidBody(10f, ref liftTrans, liftShape); //IndexedMatrix localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); //localA._origin = new IndexedVector3(0f, 1.0f, 3.05f); //IndexedMatrix localB = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); //localB._origin = new IndexedVector3(0f, -1.5f, -0.05f); //m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB); //// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS); //m_liftHinge.SetLimit(0.0f, 0.0f); //m_dynamicsWorld.AddConstraint(m_liftHinge, true); //CompoundShape forkCompound = new CompoundShape(); //m_collisionShapes.Add(forkCompound); //IndexedMatrix forkLocalTrans = IndexedMatrix.Identity; //CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f)); //m_collisionShapes.Add(forkShapeA); //forkCompound.AddChildShape(ref forkLocalTrans, forkShapeA); //CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); //m_collisionShapes.Add(forkShapeB); //forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f); //forkCompound.AddChildShape(ref forkLocalTrans, forkShapeB); //CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); //m_collisionShapes.Add(forkShapeC); //forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f); //forkCompound.AddChildShape(ref forkLocalTrans, forkShapeC); //m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f); //IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos); //m_forkBody = LocalCreateRigidBody(5f, ref forkTrans, forkCompound); //localA = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); //localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f); //IndexedVector3 col0 = MathUtil.matrixColumn(ref localA, 0); //IndexedVector3 col1 = MathUtil.matrixColumn(ref localA, 1); //IndexedVector3 col2 = MathUtil.matrixColumn(ref localA, 2); ////localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); //localB = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); //localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f); //m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true); //m_forkSlider.SetLowerLinLimit(0.1f); //m_forkSlider.SetUpperLinLimit(0.1f); //// m_forkSlider.setLowerAngLimit(-LIFT_EPS); //// m_forkSlider.setUpperAngLimit(LIFT_EPS); //m_forkSlider.SetLowerAngLimit(0.0f); //m_forkSlider.SetUpperAngLimit(0.0f); //IndexedMatrix localAVec = IndexedMatrix.Identity; //IndexedMatrix localBVec = IndexedMatrix.Identity; //m_forkSlider2 = new HingeConstraint(m_liftBody, m_forkBody, ref localAVec, ref localBVec); //m_dynamicsWorld.AddConstraint(m_forkSlider, true); //m_dynamicsWorld.addConstraint(m_forkSlider2, true); CompoundShape loadCompound = new CompoundShape(true); m_collisionShapes.Add(loadCompound); CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f)); m_collisionShapes.Add(loadShapeA); IndexedMatrix loadTrans = IndexedMatrix.Identity; loadCompound.AddChildShape(ref loadTrans, loadShapeA); CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeB); loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f); loadCompound.AddChildShape(ref loadTrans, loadShapeB); CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeC); loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f); loadCompound.AddChildShape(ref loadTrans, loadShapeC); m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f); loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos); m_loadBody = LocalCreateRigidBody(4f, ref loadTrans, loadCompound); #if false { CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f)); m_collisionShapes.Add(liftShape); IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos); m_liftBody = localCreateRigidBody(10f, ref liftTrans, liftShape); IndexedMatrix localA = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); localA._origin = new IndexedVector3(0f, 1.0f, 3.05f); IndexedMatrix localB = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); localB._origin = new IndexedVector3(0f, -1.5f, -0.05f); m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB); // m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS); m_liftHinge.setLimit(0.0f, 0.0f); m_dynamicsWorld.addConstraint(m_liftHinge, true); CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f)); m_collisionShapes.Add(forkShapeA); CompoundShape forkCompound = new CompoundShape(); m_collisionShapes.Add(forkCompound); IndexedMatrix forkLocalTrans = IndexedMatrix.Identity; forkCompound.addChildShape(ref forkLocalTrans, forkShapeA); CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); m_collisionShapes.Add(forkShapeB); forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f); forkCompound.addChildShape(ref forkLocalTrans, forkShapeB); CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); m_collisionShapes.Add(forkShapeC); forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f); forkCompound.addChildShape(ref forkLocalTrans, forkShapeC); m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f); IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos); m_forkBody = localCreateRigidBody(5f, ref forkTrans, forkCompound); localA = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f); localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f); m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true); m_forkSlider.setLowerLinLimit(0.1f); m_forkSlider.setUpperLinLimit(0.1f); // m_forkSlider.setLowerAngLimit(-LIFT_EPS); // m_forkSlider.setUpperAngLimit(LIFT_EPS); m_forkSlider.setLowerAngLimit(0.0f); m_forkSlider.setUpperAngLimit(0.0f); m_dynamicsWorld.addConstraint(m_forkSlider, true); CompoundShape loadCompound = new CompoundShape(); m_collisionShapes.Add(loadCompound); CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f)); m_collisionShapes.Add(loadShapeA); IndexedMatrix loadTrans = IndexedMatrix.Identity; loadCompound.addChildShape(ref loadTrans, loadShapeA); CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeB); loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f); loadCompound.addChildShape(ref loadTrans, loadShapeB); CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeC); loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f); loadCompound.addChildShape(ref loadTrans, loadShapeC); m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f); loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos); m_loadBody = localCreateRigidBody(4f, ref loadTrans, loadCompound); } #endif //m_carChassis.setDamping(0.2f, 0.2f); ClientResetScene(); /// create vehicle SetCameraDistance(26.0f); SetTexturing(true); SetShadows(true); }
public override void InitializeDemo() { SetTexturing(true); SetShadows(true); SetCameraDistance(SCALING * 50.0f); m_cameraTargetPosition = IndexedVector3.Zero; //string filename = @"E:\users\man\bullet\xna-box2d-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(); //m_collisionConfiguration.setConvexConvexMultipointIterations(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); VoronoiSimplexSolver simplex = new VoronoiSimplexSolver(); MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver(); CollisionAlgorithmCreateFunc convexAlgo2d = new Convex2dConvex2dCreateFunc(simplex, pdSolver); m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, convexAlgo2d); m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, convexAlgo2d); m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, convexAlgo2d); m_dispatcher.RegisterCollisionCreateFunc((int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, (int)BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE, new Box2dBox2dCreateFunc()); //m_broadphase = new DbvtBroadphase(); m_broadphase = new SimpleBroadphase(1000, null); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); //m_dynamicsWorld.getSolverInfo().m_erp = 1.f; //m_dynamicsWorld.getSolverInfo().m_numIterations = 4; //m_dynamicsWorld.setGravity(new IndexedVector3(0,-10,0)); ///create a few basic rigid bodies CollisionShape groundShape = new BoxShape(new IndexedVector3(150, 50, 150)); // btCollisionShape* groundShape = new btStaticPlaneShape(IndexedVector3(0,1,0),50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(0, -43, 0); LocalCreateRigidBody(0, groundTransform, groundShape); { //create a few dynamic rigidbodies // Re-using the same collision is better for memory usage and performance float u = 1 * SCALING - 0.04f; IList <IndexedVector3> points = new List <IndexedVector3>(); points.Add(new IndexedVector3(0, u, 0)); points.Add(new IndexedVector3(-u, -u, 0)); points.Add(new IndexedVector3(u, -u, 0)); ConvexShape boxShape = new Convex2dShape(new BoxShape(new IndexedVector3(SCALING, SCALING, 0.04f))); //btCollisionShape* colShape = new btBox2dShape(IndexedVector3(SCALING*1,SCALING*1,0.04)); ConvexShape triangleShape = new Convex2dShape(new ConvexHullShape(points, 3)); IndexedVector3 extents = new IndexedVector3(SCALING, SCALING, 0.04f); ConvexShape cylinderShape = new Convex2dShape(new CylinderShapeZ(ref extents)); //btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f); boxShape.SetMargin(0.03f); //btCollisionShape* colShape = new btSphereShape(float(1.)); m_collisionShapes.Add(boxShape); m_collisionShapes.Add(triangleShape); /// Create Dynamic Objects IndexedMatrix startTransform = IndexedMatrix.Identity; float mass = 1.0f;; //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = (mass != 0.9f); IndexedVector3 localInertia = IndexedVector3.Zero; if (isDynamic) { boxShape.CalculateLocalInertia(mass, out localInertia); } // float start_x = START_POS_X - ARRAY_SIZE_X/2; // float start_y = START_POS_Y; // float start_z = START_POS_Z - ARRAY_SIZE_Z/2; IndexedVector3 x = new IndexedVector3(-ARRAY_SIZE_X, 8f, -20f); //IndexedVector3 y = IndexedVector3.Zero; IndexedVector3 y = new IndexedVector3(0, 0, 0); IndexedVector3 deltaX = new IndexedVector3(SCALING * 1, SCALING * 2, 0f); IndexedVector3 deltaY = new IndexedVector3(SCALING * 2, 0.0f, 0f); for (int i = 0; i < ARRAY_SIZE_X; ++i) { y = x; for (int j = i; j < ARRAY_SIZE_Y; ++j) { startTransform._origin = (y - new IndexedVector3(-10, 0, 0)); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity); RigidBodyConstructionInfo rbInfo; switch (j % 3) { #if true case 0: rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, boxShape, localInertia); //rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, triangleShape, localInertia); break; case 1: rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, triangleShape, localInertia); break; #endif default: rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, cylinderShape, localInertia); break; } RigidBody body = new RigidBody(rbInfo); //body.setContactProcessingThreshold(colShape.getContactBreakingThreshold()); body.SetActivationState(ActivationState.ISLAND_SLEEPING); body.SetLinearFactor(new IndexedVector3(1, 1, 0)); body.SetAngularFactor(new IndexedVector3(0, 0, 1)); m_dynamicsWorld.AddRigidBody(body); body.SetActivationState(ActivationState.ISLAND_SLEEPING); //if (BulletGlobals.g_streamWriter != null) //{ // BulletGlobals.g_streamWriter.WriteLine("localCreateRigidBody [{0}] startTransform", body.m_debugBodyId); // MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, startTransform); // BulletGlobals.g_streamWriter.WriteLine(""); //} // y += -0.8*deltaY; y += deltaY; } x += deltaX; } } ClientResetScene(); }
public override void InitializeDemo() { base.InitializeDemo(); SetCameraDistance(SCALING * 50f); //string filename = @"e:\users\man\bullet\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(1000, 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); ///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(IndexedVector3.Up, 50); CollisionShape groundShape = BuildLargeMesh(); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 0, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); //IndexedMatrix rotateMatrix = IndexedMatrix.CreateFromYawPitchRoll(0, MathUtil.SIMD_PI / 2.0f, 0); //IndexedMatrix rotateMatrix = IndexedMatrix.Identity; IndexedMatrix rotateMatrix = IndexedMatrix.Identity; rotateMatrix._basis.SetEulerZYX(0, 0, MathUtil.SIMD_PI * 0.7f); rotateMatrix._origin = IndexedVector3.Zero; float mass = 0f; LocalCreateRigidBody(mass, ref rotateMatrix, groundShape); CollisionShape boxShape = new BoxShape(new IndexedVector3(0.2f, 0.2f, 0.2f)); //CollisionShape boxShape = new SphereShape(0.2f); //CollisionShape boxShape = new CylinderShapeX(new IndexedVector3(0.2f, 0.4f, 0.2f)); //CollisionShape boxShape = new CapsuleShape(0.2f, 0.4f); IndexedMatrix boxTransform = IndexedMatrix.Identity; boxTransform._basis.SetEulerZYX(MathUtil.SIMD_PI * 0.2f, MathUtil.SIMD_PI * 0.4f, MathUtil.SIMD_PI * 0.7f); boxTransform._origin = new IndexedVector3(0.0f, 5.0f, 0.0f); LocalCreateRigidBody(1.25f, boxTransform, boxShape); ClientResetScene(); }
public override void InitializeDemo() { SetCameraDistance(30f); //string filename = @"E:\users\man\bullet\xna-basic-output-1.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(1000, 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); ///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), 50); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, -50, 0)); //IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0)); float mass = 0f; LocalCreateRigidBody(mass, ref groundTransform, groundShape); { int numBlocksTall = 10; //18; //How many 'stories' tall. float blockWidth = 6f; //Total width/length of the tower. float blockHeight = 2f; //create a few dynamic rigidbodies IndexedVector3 extents = new IndexedVector3(blockWidth / 3, blockHeight, blockWidth); IndexedVector3 boxHalfExtents = extents * 0.5f; CollisionShape colShape = new BoxShape(boxHalfExtents); //btCollisionShape* colShape = new btSphereShape(btScalar(1.)); //CollisionShape colShape = new CylinderShape(new IndexedVector3(1f, 1, 1f)); //m_collisionShapes.Add(colShape); /// Create Dynamic Objects IndexedMatrix startTransform = IndexedMatrix.Identity; mass = 1f; //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = mass != 0f; IndexedVector3 localInertia = IndexedVector3.Zero; if (isDynamic) { colShape.CalculateLocalInertia(mass, out localInertia); } //The default number of iterations is 10, which works fine, but this demo //is all about stability (it's jenga!). Increase the iterations a bit. //Even though it's using twice as many iterations, it will early-out //before reaching the limit MOST of the time. //It's still pretty playable at around 7-8 max iterations, though. IndexedMatrix transform = IndexedMatrix.Identity; for (int i = 0; i < numBlocksTall; i++) { if (i % 2 == 0) { for (int j = 0; j < 3; j++) { transform = IndexedMatrix.Identity; IndexedVector3 position = new IndexedVector3(j * (blockWidth / 3) - blockWidth / 3, blockHeight / 2 + i * (blockHeight), 0); //position += boxHalfExtents; transform._origin = position; RigidBody rb = LocalCreateRigidBody(mass, transform, colShape); rb.SetActivationState(ActivationState.ISLAND_SLEEPING); } } else { transform = IndexedMatrix.CreateRotationY(MathUtil.SIMD_HALF_PI); for (int j = 0; j < 3; j++) { IndexedVector3 position = new IndexedVector3(0, blockHeight / 2 + (i) * (blockHeight), j * (blockWidth / 3) - blockWidth / 3f); transform._origin = position; //position += boxHalfExtents; transform._origin = position; RigidBody rb = LocalCreateRigidBody(mass, transform, colShape); rb.SetActivationState(ActivationState.ISLAND_SLEEPING); } } } //game.Camera.Position = new Vector3(0, 5, 15); } ClientResetScene(); }