public void Init(TgcSimpleTerrain terrain)
{
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
broadphaseInterface = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphaseInterface, constraintSolver, collisionConfiguration);
dynamicsWorld.Gravity = gravity;
var ballShape = new SphereShape(50);
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = initialPosition;
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
var ballInertia = ballShape.CalculateLocalInertia(1f);
var ballInfo = new RigidBodyConstructionInfo(1, ballMotionState, ballShape, ballInertia);
RigidCamera = new RigidBody(ballInfo);
RigidCamera.SetDamping(0.9f, 0.9f);
//esto es para que no le afecte la gravedad al inicio de la partida
//RigidCamera.ActivationState = ActivationState.IslandSleeping;
dynamicsWorld.AddRigidBody(RigidCamera);
var heighmapRigid = BulletRigidBodyFactory.Instance.CreateSurfaceFromHeighMap(terrain.getData());
dynamicsWorld.AddRigidBody(heighmapRigid);
}
public RigidBodyBone(RigidContainer rcon)
{
bodyContainer = rcon;
CollisionShape shape = null;
switch (rcon.PrimitiveType)
{
case PhysPrimitiveType.Box:
shape = new BoxShape(rcon.Size.Convert());
break;
case PhysPrimitiveType.Capsule:
shape = new CapsuleShape(rcon.Size.X, rcon.Size.Y);
break;
case PhysPrimitiveType.Sphere:
shape = new SphereShape(rcon.Size.X);
break;
}
if (rcon.Phys == PhysType.FollowBone)
{
rcon.Mass = 0;
}
bool isDynamic = (rcon.Mass != 0.0f);
Vector3 inertia = Vector3.Zero;
if (isDynamic)
{
shape.CalculateLocalInertia(rcon.Mass, out inertia);
}
startTransform = Matrix.RotationYawPitchRoll(rcon.Rotation.Y, rcon.Rotation.X, rcon.Rotation.Z) * Matrix.Translation(rcon.Position.Convert());
//Convert left to right coordinates
var reverce = Matrix.Scaling(new Vector3(1, 1, -1));
startTransform = reverce * startTransform * reverce;
rbInfo = new RigidBodyConstructionInfo(rcon.Mass, new DefaultMotionState(startTransform), shape, inertia);
Body = new RigidBody(rbInfo);
Body.ActivationState = ActivationState.DisableDeactivation;
Body.Friction = rcon.Friction;
Body.SetDamping(rcon.MassAttenuation, rcon.RotationDamping);
Body.Restitution = rcon.Restitution;
if (rcon.Phys == PhysType.FollowBone)
{
//Body.SetCustomDebugColor(new Vector3(0, 1, 0));
Body.CollisionFlags = Body.CollisionFlags | CollisionFlags.KinematicObject;
}
/*
* else if (rcon.Phys == PhysType.Gravity)
* Body.SetCustomDebugColor(new Vector3(1, 0, 0));
* else if (rcon.Phys == PhysType.GravityBone)
* Body.SetCustomDebugColor(new Vector3(0, 0, 1));
*/
//Disabled debug color cause its freeze engine on 3rd model load
}
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 static RigidBody crearBodyEsferico(TGCVector3 origen, float radio, float masa)
{
#region BOLA
var ballShape = new SphereShape(radio);
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = origen;
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
var ballLocalInertia = ballShape.CalculateLocalInertia(masa);
var ballInfo = new RigidBodyConstructionInfo(masa, ballMotionState, ballShape, ballLocalInertia);
return(new RigidBody(ballInfo));
#endregion
}
public RigidBody AddFallingRigidBody()
{
CollisionShape fallShape = new SphereShape(1);
BulletSharp.Math.Vector3 fallInertia = new BulletSharp.Math.Vector3(0, 0, 0);
float mass = 1;
fallShape.CalculateLocalInertia(mass, out fallInertia);
RigidBodyConstructionInfo fallRigidBodyCI = new RigidBodyConstructionInfo(mass, new DefaultMotionState(), fallShape, BulletSharp.Math.Vector3.Zero);
RigidBody fallRigidBody = new RigidBody(fallRigidBodyCI);
fallRigidBody.Translate(new BulletSharp.Math.Vector3(0, 100, 0));
dynamicsWorld.AddRigidBody(fallRigidBody);
return(fallRigidBody);
}
/// <summary>
/// Se crea una esfera a partir de un radio, masa y posicion devolviendo el cuerpo rigido de una
/// esfera.
/// </summary>
/// <param name="radius">Radio de una esfera</param>
/// <param name="mass">Masa de la esfera</param>
/// <param name="position">Posicion de la Esfera</param>
/// <returns>Rigid Body de la Esfera</returns>
public static RigidBody CreateBall(float radius, float mass, TGCVector3 position)
{
//Creamos la forma de la esfera a partir de un radio
var ballShape = new SphereShape(radius);
//Armamos las matrices de transformacion de la esfera a partir de la posicion con la que queremos ubicarla
//y el estado de movimiento de la misma.
var ballTransform = TGCMatrix.Identity;
ballTransform.Origin = position;
var ballMotionState = new DefaultMotionState(ballTransform.ToBsMatrix);
//Se calcula el momento de inercia de la esfera a partir de la masa.
var ballLocalInertia = ballShape.CalculateLocalInertia(mass);
var ballInfo = new RigidBodyConstructionInfo(mass, ballMotionState, ballShape, ballLocalInertia);
//Creamos el cuerpo rigido de la esfera a partir de la info.
var ballBody = new RigidBody(ballInfo);
ballBody.LinearFactor = TGCVector3.One.ToBsVector;
return(ballBody);
}
protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
Broadphase = new DbvtBroadphase();
Solver = new MultiBodyConstraintSolver();
World = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, Solver as MultiBodyConstraintSolver, CollisionConf);
World.Gravity = new Vector3(0, -9.81f, 0);
const bool floating = false;
const bool gyro = false;
const int numLinks = 1;
const bool canSleep = false;
const bool selfCollide = false;
Vector3 linkHalfExtents = new Vector3(0.05f, 0.5f, 0.1f);
//Vector3 baseHalfExtents = new Vector3(0.05f, 0.5f, 0.1f);
Vector3 baseInertiaDiag = Vector3.Zero;
const float baseMass = 0;
multiBody = new MultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
//multiBody.UseRK4Integration = true;
//multiBody.BaseWorldTransform = Matrix.Identity;
//init the links
Vector3 hingeJointAxis = new Vector3(1, 0, 0);
//y-axis assumed up
Vector3 parentComToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0);
Vector3 currentPivotToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0);
Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;
for (int i = 0; i < numLinks; i++)
{
const float linkMass = 10;
Vector3 linkInertiaDiag = Vector3.Zero;
using (var shape = new SphereShape(radius))
{
shape.CalculateLocalInertia(linkMass, out linkInertiaDiag);
}
multiBody.SetupRevolute(i, linkMass, linkInertiaDiag, i - 1, Quaternion.Identity,
hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
multiBody.FinalizeMultiDof();
(World as MultiBodyDynamicsWorld).AddMultiBody(multiBody);
multiBody.CanSleep = canSleep;
multiBody.HasSelfCollision = selfCollide;
multiBody.UseGyroTerm = gyro;
#if PENDULUM_DAMPING
multiBody.LinearDamping = 0.1f;
multiBody.AngularDamping = 0.9f;
#else
multiBody.LinearDamping = 0;
multiBody.AngularDamping = 0;
#endif
for (int i = 0; i < numLinks; i++)
{
var shape = new SphereShape(radius);
CollisionShapes.Add(shape);
var col = new MultiBodyLinkCollider(multiBody, i);
col.CollisionShape = shape;
//const bool isDynamic = true;
CollisionFilterGroups collisionFilterGroup = CollisionFilterGroups.DefaultFilter; // : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = CollisionFilterGroups.AllFilter; // : CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.StaticFilter;
World.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask);
multiBody.GetLink(i).Collider = col;
}
}
public void Init()
{
#region MUNDO_FISICO //Creamos el mundo fisico por defecto.
collisionConfiguration = new DefaultCollisionConfiguration();
dispatcher = new CollisionDispatcher(collisionConfiguration);
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
constraintSolver = new SequentialImpulseConstraintSolver();
overlappingPairCache = new DbvtBroadphase();
dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, overlappingPairCache, constraintSolver, collisionConfiguration)
{
Gravity = new TGCVector3(0, -20f, 0).ToBsVector
};
#endregion
var texture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "texturas\\terrain\\NormalMapMar.png");
//Creamos shapes y bodies.
#region PISO
//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);
dynamicsWorld.AddRigidBody(floorBody);
//Cargamos objetos de render del framework.
var floorTexture = TgcTexture.createTexture(D3DDevice.Instance.Device, GameModel.mediaDir + "modelos\\Textures\\Canionero.jpg");
floorMesh = new TgcPlane(new TGCVector3(0, 500, 0), new TGCVector3(400, 0f, 400), TgcPlane.Orientations.XZplane, floorTexture);
#endregion
#region CAJA
//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(0, 600, 0).ToBsVector;
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);
//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);
#endregion
#region BOLA
//Se crea una esfera de tamaño 1 para escalarla luego (en render)
//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, 200, 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);
sphereMesh = new TGCSphere(1, texture.Clone(), TGCVector3.Empty);
//Tgc no crea el vertex buffer hasta invocar a update values.
sphereMesh.updateValues();
#endregion
callback = new MyContactResultCallback(dispatcher, dynamicsWorld, floorBody);// boxBody);
}
private static void Main(string[] args)
{
var collisionConfig = new DefaultCollisionConfiguration();
var dispatcher = new CollisionDispatcher(collisionConfig);
var pairCache = new DbvtBroadphase();
var solver = new SequentialImpulseConstraintSolver();
var dynamicsWorld = new DiscreteDynamicsWorld(dispatcher, pairCache, solver, collisionConfig);
dynamicsWorld.Gravity = new Vector3(0, -10, 0);
var groundShape = new BoxShape(new Vector3(50, 50, 50));
var groundTransform = Matrix.CreateTranslation(0, -56, 0);
{
float mass = 0;
bool isDynamic = mass != 0;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
localInertia = groundShape.CalculateLocalInertia(mass);
var motionState = new DefaultMotionState(groundTransform);
var rbinfo = new RigidBodyConstructionInfo(mass, motionState, groundShape, localInertia);
var body = new RigidBody(rbinfo);
dynamicsWorld.AddRigidBody(body);
}
{
var collisionShape = new SphereShape(1);
var transform = Matrix.Identity;
float mass = 1;
bool isDynamic = mass != 0;
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
localInertia = collisionShape.CalculateLocalInertia(mass);
transform.Translation = new Vector3(2, 10, 0);
var motionState = new DefaultMotionState(transform);
var rbinfo = new RigidBodyConstructionInfo(mass, motionState, collisionShape, localInertia);
var body = new RigidBody(rbinfo);
dynamicsWorld.AddRigidBody(body);
}
Console.WriteLine("Starting simulation");
for (int i = 0; i < 100; i++)
{
dynamicsWorld.StepSimulation(1f / 60f, 10);
for (int j = dynamicsWorld.GetNumCollisionObjects() - 1; j >= 0; j--)
{
var obj = dynamicsWorld.GetCollisionObjectArray()[j];
var body = (RigidBody)obj;
if (body != null && body.GetMotionState() != null)
{
Matrix transform = Matrix.Identity;
body.GetMotionState().GetWorldTransform(ref transform);
Console.WriteLine("Object@{0} Position={1}", body.GetHashCode(), transform.Translation);
}
}
}
Console.Read();
}
public PendulumDemoSimulation()
{
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new DbvtBroadphase();
_solver = new MultiBodyConstraintSolver();
MultiBodyWorld = new MultiBodyDynamicsWorld(Dispatcher, Broadphase, _solver, CollisionConfiguration);
World.SetInternalTickCallback(TickCallback, null, true);
const bool floating = false;
const bool gyro = false;
const int numLinks = 1;
const bool canSleep = false;
const bool selfCollide = false;
var linkHalfExtents = new Vector3(0.05f, 0.5f, 0.1f);
var baseHalfExtents = new Vector3(0.05f, 0.5f, 0.1f);
var baseInertiaDiag = Vector3.Zero;
const float baseMass = 0;
MultiBody = new MultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
//MultiBody.UseRK4Integration = true;
//MultiBody.BaseWorldTransform = Matrix.Identity;
//init the links
var hingeJointAxis = new Vector3(1, 0, 0);
//y-axis assumed up
Vector3 parentComToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0);
Vector3 currentPivotToCurrentCom = new Vector3(0, -linkHalfExtents[1], 0);
Vector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;
for (int i = 0; i < numLinks; i++)
{
const float linkMass = 10;
Vector3 linkInertiaDiag = Vector3.Zero;
using (var shape = new SphereShape(radius))
{
shape.CalculateLocalInertia(linkMass, out linkInertiaDiag);
}
MultiBody.SetupRevolute(i, linkMass, linkInertiaDiag, i - 1, Quaternion.Identity,
hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
MultiBody.FinalizeMultiDof();
MultiBodyWorld.AddMultiBody(MultiBody);
MultiBody.CanSleep = canSleep;
MultiBody.HasSelfCollision = selfCollide;
MultiBody.UseGyroTerm = gyro;
#if PENDULUM_DAMPING
MultiBody.LinearDamping = 0.1f;
MultiBody.AngularDamping = 0.9f;
#else
MultiBody.LinearDamping = 0;
MultiBody.AngularDamping = 0;
#endif
for (int i = 0; i < numLinks; i++)
{
var shape = new SphereShape(radius);
var col = new MultiBodyLinkCollider(MultiBody, i);
col.CollisionShape = shape;
const bool isDynamic = true;
CollisionFilterGroups collisionFilterGroup = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter;
CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.StaticFilter;
World.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask);
MultiBody.GetLink(i).Collider = col;
}
}