protected override void OnInitializePhysics() { CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new Vector3(0, -10, 0); // ground CollisionShape groundShape = new BoxShape(50, 1, 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape); ground.UserObject = "Ground"; // Objects //colShape = new BoxShape(1); Vector3[] points0 = { new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1) }; Vector3[] points1 = { new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1), new Vector3(0,0,-1), new Vector3(-1,-1,0) }; colShape0 = new ConvexHullShape(points0); colShape1 = new ConvexHullShape(points1); CollisionShapes.Add(colShape0); CollisionShapes.Add(colShape1); /*body2 =*/ LocalCreateRigidBody(0, body2Position, colShape1); rotBody = LocalCreateRigidBody(0, rotBodyPosition, colShape0); rotBody.CollisionFlags |= CollisionFlags.KinematicObject; rotBody.ActivationState = ActivationState.DisableDeactivation; }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new Vector3(0, -10, 0); // create the ground BoxShape groundShape = new BoxShape(50, 1, 50); //groundShape.InitializePolyhedralFeatures(); //CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape); ground.UserObject = "Ground"; // create a few dynamic rigidbodies const float mass = 1.0f; BoxShape colShape = new BoxShape(1); CollisionShapes.Add(colShape); Vector3 localInertia = colShape.CalculateLocalInertia(mass); const float start_x = StartPosX - ArraySizeX / 2; const float start_y = StartPosY; const float start_z = StartPosZ - ArraySizeZ / 2; int k, i, j; for (k = 0; k < ArraySizeY; k++) { for (i = 0; i < ArraySizeX; i++) { for (j = 0; j < ArraySizeZ; j++) { Matrix startTransform = Matrix.Translation( 2 * i + start_x, 2 * k + start_y, 2 * j + start_z ); // using motionstate is recommended, it provides interpolation capabilities // and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia); RigidBody body = new RigidBody(rbInfo); rbInfo.Dispose(); // make it drop from a height body.Translate(new Vector3(0, 20, 0)); World.AddRigidBody(body); } } } }
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 SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = Freelook.Up * -10.0f; BspLoader bspLoader = new BspLoader(); //string[] args = Environment.GetCommandLineArgs(); //if (args.Length == 1) //{ UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("BspDemo"); System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes); bspLoader.LoadBspFile(byteStream); //} //else //{ // bspLoader.LoadBspFile(args[1]); //} BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); }
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 SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = Freelook.Up * -10.0f; BspLoader bspLoader = new BspLoader(); string[] args = Environment.GetCommandLineArgs(); if (args.Length == 1) { bspLoader.LoadBspFile("data/BspDemo.bsp"); } else { bspLoader.LoadBspFile(args[1]); } BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); }
public Physics() { // collision configuration contains default setup for memory, collision setup collisionConf = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConf); broadphase = new DbvtBroadphase(); World = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf); World.Gravity = new Vector3(0, -10, 0); // create the ground CollisionShape groundShape = new BoxShape(50, 50, 50); collisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, BulletSharp.Math.Matrix.Translation(0, -50, 0), groundShape); ground.UserObject = "Ground"; // create a few dynamic rigidbodies float mass = 1.0f; CollisionShape colShape = new BoxShape(1); collisionShapes.Add(colShape); Vector3 localInertia = colShape.CalculateLocalInertia(mass); float start_x = StartPosX - ArraySizeX / 2; float start_y = StartPosY; float start_z = StartPosZ - ArraySizeZ / 2; int k, i, j; for (k = 0; k < ArraySizeY; k++) { for (i = 0; i < ArraySizeX; i++) { for (j = 0; j < ArraySizeZ; j++) { BulletSharp.Math.Matrix startTransform = BulletSharp.Math.Matrix.Translation( new Vector3( 2*i + start_x, 2*k + start_y, 2*j + start_z ) ); // using motionstate is recommended, it provides interpolation capabilities // and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia); RigidBody body = new RigidBody(rbInfo); // make it drop from a height body.Translate(new Vector3(0, 20, 0)); World.AddRigidBody(body); } } } }
void SetupEmptyDynamicsWorld() { CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); }
public unsafe static void SetAabbForceUpdate(this DbvtBroadphase obj, BroadphaseProxy absproxy, ref OpenTK.Vector3 aabbMin, ref OpenTK.Vector3 aabbMax, Dispatcher __unnamed3) { fixed(OpenTK.Vector3 *aabbMinPtr = &aabbMin) { fixed(OpenTK.Vector3 *aabbMaxPtr = &aabbMax) { obj.SetAabbForceUpdate(absproxy, ref *(BulletSharp.Math.Vector3 *)aabbMinPtr, ref *(BulletSharp.Math.Vector3 *)aabbMaxPtr, __unnamed3); } } }
public Physics() { CLStuff.InitCL(); cloths = new Cloth[numFlags]; for (int flagIndex = 0; flagIndex < numFlags; ++flagIndex) { cloths[flagIndex] = new Cloth(); cloths[flagIndex].CreateBuffers(clothWidth, clothHeight); } gSolver = new OpenCLSoftBodySolver(CLStuff.commandQueue, CLStuff.cxMainContext); softBodyOutput = new SoftBodySolverOutputCLToCpu(); // collision configuration contains default setup for memory, collision setup CollisionConf = new SoftBodyRigidBodyCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new SoftRigidDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf, gSolver); World.Gravity = new Vector3(0, -10, 0); // create the ground CollisionShape groundShape = new BoxShape(50, 50, 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -60, 0), groundShape); ground.UserObject = "Ground"; SoftWorld.WorldInfo.AirDensity = 1.2f; SoftWorld.WorldInfo.WaterDensity = 0; SoftWorld.WorldInfo.WaterOffset = 0; SoftWorld.WorldInfo.WaterNormal = Vector3.Zero; SoftWorld.WorldInfo.Gravity = new Vector3(0, -10, 0); CreateFlag(clothWidth, clothHeight, out flags); // Create output buffer descriptions for ecah flag // These describe where the simulation should send output data to for (int flagIndex = 0; flagIndex < flags.Count; ++flagIndex) { // flags[flagIndex].WindVelocity = new Vector3(0, 0, 15.0f); // In this case we have a DX11 output buffer with a vertex at index 0, 8, 16 and so on as well as a normal at 3, 11, 19 etc. // Copies will be performed GPU-side directly into the output buffer CpuVertexBufferDescriptor vertexBufferDescriptor = new CpuVertexBufferDescriptor(cloths[flagIndex].CpuBuffer, 0, 8, 3, 8); cloths[flagIndex].VertexBufferDescriptor = vertexBufferDescriptor; } gSolver.Optimize(SoftWorld.SoftBodyArray); World.StepSimulation(1.0f / 60.0f, 0); }
/// <summary> /// コンストラクター /// </summary> public CollisionAnalyzer() { var cc = new DefaultCollisionConfiguration (); dispatcher = new CollisionDispatcher (cc); broadphase = new DbvtBroadphase (); broadphase.OverlappingPairCache.SetInternalGhostPairCallback (new GhostPairCallback ()); // solver = new SequentialImpulseConstraintSolver (); this.wld = new DiscreteDynamicsWorld (dispatcher, broadphase, null, cc); this.prevContacts = new List<OverlappingPair> (); this.currContacts = new List<OverlappingPair> (); }
public Physics() { ActiveBodies = new List<PhysicalBody>(); collisionConf = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConf); broadphase = new DbvtBroadphase(); var w = new MultiBodyDynamicsWorld(dispatcher, broadphase, new MultiBodyConstraintSolver(), collisionConf); w.SolverInfo.SolverMode = SolverModes.CacheFriendly; w.SolverInfo.Restitution = 0; w.Gravity = new Vector3(0, -9.81f, 0); World = w; }
public World() { Children = new List<IRenderable>(); LinesPool = new Line2dPool(); CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); PhysicalWorld = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); PhysicalWorld.Gravity = new Vector3(0, -10, 0); PhysicalWorld.SolverInfo.SolverMode = SolverModes.InterleaveContactAndFrictionConstraints; PhysicalWorld.SolverInfo.Restitution = 0; CollisionObjects = new Dictionary<IRenderable, CollisionObject>(); UI = new UIRenderer(); if(Root == null) Root = this; }
static void Main(string[] args) { var config = new BulletSharp.DefaultCollisionConfiguration(); var dispatcher = new BulletSharp.CollisionDispatcher(config); var pair = new BulletSharp.DbvtBroadphase(); var world = new BulletSharp.CollisionWorld(dispatcher, pair, config); var players = new Dictionary <Guid, RigidBody>(); var ci = new RigidBodyConstructionInfo(1, new DefaultMotionState(), new SphereShape(.513037f)); var rb = new RigidBody(ci); rb.Gravity = Vector3.Zero; rb.Translate(new Vector3(0f, 1.5f, 0f)); world.AddCollisionObject(rb); }
public Physics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, 0, -10); BspLoader bspLoader = new BspLoader(); bspLoader.LoadBspFile("BspDemo.bsp"); BspConverter bsp2Bullet = new BspToBulletConverter(this); bsp2Bullet.ConvertBsp(bspLoader, 0.1f); }
static DefaultRigidBodyWorld() { // Broadphase algorithms are responsible for calculating bounding // boxes. We should probably use an AABB Tree (DbvtBroadphase) // because they are generally good for worlds with lots of motion. // Sweep and Prune Broadphases are best when most of the world is // static. Broadphase = new DbvtBroadphase(); CollisionConfiguration = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConfiguration); Solver = new SequentialImpulseConstraintSolver(); DynamicsWorld = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConfiguration); DynamicsWorld.Gravity = new Vector3(0F, 0F, -9.81F); Ground = PhysicsHelpers.MakePlane(new Vector3(0, 0, 1), 0); DynamicsWorld.AddRigidBody(Ground); }
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 SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); importer = new BulletXmlWorldImporter(World); if (!importer.LoadFile("data\\bullet_basic.xml")) { //throw new FileNotFoundException(); } }
public World(bool StaticView) { Graphics.StaticView = StaticView; CurrentMap = new Map(); if (StaticView) MainCharacter = new Characters.DebugView(); else { // collision configuration contains default setup for memory, collision setup collisionConf = new DefaultCollisionConfiguration(); dispatcher = new CollisionDispatcher(collisionConf); broadphase = new DbvtBroadphase(); DynamicsWorld = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConf); DynamicsWorld.Gravity = new Vector3(0, -9.81f, 0); MainCharacter = new Characters.Person(new Vector3(403, 5, 274)); DynamicsWorld.DebugDrawer = new Tools.PhysicsDebugDrawer(); } }
public static void TestGCCollection() { var conf = new DefaultCollisionConfiguration(); var dispatcher = new CollisionDispatcher(conf); var broadphase = new DbvtBroadphase(); var world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf); world.Gravity = new Vector3(0, -10, 0); var conf_wr = new WeakReference(conf); var dispatcher_wr = new WeakReference(dispatcher); var broadphase_wr = new WeakReference(broadphase); var world_wr = new WeakReference(broadphase); //conf.Dispose(); conf = null; dispatcher.OnDisposing += onDisposing; dispatcher.OnDisposed += onDisposed; //dispatcher.Dispose(); dispatcher = null; broadphase.OnDisposing += onDisposing; broadphase.OnDisposed += onDisposed; //broadphase.Dispose(); broadphase = null; world.OnDisposing += onDisposing; world.OnDisposed += onDisposed; world.SetInternalTickCallback(WorldPreTickCallback); world.StepSimulation(1.0f/60.0f); //world.SetInternalTickCallback(null); //world.Dispose(); world = null; GC.Collect(); GC.WaitForPendingFinalizers(); TestWeakRef("CollisionConfiguration", conf_wr); TestWeakRef("CollisionDispatcher", dispatcher_wr); TestWeakRef("DbvtBroadphase", broadphase_wr); TestWeakRef("DiscreteDynamicsWorld", world_wr); }
/* Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation. */ public bool CreatePhysicsWorld( out CollisionWorld world, out CollisionConfiguration collisionConfig, out CollisionDispatcher dispatcher, out BroadphaseInterface broadphase, out SequentialImpulseConstraintSolver solver, out SoftBodyWorldInfo softBodyWorldInfo) { bool success = true; if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf) { BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching"); m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf; success = false; } collisionConfig = null; if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf) { collisionConfig = new DefaultCollisionConfiguration(); } else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf) { collisionConfig = new SoftBodyRigidBodyCollisionConfiguration(); } dispatcher = new CollisionDispatcher(collisionConfig); if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase) { broadphase = new DbvtBroadphase(); } else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase) { broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); } else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit) { broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies); } else { broadphase = null; } world = null; softBodyWorldInfo = null; solver = null; if (m_worldType == WorldType.CollisionOnly) { world = new CollisionWorld(dispatcher, broadphase, collisionConfig); } else if (m_worldType == WorldType.RigidBodyDynamics) { world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig); } else if (m_worldType == WorldType.MultiBodyWorld) { world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig); } else if (m_worldType == WorldType.SoftBodyAndRigidBody) { solver = new SequentialImpulseConstraintSolver(); solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed; softBodyWorldInfo = new SoftBodyWorldInfo { AirDensity = 1.2f, WaterDensity = 0, WaterOffset = 0, WaterNormal = BulletSharp.Math.Vector3.Zero, Gravity = UnityEngine.Physics.gravity.ToBullet(), Dispatcher = dispatcher, Broadphase = broadphase }; softBodyWorldInfo.SparseSdf.Initialize(); world = new SoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig); world.DispatchInfo.EnableSpu = true; softBodyWorldInfo.SparseSdf.Reset(); softBodyWorldInfo.AirDensity = 1.2f; softBodyWorldInfo.WaterDensity = 0; softBodyWorldInfo.WaterOffset = 0; softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero; softBodyWorldInfo.Gravity = m_gravity.ToBullet(); } if (world is DiscreteDynamicsWorld) { ((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet(); } if (_doDebugDraw) { DebugDrawUnity db = new DebugDrawUnity(); db.DebugMode = _debugDrawMode; world.DebugDrawer = db; } return success; }
protected override void OnInitializePhysics() { int i; shootBoxInitialSpeed = 4000; // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); //Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.BoxShape, BroadphaseNativeType.BoxShape, // CollisionConf.GetCollisionAlgorithmCreateFunc(BroadphaseNativeType.ConvexShape, BroadphaseNativeType.ConvexShape)); Broadphase = new DbvtBroadphase(); // the default constraint solver. Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.SolverInfo.SolverMode |= SolverModes.Use2FrictionDirections | SolverModes.RandomizeOrder; //World.SolverInfo.SplitImpulse = 0; World.SolverInfo.NumIterations = 20; World.DispatchInfo.UseContinuous = ccdMode; World.Gravity = new Vector3(0, -10, 0); BoxShape ground = new BoxShape(200, 1, 200); ground.InitializePolyhedralFeatures(); CollisionShapes.Add(ground); RigidBody body = LocalCreateRigidBody(0, Matrix.Identity, ground); body.Friction = 0.5f; //body.RollingFriction = 0.3f; body.UserObject = "Ground"; //CollisionShape shape = new CylinderShape(CubeHalfExtents, CubeHalfExtents, CubeHalfExtents); CollisionShape shape = new BoxShape(CubeHalfExtents, CubeHalfExtents, CubeHalfExtents); CollisionShapes.Add(shape); const int numObjects = 120; for (i = 0; i < numObjects; i++) { //stack them const int colsize = 10; int row = (int)((i * CubeHalfExtents * 2) / (colsize * 2 * CubeHalfExtents)); int row2 = row; int col = (i) % (colsize) - colsize / 2; if (col > 3) { col = 11; row2 |= 1; } Matrix trans = Matrix.Translation(col * 2 * CubeHalfExtents + (row2 % 2) * CubeHalfExtents, row * 2 * CubeHalfExtents + CubeHalfExtents + ExtraHeight, 0); body = LocalCreateRigidBody(1, trans, shape); body.SetAnisotropicFriction(shape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.AnisotropicRollingFriction); body.Friction = 0.5f; //body.RollingFriction = 0.3f; if (ccdMode) { body.CcdMotionThreshold = 1e-7f; body.CcdSweptSphereRadius = 0.9f * CubeHalfExtents; } } }
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 = isDynamic ? CollisionFilterGroups.DefaultFilter : CollisionFilterGroups.StaticFilter; CollisionFilterGroups collisionFilterMask = isDynamic ? CollisionFilterGroups.AllFilter : CollisionFilterGroups.AllFilter & ~CollisionFilterGroups.StaticFilter; World.AddCollisionObject(col, collisionFilterGroup, collisionFilterMask); multiBody.GetLink(i).Collider = col; } }
void Start() { //Create a World Debug.Log("Initialize physics"); List<CollisionShape> CollisionShapes = new List<CollisionShape>(); DefaultCollisionConfiguration CollisionConf = new DefaultCollisionConfiguration(); CollisionDispatcher Dispatcher = new CollisionDispatcher(CollisionConf); DbvtBroadphase Broadphase = new DbvtBroadphase(); DiscreteDynamicsWorld World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new BulletSharp.Math.Vector3(0, -10, 0); // create a few dynamic rigidbodies const float mass = 1.0f; //Add a single cube RigidBody fallRigidBody; BoxShape shape = new BoxShape(1f, 1f, 1f); BulletSharp.Math.Vector3 localInertia = BulletSharp.Math.Vector3.Zero; shape.CalculateLocalInertia(mass, out localInertia); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, null, shape, localInertia); fallRigidBody = new RigidBody(rbInfo); rbInfo.Dispose(); Matrix st = Matrix.Translation(new BulletSharp.Math.Vector3(0f, 10f, 0f)); fallRigidBody.WorldTransform = st; World.AddRigidBody(fallRigidBody); //Step the simulation 300 steps for (int i = 0; i < 300; i++) { World.StepSimulation(1f / 60f, 10); Matrix trans; fallRigidBody.GetWorldTransform(out trans); Debug.Log("box height: " + trans.Origin); } //Clean up. World.RemoveRigidBody(fallRigidBody); fallRigidBody.Dispose(); UnityEngine.Debug.Log("ExitPhysics"); if (World != null) { //remove/dispose constraints int i; for (i = World.NumConstraints - 1; i >= 0; i--) { TypedConstraint constraint = World.GetConstraint(i); World.RemoveConstraint(constraint); constraint.Dispose(); } //remove the rigidbodies from the dynamics world and delete them for (i = World.NumCollisionObjects - 1; i >= 0; i--) { CollisionObject obj = World.CollisionObjectArray[i]; RigidBody body = obj as RigidBody; if (body != null && body.MotionState != null) { body.MotionState.Dispose(); } World.RemoveCollisionObject(obj); obj.Dispose(); } //delete collision shapes foreach (CollisionShape ss in CollisionShapes) ss.Dispose(); CollisionShapes.Clear(); World.Dispose(); Broadphase.Dispose(); Dispatcher.Dispose(); CollisionConf.Dispose(); } if (Broadphase != null) { Broadphase.Dispose(); } if (Dispatcher != null) { Dispatcher.Dispose(); } if (CollisionConf != null) { CollisionConf.Dispose(); } }
static void TestGCCollection() { var conf = new DefaultCollisionConfiguration(); var dispatcher = new CollisionDispatcher(conf); var broadphase = new DbvtBroadphase(); //var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000)); world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf); world.Gravity = new Vector3(0, -10, 0); dispatcher.NearCallback = DispatcherNearCallback; CreateBody(0.0f, new BoxShape(50, 1, 50), Vector3.Zero); var dynamicObject = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0)); var dynamicObject2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0)); var ghostPairCallback = new GhostPairCallback(); broadphase.OverlappingPairCache.SetInternalGhostPairCallback(ghostPairCallback); AddToDisposeQueue(ghostPairCallback); ghostPairCallback = null; var ghostObject = new PairCachingGhostObject(); ghostObject.CollisionShape = new BoxShape(2); ghostObject.WorldTransform = Matrix.Translation(2,2,0); world.AddCollisionObject(ghostObject); var trimesh = new TriangleMesh(); Vector3 v0 = new Vector3(0, 0, 0); Vector3 v1 = new Vector3(1, 0, 0); Vector3 v2 = new Vector3(0, 1, 0); Vector3 v3 = new Vector3(1, 1, 0); trimesh.AddTriangle(v0, v1, v2); trimesh.AddTriangle(v1, v3, v2); var triangleMeshShape = new BvhTriangleMeshShape(trimesh, false); var triMeshObject = CreateBody(0, triangleMeshShape, new Vector3(20,0,20)); AddToDisposeQueue(triangleMeshShape); AddToDisposeQueue(trimesh); AddToDisposeQueue(triMeshObject); triangleMeshShape = null; trimesh = null; AddToDisposeQueue(conf); AddToDisposeQueue(dispatcher); AddToDisposeQueue(broadphase); AddToDisposeQueue(world); //conf.Dispose(); conf = null; //dispatcher.Dispose(); dispatcher = null; //broadphase.Dispose(); broadphase = null; world.DebugDrawer = new DebugDrawTest(); AddToDisposeQueue(world.DebugDrawer); world.SetInternalTickCallback(WorldPreTickCallback); for (int i = 0; i < 600; i++) { world.StepSimulation(1.0f / 60.0f); } world.DispatchInfo.DebugDraw = new DebugDrawTest2(); AddToDisposeQueue(world.DispatchInfo.DebugDraw); world.DispatchInfo.DebugDraw = world.DispatchInfo.DebugDraw; AddToDisposeQueue(world.DispatchInfo.DebugDraw); world.DispatchInfo.DebugDraw = null; world.DebugDrawer = null; world.DebugDrawer = new DebugDrawTest2(); world.StepSimulation(1.0f / 60.0f); world.DebugDrawWorld(); AddToDisposeQueue(world.DispatchInfo.DebugDraw); world.DebugDrawer = new DebugDrawTest(); world.DebugDrawWorld(); AddToDisposeQueue(world.DebugDrawer); world.DebugDrawer = null; TestContactTest(dynamicObject, dynamicObject2); TestGhostObjectPairs(ghostObject); TestRayCast(dynamicObject); TestTriangleMeshRayCast(triMeshObject); dynamicObject = null; dynamicObject2 = null; triMeshObject = null; //world.SetInternalTickCallback(null); world.Dispose(); world = null; GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced); GC.WaitForPendingFinalizers(); TestWeakRefs(); disposeQueue.Clear(); }
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, -10, 0); // create a few basic rigid bodies BoxShape groundShape = new BoxShape(50, 50, 50); //groundShape.InitializePolyhedralFeatures(); //CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -51.55f, 0), groundShape); ground.UserObject = "Ground"; int numLinks = 5; bool spherical = true; bool floatingBase = false; Vector3 basePosition = new Vector3(-0.4f, 3.0f, 0.0f); Vector3 baseHalfExtents = new Vector3(0.05f, 0.37f, 0.1f); Vector3 linkHalfExtents = new Vector3(0.05f, 0.37f, 0.1f); var mb = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, numLinks, basePosition, baseHalfExtents, linkHalfExtents, spherical, floatingBase); floatingBase = !floatingBase; mb.CanSleep = true; mb.HasSelfCollision = false; mb.UseGyroTerm = true; bool damping = true; if (damping) { mb.LinearDamping = 0.1f; mb.AngularDamping = 0.9f; } else { mb.LinearDamping = 0; mb.AngularDamping = 0; } if (numLinks > 0) { float q0 = 45.0f * (float)Math.PI / 180.0f; if (spherical) { Quaternion quat0 = Quaternion.RotationAxis(new Vector3(1, 1, 0).Normalized, q0); quat0.Normalize(); mb.SetJointPosMultiDof(0, new float[] { quat0.X, quat0.Y, quat0.Z, quat0.W }); } else { mb.SetJointPosMultiDof(0, new float[] { q0 }); } } AddColliders(mb, baseHalfExtents, linkHalfExtents); LocalCreateRigidBody(1, Matrix.Translation(0, -0.95f, 0), new BoxShape(0.5f, 0.5f, 0.5f)); }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); // Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher. Dispatcher = new CollisionDispatcher(CollisionConf); VoronoiSimplexSolver simplex = new VoronoiSimplexSolver(); MinkowskiPenetrationDepthSolver pdSolver = new MinkowskiPenetrationDepthSolver(); Convex2DConvex2DAlgorithm.CreateFunc convexAlgo2d = new Convex2DConvex2DAlgorithm.CreateFunc(simplex, pdSolver); Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d); Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Convex2DShape, convexAlgo2d); Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Convex2DShape, BroadphaseNativeType.Box2DShape, convexAlgo2d); Dispatcher.RegisterCollisionCreateFunc(BroadphaseNativeType.Box2DShape, BroadphaseNativeType.Box2DShape, new Box2DBox2DCollisionAlgorithm.CreateFunc()); Broadphase = new DbvtBroadphase(); // the default constraint solver. Solver = new SequentialImpulseConstraintSolver(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf); World.Gravity = new Vector3(0, -10, 0); // create a few basic rigid bodies CollisionShape groundShape = new BoxShape(150, 7, 150); CollisionShapes.Add(groundShape); RigidBody ground = LocalCreateRigidBody(0, Matrix.Identity, groundShape); ground.UserObject = "Ground"; // create a few dynamic rigidbodies // Re-using the same collision is better for memory usage and performance float u = 0.96f; Vector3[] points = { new Vector3(0, u, 0), new Vector3(-u, -u, 0), new Vector3(u, -u, 0) }; ConvexShape childShape0 = new BoxShape(1, 1, Depth); ConvexShape colShape = new Convex2DShape(childShape0); ConvexShape childShape1 = new ConvexHullShape(points); ConvexShape colShape2 = new Convex2DShape(childShape1); ConvexShape childShape2 = new CylinderShapeZ(1, 1, Depth); ConvexShape colShape3 = new Convex2DShape(childShape2); CollisionShapes.Add(colShape); CollisionShapes.Add(colShape2); CollisionShapes.Add(colShape3); CollisionShapes.Add(childShape0); CollisionShapes.Add(childShape1); CollisionShapes.Add(childShape2); colShape.Margin = 0.03f; float mass = 1.0f; Vector3 localInertia = colShape.CalculateLocalInertia(mass); Matrix startTransform; Vector3 x = new Vector3(-ArraySizeX, 8, -20); Vector3 y = Vector3.Zero; Vector3 deltaX = new Vector3(1, 2, 0); Vector3 deltaY = new Vector3(2, 0, 0); int i, j; for (i = 0; i < ArraySizeY; i++) { y = x; for (j = 0; j < ArraySizeX; j++) { startTransform = Matrix.Translation(y - new Vector3(-10, 0, 0)); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform); RigidBodyConstructionInfo rbInfo; switch (j % 3) { case 0: rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia); break; case 1: rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape3, localInertia); break; default: rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape2, localInertia); break; } RigidBody body = new RigidBody(rbInfo); rbInfo.Dispose(); //body.ActivationState = ActivationState.IslandSleeping; body.LinearFactor = new Vector3(1, 1, 0); body.AngularFactor = new Vector3(0, 0, 1); World.AddRigidBody(body); y += deltaY; } x += deltaX; } }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new Vector3(0, -10, 0); GImpactCollisionAlgorithm.RegisterAlgorithm(Dispatcher); string bulletFile; string[] args = Environment.GetCommandLineArgs(); if (args.Length == 1) { bulletFile = "testFile.bullet"; } else { bulletFile = args[1]; } fileLoader = new CustomBulletWorldImporter(World); if (!fileLoader.LoadFile(bulletFile)) { CollisionShape groundShape = new BoxShape(50); CollisionShapes.Add(groundShape); RigidBody ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape); ground.UserObject = "Ground"; // create a few dynamic rigidbodies float mass = 1.0f; Vector3[] positions = new Vector3[2] { new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.4f, 0.5f, 0.6f) }; float[] radi = new float[2] { 0.3f, 0.4f }; CollisionShape colShape = new MultiSphereShape(positions, radi); //CollisionShape colShape = new CapsuleShapeZ(1, 1); //CollisionShape colShape = new CylinderShapeZ(1, 1, 1); //CollisionShape colShape = new BoxShape(1); //CollisionShape colShape = new SphereShape(1); CollisionShapes.Add(colShape); Vector3 localInertia = colShape.CalculateLocalInertia(mass); float start_x = StartPosX - ArraySizeX / 2; float start_y = StartPosY; float start_z = StartPosZ - ArraySizeZ / 2; int k, i, j; for (k = 0; k < ArraySizeY; k++) { for (i = 0; i < ArraySizeX; i++) { for (j = 0; j < ArraySizeZ; j++) { Matrix startTransform = Matrix.Translation( 2 * i + start_x, 2 * k + start_y, 2 * j + start_z ); // using motionstate is recommended, it provides interpolation capabilities // and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia); RigidBody body = new RigidBody(rbInfo); rbInfo.Dispose(); // make it drop from a height body.Translate(new Vector3(0, 20, 0)); World.AddRigidBody(body); } } } DefaultSerializer serializer = new DefaultSerializer(); serializer.RegisterNameForObject(ground, "GroundName"); for (i = 0; i < CollisionShapes.Count; i++) serializer.RegisterNameForObject(CollisionShapes[i], "name" + i.ToString()); Point2PointConstraint p2p = new Point2PointConstraint((RigidBody)World.CollisionObjectArray[2], new Vector3(0, 1, 0)); World.AddConstraint(p2p); serializer.RegisterNameForObject(p2p, "constraintje"); World.Serialize(serializer); BulletSharp.DataStream data = serializer.LockBuffer(); byte[] dataBytes = new byte[data.Length]; data.Read(dataBytes, 0, dataBytes.Length); FileStream file = new FileStream("testFile.bullet", FileMode.Create); file.Write(dataBytes, 0, dataBytes.Length); file.Close(); } }
protected override void OnInitializePhysics() { // collision configuration contains default setup for memory, collision setup CollisionConf = new DefaultCollisionConfiguration(); Dispatcher = new CollisionDispatcher(CollisionConf); Broadphase = new DbvtBroadphase(); World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf); World.Gravity = new Vector3(0, -10, 0); // create the ground CollisionShape groundShape = new BoxShape(20, 50, 10); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.RotationAxis(new Vector3(0, 0, 1), (float)Math.PI * 0.03f) * Matrix.Translation(0, -50, 0), groundShape); ground.Friction = 1; ground.RollingFriction = 1; ground.UserObject = "Ground"; groundShape = new BoxShape(100, 50, 100); CollisionShapes.Add(groundShape); ground = LocalCreateRigidBody(0, Matrix.Translation(0, -54, 0), groundShape); ground.Friction = 1; ground.RollingFriction = 1; ground.UserObject = "Ground"; // create a few dynamic rigidbodies CollisionShape[] colShapes = { new SphereShape(1), new CapsuleShape(0.5f,1), new CapsuleShapeX(0.5f,1), new CapsuleShapeZ(0.5f,1), new ConeShape(0.5f,1), new ConeShapeX(0.5f,1), new ConeShapeZ(0.5f,1), new CylinderShape(new Vector3(0.5f,1,0.5f)), new CylinderShapeX(new Vector3(1,0.5f,0.5f)), new CylinderShapeZ(new Vector3(0.5f,0.5f,1)), }; foreach (var collisionShape in colShapes) { CollisionShapes.Add(collisionShape); } const float mass = 1.0f; CollisionShape colShape = new BoxShape(1); CollisionShapes.Add(colShape); Vector3 localInertia = colShape.CalculateLocalInertia(mass); var rbInfo = new RigidBodyConstructionInfo(mass, null, null, localInertia); const float startX = StartPosX - ArraySizeX / 2; const float startY = StartPosY; const float startZ = StartPosZ - ArraySizeZ / 2; int shapeIndex = 0; for (int k = 0; k < ArraySizeY; k++) { for (int i = 0; i < ArraySizeX; i++) { for (int j = 0; j < ArraySizeZ; j++) { Matrix startTransform = Matrix.Translation( 2 * i + startX, 2 * k + startY + 20, 2 * j + startZ ); shapeIndex++; // using motionstate is recommended, it provides interpolation capabilities // and only synchronizes 'active' objects rbInfo.MotionState = new DefaultMotionState(startTransform); rbInfo.CollisionShape = colShapes[shapeIndex % colShapes.Length]; RigidBody body = new RigidBody(rbInfo); body.Friction = 1; body.RollingFriction = 0.3f; body.SetAnisotropicFriction(colShape.AnisotropicRollingFrictionDirection, AnisotropicFrictionFlags.RollingFriction); World.AddRigidBody(body); } } } rbInfo.Dispose(); }
public static void InitBullet() { // collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration. BtEngineCollisionConfiguration = new DefaultCollisionConfiguration(); // use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) BtEngineDispatcher = new CollisionDispatcher(BtEngineCollisionConfiguration); BtEngineDispatcher.NearCallback = RoomNearCallback; // btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep. BtEngineOverlappingPairCache = new DbvtBroadphase(); BtEngineGhostPairCallback = new GhostPairCallback(); BtEngineOverlappingPairCache.OverlappingPairCache.SetInternalGhostPairCallback(BtEngineGhostPairCallback); // the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) BtEngineSolver = new SequentialImpulseConstraintSolver(); BtEngineDynamicsWorld = new DiscreteDynamicsWorld(BtEngineDispatcher, BtEngineOverlappingPairCache, BtEngineSolver, BtEngineCollisionConfiguration); BtEngineDynamicsWorld.SetInternalTickCallback(InternalTickCallback); BtEngineDynamicsWorld.Gravity = new BulletSharp.Math.Vector3(0, 0, -4500.0f); DebugDrawer = new RenderDebugDrawer(); DebugDrawer.DebugMode = DebugDrawModes.DrawWireframe | DebugDrawModes.DrawConstraints; BtEngineDynamicsWorld.DebugDrawer = DebugDrawer; //Global.BtEngineDynamicsWorld.PairCache.SetInternalGhostPairCallback(Global.BtEngineFilterCallback); }
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, -10, 0); // create a few basic rigid bodies BoxShape groundShape = new BoxShape(50, 50, 50); //groundShape.InitializePolyhedralFeatures(); //CollisionShape groundShape = new StaticPlaneShape(new Vector3(0,1,0), 50); CollisionShapes.Add(groundShape); CollisionObject ground = LocalCreateRigidBody(0, Matrix.Translation(0, -50, 0), groundShape); ground.UserObject = "Ground"; // create a few dynamic rigidbodies const float mass = 1.0f; BoxShape colShape = new BoxShape(1); CollisionShapes.Add(colShape); Vector3 localInertia = colShape.CalculateLocalInertia(mass); const float start_x = StartPosX - ArraySizeX / 2; const float start_y = StartPosY; const float start_z = StartPosZ - ArraySizeZ / 2; int k, i, j; for (k = 0; k < ArraySizeY; k++) { for (i = 0; i < ArraySizeX; i++) { for (j = 0; j < ArraySizeZ; j++) { Matrix startTransform = Matrix.Translation( 3 * i + start_x, 3 * k + start_y, 3 * j + start_z ); // using motionstate is recommended, it provides interpolation capabilities // and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform); using (var rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia)) { var body = new RigidBody(rbInfo); World.AddRigidBody(body); } } } } var settings = new MultiBodySettings() { BasePosition = new Vector3(60, 29.5f, -2) * Scaling, CanSleep = true, CreateConstraints = true, DisableParentCollision = true, // the self-collision has conflicting/non-resolvable contact normals IsFixedBase = false, NumLinks = 2, UsePrismatic = true }; var multiBodyA = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); settings.NumLinks = 10; settings.BasePosition = new Vector3(0, 29.5f, -settings.NumLinks * 4); settings.IsFixedBase = true; settings.UsePrismatic = false; var multiBodyB = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); settings.BasePosition = new Vector3(-20 * Scaling, 29.5f * Scaling, -settings.NumLinks * 4 * Scaling); settings.IsFixedBase = false; var multiBodyC = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); settings.BasePosition = new Vector3(-20, 9.5f, -settings.NumLinks * 4); settings.IsFixedBase = true; settings.UsePrismatic = true; settings.DisableParentCollision = true; var multiBodyPrim = CreateFeatherstoneMultiBody(World as MultiBodyDynamicsWorld, settings); }
public void SetUp() { _conf = new DefaultCollisionConfiguration(); _dispatcher = new CollisionDispatcher(_conf); _broadphase = new DbvtBroadphase(); _solver = new SequentialImpulseConstraintSolver(); _world = new DiscreteDynamicsWorld(_dispatcher, _broadphase, _solver, _conf); }