public unsafe static void SetFrames(this HingeConstraint obj, ref OpenTK.Matrix4 frameA, ref OpenTK.Matrix4 frameB)
{
fixed(OpenTK.Matrix4 *frameAPtr = &frameA)
{
fixed(OpenTK.Matrix4 *frameBPtr = &frameB)
{
obj.SetFrames(ref *(BulletSharp.Math.Matrix *)frameAPtr, ref *(BulletSharp.Math.Matrix *)frameBPtr);
}
}
}
public CarScene()
{
Object3dInfo waterInfo = Object3dGenerator.CreateGround(new Vector2(-200, -200), new Vector2(200, 200), new Vector2(100, 100), Vector3.UnitY);
var color = GenericMaterial.FromMedia("checked.png", "183_norm.JPG");
Mesh3d water = new Mesh3d(waterInfo, color);
water.SetMass(0);
water.Translate(0, -10, 0);
water.SetCollisionShape(new BulletSharp.StaticPlaneShape(Vector3.UnitY, 0));
World.Root.Add(water);
var lod1 = Object3dInfo.LoadFromRaw(Media.Get("lucy_lod1.vbo.raw"), Media.Get("lucy_lod1.indices.raw"));
var mat = new GenericMaterial(new Vector4(0, 0, 1, 1f));
var dragon = new Mesh3d(lod1, mat);
dragon.Transformation.Scale(2);
Add(dragon);
var rand = new Random();
var grasslod0 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod1 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod1.obj"));
var grasslod2 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod2.obj"));
var grasslod3 = Object3dInfo.LoadFromObjSingle(Media.Get("grasslod3.obj"));
var grasscolor = new GenericMaterial(Color.DarkGreen);
var grassInstanced = new InstancedMesh3d(grasslod2, grasscolor);
for(int x = -15; x < 15; x++)
{
for(int y = -15; y < 15; y++)
{
grassInstanced.Transformations.Add(new TransformationManager(new Vector3(x, 0, y), Quaternion.FromAxisAngle(Vector3.UnitY, (float)rand.NextDouble() * MathHelper.Pi), new Vector3(1, 1, 1)));
grassInstanced.Instances++;
}
}
grassInstanced.UpdateMatrix();
Add(grassInstanced);
ProjectionLight redConeLight = new ProjectionLight(new Vector3(1, 25, 1), Quaternion.Identity, 5000, 5000, MathHelper.PiOver2, 1.0f, 10000.0f);
redConeLight.LightColor = new Vector4(1, 1, 1, 1);
redConeLight.BuildOrthographicProjection(500, 500, -100, 100);
redConeLight.camera.LookAt(Vector3.Zero);
LightPool.Add(redConeLight);
var wheel3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarwheel.obj"));
var car3dInfo = Object3dInfo.LoadFromObjSingle(Media.Get("fcarbody.obj"));
var car = new Mesh3d(car3dInfo, new GenericMaterial(Color.LightGreen));
car.SetMass(200);
//car.Translate(0, 3.76f, 0);
car.SetCollisionShape(new BoxShape(0.5f, 0.5f, 0.5f));
car.CreateRigidBody(new Vector3(0, -25, 0), true);
car.PhysicalBody.SetSleepingThresholds(0, 0);
car.PhysicalBody.ContactProcessingThreshold = 0;
car.PhysicalBody.CcdMotionThreshold = 0;
CurrentCar = car;
World.Root.Add(car);
GLThread.OnUpdate += (o, e) =>
{
redConeLight.SetPosition(car.GetPosition() + new Vector3(0, 15, 0));
};
var shape = new SphereShape(0.5f);
//var shape = wheel3dInfo.GetAccurateCollisionShape();
var wheelLF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLF.SetMass(100);
wheelLF.Translate(1.640539f, 0.48866f, -1.94906f);
wheelLF.SetCollisionShape(shape);
wheelLF.CreateRigidBody();
World.Root.Add(wheelLF);
var wheelRF = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRF.SetMass(100);
wheelRF.Translate(1.640539f, 0.48866f, 1.94906f);
wheelRF.SetCollisionShape(shape);
wheelRF.CreateRigidBody();
World.Root.Add(wheelRF);
var wheelLR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelLR.SetMass(100);
wheelLR.Translate(-1.640539f, 0.48866f, -1.94906f);
wheelLR.SetCollisionShape(shape);
wheelLR.CreateRigidBody();
World.Root.Add(wheelLR);
var wheelRR = new Mesh3d(wheel3dInfo, new GenericMaterial(Color.White));
wheelRR.SetMass(100);
wheelRR.Translate(-1.640539f, 0.48866f, 1.94906f);
wheelRR.SetCollisionShape(shape);
wheelRR.CreateRigidBody();
World.Root.Add(wheelRR);
wheelLF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLF.PhysicalBody.ContactProcessingThreshold = 0;
wheelLF.PhysicalBody.CcdMotionThreshold = 0;
wheelRF.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRF.PhysicalBody.ContactProcessingThreshold = 0;
wheelRF.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelLR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelLR.PhysicalBody.ContactProcessingThreshold = 0;
wheelLR.PhysicalBody.CcdMotionThreshold = 0;
wheelRR.PhysicalBody.SetSleepingThresholds(0, 0);
wheelRR.PhysicalBody.ContactProcessingThreshold = 0;
wheelRR.PhysicalBody.CcdMotionThreshold = 0;
wheelLF.PhysicalBody.Friction = 1200;
wheelRF.PhysicalBody.Friction = 1200;
wheelLR.PhysicalBody.Friction = 1200;
wheelRR.PhysicalBody.Friction = 1200;
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRF.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelLR.PhysicalBody, true);
car.PhysicalBody.SetIgnoreCollisionCheck(wheelRR.PhysicalBody, true);
// location left rear x -5.27709 y 1.56474 z -3.13906
// location right rear x -5.27709 y 1.56474 z 3.13906
// location left front x 5.500539 y 1.56474 z -3.13906
// location right front x 5.500539 y 1.56474 z 3.13906
//public HingeConstraint(RigidBody rigidBodyA, RigidBody rigidBodyB, Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB);
var frontAxis = new HingeConstraint(wheelLF.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, 0.48866f, 1.94906f), new Vector3(1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var rearAxis = new HingeConstraint(wheelLR.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, 0.48866f, 1.94906f), new Vector3(-1.640539f, 0.48866f, -1.94906f), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis1 = new HingeConstraint(car.PhysicalBody, wheelLF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis2 = new HingeConstraint(car.PhysicalBody, wheelRF.PhysicalBody,
new Vector3(1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis3 = new HingeConstraint(car.PhysicalBody, wheelLR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, 1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
var centerAxis4 = new HingeConstraint(car.PhysicalBody, wheelRR.PhysicalBody,
new Vector3(-1.640539f, -0.48866f, -1.94906f), new Vector3(0), Vector3.UnitZ, Vector3.UnitZ);
centerAxis1.SetLimit(0, 10, 0, 0, 0);
centerAxis2.SetLimit(0, 10, 0, 0, 0);
centerAxis3.SetLimit(0, 10, 0, 0, 0);
centerAxis4.SetLimit(0, 10, 0, 0, 0);
//World.Root.PhysicalWorld.AddConstraint(frontAxis);
// World.Root.PhysicalWorld.AddConstraint(rearAxis);
// centerAxis1.SetLimit(0, 0.01f);
// centerAxis2.SetLimit(0, 0.01f);
//centerAxis3.SetLimit(0, 0.01f);
//centerAxis4.SetLimit(0, 0.01f);
World.Root.PhysicalWorld.AddConstraint(centerAxis1);
World.Root.PhysicalWorld.AddConstraint(centerAxis2);
World.Root.PhysicalWorld.AddConstraint(centerAxis3);
World.Root.PhysicalWorld.AddConstraint(centerAxis4);
GLThread.OnKeyDown += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.R)
{
car.SetOrientation(Quaternion.Identity);
}
if(e.Key == OpenTK.Input.Key.Space)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, -100.0f, 10.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, -100.0f, 10.0f);
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = true;
centerAxis1.EnableAngularMotor(true, 100.0f, 6.0f);
centerAxis2.EnableMotor = true;
centerAxis2.EnableAngularMotor(true, 100.0f, 6.0f);
}
if(e.Key == OpenTK.Input.Key.Left)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(1, 0, 1));
//centerAxis4.SetAxis(new Vector3(1, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
float angle = 0.6f / (car.PhysicalBody.LinearVelocity.Length + 1.0f);
centerAxis3.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateRotationY(-angle) * Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(-1, 0, 1));
//centerAxis4.SetAxis(new Vector3(-1, 0, 1));
}
};
GLThread.OnKeyUp += (object sender, OpenTK.Input.KeyboardKeyEventArgs e) =>
{
if(e.Key == OpenTK.Input.Key.Up)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Down)
{
centerAxis1.EnableMotor = false;
centerAxis2.EnableMotor = false;
}
if(e.Key == OpenTK.Input.Key.Left)
{
centerAxis3.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
if(e.Key == OpenTK.Input.Key.Right)
{
centerAxis3.SetFrames( Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, 1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
centerAxis4.SetFrames(Matrix4.CreateTranslation(new Vector3(-1.640539f, -0.48866f, -1.94906f)), Matrix4.CreateTranslation(new Vector3(0)));
//centerAxis3.SetAxis(new Vector3(0, 0, 1));
//centerAxis4.SetAxis(new Vector3(0, 0, 1));
}
};
}
