public override void InitializeDemo() { // std::cerr << "initializing...\n"; m_nearClip = 1f; m_farClip = 1000f; m_aspect = m_glutScreenWidth / m_glutScreenHeight; m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip); // set up basic state m_upAxis = 1; // start with Y-axis as "up" m_type = PHY_ScalarType.PHY_FLOAT; m_model = eTerrainModel.eRadial;//eFractal; m_isDynamic = true; // set up the physics world 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); m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration); // initialize axis- or type-dependent physics from here ClientResetScene(); }
public override void InitializeDemo() { //maxiterations = 10; SetCameraDistance(SCALING * 50f); //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); 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); { //create a few dynamic rigidbodies CollisionShape colShape = new BoxShape(new IndexedVector3(SCALING, SCALING, SCALING)); //CollisionShape colShape = BuildCorner(); //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); } 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; for (int k=0;k<ARRAY_SIZE_Y;k++) { for (int i=0;i<ARRAY_SIZE_X;i++) { for(int j = 0;j<ARRAY_SIZE_Z;j++) { startTransform._origin = (new IndexedVector3(2.0f * i + start_x, 20 + 2.0f * k + start_y, 2.0f * j + start_z) * SCALING); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects DefaultMotionState myMotionState = new DefaultMotionState(startTransform, IndexedMatrix.Identity); RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, myMotionState, colShape, localInertia); RigidBody body = new RigidBody(rbInfo); //body->setContactProcessingThreshold(colShape->getContactBreakingThreshold()); //body.SetActivationState(ActivationState.ISLAND_SLEEPING); m_dynamicsWorld.AddRigidBody(body); //body.SetActivationState(ActivationState.ISLAND_SLEEPING); body.SetUserPointer(String.Format("Box X{0} Y{1} Z{2}", k, i, j)); } } } } //ClientResetScene(); }
public override void InitializeDemo() { //string filename = @"E:\users\man\bullet\xna-concaveray-output-1.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); m_cameraDistance = 400f; m_farClip = 1500f; m_perspective = IndexedMatrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(40.0f), m_aspect, m_nearClip, m_farClip); m_animatedMesh = true; base.InitializeDemo(); int totalTriangles = 2 * (NUM_VERTS_X - 1) * (NUM_VERTS_Y - 1); gVertices = new ObjectArray<IndexedVector3>(totalVerts); int indicesTotal = totalTriangles * 3; gIndices = new ObjectArray<int>(indicesTotal); BulletGlobals.gContactAddedCallback = null; SetVertexPositions(waveheight,0f); int vertStride = 1; int indexStride = 3; int index=0; //for (int i=0;i<NUM_VERTS_X-1;i++) //{ // for (int j=0;j<NUM_VERTS_Y-1;j++) // { // gIndices[index++] = j * NUM_VERTS_X + i; // gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; // gIndices[index++] = j * NUM_VERTS_X + i + 1; // gIndices[index++] = j * NUM_VERTS_X + i; // gIndices[index++] = (j + 1) * NUM_VERTS_X + i; // gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; // } //} for (int i = 0; i < NUM_VERTS_X - 1; i++) { for (int j = 0; j < NUM_VERTS_Y - 1; j++) { gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = j * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = j * NUM_VERTS_X + i; gIndices[index++] = (j + 1) * NUM_VERTS_X + i + 1; gIndices[index++] = (j + 1) * NUM_VERTS_X + i; } } TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(totalTriangles, gIndices,indexStride,totalVerts,gVertices,vertStride); bool useQuantizedAabbCompression = true; float minX = NUM_VERTS_X * TRIANGLE_SIZE * 0.5f; float minZ = NUM_VERTS_Y * TRIANGLE_SIZE * 0.5f; //OptimizedBvh bvh = new OptimizedBvh(); IndexedVector3 aabbMin = new IndexedVector3(-minX,-5,-minZ); IndexedVector3 aabbMax = new IndexedVector3(minX,5,minZ); m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, ref aabbMin, ref aabbMax, true); //m_trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression,true); IndexedVector3 scaling = IndexedVector3.One; CollisionShape groundShape = m_trimeshShape; //groundShape = new TriangleMeshShape(indexVertexArrays); //groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f); IndexedVector3 up = new IndexedVector3(0.4f,1,0); up.Normalize(); //groundShape = new StaticPlaneShape(up, 0f); //groundShape = new BoxShape(new IndexedVector3(1000, 10, 1000)); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = aabbMin; IndexedVector3 worldMax = aabbMax; m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); float mass = 0f; IndexedMatrix startTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(2,-2,0)); startTransform = IndexedMatrix.Identity; staticBody = LocalCreateRigidBody(mass, ref startTransform,groundShape); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_KINEMATIC_OBJECT);//STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags() | CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); //m_raycastBar = new btRaycastBar (m_debugDraw,4000.0f, 0.0f,-1000,30); m_raycastBar = new btRaycastBar(m_debugDraw, 300.0f, 0.0f, -1000, 200,worldMin.X,worldMax.X); m_raycastBar.min_x = -100; m_raycastBar.max_x = -100; ClientResetScene(); }
public override void InitializeDemo() { base.InitializeDemo(); SetCameraDistance(50f); //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); IndexedVector3 worldMin = new IndexedVector3 (-1000,-1000,-1000); IndexedVector3 worldMax = -worldMin; m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); //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); m_dynamicsWorld.GetDispatchInfo().SetAllowedCcdPenetration(0.0001f); 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); #region CharacterController IndexedMatrix startTransform = IndexedMatrix.Identity; //startTransform.setOrigin (btVector3(0.0, 4.0, 0.0)); startTransform._origin = new IndexedVector3(10.210098f,-1.6433364f,16.453260f); m_ghostObject = new PairCachingGhostObject(); m_ghostObject.SetWorldTransform(startTransform); m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); float characterHeight=1.75f; float characterWidth =1.75f; ConvexShape capsule = new CapsuleShape(characterWidth,characterHeight); m_ghostObject.SetCollisionShape (capsule); m_ghostObject.SetCollisionFlags (CollisionFlags.CF_CHARACTER_OBJECT); float stepHeight = 0.35f; int upAxis = 1; m_character = new KinematicCharacterController (m_ghostObject,capsule,stepHeight,upAxis); m_dynamicsWorld.AddCollisionObject(m_ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter); m_dynamicsWorld.AddAction(m_character); #endregion }
public override void InitializeDemo() { //maxiterations = 10; SetCameraDistance(SCALING * 50f); //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); IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = -worldMin; m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); IOverlappingPairCache pairCache = null; //pairCache = new SortedOverlappingPairCache(); pairCache = new HashedOverlappingPairCache(); m_broadphase = new DbvtBroadphase(pairCache); //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)); float mass = 0f; float topY = 2.5f; float bottomY = 0.5f; float diff = 10f; float left = -(diff / 2f); float right = -left; LocalCreateRigidBody(mass, ref groundTransform, groundShape); { /// Create Dynamic Objects IndexedMatrix startTransform = IndexedMatrix.Identity; mass = 0f; //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = mass != 0f; RigidBody rb = null; //startTransform._origin = new IndexedVector3(left, topY, 0); //collisionTopLeftCorner = BuildCorner(vertices, topLeft); //rb = LocalCreateRigidBody(0f, startTransform, collisionTopLeftCorner); //rb.SetUserPointer("TopLeftCorner"); //startTransform._origin = new IndexedVector3(right, topY, 0); //collisionTopRightCorner = BuildCorner(vertices, topRight); //rb = LocalCreateRigidBody(0f, startTransform, collisionTopRightCorner); //rb.SetUserPointer("TopRightCorner"); startTransform._origin = new IndexedVector3(left, bottomY, 0); collisionBottomLeftCorner = BuildCorner(vertices, bottomLeft); rb = LocalCreateRigidBody(0f, startTransform, collisionBottomLeftCorner); rb.SetUserPointer("BottomLeftCorner"); startTransform._origin = new IndexedVector3(right, bottomY, 0); collisionBottomRightCorner = BuildCorner(vertices, bottomRight); rb = LocalCreateRigidBody(0f, startTransform, collisionBottomRightCorner); rb.SetUserPointer("BottomRightCorner"); startTransform._origin = IndexedVector3.Zero; m_playerSphere = LocalCreateRigidBody(1f, startTransform, new SphereShape(0.25f)); m_playerSphere.SetActivationState(ActivationState.DISABLE_DEACTIVATION); } BulletGlobals.gDebugDraw.SetDebugMode(BulletXNA.LinearMath.DebugDrawModes.DBG_DrawAabb | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawNormals | BulletXNA.LinearMath.DebugDrawModes.DBG_DrawContactPoints); m_dynamicsWorld.SetDebugDrawer(BulletGlobals.gDebugDraw); //ClientResetScene(); }
//---------------------------------------------------------------------------------------------- public void InitialiseWorld(ref DiscreteDynamicsWorld world) { IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = -worldMin; IBroadphaseInterface bp = 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(); DefaultCollisionConfiguration collisionConfig = new DefaultCollisionConfiguration(); ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) CollisionDispatcher dispatcher = new CollisionDispatcher(collisionConfig); world = new DiscreteDynamicsWorld(dispatcher, bp, sol, collisionConfig); IndexedVector3 gravity = new IndexedVector3(0, -10, 0); world.SetGravity(ref gravity); world.SetDebugDrawer(BulletGlobals.gDebugDraw); }
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() { //string filename = @"E:\users\man\bullet\xna-constraint-output.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); //maxiterations = 100; 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_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration); m_dynamicsWorld.SetDebugDrawer(m_debugDraw); SetCameraDistance(26f); //CollisionShape groundShape = new BoxShape(new IndexedVector3(50f, 40f, 50f)); CollisionShape groundShape = new StaticPlaneShape(new IndexedVector3(0, 1, 0), 40); m_collisionShapes.Add(groundShape); IndexedMatrix groundTransform = IndexedMatrix.Identity; groundTransform._origin = new IndexedVector3(0, -56, 0); RigidBody groundBody = LocalCreateRigidBody(0, ref groundTransform, groundShape); CollisionShape shape = new BoxShape(new IndexedVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS)); m_collisionShapes.Add(shape); IndexedMatrix trans = IndexedMatrix.Identity; trans._origin = new IndexedVector3(0, 20, 0); float mass = 1f; #if true //point to point constraint with a breaking threshold { trans = IndexedMatrix.Identity; trans._origin = new IndexedVector3(1,30,-5); LocalCreateRigidBody( mass,trans,shape); trans._origin = new IndexedVector3(0,0,-5); RigidBody body0 = LocalCreateRigidBody( mass,trans,shape); trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0); mass = 1.0f; RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape); IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0); TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA); m_dynamicsWorld.AddConstraint(p2p); p2p.SetBreakingImpulseThreshold(10.2f); p2p.SetDbgDrawSize(5.0f); } #endif #if true //point to point constraint (ball socket) //SEEMS OK { //trans = IndexedMatrix.Identity; RigidBody body0 = LocalCreateRigidBody( mass,ref trans,shape); trans._origin = new IndexedVector3(2*CUBE_HALF_EXTENTS,20,0); mass = 1f; RigidBody body1 = null;//localCreateRigidBody( mass,trans,shape); IndexedVector3 pivotInA = new IndexedVector3(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS); IndexedVector3 axisInA = new IndexedVector3(0,0,1); IndexedVector3 pivotInB = body1 != null ? body1.GetCenterOfMassTransform().Inverse() * (body0.GetCenterOfMassTransform() * (pivotInA)) : pivotInA; IndexedVector3 axisInB = body1 != null ? (body1.GetCenterOfMassTransform()._basis.Inverse() * (body1.GetCenterOfMassTransform()._basis * axisInA)) : body0.GetCenterOfMassTransform()._basis * axisInA; #if P2P TypedConstraint p2p = new Point2PointConstraint(body0,ref pivotInA); //btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB); //btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB); m_dynamicsWorld.AddConstraint(p2p); p2p.SetDbgDrawSize(5.0f); #else HingeConstraint hinge = new HingeConstraint(body0,ref pivotInA,ref axisInA,false); float targetVelocity = 1f; float maxMotorImpulse = 1.0f; hinge.EnableAngularMotor(true,targetVelocity,maxMotorImpulse); m_dynamicsWorld.AddConstraint(hinge);//p2p); hinge.SetDbgDrawSize(5f); #endif } #endif #if true //create a slider, using the generic D6 constraint // SEEMS OK { mass = 1f; IndexedVector3 sliderWorldPos = new IndexedVector3(0,10,0); IndexedVector3 sliderAxis = new IndexedVector3(1,0,0); float angle=0f;//SIMD_RADS_PER_DEG * 10.f; IndexedBasisMatrix sliderOrientation = new IndexedBasisMatrix(new IndexedQuaternion(sliderAxis,angle)); trans = IndexedMatrix.Identity; trans._origin = sliderWorldPos; //trans.setBasis(sliderOrientation); sliderTransform = trans; d6body0 = LocalCreateRigidBody( mass,ref trans,shape); d6body0.SetActivationState(ActivationState.DISABLE_DEACTIVATION); RigidBody fixedBody1 = LocalCreateRigidBody(0,ref trans,null); m_dynamicsWorld.AddRigidBody(fixedBody1); IndexedMatrix frameInA, frameInB; frameInA = IndexedMatrix.Identity; frameInB = IndexedMatrix.Identity; frameInA._origin = new IndexedVector3(0, 5, 0); frameInB._origin = new IndexedVector3(0, 5, 0); // bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits spSlider6Dof = new Generic6DofConstraint(fixedBody1, d6body0,ref frameInA,ref frameInB,useLinearReferenceFrameA); spSlider6Dof.SetLinearLowerLimit(ref lowerSliderLimit); spSlider6Dof.SetLinearUpperLimit(ref hiSliderLimit); //range should be small, otherwise singularities will 'explode' the constraint IndexedVector3 angularLower = new IndexedVector3(-1.5f,0,0); IndexedVector3 angularUpper = -angularLower; spSlider6Dof.SetAngularLowerLimit(ref angularLower); spSlider6Dof.SetAngularUpperLimit(ref angularUpper); // slider.setAngularLowerLimit(IndexedVector3(0,0,0)); // slider.setAngularUpperLimit(IndexedVector3(0,0,0)); spSlider6Dof.SetAngularLowerLimit(new IndexedVector3(-MathUtil.SIMD_PI, 0, 0)); spSlider6Dof.SetAngularUpperLimit(new IndexedVector3(1.5f, 0, 0)); spSlider6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true; spSlider6Dof.GetTranslationalLimitMotor().m_targetVelocity.X = -5.0f; spSlider6Dof.GetTranslationalLimitMotor().m_maxMotorForce.X = 0.1f; m_dynamicsWorld.AddConstraint(spSlider6Dof); spSlider6Dof.SetDbgDrawSize(5f); } #endif #if true { // create a door using hinge constraint attached to the world CollisionShape pDoorShape = new BoxShape(new IndexedVector3(2.0f, 5.0f, 0.2f)); m_collisionShapes.Add(pDoorShape); IndexedMatrix doorTrans = IndexedMatrix.Identity; doorTrans._origin = new IndexedVector3(-5.0f, -2.0f, 0.0f); RigidBody pDoorBody = LocalCreateRigidBody( 1.0f, ref doorTrans, pDoorShape); pDoorBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedVector3 btPivotA = new IndexedVector3( 10f+2.1f, -2.0f, 0.0f ); // right next to the door slightly outside IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis spDoorHinge = new HingeConstraint( pDoorBody, ref btPivotA, ref btAxisA,false ); spDoorHinge.SetLimit(-MathUtil.SIMD_PI * 0.25f, MathUtil.SIMD_PI * 0.25f); m_dynamicsWorld.AddConstraint(spDoorHinge); spDoorHinge.SetDbgDrawSize(5.0f); } #endif #if true { // create a generic 6DOF constraint // SEEMS OK - But debug draw a bit wrong? IndexedMatrix tr = IndexedMatrix.Identity; tr._origin = new IndexedVector3(10f, 6f, 0f); //tr.getBasis().setEulerZYX(0,0,0); // RigidBody pBodyA = localCreateRigidBody( mass, tr, shape); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); // RigidBody pBodyA = localCreateRigidBody( 0.0, tr, 0); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); tr = IndexedMatrix.Identity; tr._origin = new IndexedVector3(0f, 6f, 0f); //tr.getBasis().setEulerZYX(0,0,0); RigidBody pBodyB = LocalCreateRigidBody(mass, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameInA, frameInB; frameInA = IndexedMatrix.CreateTranslation(-5,0,0); frameInB = IndexedMatrix.CreateTranslation(5,0,0); Generic6DofConstraint pGen6DOF = new Generic6DofConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true); // btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false); IndexedVector3 linearLower = new IndexedVector3(-10, -2, -1); pGen6DOF.SetLinearLowerLimit(ref linearLower); IndexedVector3 linearUpper = new IndexedVector3(10,2,1); pGen6DOF.SetLinearUpperLimit(ref linearUpper); // ? why again? //linearLower = new IndexedVector3(-10,0,0); //pGen6DOF.setLinearLowerLimit(ref linearLower); // pGen6DOF.setLinearUpperLimit(IndexedVector3(10., 0., 0.)); // pGen6DOF.setLinearLowerLimit(IndexedVector3(0., 0., 0.)); // pGen6DOF.setLinearUpperLimit(IndexedVector3(0., 0., 0.)); // pGen6DOF.getTranslationalLimitMotor().m_enableMotor[0] = true; // pGen6DOF.getTranslationalLimitMotor().m_targetVelocity[0] = 5.0f; // pGen6DOF.getTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f; // pGen6DOF.setAngularLowerLimit(IndexedVector3(0., SIMD_HALF_PI*0.9, 0.)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0., -SIMD_HALF_PI*0.9, 0.)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0., 0., -SIMD_HALF_PI)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0., 0., SIMD_HALF_PI)); IndexedVector3 angularLower = new IndexedVector3(-MathUtil.SIMD_HALF_PI * 0.5f, -0.75f, -MathUtil.SIMD_HALF_PI * 0.8f); IndexedVector3 angularUpper = -angularLower; pGen6DOF.SetAngularLowerLimit(ref angularLower); pGen6DOF.SetAngularUpperLimit(ref angularUpper); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,-0.5, -0.5)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0.5, 0.5)); // pGen6DOF.setAngularLowerLimit(IndexedVector3(-0.75,0., 0.)); // pGen6DOF.setAngularUpperLimit(IndexedVector3(0.75,0., 0.)); m_dynamicsWorld.AddConstraint(pGen6DOF, true); pGen6DOF.SetDbgDrawSize(5.0f); } #endif #if true { // create a ConeTwist constraint IndexedMatrix tr = IndexedMatrix.CreateTranslation(-10,5,0); RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); tr = IndexedMatrix.CreateTranslation(-10,-5,0); RigidBody pBodyB = LocalCreateRigidBody(0.0f, ref tr, shape); IndexedMatrix frameInA, frameInB; frameInA = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); frameInA._origin = new IndexedVector3(0, -5, 0); frameInB = MathUtil.SetEulerZYX(0, 0, MathUtil.SIMD_HALF_PI); frameInB._origin = new IndexedVector3(0, 5, 0); ConeTwistConstraint pCT = new ConeTwistConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB); pCT.SetLimit(MathUtil.SIMD_QUARTER_PI * 0.6f, MathUtil.SIMD_QUARTER_PI, MathUtil.SIMD_PI * 0.8f, 0.5f); // soft limit == hard limit m_dynamicsWorld.AddConstraint(pCT, true); pCT.SetDbgDrawSize(5.0f); } #endif #if true { // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver) // WORKS OK IndexedMatrix tr = IndexedMatrix.Identity; RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape); pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedVector3 btPivotA = new IndexedVector3( 10.0f, 0.0f, 0.0f ); IndexedVector3 btAxisA = new IndexedVector3( 0.0f, 0.0f, 1.0f ); HingeConstraint pHinge = new HingeConstraint(pBody, ref btPivotA, ref btAxisA,false); // pHinge.enableAngularMotor(true, -1.0, 0.165); // use for the old solver pHinge.EnableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver m_dynamicsWorld.AddConstraint(pHinge); pHinge.SetDbgDrawSize(5.0f); } #endif #if true { // WORKS OK // create a universal joint using generic 6DOF constraint // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(20,4,0); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB (child) below it : tr = IndexedMatrix.CreateTranslation(20,0,0); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some (arbitrary) data to build constraint frames IndexedVector3 parentAxis = new IndexedVector3(1.0f, 0.0f, 0.0f); IndexedVector3 childAxis = new IndexedVector3(0.0f, 0.0f, 1.0f); IndexedVector3 anchor = new IndexedVector3(20.0f, 2.0f, 0.0f); UniversalConstraint pUniv = new UniversalConstraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis); pUniv.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f, -MathUtil.SIMD_HALF_PI * 0.5f); pUniv.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(pUniv, true); // draw constraint frames and limits for debugging pUniv.SetDbgDrawSize(5.0f); } #endif #if true // WORKS OK { // create a generic 6DOF constraint with springs IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,16f,0f); //tr.setIdentity(); //tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.))); //tr.getBasis().setEulerZYX(0,0,0); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); //tr.setIdentity(); //tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.))); //tr.getBasis().setEulerZYX(0,0,0); tr = IndexedMatrix.CreateTranslation(-10,16,0); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameInA = IndexedMatrix.CreateTranslation(10f,0f,0f); IndexedMatrix frameInB = IndexedMatrix.CreateTranslation(0f,0f,0f); Generic6DofSpringConstraint pGen6DOFSpring = new Generic6DofSpringConstraint(pBodyA, pBodyB, ref frameInA, ref frameInB, true); pGen6DOFSpring.SetLinearUpperLimit(new IndexedVector3(5f, 0f, 0f)); pGen6DOFSpring.SetLinearLowerLimit(new IndexedVector3(-5f, 0f, 0f)); pGen6DOFSpring.SetAngularLowerLimit(new IndexedVector3(0f, 0f, -1.5f)); pGen6DOFSpring.SetAngularUpperLimit(new IndexedVector3(0f, 0f, 1.5f)); m_dynamicsWorld.AddConstraint(pGen6DOFSpring, true); pGen6DOFSpring.SetDbgDrawSize(5.0f); pGen6DOFSpring.EnableSpring(0, true); pGen6DOFSpring.SetStiffness(0, 39.478f); pGen6DOFSpring.SetDamping(0, 0.5f); pGen6DOFSpring.EnableSpring(5, true); pGen6DOFSpring.SetStiffness(5, 39.478f); pGen6DOFSpring.SetDamping(0, 0.3f); pGen6DOFSpring.SetEquilibriumPoint(); } #endif #if true { // WORKS OK // create a Hinge2 joint // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,4f,0f); RigidBody pBodyA = LocalCreateRigidBody( 0.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB (child) below it : tr = IndexedMatrix.CreateTranslation(-20f,0f,0f); RigidBody pBodyB = LocalCreateRigidBody(1.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some data to build constraint frames IndexedVector3 parentAxis = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 childAxis = new IndexedVector3(1.0f, 0.0f, 0.0f); IndexedVector3 anchor = new IndexedVector3(-20.0f, 0.0f, 0.0f); Hinge2Constraint pHinge2 = new Hinge2Constraint(pBodyA, pBodyB, ref anchor, ref parentAxis, ref childAxis); pHinge2.SetLowerLimit(-MathUtil.SIMD_HALF_PI * 0.5f); pHinge2.SetUpperLimit(MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(pHinge2, true); // draw constraint frames and limits for debugging pHinge2.SetDbgDrawSize(5.0f); } #endif #if true { // WORKS OK // create a Hinge joint between two dynamic bodies // create two rigid bodies // static bodyA (parent) on top: IndexedMatrix tr = IndexedMatrix.CreateTranslation(-20f,-2f,0f); RigidBody pBodyA = LocalCreateRigidBody( 1.0f, ref tr, shape); pBodyA.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // dynamic bodyB: tr = IndexedMatrix.CreateTranslation(-30f,-2f,0f); RigidBody pBodyB = LocalCreateRigidBody(10.0f, ref tr, shape); pBodyB.SetActivationState(ActivationState.DISABLE_DEACTIVATION); // add some data to build constraint frames IndexedVector3 axisA = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 axisB = new IndexedVector3(0.0f, 1.0f, 0.0f); IndexedVector3 pivotA = new IndexedVector3(-5.0f, 0.0f, 0.0f); IndexedVector3 pivotB = new IndexedVector3(5.0f, 0.0f, 0.0f); spHingeDynAB = new HingeConstraint(pBodyA, pBodyB, ref pivotA, ref pivotB, ref axisA, ref axisB); spHingeDynAB.SetLimit(-MathUtil.SIMD_HALF_PI * 0.5f, MathUtil.SIMD_HALF_PI * 0.5f); // add constraint to world m_dynamicsWorld.AddConstraint(spHingeDynAB, true); // draw constraint frames and limits for debugging spHingeDynAB.SetDbgDrawSize(5.0f); } #endif #if true { // 6DOF connected to the world, with motor IndexedMatrix tr = IndexedMatrix.CreateTranslation(10,-15,0); RigidBody pBody = LocalCreateRigidBody( 1.0f, ref tr, shape); pBody.SetActivationState(ActivationState.DISABLE_DEACTIVATION); IndexedMatrix frameB = IndexedMatrix.Identity; Generic6DofConstraint pGen6Dof = new Generic6DofConstraint(pBody, ref frameB, false ); m_dynamicsWorld.AddConstraint(pGen6Dof); pGen6Dof.SetDbgDrawSize(5.0f); pGen6Dof.SetAngularLowerLimit(new IndexedVector3(0,0,0)); pGen6Dof.SetAngularUpperLimit(new IndexedVector3(0,0,0)); pGen6Dof.SetLinearLowerLimit(new IndexedVector3(-10.0f, 0, 0)); pGen6Dof.SetLinearUpperLimit(new IndexedVector3(10.0f, 0, 0)); pGen6Dof.GetTranslationalLimitMotor().m_enableMotor[0] = true; pGen6Dof.GetTranslationalLimitMotor().m_targetVelocity[0] = 5.0f; pGen6Dof.GetTranslationalLimitMotor().m_maxMotorForce[0] = 0.1f; } #endif }
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(); }