public RayTester(CollisionObject collisionObject, CompoundShape compoundShape, ref IndexedMatrix colObjWorldTransform, ref IndexedMatrix rayFromTrans, ref IndexedMatrix rayToTrans, RayResultCallback resultCallback) { m_collisionObject = collisionObject; m_compoundShape = compoundShape; m_colObjWorldTransform = colObjWorldTransform; m_rayFromTrans = rayFromTrans; m_rayToTrans = rayToTrans; m_resultCallback = resultCallback; }
public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; CompoundShape compoundshape = new CompoundShape(false); compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); int ii = 1; for (int i = 0; i < pHullCount; i++) { int vertexCount = (int) pConvHulls[ii]; IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); IndexedMatrix childTrans = IndexedMatrix.Identity; childTrans._origin = centroid; List<IndexedVector3> virts = new List<IndexedVector3>(); int ender = ((ii + 4) + (vertexCount*3)); for (int iii = ii + 4; iii < ender; iii+=3) { virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); } ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); compoundshape.AddChildShape(ref childTrans, convexShape); ii += (vertexCount*3 + 4); } return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); }
public void GImpactVsShape(CollisionObject body0, CollisionObject body1, GImpactShapeInterface shape0, CollisionShape shape1, bool swapped) { if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo) { BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsShape"); } if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE) { GImpactMeshShape meshshape0 = shape0 as GImpactMeshShape; // check this... //int& part = swapped ? m_part1 : m_part0; //part = meshshape0.GetMeshPartCount(); int part = meshshape0.GetMeshPartCount(); while (part-- != 0) { GImpactVsShape(body0, body1, meshshape0.GetMeshPart(part), shape1, swapped); } if (swapped) { m_part1 = part; } else { m_part0 = part; } return; } #if GIMPACT_VS_PLANE_COLLISION if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE_PART && shape1.GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE) { GImpactMeshShapePart shapepart = shape0 as GImpactMeshShapePart; StaticPlaneShape planeshape = shape1 as StaticPlaneShape; GImpactTrimeshpartVsPlaneCollision(body0, body1, shapepart, planeshape, swapped); return; } #endif if (shape1.IsCompound()) { CompoundShape compoundshape = shape1 as CompoundShape; GImpactVsCompoundshape(body0, body1, shape0, compoundshape, swapped); return; } else if (shape1.IsConcave()) { ConcaveShape concaveshape = shape1 as ConcaveShape; GImpactVsConcave(body0, body1, shape0, concaveshape, swapped); return; } IndexedMatrix orgtrans0 = body0.GetWorldTransform(); IndexedMatrix orgtrans1 = body1.GetWorldTransform(); ObjectArray <int> collided_results = new ObjectArray <int>(64); GImpactVsShapeFindPairs(ref orgtrans0, ref orgtrans1, shape0, shape1, collided_results); if (collided_results.Count == 0) { return; } shape0.LockChildShapes(); using (GIM_ShapeRetriever retriever0 = BulletGlobals.GIM_ShapeRetrieverPool.Get()) { retriever0.Initialize(shape0); bool child_has_transform0 = shape0.ChildrenHasTransform(); int i = collided_results.Count; if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo) { BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsShape [{0}]", collided_results.Count); } while (i-- != 0) { int child_index = collided_results[i]; if (swapped) { m_triface1 = child_index; } else { m_triface0 = child_index; } CollisionShape colshape0 = retriever0.GetChildShape(child_index); if (child_has_transform0) { body0.SetWorldTransform(orgtrans0 * shape0.GetChildTransform(child_index)); } //collide two shapes if (swapped) { ShapeVsShapeCollision(body1, body0, shape1, colshape0); } else { ShapeVsShapeCollision(body0, body1, colshape0, shape1); } //restore transforms if (child_has_transform0) { body0.SetWorldTransform(ref orgtrans0); } } shape0.UnlockChildShapes(); } }
public void GImpactVsCompoundshape(CollisionObject body0, CollisionObject body1, GImpactShapeInterface shape0, CompoundShape shape1, bool swapped) { IndexedMatrix orgtrans1 = body1.GetWorldTransform(); if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo) { BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsCompoundshape"); } int i = shape1.GetNumChildShapes(); while (i-- != 0) { CollisionShape colshape1 = shape1.GetChildShape(i); IndexedMatrix childtrans1 = orgtrans1 * shape1.GetChildTransform(i); body1.SetWorldTransform(ref childtrans1); //collide child shape GImpactVsShape(body0, body1, shape0, colshape1, swapped); //restore transforms body1.SetWorldTransform(ref orgtrans1); } }
internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) { CompoundShape compoundshape = new CompoundShape(false); var world = pWorld as DiscreteDynamicsWorld; compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); int ii = 1; for (int i = 0; i < pHullCount; i++) { int vertexCount = (int) pConvHulls[ii]; IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); IndexedMatrix childTrans = IndexedMatrix.Identity; childTrans._origin = centroid; List<IndexedVector3> virts = new List<IndexedVector3>(); int ender = ((ii + 4) + (vertexCount*3)); for (int iii = ii + 4; iii < ender; iii+=3) { virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); } ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); compoundshape.AddChildShape(ref childTrans, convexShape); ii += (vertexCount*3 + 4); } return compoundshape; }
public void ProcessChildShape(CollisionShape childShape, int index) { Debug.Assert(index >= 0); CompoundShape compoundShape = (CompoundShape)(m_compoundColObj.GetCollisionShape()); Debug.Assert(index < compoundShape.GetNumChildShapes()); //backup IndexedMatrix orgTrans = m_compoundColObj.GetWorldTransform(); IndexedMatrix orgInterpolationTrans = m_compoundColObj.GetInterpolationWorldTransform(); IndexedMatrix childTrans = compoundShape.GetChildTransform(index); IndexedMatrix newChildWorldTrans = orgTrans * childTrans; //perform an AABB check first IndexedVector3 aabbMin0; IndexedVector3 aabbMax0; IndexedVector3 aabbMin1; IndexedVector3 aabbMax1; childShape.GetAabb(ref newChildWorldTrans, out aabbMin0, out aabbMax0); m_otherObj.GetCollisionShape().GetAabb(m_otherObj.GetWorldTransform(), out aabbMin1, out aabbMax1); if (AabbUtil2.TestAabbAgainstAabb2(ref aabbMin0, ref aabbMax0, ref aabbMin1, ref aabbMax1)) { m_compoundColObj.SetWorldTransform(ref newChildWorldTrans); m_compoundColObj.SetInterpolationWorldTransform(ref newChildWorldTrans); //the contactpoint is still projected back using the original inverted worldtrans CollisionShape tmpShape = m_compoundColObj.GetCollisionShape(); m_compoundColObj.InternalSetTemporaryCollisionShape(childShape); if (m_childCollisionAlgorithms[index] == null) { m_childCollisionAlgorithms[index] = m_dispatcher.FindAlgorithm(m_compoundColObj, m_otherObj, m_sharedManifold); if (m_childCollisionAlgorithms[index] == m_parent) { int ibreak = 0; } } ///detect swapping case if (m_resultOut.GetBody0Internal() == m_compoundColObj) { m_resultOut.SetShapeIdentifiersA(-1, index); } else { m_resultOut.SetShapeIdentifiersB(-1, index); } m_childCollisionAlgorithms[index].ProcessCollision(m_compoundColObj, m_otherObj, m_dispatchInfo, m_resultOut); if (m_dispatchInfo.getDebugDraw() != null && (((m_dispatchInfo.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawAabb)) != 0)) { IndexedVector3 worldAabbMin = IndexedVector3.Zero, worldAabbMax = IndexedVector3.Zero; m_dispatchInfo.getDebugDraw().DrawAabb(aabbMin0, aabbMax0, new IndexedVector3(1, 1, 1)); m_dispatchInfo.getDebugDraw().DrawAabb(aabbMin1, aabbMax1, new IndexedVector3(1, 1, 1)); } //revert back transform m_compoundColObj.InternalSetTemporaryCollisionShape(tmpShape); m_compoundColObj.SetWorldTransform(ref orgTrans); m_compoundColObj.SetInterpolationWorldTransform(ref orgInterpolationTrans); } }
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) { //resultOut = null; CollisionObject colObj = m_isSwapped ? body1 : body0; CollisionObject otherObj = m_isSwapped ? body0 : body1; Debug.Assert(colObj.GetCollisionShape().IsCompound()); CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape()); ///btCompoundShape might have changed: ////make sure the internal child collision algorithm caches are still valid if (compoundShape.GetUpdateRevision() != m_compoundShapeRevision) { ///clear and update all RemoveChildAlgorithms(); PreallocateChildAlgorithms(body0, body1); } Dbvt tree = compoundShape.GetDynamicAabbTree(); //use a dynamic aabb tree to cull potential child-overlaps using (CompoundLeafCallback callback = BulletGlobals.CompoundLeafCallbackPool.Get()) { callback.Initialize(colObj, otherObj, m_dispatcher, dispatchInfo, resultOut, this, m_childCollisionAlgorithms, m_sharedManifold); ///we need to refresh all contact manifolds ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm { m_manifoldArray.Clear(); for (int i = 0; i < m_childCollisionAlgorithms.Count; i++) { if (m_childCollisionAlgorithms[i] != null) { m_childCollisionAlgorithms[i].GetAllContactManifolds(m_manifoldArray); for (int m = 0; m < m_manifoldArray.Count; m++) { if (m_manifoldArray[m].GetNumContacts() > 0) { resultOut.SetPersistentManifold(m_manifoldArray[m]); resultOut.RefreshContactPoints(); resultOut.SetPersistentManifold(null);//??necessary? } } m_manifoldArray.Clear(); } } } if (tree != null) { IndexedVector3 localAabbMin; IndexedVector3 localAabbMax; IndexedMatrix otherInCompoundSpace; //otherInCompoundSpace = MathUtil.BulletMatrixMultiply(colObj.GetWorldTransform(),otherObj.GetWorldTransform()); otherInCompoundSpace = colObj.GetWorldTransform().Inverse() * otherObj.GetWorldTransform(); otherObj.GetCollisionShape().GetAabb(ref otherInCompoundSpace, out localAabbMin, out localAabbMax); DbvtAabbMm bounds = DbvtAabbMm.FromMM(ref localAabbMin, ref localAabbMax); //process all children, that overlap with the given AABB bounds Dbvt.CollideTV(tree.m_root, ref bounds, callback, tree.CollideTVStack, ref tree.CollideTVCount); } else { //iterate over all children, perform an AABB check inside ProcessChildShape int numChildren = m_childCollisionAlgorithms.Count; for (int i = 0; i < numChildren; i++) { callback.ProcessChildShape(compoundShape.GetChildShape(i), i); } } { //iterate over all children, perform an AABB check inside ProcessChildShape int numChildren = m_childCollisionAlgorithms.Count; m_manifoldArray.Clear(); CollisionShape childShape = null; IndexedMatrix orgTrans; IndexedMatrix orgInterpolationTrans; IndexedMatrix newChildWorldTrans; for (int i = 0; i < numChildren; i++) { if (m_childCollisionAlgorithms[i] != null) { childShape = compoundShape.GetChildShape(i); //if not longer overlapping, remove the algorithm orgTrans = colObj.GetWorldTransform(); orgInterpolationTrans = colObj.GetInterpolationWorldTransform(); IndexedMatrix childTrans = compoundShape.GetChildTransform(i); newChildWorldTrans = orgTrans * childTrans; //perform an AABB check first IndexedVector3 aabbMin0; IndexedVector3 aabbMax0; IndexedVector3 aabbMin1; IndexedVector3 aabbMax1; childShape.GetAabb(ref newChildWorldTrans, out aabbMin0, out aabbMax0); otherObj.GetCollisionShape().GetAabb(otherObj.GetWorldTransform(), out aabbMin1, out aabbMax1); if (!AabbUtil2.TestAabbAgainstAabb2(ref aabbMin0, ref aabbMax0, ref aabbMin1, ref aabbMax1)) { m_dispatcher.FreeCollisionAlgorithm(m_childCollisionAlgorithms[i]); m_childCollisionAlgorithms[i] = null; } } } } } }
public override void InitializeDemo() { m_cameraDistance = 10.0f; //string filename = @"e:\users\man\bullet\gimpact-demo-xna.txt"; //FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read); //BulletGlobals.g_streamWriter = new StreamWriter(filestream); /// Init Bullet m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); //btOverlappingPairCache* broadphase = new btSimpleBroadphase(); //m_broadphase = new btSimpleBroadphase(); int maxProxies = 1024; IndexedVector3 worldAabbMin = new IndexedVector3(-10000, -10000, -10000); IndexedVector3 worldAabbMax = new IndexedVector3(10000, 10000, 10000); m_broadphase = new AxisSweep3Internal(ref worldAabbMin, ref worldAabbMax, 0xfffe, 0xffff, 16384, null, false); //m_broadphase = new SimpleBroadphase(16384,null); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); //create trimesh model and shape InitGImpactCollision(); /// Create Scene float mass = 0.0f; IndexedMatrix startTransform = IndexedMatrix.Identity; CollisionShape staticboxShape1 = new BoxShape(new IndexedVector3(200, 1, 200));//floor staticboxShape1.SetUserPointer("Floor"); CollisionShape staticboxShape2 = new BoxShape(new IndexedVector3(1, 50, 200));//left wall staticboxShape1.SetUserPointer("LeftWall"); CollisionShape staticboxShape3 = new BoxShape(new IndexedVector3(1, 50, 200));//right wall staticboxShape1.SetUserPointer("RightWall"); CollisionShape staticboxShape4 = new BoxShape(new IndexedVector3(200, 50, 1));//front wall staticboxShape1.SetUserPointer("FrontWall"); CollisionShape staticboxShape5 = new BoxShape(new IndexedVector3(200, 50, 1));//back wall staticboxShape1.SetUserPointer("BackWall"); CompoundShape staticScenario = new CompoundShape();//static scenario startTransform._origin = new IndexedVector3(0, 0, 0); staticScenario.AddChildShape(ref startTransform, staticboxShape1); startTransform._origin = new IndexedVector3(-200, 25, 0); staticScenario.AddChildShape(ref startTransform, staticboxShape2); startTransform._origin = new IndexedVector3(200, 25, 0); staticScenario.AddChildShape(ref startTransform, staticboxShape3); startTransform._origin = new IndexedVector3(0, 25, 200); staticScenario.AddChildShape(ref startTransform, staticboxShape4); startTransform._origin = new IndexedVector3(0, 25, -200); staticScenario.AddChildShape(ref startTransform, staticboxShape5); startTransform._origin = new IndexedVector3(0, 0, 0); //RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticScenario); RigidBody staticBody = LocalCreateRigidBody(mass, startTransform, staticboxShape1); staticBody.SetCollisionFlags(staticBody.GetCollisionFlags()|CollisionFlags.CF_STATIC_OBJECT); //enable custom material callback staticBody.SetCollisionFlags(staticBody.GetCollisionFlags()|CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); //static plane IndexedVector3 normal = new IndexedVector3(0.4f,1.5f,-0.4f); normal.Normalize(); CollisionShape staticplaneShape6 = new StaticPlaneShape(ref normal,0.0f);// A plane startTransform._origin = IndexedVector3.Zero; RigidBody staticBody2 = LocalCreateRigidBody(mass, startTransform, staticplaneShape6); staticBody2.SetCollisionFlags(staticBody2.GetCollisionFlags()|CollisionFlags.CF_STATIC_OBJECT); startTransform = IndexedMatrix.Identity; /// Create Dynamic Boxes { int numBoxes = 1; for (int i = 0; i < numBoxes; i++) { CollisionShape boxShape = new BoxShape(new IndexedVector3(1, 1, 1)); //CollisionShape mesh = new BvhTriangleMeshShape(m_indexVertexArrays2,true,true); startTransform._origin = new IndexedVector3(2 * i - (numBoxes-1), 2, -3); //startTransform._origin = new IndexedVector3(2 * i - 5, 10, -3); //LocalCreateRigidBody(1, startTransform, m_trimeshShape2); LocalCreateRigidBody(1, startTransform, boxShape); } } }
//---------------------------------------------------------------------------------------------------------------- public override void InitializeDemo() { CollisionShape groundShape = new BoxShape(new IndexedVector3(50, 3, 50)); //CollisionShape groundShape = new StaticPlaneShape(IndexedVector3.Up, 0f); m_collisionShapes.Add(groundShape); m_collisionConfiguration = new DefaultCollisionConfiguration(); m_dispatcher = new CollisionDispatcher(m_collisionConfiguration); IndexedVector3 worldMin = new IndexedVector3(-1000, -1000, -1000); IndexedVector3 worldMax = new IndexedVector3(1000, 1000, 1000); //m_broadphase = new AxisSweep3Internal(ref worldMin, ref worldMax, 0xfffe, 0xffff, 16384, null, false); m_broadphase = new SimpleBroadphase(100, null); m_constraintSolver = new SequentialImpulseConstraintSolver(); m_dynamicsWorld = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_constraintSolver, m_collisionConfiguration); //m_dynamicsWorld.setGravity(new IndexedVector3(0,0,0)); IndexedMatrix tr = IndexedMatrix.CreateTranslation(0, -10, 0); //either use heightfield or triangle mesh //create ground object LocalCreateRigidBody(0f, ref tr, groundShape); CollisionShape chassisShape = new BoxShape(new IndexedVector3(1.0f, 0.5f, 2.0f)); m_collisionShapes.Add(chassisShape); CompoundShape compound = new CompoundShape(); m_collisionShapes.Add(compound); //localTrans effectively shifts the center of mass with respect to the chassis IndexedMatrix localTrans = IndexedMatrix.CreateTranslation(0, 1, 0); compound.AddChildShape(ref localTrans, chassisShape); { CollisionShape suppShape = new BoxShape(new IndexedVector3(0.5f, 0.1f, 0.5f)); //localTrans effectively shifts the center of mass with respect to the chassis IndexedMatrix suppLocalTrans = IndexedMatrix.CreateTranslation(0f, 1.0f, 2.5f); compound.AddChildShape(ref suppLocalTrans, suppShape); } tr._origin = IndexedVector3.Zero; m_carChassis = LocalCreateRigidBody(800f, ref tr, compound);//chassisShape); //m_carChassis = LocalCreateRigidBody(800f, ref tr, chassisShape);//chassisShape); //CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f)); //m_collisionShapes.Add(liftShape); //m_liftStartPos = new IndexedVector3(0.0f, 2.5f, 3.05f); //IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos); //m_liftBody = LocalCreateRigidBody(10f, ref liftTrans, liftShape); //IndexedMatrix localA = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); //localA._origin = new IndexedVector3(0f, 1.0f, 3.05f); //IndexedMatrix localB = MathUtil.SetEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); //localB._origin = new IndexedVector3(0f, -1.5f, -0.05f); //m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB); //// m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS); //m_liftHinge.SetLimit(0.0f, 0.0f); //m_dynamicsWorld.AddConstraint(m_liftHinge, true); //CompoundShape forkCompound = new CompoundShape(); //m_collisionShapes.Add(forkCompound); //IndexedMatrix forkLocalTrans = IndexedMatrix.Identity; //CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f)); //m_collisionShapes.Add(forkShapeA); //forkCompound.AddChildShape(ref forkLocalTrans, forkShapeA); //CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); //m_collisionShapes.Add(forkShapeB); //forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f); //forkCompound.AddChildShape(ref forkLocalTrans, forkShapeB); //CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); //m_collisionShapes.Add(forkShapeC); //forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f); //forkCompound.AddChildShape(ref forkLocalTrans, forkShapeC); //m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f); //IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos); //m_forkBody = LocalCreateRigidBody(5f, ref forkTrans, forkCompound); //localA = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); //localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f); //IndexedVector3 col0 = MathUtil.matrixColumn(ref localA, 0); //IndexedVector3 col1 = MathUtil.matrixColumn(ref localA, 1); //IndexedVector3 col2 = MathUtil.matrixColumn(ref localA, 2); ////localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); //localB = MathUtil.SetEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); //localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f); //m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true); //m_forkSlider.SetLowerLinLimit(0.1f); //m_forkSlider.SetUpperLinLimit(0.1f); //// m_forkSlider.setLowerAngLimit(-LIFT_EPS); //// m_forkSlider.setUpperAngLimit(LIFT_EPS); //m_forkSlider.SetLowerAngLimit(0.0f); //m_forkSlider.SetUpperAngLimit(0.0f); //IndexedMatrix localAVec = IndexedMatrix.Identity; //IndexedMatrix localBVec = IndexedMatrix.Identity; //m_forkSlider2 = new HingeConstraint(m_liftBody, m_forkBody, ref localAVec, ref localBVec); //m_dynamicsWorld.AddConstraint(m_forkSlider, true); //m_dynamicsWorld.addConstraint(m_forkSlider2, true); CompoundShape loadCompound = new CompoundShape(true); m_collisionShapes.Add(loadCompound); CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f)); m_collisionShapes.Add(loadShapeA); IndexedMatrix loadTrans = IndexedMatrix.Identity; loadCompound.AddChildShape(ref loadTrans, loadShapeA); CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeB); loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f); loadCompound.AddChildShape(ref loadTrans, loadShapeB); CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeC); loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f); loadCompound.AddChildShape(ref loadTrans, loadShapeC); m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f); loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos); m_loadBody = LocalCreateRigidBody(4f, ref loadTrans, loadCompound); #if false { CollisionShape liftShape = new BoxShape(new IndexedVector3(0.5f, 2.0f, 0.05f)); m_collisionShapes.Add(liftShape); IndexedMatrix liftTrans = IndexedMatrix.CreateTranslation(m_liftStartPos); m_liftBody = localCreateRigidBody(10f, ref liftTrans, liftShape); IndexedMatrix localA = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); localA._origin = new IndexedVector3(0f, 1.0f, 3.05f); IndexedMatrix localB = MathUtil.setEulerZYX(0f, MathUtil.SIMD_HALF_PI, 0f); localB._origin = new IndexedVector3(0f, -1.5f, -0.05f); m_liftHinge = new HingeConstraint(m_carChassis, m_liftBody, ref localA, ref localB); // m_liftHinge.setLimit(-LIFT_EPS, LIFT_EPS); m_liftHinge.setLimit(0.0f, 0.0f); m_dynamicsWorld.addConstraint(m_liftHinge, true); CollisionShape forkShapeA = new BoxShape(new IndexedVector3(1.0f, 0.1f, 0.1f)); m_collisionShapes.Add(forkShapeA); CompoundShape forkCompound = new CompoundShape(); m_collisionShapes.Add(forkCompound); IndexedMatrix forkLocalTrans = IndexedMatrix.Identity; forkCompound.addChildShape(ref forkLocalTrans, forkShapeA); CollisionShape forkShapeB = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); m_collisionShapes.Add(forkShapeB); forkLocalTrans = IndexedMatrix.CreateTranslation(-0.9f, -0.08f, 0.7f); forkCompound.addChildShape(ref forkLocalTrans, forkShapeB); CollisionShape forkShapeC = new BoxShape(new IndexedVector3(0.1f, 0.02f, 0.6f)); m_collisionShapes.Add(forkShapeC); forkLocalTrans = IndexedMatrix.CreateTranslation(0.9f, -0.08f, 0.7f); forkCompound.addChildShape(ref forkLocalTrans, forkShapeC); m_forkStartPos = new IndexedVector3(0.0f, 0.6f, 3.2f); IndexedMatrix forkTrans = IndexedMatrix.CreateTranslation(m_forkStartPos); m_forkBody = localCreateRigidBody(5f, ref forkTrans, forkCompound); localA = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); localA._origin = new IndexedVector3(0.0f, -1.9f, 0.05f); localB = MathUtil.setEulerZYX(0f, 0f, MathUtil.SIMD_HALF_PI); localB._origin = new IndexedVector3(0.0f, 0.0f, -0.1f); m_forkSlider = new SliderConstraint(m_liftBody, m_forkBody, ref localA, ref localB, true); m_forkSlider.setLowerLinLimit(0.1f); m_forkSlider.setUpperLinLimit(0.1f); // m_forkSlider.setLowerAngLimit(-LIFT_EPS); // m_forkSlider.setUpperAngLimit(LIFT_EPS); m_forkSlider.setLowerAngLimit(0.0f); m_forkSlider.setUpperAngLimit(0.0f); m_dynamicsWorld.addConstraint(m_forkSlider, true); CompoundShape loadCompound = new CompoundShape(); m_collisionShapes.Add(loadCompound); CollisionShape loadShapeA = new BoxShape(new IndexedVector3(2.0f, 0.5f, 0.5f)); m_collisionShapes.Add(loadShapeA); IndexedMatrix loadTrans = IndexedMatrix.Identity; loadCompound.addChildShape(ref loadTrans, loadShapeA); CollisionShape loadShapeB = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeB); loadTrans = IndexedMatrix.CreateTranslation(2.1f, 0.0f, 0.0f); loadCompound.addChildShape(ref loadTrans, loadShapeB); CollisionShape loadShapeC = new BoxShape(new IndexedVector3(0.1f, 1.0f, 1.0f)); m_collisionShapes.Add(loadShapeC); loadTrans = IndexedMatrix.CreateTranslation(-2.1f, 0.0f, 0.0f); loadCompound.addChildShape(ref loadTrans, loadShapeC); m_loadStartPos = new IndexedVector3(0.0f, -3.5f, 7.0f); loadTrans = IndexedMatrix.CreateTranslation(m_loadStartPos); m_loadBody = localCreateRigidBody(4f, ref loadTrans, loadCompound); } #endif //m_carChassis.setDamping(0.2f, 0.2f); ClientResetScene(); /// create vehicle SetCameraDistance(26.0f); SetTexturing(true); SetShadows(true); }