public override void InitializeDemo()
{
SetCameraDistance(50f);
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);
CollisionShape shape = SetupShape();
IndexedMatrix objTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,2,0));
LocalCreateRigidBody(mass, ref objTransform, shape);
//ClientResetScene();
}
public MultiSapBroadphase(int maxProxies, IOverlappingPairCache pairCache)
{
m_overlappingPairs = pairCache;
m_optimizedAabbTree = null;
m_ownsPairCache = false;
m_invalidPair = 0;
if (m_overlappingPairs == null)
{
m_ownsPairCache = true;
m_overlappingPairs = new SortedOverlappingPairCache();
}
m_filterCallback = new MultiSapOverlapFilterCallback();
m_overlappingPairs.SetOverlapFilterCallback(m_filterCallback);
// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
m_simpleBroadphase = new SimpleBroadphase(maxProxies, m_overlappingPairs);
}
public MultiSapBroadphase(int maxProxies, IOverlappingPairCache pairCache)
{
m_overlappingPairs = pairCache;
m_optimizedAabbTree = null;
m_ownsPairCache = false;
m_invalidPair = 0;
if (m_overlappingPairs == null)
{
m_ownsPairCache = true;
m_overlappingPairs = new SortedOverlappingPairCache();
}
m_filterCallback = new MultiSapOverlapFilterCallback();
m_overlappingPairs.SetOverlapFilterCallback(m_filterCallback);
// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
m_simpleBroadphase = new SimpleBroadphase(maxProxies, m_overlappingPairs);
}
public virtual bool ProcessOverlap(BroadphasePair pair)
{
return(!SimpleBroadphase.AabbOverlap((SimpleBroadphaseProxy)(pair.m_pProxy0), (SimpleBroadphaseProxy)(pair.m_pProxy1)));
}
public override void InitializeDemo()
{
SetCameraDistance(30f);
//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);
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);
{
int numBlocksTall = 10;//18; //How many 'stories' tall.
float blockWidth = 6f; //Total width/length of the tower.
float blockHeight = 2f;
//create a few dynamic rigidbodies
IndexedVector3 extents = new IndexedVector3(blockWidth/3, blockHeight, blockWidth);
IndexedVector3 boxHalfExtents = extents * 0.5f;
CollisionShape colShape = new BoxShape(boxHalfExtents);
//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);
}
//The default number of iterations is 10, which works fine, but this demo
//is all about stability (it's jenga!). Increase the iterations a bit.
//Even though it's using twice as many iterations, it will early-out
//before reaching the limit MOST of the time.
//It's still pretty playable at around 7-8 max iterations, though.
IndexedMatrix transform = IndexedMatrix.Identity;
for (int i = 0; i < numBlocksTall; i++)
{
if (i % 2 == 0)
{
for (int j = 0; j < 3; j++)
{
transform = IndexedMatrix.Identity;
IndexedVector3 position = new IndexedVector3(j * (blockWidth/3) - blockWidth/3,
blockHeight / 2 + i * (blockHeight),
0);
//position += boxHalfExtents;
transform._origin = position;
RigidBody rb = LocalCreateRigidBody(mass, transform, colShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
else
{
transform = IndexedMatrix.CreateRotationY(MathUtil.SIMD_HALF_PI);
for (int j = 0; j < 3; j++)
{
IndexedVector3 position = new IndexedVector3(0,
blockHeight / 2 + (i) * (blockHeight),
j * (blockWidth / 3) - blockWidth / 3f);
transform._origin = position;
//position += boxHalfExtents;
transform._origin = position;
RigidBody rb = LocalCreateRigidBody(mass, transform, colShape);
rb.SetActivationState(ActivationState.ISLAND_SLEEPING);
}
}
}
//game.Camera.Position = new Vector3(0, 5, 15);
}
ClientResetScene();
}
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();
}
//----------------------------------------------------------------------------------------------------------------
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);
}
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()
{
base.InitializeDemo();
SetCameraDistance(SCALING * 50f);
//string filename = @"e:\users\man\bullet\xna-largemesh-output.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);
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(IndexedVector3.Up, 50);
CollisionShape groundShape = BuildLargeMesh();
m_collisionShapes.Add(groundShape);
IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0, 0, 0));
//IndexedMatrix groundTransform = IndexedMatrix.CreateTranslation(new IndexedVector3(0,-10,0));
//IndexedMatrix rotateMatrix = IndexedMatrix.CreateFromYawPitchRoll(0, MathUtil.SIMD_PI / 2.0f, 0);
//IndexedMatrix rotateMatrix = IndexedMatrix.Identity;
IndexedMatrix rotateMatrix = IndexedMatrix.Identity;
rotateMatrix._basis.SetEulerZYX(0, 0, MathUtil.SIMD_PI * 0.7f);
rotateMatrix._origin = IndexedVector3.Zero;
float mass = 0f;
LocalCreateRigidBody(mass, ref rotateMatrix, groundShape);
CollisionShape boxShape = new BoxShape(new IndexedVector3(0.2f, 0.2f, 0.2f));
//CollisionShape boxShape = new SphereShape(0.2f);
//CollisionShape boxShape = new CylinderShapeX(new IndexedVector3(0.2f, 0.4f, 0.2f));
//CollisionShape boxShape = new CapsuleShape(0.2f, 0.4f);
IndexedMatrix boxTransform = IndexedMatrix.Identity;
boxTransform._basis.SetEulerZYX(MathUtil.SIMD_PI * 0.2f, MathUtil.SIMD_PI * 0.4f, MathUtil.SIMD_PI * 0.7f);
boxTransform._origin = new IndexedVector3(0.0f, 5.0f, 0.0f);
LocalCreateRigidBody(1.25f, boxTransform, boxShape);
ClientResetScene();
}
public override void InitializeDemo()
{
//string filename = @"C:\users\man\bullet\xna-motor-output.txt";
//FileStream filestream = File.Open(filename, FileMode.Create, FileAccess.Write, FileShare.Read);
//BulletGlobals.g_streamWriter = new StreamWriter(filestream);
m_Time = 0;
m_fCyclePeriod = 2000.0f; // in milliseconds
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits)
// currently solver uses 10 iterations, so:
m_fMuscleStrength = 0.5f;
SetCameraDistance(5.0f);
m_collisionConfiguration = new DefaultCollisionConfiguration();
m_dispatcher = new CollisionDispatcher(m_collisionConfiguration);
m_broadphase = new DbvtBroadphase();
IOverlappingPairCache pairCache = null;
m_broadphase = new SimpleBroadphase(1000, pairCache);
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);
m_dynamicsWorld.SetInternalTickCallback(new MotorPreTickCallback(),this,true);
// 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);
LocalCreateRigidBody(0f,ref groundTransform,groundShape);
}
// Spawn one ragdoll
IndexedVector3 startOffset = new IndexedVector3(1,0.5f,0);
SpawnTestRig(ref startOffset, false);
startOffset = new IndexedVector3(-2, 0.5f, 0);
SpawnTestRig(ref startOffset, true);
ClientResetScene();
}
