public void Initialize(ConvexShape shapeA, StaticPlaneShape plane) { m_convexA = shapeA; m_planeShape = plane; m_simplexSolver = null; m_penetrationDepthSolver = null; }
public override void InitializeDemo() { base.InitializeDemo(); SetCameraDistance(SCALING * 50f); //string filename = @"C:\users\man\bullett\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(10000, 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); m_profileManager = new BasicProfileManager(); BulletGlobals.g_profileManager = m_profileManager; m_profileIterator = m_profileManager.getIterator(); ///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), 0); LocalCreateRigidBody(0f, IndexedMatrix.Identity, groundShape); //CollisionShape groundShape = BuildLargeMesh(); m_collisionShapes.Add(groundShape); CollisionShape sphereShape = new SphereShape(0.2f); int size = 16;// 5; // 16 for (int i = 0; i < size; ++i) { for (int j = 0; j < size; ++j) { IndexedMatrix m = IndexedMatrix.CreateTranslation(new IndexedVector3(i, 1, j)); RigidBody rb = LocalCreateRigidBody(1f, m, sphereShape); rb.SetActivationState(ActivationState.ISLAND_SLEEPING); } } ClientResetScene(); }
public static void GetPlaneEquationTransformed(StaticPlaneShape plane,ref IndexedMatrix trans, out IndexedVector4 equation) { equation = new IndexedVector4(); IndexedVector3 planeNormal = plane.GetPlaneNormal(); equation.X = trans._basis.GetRow(0).Dot(ref planeNormal); equation.Y = trans._basis.GetRow(1).Dot(ref planeNormal); equation.Z = trans._basis.GetRow(2).Dot(ref planeNormal); equation.W = trans._origin.Dot(ref planeNormal) + plane.GetPlaneConstant(); }
public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) { StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); m_planeshape.SetMargin(pcollisionMargin); m_planeshape.SetUserPointer(pLocalId); return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); }
protected void GImpactTrimeshpartVsPlaneCollision( CollisionObject body0, CollisionObject body1, GImpactMeshShapePart shape0, StaticPlaneShape shape1, bool swapped) { IndexedMatrix orgtrans0 = body0.GetWorldTransform(); IndexedMatrix orgtrans1 = body1.GetWorldTransform(); IndexedVector4 plane; PlaneShape.GetPlaneEquationTransformed(shape1,ref orgtrans1, out plane); //test box against plane AABB tribox = new AABB(); shape0.GetAabb(ref orgtrans0, out tribox.m_min, out tribox.m_max); tribox.IncrementMargin(shape1.GetMargin()); if (tribox.PlaneClassify(ref plane) != BT_PLANE_INTERSECTION_TYPE.BT_CONST_COLLIDE_PLANE) return; shape0.LockChildShapes(); float margin = shape0.GetMargin() + shape1.GetMargin(); IndexedVector3 vertex; int vi = shape0.GetVertexCount(); while (vi-- != 0) { shape0.GetVertex(vi, out vertex); vertex = orgtrans0 * vertex; float distance = IndexedVector3.Dot(vertex, MathUtil.Vector4ToVector3(ref plane)) - plane.W - margin; if (distance < 0.0f)//add contact { if (swapped) { AddContactPoint(body1, body0, vertex, MathUtil.Vector4ToVector3(-plane), distance); } else { AddContactPoint(body0, body1, vertex, MathUtil.Vector4ToVector3(ref plane), distance); } } } shape0.UnlockChildShapes(); }
public static void GetPlaneEquation(StaticPlaneShape plane,out IndexedVector4 equation) { equation = new IndexedVector4(plane.GetPlaneNormal(),plane.GetPlaneConstant()); }
internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) { StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); m_planeshape.SetMargin(pcollisionMargin); m_planeshape.SetUserPointer(pLocalId); return m_planeshape; }
public ContinuousConvexCollision(ConvexShape shapeA, StaticPlaneShape plane) { m_convexA = shapeA; m_planeShape = plane; }
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 }
private void BuildBoard() { float width = 40; float height = 40; IndexedVector3 boardBackExtents = new IndexedVector3(width,height,2) /2f; IndexedVector3 boardSideExtents = new IndexedVector3(1,height,2) /2f; IndexedVector3 boardBarExtents = new IndexedVector3(width,1,2)/2f; IndexedVector3 pinExtent = new IndexedVector3(0.5f,1f,2f); IndexedVector3 boardCenter = new IndexedVector3(0,0,0); // build frame.objects BoxShape boardBack = new BoxShape(boardBackExtents); BoxShape boardSide = new BoxShape(boardSideExtents); BoxShape boardBar = new BoxShape(boardBarExtents); StaticPlaneShape boardFront = new StaticPlaneShape(new IndexedVector3(0,0,-1),-(boardBackExtents.Z+boardSideExtents.Z)); CollisionShape pinShape = new CapsuleShapeZ(pinExtent.Y,pinExtent.Z); //pinShape = new BoxShape(pinExtent); //pinShape = new SphereShape(pinExtent.Y); m_cameraUp = Vector3.Up; // now RB's Matrix m = Matrix.Identity; IndexedMatrix trans = m; trans._origin = boardCenter; float mass = 0f; //LocalCreateRigidBody(mass,trans,boardBack); //LocalCreateRigidBody(mass, trans, boardFront); IndexedVector3 leftSide = new IndexedVector3(boardCenter.X - boardBackExtents.X + boardSideExtents.X, boardCenter.Y, boardCenter.Z + boardSideExtents.Z); IndexedVector3 rightSide = new IndexedVector3(boardCenter.X + boardBackExtents.X - boardSideExtents.X, boardCenter.Y, boardCenter.Z + boardSideExtents.Z); IndexedVector3 topBar = new IndexedVector3(boardCenter.X, boardCenter.Y + boardBackExtents.Y - boardBarExtents.Y, boardCenter.Z + boardSideExtents.Z); IndexedVector3 bottomBar = new IndexedVector3(boardCenter.X, boardCenter.Y - boardBackExtents.Y + boardBarExtents.Y, boardCenter.Z + boardSideExtents.Z); trans._origin = leftSide; LocalCreateRigidBody(mass, trans, boardSide); trans._origin = rightSide; LocalCreateRigidBody(mass, trans, boardSide); trans._origin = topBar; LocalCreateRigidBody(mass, trans, boardBar); trans._origin = bottomBar; LocalCreateRigidBody(mass, trans, boardBar); // now place the pins? (simple offset grid to start) int numPinsX = 8; int numPinsY = 8; // fixme IndexedVector3 pinTopLeft = new IndexedVector3(-boardBackExtents.X + 4, boardBackExtents.Y - 5, boardCenter.Z + boardSideExtents.Z); IndexedVector3 pinSpacer = new IndexedVector3(pinExtent.Y * 4f, -pinExtent.Y * 4f, 0); float ballRadius = 0.9f; float fudge = 3f; m_dropSphereShape = new SphereShape(ballRadius); m_ballDropSpot = new Vector3(1f, pinTopLeft.Y + 1, boardCenter.Z + boardBackExtents.Z+ballRadius); //new SphereShape(0.95f); m_debugDraw.SetDebugMode(m_debugDraw.GetDebugMode() | DebugDrawModes.DBG_DrawAabb); trans._origin = pinTopLeft; LocalCreateRigidBody(mass, trans, pinShape); for (int i = 0; i < numPinsX; ++i) { for (int j = 0; j < numPinsY; ++j) { IndexedVector3 pos = new IndexedVector3(pinSpacer.X * i, (pinSpacer.Y * j), pinSpacer.Z); // stagger rows. if (j % 2 == 1) { pos.X += pinSpacer.X/2f; } trans._origin = pinTopLeft + pos; LocalCreateRigidBody(mass, trans, pinShape); } } }