C# DiscreteDynamicsWorld.AddCollisionObject方法代码示例

        protected override void OnInitializePhysics()
        {
            BoxShape boxA = new BoxShape(new Vector3(1, 1, 1));
            boxA.Margin = 0;

            BoxShape boxB = new BoxShape(new Vector3(0.5f, 0.5f, 0.5f));
            boxB.Margin = 0;

            objects[0] = new CollisionObject();
            objects[1] = new CollisionObject();

            objects[0].CollisionShape = boxA;
            objects[1].CollisionShape = boxB;

            // collision configuration contains default setup for memory, collision setup
            CollisionConf = new DefaultCollisionConfiguration();
            Dispatcher = new CollisionDispatcher(CollisionConf);

            Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));

            World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConf);
            World.Gravity = new Vector3(0, -10, 0);
            IsDebugDrawEnabled = true;

            //World.AddCollisionObject(objects[0]);
            World.AddCollisionObject(objects[1]);

            Quaternion rotA = new Quaternion(0.739f, -0.204f, 0.587f, 0.257f);
            rotA.Normalize();

            objects[0].WorldTransform = Matrix.RotationQuaternion(rotA) * Matrix.Translation(0, 3, 0);
            objects[1].WorldTransform = Matrix.Translation(0, 4.248f, 0);
        }

        static void TestGCCollection()
        {
            var conf = new DefaultCollisionConfiguration();
            var dispatcher = new CollisionDispatcher(conf);
            var broadphase = new DbvtBroadphase();
            //var broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
            world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, conf);
            world.Gravity = new Vector3(0, -10, 0);
            dispatcher.NearCallback = DispatcherNearCallback;

            CreateBody(0.0f, new BoxShape(50, 1, 50), Vector3.Zero);
            var dynamicObject = CreateBody(10.0f, new SphereShape(1.0f), new Vector3(2, 2, 0));
            var dynamicObject2 = CreateBody(1.0f, new SphereShape(1.0f), new Vector3(0, 2, 0));

            var ghostPairCallback = new GhostPairCallback();
            broadphase.OverlappingPairCache.SetInternalGhostPairCallback(ghostPairCallback);
            AddToDisposeQueue(ghostPairCallback);
            ghostPairCallback = null;
            var ghostObject = new PairCachingGhostObject();
            ghostObject.CollisionShape = new BoxShape(2);
            ghostObject.WorldTransform = Matrix.Translation(2,2,0);
            world.AddCollisionObject(ghostObject);

            var trimesh = new TriangleMesh();
            Vector3 v0 = new Vector3(0, 0, 0);
            Vector3 v1 = new Vector3(1, 0, 0);
            Vector3 v2 = new Vector3(0, 1, 0);
            Vector3 v3 = new Vector3(1, 1, 0);
            trimesh.AddTriangle(v0, v1, v2);
            trimesh.AddTriangle(v1, v3, v2);
            var triangleMeshShape = new BvhTriangleMeshShape(trimesh, false);
            var triMeshObject = CreateBody(0, triangleMeshShape, new Vector3(20,0,20));
            AddToDisposeQueue(triangleMeshShape);
            AddToDisposeQueue(trimesh);
            AddToDisposeQueue(triMeshObject);
            triangleMeshShape = null;
            trimesh = null;

            AddToDisposeQueue(conf);
            AddToDisposeQueue(dispatcher);
            AddToDisposeQueue(broadphase);
            AddToDisposeQueue(world);

            //conf.Dispose();
            conf = null;
            //dispatcher.Dispose();
            dispatcher = null;
            //broadphase.Dispose();
            broadphase = null;
            world.DebugDrawer = new DebugDrawTest();
            AddToDisposeQueue(world.DebugDrawer);
            world.SetInternalTickCallback(WorldPreTickCallback);
            for (int i = 0; i < 600; i++)
            {
                world.StepSimulation(1.0f / 60.0f);
            }

            world.DispatchInfo.DebugDraw = new DebugDrawTest2();
            AddToDisposeQueue(world.DispatchInfo.DebugDraw);
            world.DispatchInfo.DebugDraw = world.DispatchInfo.DebugDraw;
            AddToDisposeQueue(world.DispatchInfo.DebugDraw);
            world.DispatchInfo.DebugDraw = null;
            world.DebugDrawer = null;
            world.DebugDrawer = new DebugDrawTest2();
            world.StepSimulation(1.0f / 60.0f);
            world.DebugDrawWorld();
            AddToDisposeQueue(world.DispatchInfo.DebugDraw);

            world.DebugDrawer = new DebugDrawTest();
            world.DebugDrawWorld();
            AddToDisposeQueue(world.DebugDrawer);
            world.DebugDrawer = null;

            TestContactTest(dynamicObject, dynamicObject2);
            TestGhostObjectPairs(ghostObject);
            TestRayCast(dynamicObject);
            TestTriangleMeshRayCast(triMeshObject);
            dynamicObject = null;
            dynamicObject2 = null;
            triMeshObject = null;

            //world.SetInternalTickCallback(null);
            world.Dispose();
            world = null;

            GC.Collect(GC.MaxGeneration, GCCollectionMode.Forced);
            GC.WaitForPendingFinalizers();

            TestWeakRefs();
            disposeQueue.Clear();
        }

        protected override void OnInitializePhysics()
        {
            // collision configuration contains default setup for memory, collision setup
            CollisionConf = new DefaultCollisionConfiguration();
            Dispatcher = new CollisionDispatcher(CollisionConf);

            Broadphase = new AxisSweep3(new Vector3(-1000, -1000, -1000), new Vector3(1000, 1000, 1000));
            Solver = new SequentialImpulseConstraintSolver();

            World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
            World.DispatchInfo.AllowedCcdPenetration = 0.0001f;
            //World.Gravity = Freelook.Up * -10.0f;

            Matrix startTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f);
            ghostObject = new PairCachingGhostObject();
            ghostObject.WorldTransform = startTransform;
            Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());

            const float characterHeight = 1.75f;
            const float characterWidth = 1.75f;
            ConvexShape capsule = new CapsuleShape(characterWidth, characterHeight);
            ghostObject.CollisionShape = capsule;
            ghostObject.CollisionFlags = CollisionFlags.CharacterObject;

            const float stepHeight = 0.35f;
            character = new KinematicCharacterController(ghostObject, capsule, stepHeight);

            BspLoader bspLoader = new BspLoader();
            bspLoader.LoadBspFile("data/BspDemo.bsp");
            BspConverter bsp2Bullet = new BspToBulletConverter(this);
            bsp2Bullet.ConvertBsp(bspLoader, 0.1f);

            World.AddCollisionObject(ghostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);

            World.AddAction(character);

            convexResultCallback = new ClosestConvexResultCallback();
            convexResultCallback.CollisionFilterMask = (short)CollisionFilterGroups.StaticFilter;
            cameraSphere = new SphereShape(0.2f);
        }