public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 40, 200);
camera.Yaw = 0;
camera.Pitch = 0;
//This type of position-based bounciness requires feedback from position error to drive the corrective impulses that make stuff bounce.
//The briefer a collision is, the more damped the bounce becomes relative to the physical ideal.
//To counteract this, a substepping timestepper is used. In the demos, we update the simulation at 60hz, so a substep count of 4 means the solver and integrator will run at 240hz.
//That allows higher stiffnesses to be used since collisions last longer relative to the solver timestep duration.
//(Note that substepping tends to be an extremely strong simulation stabilizer, so you can usually get away with lower solver iteration counts for better performance.)
var collidableMaterials = new CollidableProperty <SimpleMaterial>();
Simulation = Simulation.Create(BufferPool, new BounceCallbacks()
{
CollidableMaterials = collidableMaterials
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new SubsteppingTimestepper(4), solverIterationCount: 2);
var shape = new Sphere(1);
shape.ComputeInertia(1, out var inertia);
var ballDescription = BodyDescription.CreateDynamic(RigidPose.Identity, inertia, new CollidableDescription(Simulation.Shapes.Add(shape), 20f), new BodyActivityDescription(1e-2f));
for (int i = 0; i < 100; ++i)
{
for (int j = 0; j < 100; ++j)
{
//We'll drop balls in a grid. From left to right, we increase stiffness, and from back to front (relative to the camera), we'll increase damping.
//Note that higher frequency values tend to result in smaller bounces even at 0 damping. This is not physically realistic; it's a byproduct of the solver timestep being too long to properly handle extremely brief contacts.
//(Try increasing the substep count above to higher values and watch how the bounce gets closer and closer to equal height across frequency values.)
ballDescription.Pose.Position = new Vector3(i * 3 - 99f * 3f / 2f, 100, j * 3 - 230);
collidableMaterials.Allocate(Simulation.Bodies.Add(ballDescription)) = new SimpleMaterial {
FrictionCoefficient = 1, MaximumRecoveryVelocity = float.MaxValue, SpringSettings = new SpringSettings(5 + 0.25f * i, j * j / 10000f)
};
}
}
collidableMaterials.Allocate(Simulation.Statics.Add(new StaticDescription(new Vector3(0, -15f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(2500, 30, 2500)), 0.1f)))) =
new SimpleMaterial {
FrictionCoefficient = 1, MaximumRecoveryVelocity = 2, SpringSettings = new SpringSettings(30, 1)
};
}
public PhyObject Create(ObjectState state)
{
PhyObject phy = null;
if (state.uID == null || objects.ContainsKey(state.uID))
{
state.uID = PhyObject.createUID();
}
if (state is BoxState)
{
if (state.isMesh)
{
phy = CreateMesh((BoxState)state);
}
else
{
phy = CreateBox((BoxState)state);
}
}
if (state is SphereState)
{
phy = CreateSphere((SphereState)state);
}
if (phy.material == default(SimpleMaterial))
{
collidableMaterials.Allocate(phy.bodyHandle) = new SimpleMaterial
{
FrictionCoefficient = .1f,
MaximumRecoveryVelocity = float.MaxValue,
SpringSettings = new SpringSettings(1f, 1.5f)
};
}
if (!objects.ContainsKey(state.uID))
{
objects.Add(state.uID, phy);
}
else
{
QuixConsole.WriteLine("Objects already had that key");
}
return(phy);
}
