public void Initialize(Simulation simulation)
{
if (this.ContactSpringiness.AngularFrequency == 0 && this.ContactSpringiness.TwiceDampingRatio == 0)
{
this.ContactSpringiness = new(30, 1);
this.MaximumRecoveryVelocity = 2f;
this.FrictionCoefficient = 1f;
}
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-5f, 5.5f, 5f);
camera.Yaw = MathHelper.Pi / 4;
camera.Pitch = MathHelper.Pi * 0.15f;
var filters = new BodyProperty <DeformableCollisionFilter>();
Simulation = Simulation.Create(BufferPool, new DeformableCallbacks {
Filters = filters
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var meshContent = content.Load <MeshContent>("Content\\newt.obj");
float cellSize = 0.1f;
DumbTetrahedralizer.Tetrahedralize(meshContent.Triangles, cellSize, BufferPool,
out var vertices, out var vertexSpatialIndices, out var cellVertexIndices, out var tetrahedraVertexIndices);
var weldSpringiness = new SpringSettings(30f, 0);
var volumeSpringiness = new SpringSettings(30f, 1);
for (int i = 0; i < 5; ++i)
{
NewtDemo.CreateDeformable(Simulation, new Vector3(i * 3, 5 + i * 1.5f, 0), Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathF.PI * (i * 0.55f)), 1f, cellSize, weldSpringiness, volumeSpringiness, i, filters, ref vertices, ref vertexSpatialIndices, ref cellVertexIndices, ref tetrahedraVertexIndices);
}
BufferPool.Return(ref vertices);
vertexSpatialIndices.Dispose(BufferPool);
BufferPool.Return(ref cellVertexIndices);
BufferPool.Return(ref tetrahedraVertexIndices);
Simulation.Bodies.Add(BodyDescription.CreateConvexDynamic(new Vector3(0, 100, -.5f), 10, Simulation.Shapes, new Sphere(5)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -0.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(1500, 1, 1500)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -1.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Sphere(3)), 0.1f)));
var bulletShape = new Sphere(0.5f);
bulletShape.ComputeInertia(.25f, out var bulletInertia);
bulletDescription = BodyDescription.CreateDynamic(RigidPose.Identity, bulletInertia, new CollidableDescription(Simulation.Shapes.Add(bulletShape), 1f), new BodyActivityDescription(0.01f));
DemoMeshHelper.LoadModel(content, BufferPool, "Content\\newt.obj", new Vector3(20), out var mesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(200, 0.5f, 120), Quaternion.CreateFromAxisAngle(Vector3.UnitY, -3 * MathHelper.PiOver4), new CollidableDescription(Simulation.Shapes.Add(mesh), 0.1f)));
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(25, 4, 40);
camera.Yaw = 0;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var shapeA = new Box(.75f, 1, .5f);
var shapeIndexA = Simulation.Shapes.Add(shapeA);
var collidableA = new CollidableDescription(shapeIndexA, 0.1f);
var shapeB = new Box(.75f, 1, .5f);
var shapeIndexB = Simulation.Shapes.Add(shapeB);
var collidableB = new CollidableDescription(shapeIndexB, 0.1f);
var activity = new BodyActivityDescription(0.01f);
shapeA.ComputeInertia(1, out var inertiaA);
shapeA.ComputeInertia(1, out var inertiaB);
var nextX = -10f;
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new Hinge
{
LocalOffsetA = new Vector3(0, 1, 0),
LocalHingeAxisA = new Vector3(0, 1, 0),
LocalOffsetB = new Vector3(0, -1, 0),
LocalHingeAxisB = new Vector3(0, 1, 0),
SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularSwivelHinge {
LocalSwivelAxisA = new Vector3(1, 0, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new SwingLimit {
AxisLocalA = new Vector3(0, 1, 0), AxisLocalB = new Vector3(0, 1, 0), MaximumSwingAngle = MathHelper.PiOver2, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new SwivelHinge
{
LocalOffsetA = new Vector3(0, 1, 0),
LocalSwivelAxisA = new Vector3(1, 0, 0),
LocalOffsetB = new Vector3(0, -1, 0),
LocalHingeAxisB = new Vector3(0, 1, 0),
SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new SwingLimit {
AxisLocalA = new Vector3(0, 1, 0), AxisLocalB = new Vector3(0, 1, 0), MaximumSwingAngle = MathHelper.PiOver2, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistServo
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
TargetAngle = MathHelper.PiOver4,
SpringSettings = new SpringSettings(30, 1),
ServoSettings = new ServoSettings(float.MaxValue, 0, float.MaxValue)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistLimit
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
MinimumAngle = MathHelper.Pi * -0.5f,
MaximumAngle = MathHelper.Pi * 0.95f,
SpringSettings = new SpringSettings(30, 1),
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistMotor
{
LocalAxisA = new Vector3(0, 1, 0),
LocalAxisB = new Vector3(0, 1, 0),
TargetVelocity = MathHelper.Pi * 2,
Settings = new MotorSettings(float.MaxValue, 0.1f)
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularServo
{
TargetRelativeRotationLocalA = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2),
ServoSettings = new ServoSettings(float.MaxValue, 0, 12f),
SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularMotor {
TargetVelocityLocalA = new Vector3(0, 1, 0), Settings = new MotorSettings(15, 0.0001f)
});
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity);
//aDescription.Velocity.Angular = new Vector3(0, 0, 5);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new Weld {
LocalOffset = new Vector3(0, 2, 0), LocalOrientation = Quaternion.Identity, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var sphere = new Sphere(0.125f);
//Treat each vertex as a point mass that cannot rotate.
var sphereInertia = new BodyInertia {
InverseMass = 1
};
var sphereCollidable = new CollidableDescription(Simulation.Shapes.Add(sphere), 0.1f);
var a = new Vector3(x, 3, 0);
var b = new Vector3(x, 4, 0);
var c = new Vector3(x, 3, 1);
var d = new Vector3(x + 1, 3, 0);
var aDescription = BodyDescription.CreateDynamic(a, sphereInertia, sphereCollidable, activity);
var bDescription = BodyDescription.CreateDynamic(b, sphereInertia, sphereCollidable, activity);
var cDescription = BodyDescription.CreateDynamic(c, sphereInertia, sphereCollidable, activity);
var dDescription = BodyDescription.CreateDynamic(d, sphereInertia, sphereCollidable, activity);
var aHandle = Simulation.Bodies.Add(aDescription);
var bHandle = Simulation.Bodies.Add(bDescription);
var cHandle = Simulation.Bodies.Add(cDescription);
var dHandle = Simulation.Bodies.Add(dDescription);
var distanceSpringiness = new SpringSettings(3f, 1);
Simulation.Solver.Add(aHandle, bHandle, new CenterDistanceConstraint(Vector3.Distance(a, b), distanceSpringiness));
Simulation.Solver.Add(aHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(a, c), distanceSpringiness));
Simulation.Solver.Add(aHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(a, d), distanceSpringiness));
Simulation.Solver.Add(bHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(b, c), distanceSpringiness));
Simulation.Solver.Add(bHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(b, d), distanceSpringiness));
Simulation.Solver.Add(cHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(c, d), distanceSpringiness));
Simulation.Solver.Add(aHandle, bHandle, cHandle, dHandle, new VolumeConstraint(a, b, c, d, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 6, 0), inertiaB, collidableB, activity);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new DistanceServo(new Vector3(0, 0.55f, 0), new Vector3(0, -0.55f, 0), 1.9f, new SpringSettings(30, 1), ServoSettings.Default));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 6, 0), inertiaB, collidableB, activity);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new DistanceLimit(new Vector3(0, 0.55f, 0), new Vector3(0, -0.55f, 0), 1f, 3, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var sphere = new Sphere(0.125f);
//Treat each vertex as a point mass that cannot rotate.
var sphereInertia = new BodyInertia {
InverseMass = 1
};
var sphereCollidable = new CollidableDescription(Simulation.Shapes.Add(sphere), 0.1f);
var a = new Vector3(x, 3, 0);
var b = new Vector3(x, 4, 0);
var c = new Vector3(x + 1, 3, 0);
var aDescription = BodyDescription.CreateDynamic(a, sphereInertia, sphereCollidable, activity);
var bDescription = BodyDescription.CreateDynamic(b, sphereInertia, sphereCollidable, activity);
var cDescription = BodyDescription.CreateDynamic(c, sphereInertia, sphereCollidable, activity);
var aHandle = Simulation.Bodies.Add(aDescription);
var bHandle = Simulation.Bodies.Add(bDescription);
var cHandle = Simulation.Bodies.Add(cDescription);
var distanceSpringiness = new SpringSettings(3f, 1);
Simulation.Solver.Add(aHandle, bHandle, new CenterDistanceConstraint(Vector3.Distance(a, b), distanceSpringiness));
Simulation.Solver.Add(aHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(a, c), distanceSpringiness));
Simulation.Solver.Add(bHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(b, c), distanceSpringiness));
Simulation.Solver.Add(aHandle, bHandle, cHandle, new AreaConstraint(a, b, c, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), default, collidableA, activity);
public Spring(SpringSettings _settings, Vector3 _startPosition)
{
settings = _settings;
position = _startPosition;
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 25, 80);
camera.Yaw = 0;
camera.Pitch = 0;
timestepper = new SubsteppingTimestepper(8);
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks()
{
ContactSpringiness = new SpringSettings(120, 120)
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), timestepper, 8);
rolloverInfo = new RolloverInfo();
{
//We'll create a 0 level arm rope like the one from the RopeStabilityDemo. No skip constraints, though- and the mass ratio will be 1000:1 instead of 100:1!
var startLocation = new Vector3(15, 40, 0);
const float bodySpacing = 0.3f;
const float bodyRadius = 0.5f;
var springSettings = new SpringSettings(240, 480);
var bodyHandles = RopeStabilityDemo.BuildRope(Simulation, startLocation, 12, bodyRadius, bodySpacing, 0, 1, 0, springSettings);
var bigWreckingBall = new Sphere(5);
bigWreckingBall.ComputeInertia(1000, out var bigWreckingBallInertia);
RopeStabilityDemo.AttachWreckingBall(Simulation, bodyHandles, bodyRadius, bodySpacing, 0, bigWreckingBall.Radius, bigWreckingBallInertia, Simulation.Shapes.Add(bigWreckingBall), springSettings);
rolloverInfo.Add(startLocation + new Vector3(0, 2, 0), "1000:1 mass ratio");
}
{
//Stack with a heavy block on top. Note that the contact springiness we chose in the DemoNarrowPhaseCallbacks above is important to making the stack resist the weight of the top block.
//It's also the reason why we need higher substeps- 120hz frequency is too high for 60hz solving! Watch what happens when you drop the substep count to 3.
//(Note that the demos timestep frequency is 60hz, so 4 substeps is a 240hz solve rate- twice the 120hz contact frequency.)
var boxShape = new Box(4, 0.5f, 6f);
boxShape.ComputeInertia(1, out var boxInertia);
//Note that sleeping is disabled with a negative velocity threshold. We want to watch the stack as we change simulation settings; if it's inactive, it won't respond!
var boxDescription = BodyDescription.CreateDynamic(new Vector3(), boxInertia, new CollidableDescription(Simulation.Shapes.Add(boxShape), 0.1f), new BodyActivityDescription(-1f));
for (int i = 0; i < 20; ++i)
{
boxDescription.Pose = new RigidPose(new Vector3(0, 0.5f + boxShape.Height * (i + 0.5f), 0), QuaternionEx.CreateFromAxisAngle(Vector3.UnitY, MathF.PI * 0.05f * i));
Simulation.Bodies.Add(boxDescription);
}
var topBlockShape = new Box(8, 2, 8);
topBlockShape.ComputeInertia(200, out var topBlockInertia);
Simulation.Bodies.Add(
BodyDescription.CreateDynamic(boxDescription.Pose.Position + new Vector3(0, boxShape.HalfHeight + 1f, 0), topBlockInertia,
new CollidableDescription(Simulation.Shapes.Add(topBlockShape), 0.1f), new BodyActivityDescription(-1f)));
rolloverInfo.Add(boxDescription.Pose.Position + new Vector3(0, 4, 0), "200:1 mass ratio");
}
{
//Now a weird rotating multi-arm thing. Long constraint sequences with high leverages under stress are a really tough problem for iterative velocity solvers.
//(Fortunately, all 5 degrees of freedom of each hinge constraint are solved analytically, so the convergence issues aren't quite as bad as they could be.)
var basePosition = new Vector3(-20, 20, 0);
var boxShape = new Box(0.5f, 0.5f, 3f);
var boxCollidable = new CollidableDescription(Simulation.Shapes.Add(boxShape), 0.1f);
boxShape.ComputeInertia(1, out var boxInertia);
var linkDescription = BodyDescription.CreateDynamic(new Vector3(), boxInertia, boxCollidable, new BodyActivityDescription(0.01f));
for (int chainIndex = 0; chainIndex < 4; ++chainIndex)
{
linkDescription.Pose.Position = basePosition + new Vector3(0, 0, chainIndex * 15);
var previousLinkHandle = Simulation.Bodies.Add(BodyDescription.CreateKinematic(linkDescription.Pose.Position, boxCollidable, new BodyActivityDescription(0.01f)));
for (int linkIndex = 0; linkIndex < 8; ++linkIndex)
{
var previousPosition = linkDescription.Pose.Position;
var offset = new Vector3(boxShape.Width * 1.05f, 0, boxShape.Length - boxShape.Width);
linkDescription.Pose.Position += offset;
var linkHandle = Simulation.Bodies.Add(linkDescription);
Simulation.Solver.Add(previousLinkHandle, linkHandle, new Hinge
{
LocalHingeAxisA = Vector3.UnitX,
LocalHingeAxisB = Vector3.UnitX,
LocalOffsetA = offset * 0.5f,
LocalOffsetB = offset * -0.5f,
//Once again, the choice of high stiffness makes this potentially unstable without substepping.
SpringSettings = new SpringSettings(120, 1)
});
Simulation.Solver.Add(previousLinkHandle, linkHandle, new AngularAxisMotor
{
LocalAxisA = Vector3.UnitX,
TargetVelocity = .25f,
Settings = new MotorSettings(float.MaxValue, 0.0001f)
});
previousLinkHandle = linkHandle;
}
}
rolloverInfo.Add(basePosition + new Vector3(0, 4, 0), "High stiffness, long lever arm motorized chain");
}
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(200, 1, 200)), 0.1f)));
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-20, 10, -20);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
var a = AddBody(new Box(3, 1, 1), 1, new RigidPose {
Position = new Vector3(0, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
var b = AddBody(new Box(3, 1, 1), 0, new RigidPose {
Position = new Vector3(5, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
a.Velocity.Angular = new Vector3(1f, 5f, 1f);
//a.Pose.Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1, 1, 1)), MathHelper.PiOver4);
var springSettings = new SpringSettings(15, 1);
var ballSocket = new BallSocket
{
LocalOffsetA = new Vector3(2.5f, 0, 0),
LocalOffsetB = new Vector3(-2.5f, 0, 0),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref ballSocket);
//springSettings = new BepuPhysics.CollisionDetection.SpringSettings { DampingRatio = 0f, NaturalFrequency = MathHelper.Pi * 1 };
var angularHinge = new AngularHinge
{
HingeAxisLocalA = Vector3.Normalize(new Vector3(0, 1, 0)),
HingeAxisLocalB = Vector3.Normalize(new Vector3(0, 1, 0)),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref angularHinge);
//var swivelHinge = new AngularSwivelHinge
//{
// SwivelAxisLocalA = new Vector3(1, 0, 0),
// HingeAxisLocalB = new Vector3(0, 1, 0),
// SpringSettings = springSettings
//};
//Simulation.Solver.Add(a.Handle, b.Handle, ref swivelHinge);
var swingLimit = new SwingLimit
{
AxisLocalA = new Vector3(1, 0, 0),
AxisLocalB = new Vector3(1, 0, 0),
MinimumDot = -0.5f,
SpringSettings = new SpringSettings(15, 1)
};
Simulation.Solver.Add(a.Handle, b.Handle, ref swingLimit);
var staticShape = new Box(100, 1, 100);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(1, -0.5f, 1),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
