//Initialize the characters body in the physics simulation
public void InitializeBody(Simulation World, Vector3 Location)
{
if (BodyActive)
{
return;
}
BodyActive = true;
BodyShape = new Capsule(0.5f, 2);
BodyIndex = World.Shapes.Add(BodyShape);
CollidableDescription = new CollidableDescription(BodyIndex, 0.1f);
BodyShape.ComputeInertia(1, out var Inertia);
Vector3 SpawnLocation = new Vector3(Location.X, Location.Y + 1.5f, Location.Z);
BodyPose = new RigidPose(SpawnLocation, Quaternion.Identity);
ActivityDescription = new BodyActivityDescription(0.01f);
BodyDescription = BodyDescription.CreateKinematic(BodyPose, CollidableDescription, ActivityDescription);
BodyHandle = World.Bodies.Add(BodyDescription);
}
public static CylinderBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector2 size)
{
var shape = new Cylinder(size.X, size.Y);
shape.ComputeInertia(1, out var inertia);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.1f);
var activity = new BodyActivityDescription(0);
var pose = new RigidPose(position, rotation);
var descriptor = BodyDescription.CreateDynamic(pose, inertia, collidable, activity);
var handle = simulation.Simulation.Bodies.Add(descriptor);
var obj = new CylinderBody(simulation, handle);
simulation.Register(obj);
return(obj);
}
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);