//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="Billboard" /> class.
/// </summary>
protected Billboard()
{
Shape = new SphereShape(0);
Orientation = BillboardOrientation.ViewPlaneAligned;
Color = new Vector3F(1, 1, 1);
Alpha = 1;
}
public DumpContactSetSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
// Create two collision objects with triangle mesh shapes.
var meshA = new SphereShape(1).GetMesh(0.01f, 4);
var shapeA = new TriangleMeshShape(meshA, true) { Partition = new CompressedAabbTree() };
var poseA = new Pose(new Vector3F(-1, 0, 0), RandomHelper.Random.NextQuaternionF());
var collisionObjectA = new CollisionObject(new GeometricObject(shapeA, poseA));
var meshB = new BoxShape(0.2f, 2, 1f).GetMesh(0.01f, 4);
var shapeB = new TriangleMeshShape(meshB, true) { Partition = new CompressedAabbTree() };
var poseB = new Pose(new Vector3F(0.1f, 0, 0), RandomHelper.Random.NextQuaternionF());
var collisionObjectB = new CollisionObject(new GeometricObject(shapeB, poseB));
// Explicitly create a contact set. (Normally you would get the contact set
// from the collision domain...)
var contactSet = ContactSet.Create(collisionObjectA, collisionObjectB);
// Create a C# sample which visualizes the contact set.
const string Filename = "DumpedContactSet001.cs";
DumpContactSet(contactSet, Filename);
GraphicsScreen.DebugRenderer2D.DrawText(
"Contact set dumped into the file: " + Filename,
new Vector2F(300, 300),
Color.Black);
}
public SphereStackSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a stack of spheres.
const int numberOfSpheres = 10;
const float sphereRadius = 0.4f;
Shape sphereShape = new SphereShape(sphereRadius);
// Optional: Use a small overlap between spheres to improve the stability.
float overlap = Simulation.Settings.Constraints.AllowedPenetration * 0.5f;
Vector3F position = new Vector3F(0, sphereRadius - overlap, 0);
for (int i = 0; i < numberOfSpheres; i++)
{
RigidBody sphere = new RigidBody(sphereShape)
{
Name = "Sphere" + i,
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(sphere);
position.Y += 2 * sphereRadius - overlap;
}
}
public void TestException()
{
var sphere0 = new SphereShape(1);
var geo0 = new GeometricObject(sphere0);
var geo1 = new GeometricObject(sphere0);
var co0 = new CollisionObject(geo0);
var co1 = new CollisionObject(geo1);
geo0.Pose = Pose.Identity;
geo1.Pose = new Pose(new Vector3F(10, 0, 0));
float toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(4, 0, 0)), co1, new Pose(new Vector3F(6, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(4f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(4f, 0, 0)), 0.01f);
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(6f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(7f, 0, 0)), co1, new Pose(new Vector3F(4f, 0, 0)), 0.01f, new CollisionDetection());
Assert.IsTrue(toi > 0 && toi < 1);
// Moving away
toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f);
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(-1f, 0, 0)), co1, new Pose(new Vector3F(11f, 0, 0)), 0.01f, new CollisionDetection());
Assert.AreEqual(1, toi);
// Touching at start. => GetTimeOfImpact result is invalid when objects touch at the start.
//geo0.Pose = new Pose(new Vector3F(9, 0, 0));
//toi = CcdHelper.GetTimeOfImpactLinearSweep(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f);
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactLinearCA(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
//toi = CcdHelper.GetTimeOfImpactCA(co0, new Pose(new Vector3F(10f, 0, 0)), co1, new Pose(new Vector3F(5f, 0, 0)), 0.01f, new CollisionDetection());
//Assert.AreEqual(0, toi);
}
public void ApproximateVolume()
{
var s = new SphereShape(1);
var c = new MinkowskiSumShape(new GeometricObject(s), new GeometricObject(new PointShape()));
var v = c.GetVolume(0.001f,
0); // !!!
// v is AABB volume.
Assert.AreEqual(2 * 2 * 2, v);
}
public SpatialPartitionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.Gray;
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 1, 10), 0, 0);
// Create a spatial partition. DigitalRune Geometry supports several types, see also
// http://digitalrune.github.io/DigitalRune-Documentation/html/e32cab3b-cc7c-42ee-8ec9-23dd4467edd0.htm#WhichPartition
// An AabbTree is useful for static objects. A DynamicAabbTree is good for moving objects.
// The spatial partition can manage different types of items. In this case it manages
// GeometricObjects. A delegate has to inform the spatial partition how to get the AABB
// of an object.
//_spatialPartition = new DynamicAabbTree<GeometricObject>
_spatialPartition = new AabbTree<GeometricObject>
{
GetAabbForItem = geometricObject => geometricObject.Aabb,
// Optional: The tree is automatically built using a mixed top-down/bottom-up approach.
// Bottom-up building is slower but produces better trees. If the tree building takes too
// long, we can lower the BottomUpBuildThreshold (default is 128).
//BottomUpBuildThreshold = 0,
// Optional: A filter can be set to disable certain kind of overlaps.
//Filter = ...
};
// Create a triangle mesh.
var triangleMesh = new SphereShape(1).GetMesh(0.01f, 4);
var triangleMeshShape = new TriangleMeshShape(triangleMesh)
{
// TriangleMeshShapes can also use a spatial partition to manage triangle.
// The items in the spatial partition are the triangle indices. The GetAabbForItem
// delegate is set automatically.
Partition = new AabbTree<int>(),
};
// Spatial partitions are built automatically when needed. However, it is still recommended
// to call Update to initialize the spatial partition explicitly.
triangleMeshShape.Partition.Update(false);
// Add a lot of triangle mesh objects to _spatialPartition.
var random = new Random();
for (int i = 0; i < 50; i++)
{
var randomPosition = new Vector3F(random.NextFloat(-6, 6), random.NextFloat(-3, 3), random.NextFloat(-10, 0));
var geometricObject = new GeometricObject(triangleMeshShape, new Pose(randomPosition));
_spatialPartition.Add(geometricObject);
}
_spatialPartition.Update(false);
}
//--------------------------------------------------------------
#region Creation & Cleanup
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="FogSphereNode"/> class.
/// </summary>
public FogSphereNode()
{
IsRenderable = true;
Shape = new SphereShape(1);
Color = new Vector3F(1, 1, 1);
Density = 0.6f;
BlendMode = 0;
Falloff = 5;
IntersectionSoftness = 1;
}
public void GetScreenSizeWithOrthographic()
{
// Camera
var projection = new OrthographicProjection();
projection.SetOffCenter(0, 4, 0, 2);
var camera = new Camera(projection);
var cameraNode = new CameraNode(camera);
cameraNode.PoseWorld = new Pose(new Vector3F(123, 456, -789), Matrix33F.CreateRotation(new Vector3F(1, -2, 3), MathHelper.ToRadians(75)));
// 2:1 viewport
var viewport = new Viewport(10, 10, 200, 100);
// Test object
var shape = new SphereShape();
var geometricObject = new GeometricObject(shape);
// Empty sphere at camera position.
shape.Radius = 0;
geometricObject.Pose = cameraNode.PoseWorld;
Vector2F screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.AreEqual(0, screenSize.X);
Assert.AreEqual(0, screenSize.Y);
// Empty sphere centered at near plane.
shape.Radius = 0;
geometricObject.Pose = cameraNode.PoseWorld * new Pose(new Vector3F(0.123f, -0.543f, -1));
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.AreEqual(0, screenSize.X);
Assert.AreEqual(0, screenSize.Y);
// Create sphere which as a bounding sphere of ~1 unit diameter:
// Since the bounding sphere is based on the AABB, we need to make the
// actual sphere a bit smaller.
shape.Radius = 1 / (2 * (float)Math.Sqrt(3)) + Numeric.EpsilonF;
// Sphere at camera position.
geometricObject.Pose = cameraNode.PoseWorld;
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.IsTrue(Numeric.AreEqual(screenSize.X, 50.0f, 10f));
Assert.IsTrue(Numeric.AreEqual(screenSize.Y, 50.0f, 10f));
// Sphere at near plane.
geometricObject.Pose = cameraNode.PoseWorld * new Pose(new Vector3F(0.123f, -0.543f, -1));
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.IsTrue(Numeric.AreEqual(screenSize.X, 50.0f, 10f));
Assert.IsTrue(Numeric.AreEqual(screenSize.Y, 50.0f, 10f));
// Double distance --> same size
geometricObject.Pose = cameraNode.PoseWorld * new Pose(new Vector3F(0.123f, -0.543f, -2));
screenSize = GraphicsHelper.GetScreenSize(cameraNode, viewport, geometricObject);
Assert.IsTrue(Numeric.AreEqual(screenSize.X, 50.0f, 10f));
Assert.IsTrue(Numeric.AreEqual(screenSize.Y, 50.0f, 10f));
}
/// <summary>
/// Computes a minimum bounding shape that contains all given points.
/// </summary>
/// <param name="points">The points.</param>
/// <returns>A minimum bounding shape that contains all given points.</returns>
/// <remarks>
/// The returned shape will be a <see cref="SphereShape"/>, a <see cref="CapsuleShape"/>,
/// a <see cref="BoxShape"/>, or a <see cref="TransformedShape"/> (containing a sphere, capsule,
/// or a box). The bounding shape is not guaranteed to be optimal, it is only guaranteed that
/// the bounding shape includes all given points.
/// </remarks>
/// <exception cref="ArgumentNullException">
/// <paramref name="points"/> is <see langword="null"/>.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="points"/> is empty.
/// </exception>
public static Shape CreateBoundingShape(IList<Vector3F> points)
{
if (points == null)
throw new ArgumentNullException("points");
if (points.Count == 0)
throw new ArgumentException("The list of 'points' is empty.");
// Compute minimal sphere.
Vector3F center;
float radius;
ComputeBoundingSphere(points, out radius, out center);
SphereShape sphere = new SphereShape(radius);
float sphereVolume = sphere.GetVolume();
// Compute minimal capsule.
float height;
Pose capsulePose;
ComputeBoundingCapsule(points, out radius, out height, out capsulePose);
CapsuleShape capsule = new CapsuleShape(radius, height);
float capsuleVolume = capsule.GetVolume();
// Compute minimal box.
Vector3F boxExtent;
Pose boxPose;
ComputeBoundingBox(points, out boxExtent, out boxPose);
var box = new BoxShape(boxExtent);
float boxVolume = box.GetVolume();
// Return the object with the smallest volume.
// A TransformedShape is used if the shape needs to be translated or rotated.
if (sphereVolume < boxVolume && sphereVolume < capsuleVolume)
{
if (center.IsNumericallyZero)
return sphere;
return new TransformedShape(new GeometricObject(sphere, new Pose(center)));
}
else if (capsuleVolume < boxVolume)
{
if (!capsulePose.HasTranslation && !capsulePose.HasRotation)
return capsule;
return new TransformedShape(new GeometricObject(capsule, capsulePose));
}
else
{
if (!boxPose.HasTranslation && !boxPose.HasRotation)
return box;
return new TransformedShape(new GeometricObject(box, boxPose));
}
}
public ContinuousCollisionDetectionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Add a thin wall.
RigidBody body = new RigidBody(new BoxShape(10, 10, 0.1f))
{
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(0, 5, -5))
};
Simulation.RigidBodies.Add(body);
// ----- Add two fast bodies that move to the wall.
// The first object does not use CCD. (Per default, RigidBody.CcdEnabled is false.)
// The second object uses CCD.
SphereShape bulletShape = new SphereShape(0.2f);
body = new RigidBody(bulletShape)
{
Pose = new Pose(new Vector3F(-2, 5, 5.5f)),
LinearVelocity = new Vector3F(0, 0, -100),
};
Simulation.RigidBodies.Add(body);
body = new RigidBody(bulletShape)
{
Pose = new Pose(new Vector3F(2, 5, 5.5f)),
LinearVelocity = new Vector3F(0, 0, -100),
// Enable CCD for this body.
CcdEnabled = true,
};
Simulation.RigidBodies.Add(body);
// Note:
// Global CCD settings can be changed in Simulation.Settings.Motion.
// CCD can be globally enabled or disabled.
// Per default, Simulation.Settings.Motion.CcdEnabled is true. But RigidBody.CcdEnabled
// is false. RigidBody.CcdEnabled should be set for critical game objects.
}
public ContentPipelineHeightFieldSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Load height field model and add it to the graphics scene.
_heightFieldModelNode = ContentManager.Load<ModelNode>("HeightField/TerrainHeights").Clone();
GraphicsScreen.Scene.Children.Add(_heightFieldModelNode);
// The UserData contains the collision shape of type HeightField.
HeightField heightField = (HeightField)_heightFieldModelNode.UserData;
_heightFieldModelNode.PoseWorld = new Pose(new Vector3F(-heightField.WidthX / 2, 0, -heightField.WidthZ / 2));
// Create rigid body.
_heightFieldBody = new RigidBody(heightField, null, null)
{
MotionType = MotionType.Static,
Pose = _heightFieldModelNode.PoseWorld,
// The PhysicsSample class should not draw the height field.
UserData = "NoDraw",
};
Simulation.RigidBodies.Add(_heightFieldBody);
// Distribute a few spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(sphereShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(boxShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
}
//--------------------------------------------------------------
/// <summary>
/// Initializes a new instance of the <see cref="LensFlare" /> class.
/// </summary>
/// <param name="isDirectionalLight">
/// If set to <see langword="true"/>, the lens flare is caused by a a directional light.
/// (See <see cref="IsDirectional"/> for more info.)
/// </param>
public LensFlare(bool isDirectionalLight)
{
Elements = new LensFlareElementCollection();
IsDirectional = isDirectionalLight;
if (isDirectionalLight)
{
_querySize = 0.1f;
Shape = Shape.Infinite;
}
else
{
_querySize = 0.5f;
Shape = new SphereShape(0.5f / 2);
}
_intensity = 1;
_size = 0.2f;
}
// OnLoad() is called when the GameObject is added to the IGameObjectService.
protected override void OnLoad()
{
// Prepare n balls.
const int n = 10;
_balls = new RigidBody[n];
var sphereShape = new SphereShape(0.25f);
for (int i = 0; i < _balls.Length; i++)
{
_balls[i] = new RigidBody(sphereShape) // Note: All rigid bodies share the same shape.
{
// Assign a name. (Just for debugging.)
Name = "Ball" + i,
// The balls are shot with a high velocity. We need to enable "Continuous Collision
// Detection" - otherwise, we could miss some collision.
CcdEnabled = true,
};
}
}
public CustomGravitySample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new CustomGravity());
Simulation.ForceEffects.Add(new Damping());
// Add a static sphere that represents the planet.
RigidBody planet = new RigidBody(new SphereShape(5))
{
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(planet);
// ----- Add a few cylinder and sphere bodies at random positions above the planet.
Shape cylinderShape = new CylinderShape(0.3f, 1);
for (int i = 0; i < 10; i++)
{
// A random position 10 m above the planet center.
Vector3F randomPosition = RandomHelper.Random.NextVector3F(-1, 1);
randomPosition.Length = 10;
RigidBody body = new RigidBody(cylinderShape)
{
Pose = new Pose(randomPosition),
};
Simulation.RigidBodies.Add(body);
}
Shape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 10; i++)
{
Vector3F randomPosition = RandomHelper.Random.NextVector3F(-1, 1);
randomPosition.Length = 10;
RigidBody body = new RigidBody(sphereShape)
{
Pose = new Pose(randomPosition),
};
Simulation.RigidBodies.Add(body);
}
}
public override void Initialize()
{
// Prepare 10 balls.
_balls = new RigidBody[10];
Shape sphereShape = new SphereShape(0.2f);
for (int i = 0; i < _balls.Length; i++)
{
_balls[i] = new RigidBody(sphereShape) // Note: All rigid bodies share the same shape.
{
// Assign a name. (Just for debugging.)
Name = "Ball" + i,
// The balls are shot with a high velocity. We need to enable "Continuous Collision
// Detection" - otherwise, we could miss some collision.
CcdEnabled = true,
};
}
base.Initialize();
}
public void WeldVertices()
{
TriangleMesh mesh = new TriangleMesh();
Assert.AreEqual(0, mesh.WeldVertices());
mesh.Add(new Triangle(new Vector3F(1, 2, 3), new Vector3F(3, 4, 5), new Vector3F(1.00001f, 2.00001f, 3f)), false);
Assert.AreEqual(3, mesh.Vertices.Count);
Assert.Throws(typeof(ArgumentOutOfRangeException), () => mesh.WeldVertices(-0.1f));
Assert.AreEqual(1, mesh.WeldVertices(0.0001f));
Assert.AreEqual(2, mesh.Vertices.Count);
var w = Stopwatch.StartNew();
mesh = new SphereShape(0.5f).GetMesh(0.001f, 7);
w.Stop();
//Assert.AreEqual(0, w.Elapsed.TotalMilliseconds);
for (int i = 0; i < mesh.Vertices.Count; i++)
{
for (int j = i + 1; j < mesh.Vertices.Count; j++)
{
Assert.IsFalse(Vector3F.AreNumericallyEqual(mesh.Vertices[i], mesh.Vertices[j]));
}
}
// Second time does nothing.
Assert.AreEqual(0, mesh.WeldVertices());
}
public void ReverseWindingOrder()
{
SphereShape sphere = new SphereShape(1);
var mesh = sphere.GetMesh(0.1f, 3);
var clone = mesh.Clone();
clone.ReverseWindingOrder();
// Test if all normal are inverted.
for (int i = 0; i < mesh.NumberOfTriangles; i++)
{
var n0 = mesh.GetTriangle(i).Normal;
var n1 = clone.GetTriangle(i).Normal;
Assert.IsTrue(Vector3F.AreNumericallyEqual(n0, -n1));
}
}
public MaterialSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
// Adjust the coefficient of restitution of the ground plane.
// (By default, the material of a rigid body is of type UniformMaterial.)
((UniformMaterial)groundPlane.Material).Restitution = 1; // Max. bounciness. (The simulation actually
// accepts higher values, but these usually
// lead to unnatural bounciness.)
Simulation.RigidBodies.Add(groundPlane);
// Add a static inclined ground plane.
RigidBody inclinedPlane = new RigidBody(new PlaneShape(new Vector3F(-0.3f, 1f, 0).Normalized, 0))
{
Name = "InclinedPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(inclinedPlane);
// Create a few boxes with different coefficient of friction.
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 5; i++)
{
// Each box gets a different friction value.
UniformMaterial material = new UniformMaterial
{
DynamicFriction = i * 0.2f,
StaticFriction = i * 0.2f,
};
RigidBody box = new RigidBody(boxShape, null, material) // The second argument (the mass frame) is null. The
{ // simulation will automatically compute a default mass.
Name = "Box" + i,
Pose = new Pose(new Vector3F(5, 6, -5 + i * 2)),
};
Simulation.RigidBodies.Add(box);
}
// Create a few balls with different coefficient of restitution (= bounciness).
Shape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 6; i++)
{
// Vary restitution between 0 and 1.
UniformMaterial material = new UniformMaterial
{
Restitution = i * 0.2f
};
RigidBody body = new RigidBody(sphereShape, null, material)
{
Name = "Ball" + i,
Pose = new Pose(new Vector3F(-1 - i * 2, 5, 0)),
};
Simulation.RigidBodies.Add(body);
}
}
public AdvancedAvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer to draw text and rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont)
{
DefaultColor = Color.Black,
DefaultTextPosition = new Vector2F(10),
};
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services) { Speed = 20 };
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
// Use the "Wave" animation preset.
var avatarAnimation = new AvatarAnimation(AvatarAnimationPreset.Wave);
_expressionAnimation = new AnimationClip<AvatarExpression>(new WrappedAvatarExpressionAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_skeletonAnimation = new AnimationClip<SkeletonPose>(new WrappedAvatarSkeletonAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static });
// Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.3f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(sphereShape) { Pose = new Pose(position) });
}
BoxShape boxShape = new BoxShape(0.6f, 0.6f, 0.6f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(boxShape) { Pose = new Pose(position) });
}
}
public SmallerScaleSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// The default simulation settings are optimized for game objects that are 1 unit in size.
// These default settings are useful for standard game objects: crates, barrels, furniture,
// humans, rocks, etc.
// The simulation settings should be adapted if the average game object is more than 10 times
// bigger or smaller. (Note: Future versions of DigitalRune.Physics will automatically
// adapt the simulation settings.)
// If you are unsure which settings are relevant for your game scenario, just ask in our
// support forums: http://www.digitalrune.com/Support/Forum.aspx
// Nevertheless, it is strongly recommended to scale game objects so that the average game
// object is about 1 unit in size.
// In this sample, the average game object is 0.05 units.
// Simulating small objects is a lot more difficult. Therefore, we decrease the time
// step size to improve the simulation accuracy.
Simulation.Settings.Timing.FixedTimeStep /= 5;
Simulation.Settings.Timing.MaxNumberOfSteps *= 5;
// Rigid bodies have an allowed penetration. Errors in this range are acceptable and not
// corrected to improve stability and remove jittering. For small objects this limit
// must be reduced.
Simulation.Settings.Constraints.AllowedPenetration /= 5;
// The collision detection settings are defined in the CollisionDetection class.
// The collision detection uses a tolerance to define when two contacts near each other
// can be considered the same contact. For small objects this limit must be reduced.
Simulation.CollisionDomain.CollisionDetection.ContactPositionTolerance /= 5;
// To improve stacking of small objects:
Simulation.Settings.Constraints.StackingFactor = 10;
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping { AngularDamping = 0.9f });
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a stack of small boxes.
const float boxSize = 0.05f;
float overlap = Simulation.Settings.Constraints.AllowedPenetration * 0.5f;
float yPosition = boxSize / 2 - overlap;
BoxShape boxShape = new BoxShape(boxSize, boxSize, boxSize);
for (int i = 0; i < 10; i++)
{
RigidBody stackBox = new RigidBody(boxShape)
{
Pose = new Pose(new Vector3F(0, yPosition, 0)),
};
Simulation.RigidBodies.Add(stackBox);
yPosition += boxSize - overlap;
}
// ------ Add spheres at random positions.
SphereShape sphereShape = new SphereShape(boxSize * 0.5f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-0.5f, 0.5f);
position.Y = 1;
RigidBody body = new RigidBody(sphereShape)
{
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(body);
}
}
public void SphereMass()
{
var s = new SphereShape(2);
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 10);
m.Transform(Matrix44F.CreateScale(1, -2, -3));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
// Try other density.
float m2;
Vector3F com2;
Matrix33F i2;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2);
Assert.IsTrue(Numeric.AreEqual(m0 * 0.7f, m2, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com2, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 0.7f, i2, e * (1 + i0.Trace)));
// Try with target mass.
float m3;
Vector3F com3;
Matrix33F i3;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
public HeightFieldSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a height field.
// The height data consists of height samples with a resolution of 20 entries per dimension.
// (Height samples are stored in a 1-dimensional array.)
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
// Set the y values (height).
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 5f + 5f);
}
}
// The height field has a size of 100 m x 100 m.
float widthX = 100;
float widthZ = 100;
// The origin is at (-50, -50) to center the height field at the world space origin.
float originX = -50;
float originZ = -50;
// Create the height field shape.
HeightField heightField = new HeightField(
originX, originZ, widthX, widthZ, samples, numberOfSamplesX, numberOfSamplesZ);
// We can set following flag to get a significant performance gain - but the collision
// detection will be less accurate. For smooth height fields this flag can be set.
heightField.UseFastCollisionApproximation = true;
// Create a static rigid body using the height field and add it to the simulation.
RigidBody landscape = new RigidBody(heightField)
{
Pose = Pose.Identity,
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(landscape);
// Distribute a few spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(sphereShape)
{
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(body);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(boxShape)
{
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(body);
}
}
public ShapesSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a sphere.
Shape sphere = new SphereShape(0.5f);
Simulation.RigidBodies.Add(new RigidBody(sphere));
// ----- Add a box.
BoxShape box = new BoxShape(0.5f, 0.9f, 0.7f);
Simulation.RigidBodies.Add(new RigidBody(box));
// ----- Add a capsule.
CapsuleShape capsule = new CapsuleShape(0.4f, 1.2f);
Simulation.RigidBodies.Add(new RigidBody(capsule));
// ----- Add a cone.
ConeShape cone = new ConeShape(0.5f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cone));
// ----- Add a cylinder.
CylinderShape cylinder = new CylinderShape(0.3f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cylinder));
// ----- Add a convex hull of random points.
ConvexHullOfPoints convexHullOfPoints = new ConvexHullOfPoints();
for (int i = 0; i < 20; i++)
convexHullOfPoints.Points.Add(RandomHelper.Random.NextVector3F(-0.5f, 0.5f));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfPoints));
// ----- Add a convex polyhedron.
// (A ConvexPolyhedron is similar to the ConvexHullOfPoints. The difference is that
// the points in a ConvexHullOfPoints can be changed at runtime. A ConvexPolyhedron
// cannot be changed at runtime, but it is faster.)
List<Vector3F> points = new List<Vector3F>();
for (int i = 0; i < 20; i++)
points.Add(RandomHelper.Random.NextVector3F(-0.7f, 0.7f));
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(points);
Simulation.RigidBodies.Add(new RigidBody(convexPolyhedron));
// ----- Add a composite shape (a table that consists of 5 boxes).
CompositeShape composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 0.8f, 0))));
Simulation.RigidBodies.Add(new RigidBody(composite));
// ----- Add a convex hull of multiple shapes.
ConvexHullOfShapes convexHullOfShapes = new ConvexHullOfShapes();
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(-0.4f, 0, 0))));
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(+0.4f, 0, 0))));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfShapes));
// ----- Add the Minkowski sum of two shapes.
// (The Minkowski sum is a mathematical operation that combines two shapes.
// Here a circle is combined with a sphere. The result is a wheel.)
MinkowskiSumShape minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.2f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new CircleShape(0.5f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// Create another Minkowski sum. (Here a small sphere is added to a box to create a
// box with rounded corners.)
minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.1f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new BoxShape(0.2f, 0.5f, 0.8f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// ----- Add a triangle mesh.
// A triangle mesh could be loaded from a file or built from an XNA model.
// Here we first create a composite shape and convert the shape into a triangle
// mesh. (Any Shape in DigitalRune.Geometry can be converted to a triangle mesh.)
CompositeShape dumbbell = new CompositeShape();
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(-0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new CylinderShape(0.1f, 0.6f), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
TriangleMeshShape triangleMeshShape = new TriangleMeshShape(dumbbell.GetMesh(0.01f, 2));
// Optional: We can enable "contact welding". When this flag is enabled, the triangle shape
// precomputes additional internal information for the mesh. The collision detection will
// be able to compute better contacts (e.g. better normal vectors at triangle edges).
// Pro: Collision detection can compute better contact information.
// Con: Contact welding information needs a bit of memory. And the collision detection is
// a bit slower.
triangleMeshShape.EnableContactWelding = true;
// Optional: Assign a spatial partitioning scheme to the triangle mesh. (A spatial partition
// adds an additional memory overhead, but it improves collision detection speed tremendously!)
triangleMeshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
Simulation.RigidBodies.Add(new RigidBody(triangleMeshShape));
// ----- Set random positions/orientations.
// (Start with the second object. The first object is the ground plane which should
// not be changed.)
for (int i = 1; i < Simulation.RigidBodies.Count; i++)
{
RigidBody body = Simulation.RigidBodies[i];
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 3; // Position the objects 3m above ground.
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
body.Pose = new Pose(position, orientation);
}
}
protected override void LoadContent()
{
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
// Use the "Wave" animation preset.
var avatarAnimation = new AvatarAnimation(AvatarAnimationPreset.Wave);
_expressionAnimation = new AnimationClip<AvatarExpression>(new WrappedExpressionAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_skeletonAnimation = new AnimationClip<SkeletonPose>(new WrappedSkeletonAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static });
// Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.3f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(sphereShape) { Pose = new Pose(position) });
}
BoxShape boxShape = new BoxShape(0.6f, 0.6f, 0.6f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(boxShape) { Pose = new Pose(position) });
}
base.LoadContent();
}
public ContentPipelineMeshSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Load triangle mesh model.
var sharedModelNode = ContentManager.Load<ModelNode>("Saucer/saucer");
// Let's create a clone because we do not want to change the shared Saucer
// instance stored in the content manager.
_modelNode = sharedModelNode.Clone();
_modelNode.PoseWorld = new Pose(new Vector3F(0, 2, -5), Matrix33F.CreateRotationY(MathHelper.ToRadians(-30)));
_modelNode.ScaleLocal = new Vector3F(8);
// The UserData contains the collision shape of type TriangleMeshShape.
TriangleMeshShape triangleMesh = (TriangleMeshShape)_modelNode.UserData;
// Add model node to graphics scene.
GraphicsScreen.Scene.Children.Add(_modelNode);
// Create rigid body.
// We explicitly specify a mass frame. We can use any mass frame for static bodies (because
// static bodies are effectively treated as if they have infinite mass). If we do not specify
// a mass frame in the rigid body constructor, the constructor will automatically compute an
// approximate mass frame (which can take some time for large meshes).
_rigidBody = new RigidBody(triangleMesh, new MassFrame(), null)
{
MotionType = MotionType.Static,
Pose = _modelNode.PoseWorld,
Scale = _modelNode.ScaleWorld,
// The PhysicsSample class should not draw the height field.
UserData = "NoDraw",
};
Simulation.RigidBodies.Add(_rigidBody);
// Distribute a few spheres and boxes across the triangle mesh.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 10);
position.Y = RandomHelper.Random.NextFloat(20, 40);
RigidBody body = new RigidBody(sphereShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 10);
position.Y = RandomHelper.Random.NextFloat(20, 40);
RigidBody body = new RigidBody(boxShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3F.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3F.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
public BuoyancySample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// ----- Buoyancy Force Effect
// Buoyancy is a force effect that lets bodies swim in water. The water area is
// defined by two properties:
// - Buoyancy.AreaOfEffect defines which objects are affected.
// - Buoyancy.Surface defines the water level within this area.
// The area of effect can be defined in different ways. In this sample we will use
// a geometric object ("trigger volume").
// First, define the shape of the water area. We will create simple pool.
Shape poolShape = new BoxShape(16, 10, 16);
Vector3F poolCenter = new Vector3F(0, -5, 0);
// Then create a geometric object for the water area. (A GeometricObject is required
// to position the shape in the world. A GeometricObject stores shape, scale, position,
// orientation, ...)
GeometricObject waterGeometry = new GeometricObject(poolShape, new Pose(poolCenter));
// Then create a collision object for the geometric object. (A CollisionObject required
// because the geometry should be used for collision detection with other objects.)
_waterCollisionObject = new CollisionObject(waterGeometry)
{
// Assign the object to a different collision group:
// The Grab component (see Grab.cs) uses a ray to perform hit tests. We don't want the ray
// to collide with the water. Therefore, we need to assign the water collision object to a
// different collision group. The general geometry is in collision group 0. The rays are in
// collision group 2. Add the water to collision group 1. Collision between 0 and 2 are
// enabled. Collision between 1 and 2 need to be disabled - this collision filter was set
// in PhysicsGame.cs.
CollisionGroup = 1,
// Set the type to "Trigger". This improves the performance because the collision
// detection does not need to compute detailed contact information. The collision
// detection only returns whether an objects has contact with the water.
Type = CollisionObjectType.Trigger,
};
// The collision object needs to be added into the collision domain of the simulation.
Simulation.CollisionDomain.CollisionObjects.Add(_waterCollisionObject);
// Now we can add the buoyancy effect.
Buoyancy buoyancy = new Buoyancy
{
AreaOfEffect = new GeometricAreaOfEffect(_waterCollisionObject),
Surface = new Plane(Vector3F.Up, 0),
Density = 1000f, // The density of water (1000 kg/m³).
AngularDrag = 0.4f,
LinearDrag = 4f,
// Optional: Let the objects drift in the water by setting a flow velocity.
//Velocity = new Vector3F(-0.5f, 0, 0.5f),
};
Simulation.ForceEffects.Add(buoyancy);
// Add static area around the pool.
RigidBody bottom = new RigidBody(new BoxShape(36, 2, 36))
{
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(0, -11, 0)),
};
Simulation.RigidBodies.Add(bottom);
RigidBody left = new RigidBody(new BoxShape(10, 10, 36))
{
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(-13, -5, 0)),
};
Simulation.RigidBodies.Add(left);
RigidBody right = new RigidBody(new BoxShape(10, 10, 36))
{
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(13, -5, 0)),
};
Simulation.RigidBodies.Add(right);
RigidBody front = new RigidBody(new BoxShape(16, 10, 10))
{
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(0, -5, 13)),
};
Simulation.RigidBodies.Add(front);
RigidBody back = new RigidBody(new BoxShape(16, 10, 10))
{
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(0, -5, -13)),
};
Simulation.RigidBodies.Add(back);
// ----- Add some random objects to test the effect.
// Note: Objects swim if their density is less than the density of water. They sink
// if the density is greater than the density of water.
// We can define the density of objects by explicitly setting the mass.
// Add a swimming board.
BoxShape raftShape = new BoxShape(4, 0.3f, 4);
MassFrame raftMass = MassFrame.FromShapeAndDensity(raftShape, Vector3F.One, 700, 0.01f, 3);
RigidBody raft = new RigidBody(raftShape, raftMass, null)
{
Pose = new Pose(new Vector3F(0, 4, 0)),
};
Simulation.RigidBodies.Add(raft);
// Add some boxes on top of the swimming board.
BoxShape boxShape = new BoxShape(1, 1, 1);
MassFrame boxMass = MassFrame.FromShapeAndDensity(boxShape, Vector3F.One, 700, 0.01f, 3);
for (int i = 0; i < 5; i++)
{
RigidBody box = new RigidBody(boxShape, boxMass, null)
{
Pose = new Pose(new Vector3F(0, 5 + i * 1.1f, 0)),
};
Simulation.RigidBodies.Add(box);
}
// Add some "heavy stones" represented as spheres.
SphereShape stoneShape = new SphereShape(0.5f);
MassFrame stoneMass = MassFrame.FromShapeAndDensity(stoneShape, Vector3F.One, 2500, 0.01f, 3);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-9, 9);
position.Y = 5;
RigidBody stone = new RigidBody(stoneShape, stoneMass, null)
{
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(stone);
}
// Add some very light objects.
CylinderShape cylinderShape = new CylinderShape(0.3f, 1);
MassFrame cylinderMass = MassFrame.FromShapeAndDensity(cylinderShape, Vector3F.One, 500, 0.01f, 3);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-9, 9);
position.Y = 5;
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
RigidBody cylinder = new RigidBody(cylinderShape, cylinderMass, null)
{
Pose = new Pose(position, orientation),
};
Simulation.RigidBodies.Add(cylinder);
}
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
protected override void OnLoad()
{
// Add rigid bodies to simulation.
var simulation = _services.GetInstance<Simulation>();
// We use a random number generator with a custom seed.
RandomHelper.Random = new Random(123);
// ----- Add a ground plane.
AddBody(simulation, "GroundPlane", Pose.Identity, new PlaneShape(Vector3F.UnitY, 0), MotionType.Static);
// ----- Create a small flying sphere.
AddBody(simulation, "Sphere", new Pose(new Vector3F(0, 1f, 0)), new SphereShape(0.2f), MotionType.Static);
// ----- Create small walls at the level boundary.
AddBody(simulation, "WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
AddBody(simulation, "WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
// ----- Create a few bigger objects.
// We position the boxes so that we have a few corners we can run into. Character controllers
// should be stable when the user runs into corners.
AddBody(simulation, "House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), MotionType.Static);
AddBody(simulation, "House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), MotionType.Static);
AddBody(simulation, "House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), MotionType.Static);
// ----- Create stairs with increasing step height.
// Each step is a box. With this object we can test if our character can climb up
// stairs. The character controller has a step height limit. Increasing step heights
// let us test if the step height limit works.
float startHeight = 0;
const float stepDepth = 1f;
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.05f;
Vector3F position = new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth);
AddBody(simulation, "Step" + i, new Pose(position), new BoxShape(2, stepHeight, stepDepth), MotionType.Static);
startHeight += stepHeight;
}
// ----- V obstacle to test if we get stuck.
AddBody(simulation, "V0", new Pose(new Vector3F(-5.5f, 0, 10), QuaternionF.CreateRotationZ(0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
AddBody(simulation, "V1", new Pose(new Vector3F(-4, 0, 10), QuaternionF.CreateRotationZ(-0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
// ----- Create a height field.
// Terrain that is uneven is best modeled with a height field. Height fields are faster
// than general triangle meshes.
// The height direction is the y direction.
// The height field lies in the x/z plane.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
// Create arbitrary height values.
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
AddBody(simulation, "HeightField", new Pose(new Vector3F(10, 0, 10)), heightField, MotionType.Static);
// ----- Create rubble on the floor (small random objects on the floor).
// Our character should be able to move over small bumps on the ground.
for (int i = 0; i < 50; i++)
{
Vector3F position = new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
Vector3F size = RandomHelper.Random.NextVector3F(0.05f, 0.8f);
AddBody(simulation, "Stone" + i, new Pose(position, orientation), new BoxShape(size), MotionType.Static);
}
// ----- Create some slopes to see how our character performs on/under sloped surfaces.
// Here we can test how the character controller behaves if the head touches an inclined
// ceiling.
AddBody(simulation, "SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
AddBody(simulation, "SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
// Create slopes with increasing tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
// Movement between slopes should be smooth.
Vector3F slopePosition = new Vector3F(-17, -0.25f, 6);
BoxShape slopeShape = new BoxShape(8, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX((i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
AddBody(simulation, "Slope" + i, new Pose(slopePosition, rotation), slopeShape, MotionType.Static);
}
// Create slopes with decreasing tilt angles.
slopePosition = new Vector3F(-8, -2, 5);
slopeShape = new BoxShape(8f, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - (i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
Vector3F position = slopePosition - rotation * new Vector3F(0, slopeShape.WidthY / 2, 0);
AddBody(simulation, "Slope2" + i, new Pose(position, rotation), slopeShape, MotionType.Static);
}
// ----- Create a slope with a wall on one side.
// This objects let's us test how the character controller behaves while falling and
// sliding along a vertical wall. (Run up the slope and then jump down while moving into
// the wall.)
AddBody(simulation, "LongSlope", new Pose(new Vector3F(-24, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), MotionType.Static);
AddBody(simulation, "LongSlopeWall", new Pose(new Vector3F(-26, 5, -10)), new BoxShape(0.5f, 10f, 25), MotionType.Static);
// ----- Create a trigger object that represents a ladder.
var ladder = AddBody(simulation, "Ladder", new Pose(new Vector3F(-25.7f, 5, 0)), new BoxShape(0.5f, 10f, 1), MotionType.Static);
ladder.CollisionObject.Type = CollisionObjectType.Trigger;
// ----- Create a mesh object to test walking on triangle meshes.
// Normally, the mesh would be loaded from a file. Here, we make a composite shape and
// let DigitalRune Geometry compute a mesh for it. Then we throw away the composite
// shape and use only the mesh. (We do this to test triangle meshes. Using the composite
// shape instead of the triangle mesh would be a lot faster.)
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 5))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 0))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh);
// Collision detection speed for triangle meshes can be improved by using a spatial
// partition. Here, we assign an AabbTree to the triangle mesh shape. The tree is
// built automatically when needed and it stores triangle indices (therefore the generic
// parameter of the AabbTree is int).
meshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
// Contact welding creates smoother contact normals - but it costs a bit of performance.
meshShape.EnableContactWelding = true;
AddBody(simulation, "Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, MotionType.Static);
// ----- Create a seesaw.
var seesawBase = AddBody(simulation, "SeesawBase", new Pose(new Vector3F(5, 0.5f, 0)), new BoxShape(0.2f, 1, 1), MotionType.Static);
var seesaw = AddBody(simulation, "Seesaw", new Pose(new Vector3F(5, 1.05f, 0)), new BoxShape(5, 0.1f, 1), MotionType.Dynamic);
// Attach the seesaw to the base using a hinge joint.
simulation.Constraints.Add(new HingeJoint
{
BodyA = seesaw,
BodyB = seesawBase,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.5f, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
CollisionEnabled = false,
});
// ----- A platform that is moving up/down.
_elevator = AddBody(simulation, "Elevator", new Pose(new Vector3F(5, -1f, 5)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_elevator.LinearVelocity = new Vector3F(2, 2, 0);
// ----- A platform that is moving sideways.
_pusher = AddBody(simulation, "Pusher", new Pose(new Vector3F(15, 0.5f, 0)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_pusher.LinearVelocity = new Vector3F(0, 0, 2);
// ----- Create conveyor belt with two static boxes on the sides.
AddBody(simulation, "ConveyorSide0", new Pose(new Vector3F(19, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
AddBody(simulation, "ConveyorSide1", new Pose(new Vector3F(21, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
// The conveyor belt is a simple box with a special material.
var conveyorBelt = AddBody(simulation, "ConveyorBelt", new Pose(new Vector3F(20, 0.25f, 0)), new BoxShape(1f, 0.51f, 8f), MotionType.Static);
UniformMaterial materialWithSurfaceMotion = new UniformMaterial("ConveyorBelt", true) // Important: The second parameter enables the surface
{ // motion. It has to be set to true in the constructor!
SurfaceMotion = new Vector3F(0, 0, 1), // The surface motion relative to the object.
};
conveyorBelt.Material = materialWithSurfaceMotion;
// ----- Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Sphere" + i, new Pose(position), sphereShape, MotionType.Dynamic);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Box" + i, new Pose(position), boxShape, MotionType.Dynamic);
}
}
public RollingSphereSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// To demonstrate the problems with triangle meshes we increase the gravity and let a
// sphere roll over a curved surface.
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity { Acceleration = new Vector3F(0, -30, 0) }); // Higher gravity to make the problem more visible.
Simulation.ForceEffects.Add(new Damping());
// Use the custom contact filter to improve sphere contacts.
_sphereContactFilter = new SphereContactFilter();
Simulation.CollisionDomain.CollisionDetection.ContactFilter = _sphereContactFilter;
// The triangle mesh could be loaded from a file, such as an XNA Model.
// In this example will create a height field and convert the height field into a triangle mesh.
var numberOfSamplesX = 60;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Sin(x / 6f) * 10f + 5f);
var heightField = new HeightField(0, 0, 70, 30, samples, numberOfSamplesX, numberOfSamplesZ);
// Convert the height field to a triangle mesh.
ITriangleMesh mesh = heightField.GetMesh(0.01f, 3);
// Create a shape for the triangle mesh.
_triangleMeshShape = new TriangleMeshShape(mesh);
// Enable contact welding. And set the welding limit to 1 for maximal effect.
_triangleMeshShape.EnableContactWelding = true;
_originalWeldingLimit = TriangleMeshAlgorithm.WeldingLimit;
TriangleMeshAlgorithm.WeldingLimit = 1;
// Optional: Assign a spatial partitioning scheme to the triangle mesh. (A spatial partition
// adds an additional memory overhead, but it improves collision detection speed tremendously!)
_triangleMeshShape.Partition = new CompressedAabbTree() { BottomUpBuildThreshold = 0 };
// Create a static rigid body using the shape and add it to the simulation.
// We explicitly specify a mass frame. We can use any mass frame for static bodies (because
// static bodies are effectively treated as if they have infinite mass). If we do not specify
// a mass frame in the rigid body constructor, the constructor will automatically compute an
// approximate mass frame (which can take some time for large meshes).
var ground = new RigidBody(_triangleMeshShape, new MassFrame(), null)
{
Pose = new Pose(new Vector3F(-34, 0, -40f)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(ground);
SphereShape sphereShape = new SphereShape(0.5f);
_sphere = new RigidBody(sphereShape);
Simulation.RigidBodies.Add(_sphere);
_enableSmoothMovement = true;
_timeUntilReset = TimeSpan.Zero;
}
private static void GetMass(SphereShape sphere, Vector3F scale, float densityOrMass, bool isDensity, out float mass, out Matrix33F inertia)
{
scale = Vector3F.Absolute(scale);
Vector3F radius = sphere.Radius * scale;
Vector3F radiusSquared = radius * radius;
mass = (isDensity) ? 4.0f / 3.0f * ConstantsF.Pi * radius.X * radius.Y * radius.Z * densityOrMass : densityOrMass;
inertia = Matrix33F.Zero;
inertia.M00 = 1.0f / 5.0f * mass * (radiusSquared.Y + radiusSquared.Z);
inertia.M11 = 1.0f / 5.0f * mass * (radiusSquared.X + radiusSquared.Z);
inertia.M22 = 1.0f / 5.0f * mass * (radiusSquared.X + radiusSquared.Y);
}