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 override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(130, 50, 130);
camera.Yaw = -MathF.PI * 0.25f;
camera.Pitch = 0.4f;
characterControllers = new CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characterControllers), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
DemoMeshHelper.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(-10, 10, -10), out var newtMesh);
var newtShape = Simulation.Shapes.Add(newtMesh);
newts = new QuickList <SponsorNewt>(sponsors2.Count, BufferPool);
newtArenaMin = new Vector2(-100);
newtArenaMax = new Vector2(100);
random = new Random(6);
for (int i = 0; i < sponsors2.Count; ++i)
{
ref var newt = ref newts.AllocateUnsafely();
newt = new SponsorNewt(Simulation, newtShape, 0, newtArenaMin, newtArenaMax, random, i);
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 8, -10);
camera.Yaw = MathHelper.Pi;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionFirstTimestepper());
DemoMeshHelper.LoadModel(content, BufferPool, @"Content\newt.obj", Vector3.One, out var mesh);
new Box(2.5f, 1, 4).ComputeInertia(1, out var approximateInertia);
var meshShapeIndex = Simulation.Shapes.Add(mesh);
for (int meshIndex = 0; meshIndex < 3; ++meshIndex)
{
Simulation.Bodies.Add(
BodyDescription.CreateDynamic(new Vector3(0, 2 + meshIndex * 2, 0), approximateInertia,
new CollidableDescription(meshShapeIndex, 0.1f), new BodyActivityDescription(0.01f)));
}
var compoundBuilder = new CompoundBuilder(BufferPool, Simulation.Shapes, 12);
for (int i = 0; i < mesh.Triangles.Length; ++i)
{
compoundBuilder.Add(mesh.Triangles[i], RigidPose.Identity, 1);
}
compoundBuilder.BuildDynamicCompound(out var children, out var compoundInertia);
var compound = new BigCompound(children, Simulation.Shapes, BufferPool);
var compoundShapeIndex = Simulation.Shapes.Add(compound);
compoundBuilder.Dispose();
for (int i = 0; i < 3; ++i)
{
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(5, 2 + i * 2, 0), compoundInertia, new CollidableDescription(compoundShapeIndex, 0.1f), new BodyActivityDescription(0.01f)));
}
var staticShape = new Box(1500, 1, 1500);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -0.5f, 0), new CollidableDescription(staticShapeIndex, 0.1f)));
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(130, 50, 130);
camera.Yaw = -MathF.PI * 0.25f;
camera.Pitch = 0.4f;
characterControllers = new CharacterControllers(BufferPool);
//Using a PositionLastTimestepper since we control the newts by velocity. Not as critical since they're kinematic and the position targets won't seek to cause undesired penetrations anyway,
//but it'll avoid integrating velocities into positions before the solver has a chance to intervene.
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characterControllers), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionLastTimestepper());
DemoMeshHelper.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(-10, 10, -10), out var newtMesh);
var newtShape = Simulation.Shapes.Add(newtMesh);
newts = new QuickList <SponsorNewt>(sponsors2.Count, BufferPool);
newtArenaMin = new Vector2(-100);
newtArenaMax = new Vector2(100);
random = new Random(6);
for (int i = 0; i < sponsors2.Count; ++i)
{
ref var newt = ref newts.AllocateUnsafely();
newt = new SponsorNewt(Simulation, newtShape, 0, newtArenaMin, newtArenaMax, random, i);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-32f, 20.5f, 61f);
camera.Yaw = MathHelper.Pi * 0.3f;
camera.Pitch = MathHelper.Pi * -0.05f;
filters = new BodyProperty <SubgroupCollisionFilter>(BufferPool);
Simulation = Simulation.Create(BufferPool, new SubgroupFilteredCallbacks()
{
CollisionFilters = filters
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
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, 10, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(70, 20, 80)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 7.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(80, 15, 90)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 5, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(90, 10, 100)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 2.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(100, 5, 110)), 0.1f)));
//High fidelity simulation isn't super important on this one.
Simulation.Solver.IterationCount = 2;
DemoMeshHelper.LoadModel(content, BufferPool, "Content\\newt.obj", new Vector3(30), out var mesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 20, 0), Quaternion.CreateFromAxisAngle(Vector3.UnitY, 0), new CollidableDescription(Simulation.Shapes.Add(mesh), 0.1f)));
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(20, 10, 20);
camera.Yaw = MathF.PI;
camera.Pitch = 0;
characters = new CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
CreateCharacter(new Vector3(0, 2, -4));
//Create a bunch of legos to hurt your feet on.
var random = new Random(5);
var origin = new Vector3(-3f, 0.5f, 0);
var spacing = new Vector3(0.5f, 0, -0.5f);
for (int i = 0; i < 12; ++i)
{
for (int j = 0; j < 12; ++j)
{
var position = origin + new Vector3(i, 0, j) * spacing;
var orientation = QuaternionEx.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0.0001f) + new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), 10 * (float)random.NextDouble());
var shape = new Box(0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble());
var collidable = new CollidableDescription(Simulation.Shapes.Add(shape), 0.1f);
shape.ComputeInertia(1, out var inertia);
var choice = (i + j) % 3;
switch (choice)
{
case 0:
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(position, orientation), inertia, collidable, new BodyActivityDescription(0.01f)));
break;
case 1:
Simulation.Bodies.Add(BodyDescription.CreateKinematic(new RigidPose(position, orientation), collidable, new BodyActivityDescription(0.01f)));
break;
case 2:
Simulation.Statics.Add(new StaticDescription(position, orientation, collidable));
break;
}
}
}
//Add some spinning fans to get slapped by.
var bladeDescription = BodyDescription.CreateConvexDynamic(new Vector3(), 3, Simulation.Shapes, new Box(10, 0.2f, 2));
var bladeBaseDescription = BodyDescription.CreateConvexKinematic(new Vector3(), Simulation.Shapes, new Box(0.2f, 1, 0.2f));
for (int i = 0; i < 3; ++i)
{
bladeBaseDescription.Pose.Position = new Vector3(-22, 1, i * 11);
bladeDescription.Pose.Position = new Vector3(-22, 1.7f, i * 11);
var baseHandle = Simulation.Bodies.Add(bladeBaseDescription);
var bladeHandle = Simulation.Bodies.Add(bladeDescription);
Simulation.Solver.Add(baseHandle, bladeHandle,
new Hinge
{
LocalHingeAxisA = Vector3.UnitY,
LocalHingeAxisB = Vector3.UnitY,
LocalOffsetA = new Vector3(0, 0.7f, 0),
LocalOffsetB = new Vector3(0, 0, 0),
SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(baseHandle, bladeHandle,
new AngularAxisMotor
{
LocalAxisA = Vector3.UnitY,
TargetVelocity = (i + 1) * (i + 1) * (i + 1) * (i + 1) * 0.2f,
Settings = new MotorSettings(5 * (i + 1), 0.0001f)
});
}
//Include a giant newt to test character-newt behavior and to ensure thematic consistency.
DemoMeshHelper.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(15, 15, 15), out var newtMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0.5f, 0), new CollidableDescription(Simulation.Shapes.Add(newtMesh), 0.1f)));
//Give the newt a tongue, I guess.
var tongueBase = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(0, 8.4f, 24), default, default));
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-10, 0, -10);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionFirstTimestepper());
var box = new Box(1f, 3f, 2f);
var capsule = new Capsule(1f, 1f);
var sphere = new Sphere(1f);
box.ComputeInertia(1, out var boxInertia);
capsule.ComputeInertia(1, out var capsuleInertia);
sphere.ComputeInertia(1, out var sphereInertia);
var boxIndex = Simulation.Shapes.Add(box);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var sphereIndex = Simulation.Shapes.Add(sphere);
const int width = 16;
const int height = 3;
const int length = 16;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var location = new Vector3(5, 5, 5) * new Vector3(i, j, k);// + new Vector3(-width * 1.5f, 1.5f, -length * 1.5f);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = 0.01f
},
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
}
};
switch ((i + j) % 3)
{
case 0:
bodyDescription.Collidable.Shape = sphereIndex;
bodyDescription.LocalInertia = sphereInertia;
break;
case 1:
bodyDescription.Collidable.Shape = capsuleIndex;
bodyDescription.LocalInertia = capsuleInertia;
break;
case 2:
bodyDescription.Collidable.Shape = boxIndex;
bodyDescription.LocalInertia = boxInertia;
break;
}
Simulation.Bodies.Add(bodyDescription);
}
}
}
//var testShape = new Box(50, 2, 0.2f);
//testShape.ComputeInertia(1, out var testInertia);
//Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(10, 10, 10), testInertia, new CollidableDescription(Simulation.Shapes.Add(testShape), 10.1f), new BodyActivityDescription(-0.01f)));
DemoMeshHelper.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(5, 5, 5), out var newtMesh);
newtMesh.ComputeClosedInertia(10, out var newtInertia, out _);
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(new Vector3(30, 20, 30)), newtInertia,
new CollidableDescription(Simulation.Shapes.Add(newtMesh), 0.1f), new BodyActivityDescription(0.01f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(30, 15, 30), new CollidableDescription(Simulation.Shapes.Add(new Box(15, 1, 15)), 0.1f)));
DemoMeshHelper.LoadModel(content, BufferPool, @"Content\box.obj", new Vector3(5, 1, 5), out var boxMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(10, 5, -20), new CollidableDescription(Simulation.Shapes.Add(boxMesh), 0.1f)));
DemoMeshHelper.CreateFan(64, 16, new Vector3(1, 1, 1), BufferPool, out var fanMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(-10, 0, -20), new CollidableDescription(Simulation.Shapes.Add(fanMesh), 0.1f)));
const int planeWidth = 128;
const int planeHeight = 128;
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
return(new Vector3(x - planeWidth / 2, 1 * MathF.Cos(x / 2f) * MathF.Sin(y / 2f), y - planeHeight / 2));
}, new Vector3(2, 1, 2), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(64, -10, 64), BepuUtilities.QuaternionEx.CreateFromAxisAngle(new Vector3(0, 1, 0), MathF.PI / 2),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
}
