/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MoreConstraintsTestDemo(DemosGame game)
: base(game)
{
Box boxA = new Box(new Vector3(0, 5, 0), 1, 2, 1, 10);
Box boxB = new Box(new Vector3(0, 8, 0), 1, 2, 1, 10);
boxA.Orientation = Quaternion.CreateFromYawPitchRoll(0, MathHelper.PiOver4, 0);
boxB.Orientation = Quaternion.CreateFromYawPitchRoll(MathHelper.PiOver4, 0, 0);
WeldJoint weld = new WeldJoint(boxA, boxB);
Space.Add(boxA);
Space.Add(boxB);
Space.Add(weld);
boxA = new Box(new Vector3(3, 5, 0), 1, 2, 1, 10);
boxB = new Box(new Vector3(3, 8, 0), 1, 2, 1, 10);
boxA.Orientation = Quaternion.CreateFromYawPitchRoll(0, MathHelper.PiOver4, 0);
boxB.Orientation = Quaternion.CreateFromYawPitchRoll(MathHelper.PiOver4, 0, 0);
BallSocketJoint ballSocket = new BallSocketJoint(boxA, boxB, (boxA.Position + boxB.Position) / 2);
AngularMotor angularMotor = new AngularMotor(boxA, boxB);
angularMotor.Settings.Mode = MotorMode.Servomechanism;
Space.Add(boxA);
Space.Add(boxB);
Space.Add(ballSocket);
Space.Add(angularMotor);
Box ground = new Box(new Vector3(0, 0, 0), 10, 1, 10);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public PlanetDemo(DemosGame game)
: base(game)
{
Space.ForceUpdater.Gravity = Vector3.Zero;
//By pre-allocating a bunch of box-box pair handlers, the simulation will avoid having to allocate new ones at runtime.
NarrowPhaseHelper.Factories.BoxBox.EnsureCount(1000);
var planet = new Sphere(new Vector3(0, 0, 0), 30);
Space.Add(planet);
var field = new GravitationalField(new InfiniteForceFieldShape(), planet.Position, 66730 / 2f, 100);
Space.Add(field);
//Drop the "meteorites" on the planet.
Entity toAdd;
int numColumns = 10;
int numRows = 10;
int numHigh = 10;
float separation = 5;
for (int i = 0; i < numRows; i++)
for (int j = 0; j < numColumns; j++)
for (int k = 0; k < numHigh; k++)
{
toAdd = new Box(new Vector3(separation * i - numRows * separation / 2, 40 + k * separation, separation * j - numColumns * separation / 2), 1f, 1f, 1f, 5);
toAdd.LinearVelocity = new Vector3(30, 0, 0);
toAdd.LinearDamping = 0;
toAdd.AngularDamping = 0;
Space.Add(toAdd);
}
game.Camera.Position = new Vector3(0, 0, 150);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public LotsOSpheresDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 8, 25);
Space.Add(new Box(new Vector3(0, 0, 0), 120, 1, 120));
int numColumns = 5;
int numRows = 5;
int numHigh = 5;
Fix64 xSpacing = 2.09m;
Fix64 ySpacing = 2.08m;
Fix64 zSpacing = 2.09m;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
Space.Add(new Sphere(new Vector3(
xSpacing * i - (numRows - 1) * xSpacing / 2,
1.58m + k * (ySpacing),
2 + zSpacing * j - (numColumns - 1) * zSpacing / 2),
1, 1));
}
}
}
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MultipendulumDemo(DemosGame game)
: base(game)
{
//Create the blocks in the pendulum.
var link1 = new Box(new Vector3(3, 5, 0), 1.1f, 1.1f, 1.1f, 2);
var link2 = new Box(new Vector3(6, 5, 0), 1.1f, 1.1f, 1.1f, 2);
Space.Add(link1);
Space.Add(link2);
var ground = new Box(new Vector3(3, -3, 0), 20, 1, 10);
Space.Add(ground);
//Connect them together.
Space.Add(new BallSocketJoint(link1, link2, (link1.Position + link2.Position) / 2));
Space.Add(new BallSocketJoint(link1, ground, new Vector3(0, 5, 0)));
Entity toAdd;
//Create a target stack.
for (int k = 0; k < 4; k++)
{
toAdd = new Box(new Vector3(-2f, -1f + 2 * k, 0), 1.5f, 1.5f, 1.5f, 1);
Space.Add(toAdd);
}
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, 2, 20);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public DetectorVolumeDemo(DemosGame game)
: base(game)
{
var tubeModel = game.Content.Load <Model>("tube");
Vector3[] modelVertices;
int[] modelIndices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(tubeModel, out modelVertices, out modelIndices);
var detectorVolume = new DetectorVolume(new StaticMeshData(modelVertices, modelIndices), Space.BroadPhase.QueryAccelerator);
Space.Add(detectorVolume);
game.ModelDrawer.Add(detectorVolume.TriangleMesh);
Entity toAdd = new Box(new Vector3(0, -10, 0), 1, 1, 1);
toAdd.Tag = "noDisplayObject";
displayBox = game.ModelDrawer.Add(toAdd);
displayBox.TextureIndex = 0;
game.ModelDrawer.IsWireframe = true;
toAdd.LinearVelocity = new Vector3(0, 1, 0);
Space.Add(toAdd); //Create the ground
detectorVolume.EntityBeginsTouching += BeginsTouching;
detectorVolume.EntityStopsTouching += StopsTouching;
detectorVolume.VolumeBeginsContainingEntity += BeginsContaining;
detectorVolume.VolumeStopsContainingEntity += StopsContaining;
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, 0, 22);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public GeneralConvexPairStressDemo(DemosGame game)
: base(game)
{
Space.Remove(vehicle.Vehicle);
//Enable simplex caching.
ConfigurationHelper.ApplySuperSpeedySettings(Space);
for (int i = 0; i < 2000; i++)
{
EntityShape shape;
switch (i % 3)
{
case 0:
shape = new CylinderShape(0.5m + (Fix64)random.NextDouble() * 1.5m, 0.5m + (Fix64)random.NextDouble() * 1.5m);
break;
case 1:
shape = new ConeShape(0.5m + (Fix64)random.NextDouble() * 1.5m, 0.5m + (Fix64)random.NextDouble() * 1.5m);
break;
default:
shape = new CapsuleShape(0.5m + (Fix64)random.NextDouble() * 1.5m, 0.5m + (Fix64)random.NextDouble() * 1.5m);
break;
}
var toAdd = new Entity(shape, 2);
//toAdd.LocalInertiaTensorInverse = new BEPUutilities.Matrix3x3();
RandomizeEntityState(toAdd);
Space.Add(toAdd);
}
Space.ForceUpdater.Gravity = new Vector3();
game.Camera.Position = new Vector3(0, 6, 15);
}
protected Demo(DemosGame game)
{
Game = game;
Space = new Space();
//This section lets the engine know that it can make use of multithreaded systems
//by adding threads to its thread pool.
#if XBOX360
//Note that not all four available hardware threads are used.
//Currently, BEPUphysics will allocate an equal amount of work to each thread on the xbox360.
//If two threads are put on one core, it will bottleneck the engine and run significantly slower than using 3 hardware threads.
Space.ThreadManager.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 1 }); }, null);
Space.ThreadManager.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 3 }); }, null);
Space.ThreadManager.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 5 }); }, null);
#else
if (Environment.ProcessorCount > 1)
{
for (int i = 0; i < Environment.ProcessorCount; i++)
{
Space.ThreadManager.AddThread();
}
}
#endif
game.Camera.Yaw = 0;
game.Camera.Pitch = 0;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public ColosseumDemo(DemosGame game)
: base(game)
{
double angle;
int numBoxesPerRing = 12;
float blockWidth = 2;
float blockHeight = 2;
float blockLength = 6f;
float radius = 15;
Entity toAdd;
Space.Add(new Box(new Vector3(0, -blockHeight / 2 - 1, 0), 100, 2f, 100));
double increment = MathHelper.TwoPi / numBoxesPerRing;
for (int i = 0; i < 8; i++)
{
for (int k = 0; k < numBoxesPerRing; k++)
{
if (i % 2 == 0)
{
angle = k * increment;
toAdd = new Box(new Vector3(-(float) Math.Cos(angle) * radius, i * blockHeight, (float) Math.Sin(angle) * radius), blockWidth, blockHeight, blockLength, 20);
toAdd.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Up, (float) angle);
Space.Add(toAdd);
}
else
{
angle = (k + .5f) * increment;
toAdd = new Box(new Vector3(-(float)Math.Cos(angle) * radius, i * blockHeight, (float)Math.Sin(angle) * radius), blockWidth, blockHeight, blockLength, 20);
toAdd.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Up, (float) angle);
Space.Add(toAdd);
}
}
}
game.Camera.Position = new Vector3(0, 2, 2);
}
protected Demo(DemosGame game)
{
Game = game;
parallelLooper = new ParallelLooper();
//This section lets the engine know that it can make use of multithreaded systems
//by adding threads to its thread pool.
#if XBOX360
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 1 }); });
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 3 }); });
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 4 }); });
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 5 }); });
#else
if (Environment.ProcessorCount > 1)
{
for (int i = 0; i < Environment.ProcessorCount; i++)
{
parallelLooper.AddThread();
}
}
#endif
Space = new Space(parallelLooper);
game.Camera.LockedUp = Vector3.Up;
game.Camera.ViewDirection = new Vector3(0, 0, -1);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public WallDemo(DemosGame game)
: base(game)
{
int width = 10;
int height = 10;
float blockWidth = 2f;
float blockHeight = 1f;
float blockLength = 1f;
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
var toAdd =
new Box(
new Vector3(
i * blockWidth + .5f * blockWidth * (j % 2) - width * blockWidth * .5f,
blockHeight * .5f + j * (blockHeight),
0),
blockWidth, blockHeight, blockLength, 10);
Space.Add(toAdd);
}
}
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public IncomingDemo(DemosGame game)
: base(game)
{
Entity toAdd;
//Build the stack...
for (int k = 1; k <= 12; k++)
{
if (k % 2 == 1)
{
toAdd = new Box(new Vector3(-3, k, 0), 1, 1, 7, 10);
Space.Add(toAdd);
toAdd = new Box(new Vector3(3, k, 0), 1, 1, 7, 10);
Space.Add(toAdd);
}
else
{
toAdd = new Box(new Vector3(0, k, -3), 7, 1, 1, 10);
Space.Add(toAdd);
toAdd = new Box(new Vector3(0, k, 3), 7, 1, 1, 10);
Space.Add(toAdd);
}
}
//And then smash it!
toAdd = new Sphere(new Vector3(0, 150, 0), 3, 100);
Space.Add(toAdd);
Space.Add(new Box(new Vector3(0, 0, 0), 10, 1f, 10));
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, 6, 30);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public StackDemo(DemosGame game)
: base(game)
{
kapow.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
int height = 50;
float blockWidth = 3f;
float blockHeight = 1f;
float blockLength = 3f;
for (int i = 0; i < height; i++)
{
var toAdd =
new Box(
new Vector3(
0,
blockHeight * .5f + i * (blockHeight),
0),
blockWidth, blockHeight, blockLength, 10);
Space.Add(toAdd);
}
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BridgeDemo(DemosGame game)
: base(game)
{
//Form a long chain of planks connected by revolute joints.
//The revolute joints control the three linear degrees of freedom and two angular degrees of freedom.
//The third allowed angular degree of freedom allows the bridge to flex like a rope bridge.
Vector3 startPosition = new Vector3(0, 0, 0);
var startPlatform = new Box(startPosition - new Vector3(0, 0, 3.2f), 8, .5f, 8);
Space.Add(startPlatform);
Vector3 offset = new Vector3(0, 0, 1.7f);
Box previousLink = startPlatform;
Vector3 position = new Vector3();
for (int i = 1; i <= 200; i++)
{
position = startPosition + offset * i;
Box link = new Box(position, 4.5f, .3f, 1.5f, 50);
Space.Add(link);
Space.Add(new RevoluteJoint(previousLink, link, position - offset * .5f, Vector3.Right));
previousLink = link;
}
var endPlatform = new Box(position - new Vector3(0, 0, -4.8f), 8, .5f, 8);
Space.Add(endPlatform);
Space.Add(new RevoluteJoint(previousLink, endPlatform, position + offset * .5f, Vector3.Right));
game.Camera.Position = startPosition + new Vector3(0, 1, offset.Z * 200 + 5);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BroadPhaseDemo(DemosGame game)
: base(game)
{
//Make a fatter kapow sphere.
Space.Remove(kapow);
kapow = new Sphere(new Vector3(11000, 0, 0), 1.5f, 1000);
Space.Add(kapow);
Space.Solver.IterationLimit = 1; //Essentially no sustained contacts, so don't need to worry about accuracy.
Space.ForceUpdater.Gravity = Vector3.Zero;
int numColumns = 15;
int numRows = 15;
int numHigh = 15;
float separation = 3;
Entity toAdd;
for (int i = 0; i < numRows; i++)
for (int j = 0; j < numColumns; j++)
for (int k = 0; k < numHigh; k++)
{
toAdd = new Box(new Vector3(separation * i, k * separation, separation * j), 1, 1, 1, 1);
toAdd.Material.Bounciness = 1; //Superbouncy boxes help propagate shock waves.
toAdd.LinearDamping = 0f;
toAdd.AngularDamping = 0f;
Space.Add(toAdd);
}
game.Camera.Position = new Vector3(0, 3, -10);
game.Camera.ViewDirection = new Vector3(0, 0, 1);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public IncomingDemo(DemosGame game)
: base(game)
{
Entity toAdd;
//Build the stack...
for (int k = 1; k <= 12; k++)
{
if (k % 2 == 1)
{
toAdd = new Box(new Vector3(-3, k, 0), 1, 1, 7, 10);
Space.Add(toAdd);
toAdd = new Box(new Vector3(3, k, 0), 1, 1, 7, 10);
Space.Add(toAdd);
}
else
{
toAdd = new Box(new Vector3(0, k, -3), 7, 1, 1, 10);
Space.Add(toAdd);
toAdd = new Box(new Vector3(0, k, 3), 7, 1, 1, 10);
Space.Add(toAdd);
}
}
//And then smash it!
toAdd = new Sphere(new Vector3(0, 150, 0), 3, 100);
Space.Add(toAdd);
Space.Add(new Box(new Vector3(0, 0, 0), 10, 1f, 10));
game.Camera.Position = new Vector3(0, 6, 30);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public AddRemoveStressDemo(DemosGame game)
: base(game)
{
NarrowPhaseHelper.Factories.BoxBox.EnsureCount(5000);
NarrowPhaseHelper.Factories.CompoundCompound.EnsureCount(5000);
Space.Remove(vehicle.Vehicle);
for (int i = 0; i < 1000; i++)
{
var position = new Vector3(
(float)(random.NextDouble() - 0.5) * width,
(float)(random.NextDouble() - 0.5) * height,
(float)(random.NextDouble() - 0.5) * length);
var toAdd =
new CompoundBody(new List <CompoundShapeEntry>
{
new CompoundShapeEntry(new BoxShape(1, 1, 1), position, 1)
}, 10);
//var toAdd = new Box(position, 1, 1, 1, 1);
toAdd.IsAffectedByGravity = false;
toAdd.LinearVelocity = 3 * Vector3.Normalize(toAdd.Position);
Space.Add(toAdd);
addedEntities.Add(toAdd);
}
//Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
//Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TwistTestDemo(DemosGame game)
: base(game)
{
var a = new Box(new Vector3(-2, 2, 0), 1, 2, 2, 5);
var b = new Box(new Vector3(2, 2, 0), 1, 2, 2, 5);
b.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathHelper.PiOver4);
Space.Add(a);
Space.Add(b);
var twistJoint = new TwistJoint(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
var twistMotor = new TwistMotor(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
twistMotor.Settings.Mode = MotorMode.Servomechanism;
//Space.Add(twistJoint);
Space.Add(twistMotor);
var ballSocketJoint = new BallSocketJoint(a, b, (a.Position + b.Position) * 0.5f);
var swingLimit = new SwingLimit(a, b, a.OrientationMatrix.Right, a.OrientationMatrix.Right, MathHelper.PiOver2);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public CollisionFilteringDemo(DemosGame game)
: base(game)
{
Entity toAdd;
toAdd = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(toAdd);
//Set up two stacks which go through each other
var firstStackGroup = new CollisionGroup();
var secondStackGroup = new CollisionGroup();
//Adding this rule to the space's collision group rules will prevent entities belong to these two groups from generating collision pairs with each other.
groupPair = new CollisionGroupPair(firstStackGroup, secondStackGroup);
CollisionRules.CollisionGroupRules.Add(groupPair, CollisionRule.NoBroadPhase);
for (int k = 0; k < 10; k++)
{
toAdd = new Box(
new Vector3(-4 + .12f * k, .5f + k, 0), 1f, 1f, 1f,
10);
toAdd.CollisionInformation.CollisionRules.Group = firstStackGroup;
Space.Add(toAdd);
toAdd = new Box(new Vector3(4 - .12f * k, .5f + k, 0),
1f, 1f, 1f, 10);
toAdd.CollisionInformation.CollisionRules.Group = secondStackGroup;
Space.Add(toAdd);
}
//Add another two boxes which ignore each other using the specific entities method; they will still collide with the stacks since they will have the default dynamic collision group.
toAdd = new Box(new Vector3(1, 3, 0), 1f, 4f, 2f, 10);
var toAdd2 = new Box(new Vector3(-1, 3, 0), 1f, 4f, 2f, 15);
CollisionRules.AddRule(toAdd, toAdd2, CollisionRule.NoBroadPhase);
Space.Add(toAdd);
Space.Add(toAdd2);
game.Camera.Position = new Vector3(0, 6, 20);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BridgeDemo(DemosGame game)
: base(game)
{
//Form a long chain of planks connected by revolute joints.
//The revolute joints control the three linear degrees of freedom and two angular degrees of freedom.
//The third allowed angular degree of freedom allows the bridge to flex like a rope bridge.
Vector3 startPosition = new Vector3(0, 0, 0);
var startPlatform = new Box(startPosition - new Vector3(0, 0, (Fix64)3.2m), 8, (Fix64).5m, 8);
Space.Add(startPlatform);
Vector3 offset = new Vector3(0, 0, (Fix64)1.7m);
Box previousLink = startPlatform;
Vector3 position = new Vector3();
for (int i = 1; i <= 200; i++)
{
position = startPosition + offset * i;
Box link = new Box(position, (Fix64)4.5m, (Fix64).3m, (Fix64)1.5m, 50);
Space.Add(link);
Space.Add(new RevoluteJoint(previousLink, link, position - offset * (Fix64).5m, Vector3.Right));
previousLink = link;
}
var endPlatform = new Box(position - new Vector3(0, 0, (Fix64)(-4.8m)), 8, (Fix64).5m, 8);
Space.Add(endPlatform);
Space.Add(new RevoluteJoint(previousLink, endPlatform, position + offset * (Fix64).5m, Vector3.Right));
game.Camera.Position = startPosition + new Vector3(0, 1, offset.Z * 200 + 5);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TerrainDemo(DemosGame game)
: base(game)
{
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
//[The size here is limited by the Reach profile the demos use- the drawer draws the terrain as a big block and runs into primitive drawing limits.
//The physics can support far larger terrains!]
int xLength = 180;
int zLength = 180;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(-xSpacing, 1, -zSpacing),
Quaternion.Identity,
new Vector3(xLength * xSpacing / 2, 0, zLength * zSpacing / 2)));
terrain.Shape.QuadTriangleOrganization = BEPUphysics.CollisionShapes.QuadTriangleOrganization.BottomRightUpperLeft;
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 5; k++)
{
Space.Add(new Box(
new Vector3(0 + i * 4, 100 - j * 10, 0 + k * 4),
2 + i * j * k,
2 + i * j * k,
2 + i * j * k,
4 + 20 * i * j * k));
}
}
}
game.ModelDrawer.Add(terrain);
game.Camera.Position = new Vector3(0, 30, 20);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TwistTestDemo(DemosGame game)
: base(game)
{
var a = new Box(new Vector3(-2, 2, 0), 1, 2, 2, 5);
var b = new Box(new Vector3(2, 2, 0), 1, 2, 2, 5);
b.Orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathHelper.PiOver4);
Space.Add(a);
Space.Add(b);
var twistJoint = new TwistJoint(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
var twistMotor = new TwistMotor(a, b, a.OrientationMatrix.Right, b.OrientationMatrix.Right);
twistMotor.Settings.Mode = MotorMode.Servomechanism;
//Space.Add(twistJoint);
Space.Add(twistMotor);
var ballSocketJoint = new BallSocketJoint(a, b, (a.Position + b.Position) * 0.5f);
var swingLimit = new SwingLimit(a, b, a.OrientationMatrix.Right, a.OrientationMatrix.Right, MathHelper.PiOver2);
Space.Add(ballSocketJoint);
Space.Add(swingLimit);
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BoxBoxTestDemo(DemosGame game)
: base(game)
{
//float blockWidth = 2;
//float blockHeight = 2;
//float blockLength = 6f;
//Entity toAdd;
//toAdd = new Box(new Vector3(0, 2,0), blockWidth, blockHeight, blockLength, 20);
//toAdd.ActivityInformation.IsAlwaysActive = true;
//toAdd.AllowStabilization = false;
//Space.Add(toAdd);
int numColumns = 3;
int numRows = 3;
int numHigh = 30;
float xSpacing = 1.01f;
float ySpacing = 1.01f;
float zSpacing = 1.01f;
for (int i = 0; i < numRows; i++)
for (int j = 0; j < numColumns; j++)
for (int k = 0; k < numHigh; k++)
{
Space.Add(new Box(new Vector3(
xSpacing * i - (numRows - 1) * xSpacing / 2f,
1f + k * (ySpacing),
zSpacing * j - (numColumns - 1) * zSpacing / 2f),
.5f, .5f, .5f, 5));
}
Space.Add(new Box(new Vector3(0, 0, 0), 20, 1f, 20));
game.Camera.Position = new Vector3(0, 3, 10);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MultithreadedScalingTestDemo(DemosGame game)
: base(game)
{
simulationBuilders = new Func<Space, int>[]
{
BuildPileSimulation,
BuildWallSimulation,
BuildPlanetSimulation
};
#if WINDOWS
int coreCountMax = Environment.ProcessorCount;
testResults = new double[coreCountMax, simulationBuilders.Length];
int reruns = 1;
for (int i = 0; i < reruns; i++)
{
GC.Collect();
var threadManager = new SpecializedThreadManager();
//Try different thread counts.
for (int j = 0; j < coreCountMax; j++)
{
threadManager.AddThread();
for (int k = 0; k < simulationBuilders.Length; k++)
testResults[j, k] = RunTest(threadManager, simulationBuilders[k]);
GC.Collect();
}
}
#else
testResults = new double[4, simulationBuilders.Length];
int reruns = 10;
for (int i = 0; i < reruns; i++)
{
GC.Collect();
var threadManager = new SpecializedThreadManager();
threadManager.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 1 }); }, null);
for (int k = 0; k < simulationBuilders.Length; k++)
testResults[0, k] += RunTest(threadManager, simulationBuilders[k]);
GC.Collect();
threadManager.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 3 }); }, null);
for (int k = 0; k < simulationBuilders.Length; k++)
testResults[1, k] += RunTest(threadManager, simulationBuilders[k]);
GC.Collect();
threadManager.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 5 }); }, null);
for (int k = 0; k < simulationBuilders.Length; k++)
testResults[2, k] += RunTest(threadManager, simulationBuilders[k]);
GC.Collect();
threadManager.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 4 }); }, null);
for (int k = 0; k < simulationBuilders.Length; k++)
testResults[3, k] += RunTest(threadManager, simulationBuilders[k]);
GC.Collect();
}
#endif
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public AddRemoveStressDemo(DemosGame game)
: base(game)
{
NarrowPhaseHelper.Factories.BoxBox.EnsureCount(5000);
NarrowPhaseHelper.Factories.CompoundCompound.EnsureCount(5000);
Space.Remove(vehicle.Vehicle);
for (int i = 0; i < 1000; i++)
{
var position = new Vector3(
(float)(random.NextDouble() - 0.5) * width,
(float)(random.NextDouble() - 0.5) * height,
(float)(random.NextDouble() - 0.5) * length);
var toAdd =
new CompoundBody(new List<CompoundShapeEntry>
{
new CompoundShapeEntry(new BoxShape(1,1,1), position, 1)
}, 10);
//var toAdd = new Box(position, 1, 1, 1, 1);
toAdd.IsAffectedByGravity = false;
toAdd.LinearVelocity = 3 * Vector3.Normalize(toAdd.Position);
Space.Add(toAdd);
addedEntities.Add(toAdd);
}
//Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
//Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public WallDemo(DemosGame game)
: base(game)
{
int width = 10;
int height = 10;
float blockWidth = 2f;
float blockHeight = 1f;
float blockLength = 1f;
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
var toAdd =
new Box(
new Vector3(
i * blockWidth + .5f * blockWidth * (j % 2) - width * blockWidth * .5f,
blockHeight * .5f + j * (blockHeight),
0),
blockWidth, blockHeight, blockLength, 10);
Space.Add(toAdd);
}
}
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BroadPhaseDemo(DemosGame game)
: base(game)
{
//Make a fatter kapow sphere.
Space.Remove(kapow);
kapow = new Sphere(new Vector3(11000, 0, 0), 1.5f, 1000);
Space.Add(kapow);
Space.Solver.IterationLimit = 1; //Essentially no sustained contacts, so don't need to worry about accuracy.
Space.ForceUpdater.Gravity = Vector3.Zero;
int numColumns = 15;
int numRows = 15;
int numHigh = 15;
float separation = 3;
Entity toAdd;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
toAdd = new Box(new Vector3(separation * i, k * separation, separation * j), 1, 1, 1, 1);
toAdd.Material.Bounciness = 1; //Superbouncy boxes help propagate shock waves.
toAdd.LinearDamping = 0f;
toAdd.AngularDamping = 0f;
Space.Add(toAdd);
}
}
}
game.Camera.Position = new Vector3(0, 3, -10);
game.Camera.ViewDirection = new Vector3(0, 0, 1);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public PrimitiveSceneBugDemo(DemosGame game)
: base(game)
{
character = new BugShowerCharacterController(Space, game.Camera, game);
Space.ForceUpdater.Gravity = new Vector3(0, -16, 0);
game.Camera.Position = new Vector3(5, 0.85f, 4);
game.Camera.ViewDirection = new Vector3(0, 0, 1);
//Since this is the character playground, turn on the character by default.
character.Activate();
//Having the character body visible would be a bit distracting.
character.CharacterController.Body.Tag = "noDisplayObject";
//Load in mesh data for the environment.
Vector3[] staticTriangleVertices;
int[] staticTriangleIndices;
var playgroundModel = game.Content.Load <Model>("bugPrimitiveRoom");
//This is a little convenience method used to extract vertices and indices from a model.
//It doesn't do anything special; any approach that gets valid vertices and indices will work.
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out staticTriangleVertices, out staticTriangleIndices);
var staticMesh = new StaticMesh(staticTriangleVertices, staticTriangleIndices, new AffineTransform(new Vector3(1, 1, 1), Quaternion.Identity, new Vector3(0, 0, 0)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public StackDemo(DemosGame game)
: base(game)
{
kapow.PositionUpdateMode = BEPUphysics.PositionUpdating.PositionUpdateMode.Continuous;
int height = 50;
float blockWidth = 3f;
float blockHeight = 1f;
float blockLength = 3f;
for (int i = 0; i < height; i++)
{
var toAdd =
new Box(
new Vector3(
0,
blockHeight * .5f + i * (blockHeight),
0),
blockWidth, blockHeight, blockLength, 10);
Space.Add(toAdd);
}
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public ParallelSpaceTestDemo(DemosGame game)
: base(game)
{
for (int i = 0; i < 32; i++)
{
var space = new Space(null);
space.ForceUpdater.Gravity = new Vector3(0, -9.81f, 0);
var box = new Box(new Vector3(20 * i, 0, 0), 100, 1, 100);
space.Add(box);
//game.ModelDrawer.Add(box);
for (int j = 0; j < 30; j++)
{
for (int k = 0; k < 10; k++)
{
box = new Box(new Vector3(20 * i, 2 + j * 1.1f, 0), 1, 1, 1, 1);
entities.Add(box);
space.Add(box);
//game.ModelDrawer.Add(box);
}
}
spaces.Add(space);
}
game.Camera.Position = new Vector3(20, 10, 70);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public FishInABarrelDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 7, 30);
var detector = new Box(new Vector3(0, 0, 0), 1.5f, 1.5f, 1.5f);
detector.CollisionInformation.CollisionRules.Personal = CollisionRule.NoSolver;
var acceptedTriggerEntity = new Box(new Vector3(5, 0, 0), 1.6f, .7f, .4f, 1);
acceptedTrigger = acceptedTriggerEntity.CollisionInformation;
detector.Tag = "noDisplayObject";
acceptedTriggerEntity.Tag = "noDisplayObject";
Space.Add(detector);
Space.Add(acceptedTriggerEntity);
var fish = game.Content.Load<Model>("fish");
game.ModelDrawer.Add(new DisplayEntityModel(acceptedTriggerEntity, fish, game.ModelDrawer));
var barrelAndPlatform = game.Content.Load<Model>("barrelAndPlatform");
Vector3[] staticTriangleVertices;
int[] staticTriangleIndices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(barrelAndPlatform, out staticTriangleVertices, out staticTriangleIndices);
//Note that the final 'margin' parameter is optional, but can be used to specify a collision margin on triangles in the static triangle group.
var fishDepositoryGroup = new StaticMesh(staticTriangleVertices, staticTriangleIndices);
CollisionRules.AddRule(fishDepositoryGroup, detector, CollisionRule.NoBroadPhase);
Space.Add(fishDepositoryGroup);
game.ModelDrawer.Add(fishDepositoryGroup);
movedBox = new Box(new Vector3(-4, 5, 0), 1, 1, 1, 1);
detector.Space.Add(movedBox);
detector.CollisionInformation.Events.InitialCollisionDetected += InitialCollisionDetected;
detector.CollisionInformation.Events.CollisionEnded += CollisionEnded;
}
protected Demo(DemosGame game)
{
Game = game;
parallelLooper = new ParallelLooper();
//This section lets the engine know that it can make use of multithreaded systems
//by adding threads to its thread pool.
#if XBOX360
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 1 }); });
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 3 }); });
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 4 }); });
parallelLooper.AddThread(delegate { Thread.CurrentThread.SetProcessorAffinity(new[] { 5 }); });
#else
if (Environment.ProcessorCount > 1)
{
for (int i = 0; i < Environment.ProcessorCount; i++)
{
parallelLooper.AddThread();
}
}
#endif
Space = new Space(parallelLooper);
game.Camera.LockedUp = Vector3.Up;
game.Camera.ViewDirection = new Vector3(0, 0, -1);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public RayCastTestDemo(DemosGame game)
: base(game)
{
Space.Add(new Box(new Vector3(0, -0.5f, 0), 50, 1, 50));
//Put whatever you'd like to ray cast here.
var capsule = new Capsule(new Vector3(0, 1.2f, 0), 1, 0.6f);
capsule.AngularVelocity = new Vector3(1, 1, 1);
Space.Add(capsule);
var cylinder = new Cylinder(new Vector3(0, 5, 0), 2, .5f);
cylinder.AngularVelocity = new Vector3(1, -1, 1);
Space.Add(cylinder);
var points = new List<Vector3>();
var random = new Random(0);
for (int k = 0; k < 40; k++)
{
points.Add(new Vector3(1 * (float)random.NextDouble(), 3 * (float)random.NextDouble(), 2 * (float)random.NextDouble()));
}
var convexHull = new ConvexHull(new Vector3(0, 10, 0), points);
convexHull.AngularVelocity = new Vector3(-1, 1, 1);
Space.Add(convexHull);
game.Camera.Position = new Vector3(-10, 5, 10);
game.Camera.Yaw((float)Math.PI / -4f);
game.Camera.Pitch(-(float)Math.PI / 9f);
//Starter ray.
origin = new Vector3(10, 5, 0);
direction = new Vector3(-3, -1, 0);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public WallDemo(DemosGame game)
: base(game)
{
int width = 10;
int height = 10;
Fix64 blockWidth = 2;
Fix64 blockHeight = 1;
Fix64 blockLength = 1;
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
var toAdd =
new Box(
new Vector3(
i * blockWidth + .5m * blockWidth * (j % 2) - width * blockWidth * .5m,
blockHeight * .5m + j * (blockHeight),
0),
blockWidth, blockHeight, blockLength, 10);
Space.Add(toAdd);
}
}
Box ground = new Box(new Vector3(0, -.5m, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public GeneralConvexPairStressDemo(DemosGame game)
: base(game)
{
Space.Remove(vehicle.Vehicle);
//Enable simplex caching.
ConfigurationHelper.ApplySuperSpeedySettings(Space);
for (int i = 0; i < 2000; i++)
{
EntityShape shape;
switch (i % 3)
{
case 0:
shape = new CylinderShape(0.5f + (float)random.NextDouble() * 1.5f, 0.5f + (float)random.NextDouble() * 1.5f);
break;
case 1:
shape = new ConeShape(0.5f + (float)random.NextDouble() * 1.5f, 0.5f + (float)random.NextDouble() * 1.5f);
break;
default:
shape = new CapsuleShape(0.5f + (float)random.NextDouble() * 1.5f, 0.5f + (float)random.NextDouble() * 1.5f);
break;
}
var toAdd = new Entity(shape, 2);
//toAdd.LocalInertiaTensorInverse = new BEPUutilities.Matrix3x3();
RandomizeEntityState(toAdd);
Space.Add(toAdd);
}
Space.ForceUpdater.Gravity = new Vector3();
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public ConvexHullTestDemo(DemosGame game)
: base(game)
{
var random = new Random(5);
for (int i = 0; i < 500000; ++i)
{
List<Vector3> points = new List<Vector3>();
for (int k = 0; k < random.Next(8, 60); k++)
{
points.Add(new Vector3(-100 + 30 * (float)random.NextDouble(), 100 + 500 * (float)random.NextDouble(), 100 + 30 * (float)random.NextDouble()));
}
var convexHull = new ConvexHull(new Vector3(0, 7, 0), points, 10);
Console.WriteLine(convexHull.CollisionInformation.Shape.Vertices.Count);
}
var vertices = new[]
{
new Vector3(0, -1.750886E-9f, -1.5f),
new Vector3(1, 1, 0.5f),
new Vector3(1, -1, 0.5f),
new Vector3(-1, 1, 0.5f),
new Vector3(-1, -1, 0.5f),
};
var hullVertices = new RawList<Vector3>();
ConvexHullHelper.GetConvexHull(vertices, hullVertices);
ConvexHull hull = new ConvexHull(vertices, 5);
Space.Add(hull);
Box ground = new Box(new Vector3(0, -.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public LotsOSpheresDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, 8, 25);
Space.Add(new Box(new Vector3(0, 0, 0), 120, 1, 120));
int numColumns = 5;
int numRows = 5;
int numHigh = 5;
float xSpacing = 2.09f;
float ySpacing = 2.08f;
float zSpacing = 2.09f;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
Space.Add(new Sphere(new Vector3(
xSpacing * i - (numRows - 1) * xSpacing / 2f,
1.58f + k * (ySpacing),
2 + zSpacing * j - (numColumns - 1) * zSpacing / 2f),
1, 1));
}
}
}
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BroadPhaseRemovalTestDemo(DemosGame game)
: base(game)
{
Entity toAdd;
//BoundingBox box = new BoundingBox(new Vector3(-5, 1, 1), new Vector3(5, 7, 7));
BEPUutilities.BoundingBox box = new BEPUutilities.BoundingBox(new BEPUutilities.Vector3(-500, -500, -500), new BEPUutilities.Vector3(500, 500, 500));
DynamicHierarchy dh = new DynamicHierarchy();
Random rand = new Random(0);
RawList <Entity> entities = new RawList <Entity>();
for (int k = 0; k < 1000; k++)
{
BEPUutilities.Vector3 position = new BEPUutilities.Vector3((Fix64)rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X,
(Fix64)rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y,
(Fix64)rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z);
toAdd = new Box(position, 1, 1, 1, 1);
entities.Add(toAdd);
}
testResults = new double[2];
int runCount = 10;
for (int k = 0; k < runCount; k++)
{
for (int i = 0; i < entities.Count; i++)
{
dh.Add(entities[i].CollisionInformation);
}
long start = Stopwatch.GetTimestamp();
for (int i = 0; i < entities.Count; i++)
{
//dh.RemoveFast(entities[i].CollisionInformation);
}
long end = Stopwatch.GetTimestamp();
testResults[0] += (end - start) / (double)Stopwatch.Frequency;
for (int i = 0; i < entities.Count; i++)
{
dh.Add(entities[i].CollisionInformation);
}
start = Stopwatch.GetTimestamp();
for (int i = 0; i < entities.Count; i++)
{
//dh.RemoveBrute(entities[i].CollisionInformation);
}
end = Stopwatch.GetTimestamp();
testResults[1] += (end - start) / (double)Stopwatch.Frequency;
}
testResults[0] /= runCount;
testResults[1] /= runCount;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MutableCompoundDemo(DemosGame game)
: base(game)
{
int width = 3;
int height = 3;
int length = 10;
float blockWidth = 1f;
float blockHeight = 1f;
float blockLength = 1f;
for (int q = 0; q < 1; q++)
{
List <CompoundShapeEntry> shapes = new List <CompoundShapeEntry>();
float totalWeight = 0;
float density = 1;
for (int i = 0; i < width; i++)
{
for (int j = 0; j < height; j++)
{
for (int k = 0; k < length; k++)
{
float weight = density * blockWidth * blockLength * blockHeight;
totalWeight += weight;
shapes.Add(new CompoundShapeEntry(
new BoxShape(blockWidth, blockHeight, blockLength),
new Vector3(5 + q * 20 + i * blockWidth, j * blockHeight, k * blockLength), weight));
}
}
}
var compound = new CompoundBody(shapes, totalWeight);
//compound.Orientation = Quaternion.CreateFromYawPitchRoll(1, 1, 1);
//compound.AngularVelocity = new Vector3(0, 1, 0);
Entity <CompoundCollidable> compound2, compound3;
CompoundHelper.SplitCompound(x => x.ShapeIndex >= shapes.Count / 2, compound, out compound2);
CompoundHelper.SplitCompound(x => x.ShapeIndex >= 3 * shapes.Count / 4, compound2, out compound3);
//compound.ActivityInformation.IsAlwaysActive = true;
//compound.IsAffectedByGravity = false;
//compound2.ActivityInformation.IsAlwaysActive = true;
//compound2.IsAffectedByGravity = false;
//compound3.ActivityInformation.IsAlwaysActive = true;
//compound3.IsAffectedByGravity = false;
//compound.Tag = "noDisplayObject";
Space.Add(compound);
Space.Add(compound2);
Space.Add(compound3);
}
Box ground = new Box(new Vector3(0, -4.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public AddRemoveStressDemo(DemosGame game)
: base(game)
{
Space.Remove(vehicle.Vehicle);
var compoundShape = new CompoundShape(new List <CompoundShapeEntry>
{
new CompoundShapeEntry(new BoxShape(1, 1, 1), new Vector3(0, 1, 0), 1),
new CompoundShapeEntry(new BoxShape(2, 1, 2), new Vector3(), 1),
new CompoundShapeEntry(new BoxShape(1, 1, 1), new Vector3(0, -1, 0), 1)
});
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(compoundShape, 10);
addedEntities.Add(toAdd);
}
var boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(boxShape, 10);
addedEntities.Add(toAdd);
}
Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load <Model>("cube"), out vertices, out indices);
var mobileMeshShape = new MobileMeshShape(vertices, indices, new AffineTransform(Matrix3x3.CreateScale(1, 2, 1), new Vector3()), MobileMeshSolidity.Counterclockwise);
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(mobileMeshShape, 10);
addedEntities.Add(toAdd);
}
for (int i = 0; i < addedEntities.Count; ++i)
{
var entity = addedEntities[i];
entity.Gravity = new Vector3();
entity.Position = GetRandomPosition(random);
entity.LinearVelocity = 3 * Vector3.Normalize(entity.Position);
Space.Add(entity);
}
var playgroundModel = game.Content.Load <Model>("playground");
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out vertices, out indices);
var staticMesh = new StaticMesh(vertices, indices, new AffineTransform(Matrix3x3.CreateFromAxisAngle(Vector3.Up, MathHelper.Pi), new Vector3(0, -30, 0)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs the character and internal physics character controller.
/// </summary>
/// <param name="owningSpace">Space to add the character to.</param>
/// <param name="camera">Camera to attach to the character.</param>
/// <param name="game">The running game.</param>
public SphereCharacterControllerInput(Space owningSpace, Camera camera, DemosGame game)
{
CharacterController = new SphereCharacterController();
Camera = camera;
CameraControlScheme = new FixedOffsetCameraControlScheme(CharacterController.Body, camera, game);
Space = owningSpace;
}
/// <summary>
/// Constructs the character and internal physics character controller.
/// </summary>
/// <param name="owningSpace">Space to add the character to.</param>
/// <param name="camera">Camera to attach to the character.</param>
/// <param name="game">The running game.</param>
public CharacterControllerInput(Space owningSpace, Camera camera, DemosGame game)
{
CharacterController = new CharacterController();
Camera = camera;
CameraControlScheme = new CharacterCameraControlScheme(CharacterController, camera, game);
Space = owningSpace;
}
/// <summary>
/// Constructs the character and internal physics character controller.
/// </summary>
/// <param name="owningSpace">Space to add the character to.</param>
/// <param name="camera">Camera to attach to the character.</param>
/// <param name="game">The running game.</param>
public CharacterControllerInput(Space owningSpace, Camera camera, DemosGame game)
{
CharacterController = new CharacterController();
Camera = camera;
CameraControlScheme = new CharacterCameraControlScheme(CharacterController, camera, game);
Space = owningSpace;
}
/// <summary>
/// Constructs the character and internal physics character controller.
/// </summary>
/// <param name="owningSpace">Space to add the character to.</param>
/// <param name="camera">Camera to attach to the character.</param>
/// <param name="game">The running game.</param>
public SphereCharacterControllerInput(Space owningSpace, Camera camera, DemosGame game)
{
CharacterController = new SphereCharacterController();
Camera = camera;
CameraControlScheme = new FixedOffsetCameraControlScheme(CharacterController.Body, camera, game);
Space = owningSpace;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TerrainDemo(DemosGame game)
: base(game)
{
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
//[The size here is limited by the Reach profile the demos use- the drawer draws the terrain as a big block and runs into primitive drawing limits.
//The physics can support far larger terrains!]
int xLength = 180;
int zLength = 180;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, 0, -zLength * zSpacing / 2)));
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 5; k++)
{
Space.Add(new Box(
new Vector3(0 + i * 4, 100 - j * 10, 0 + k * 4),
2 + i * j * k,
2 + i * j * k,
2 + i * j * k,
4 + 20 * i * j * k));
}
}
}
game.ModelDrawer.Add(terrain);
game.Camera.Position = new Vector3(0, 30, 20);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public BroadPhaseRemovalTestDemo(DemosGame game)
: base(game)
{
Entity toAdd;
//BoundingBox box = new BoundingBox(new Vector3(-5, 1, 1), new Vector3(5, 7, 7));
BoundingBox box = new BoundingBox(new Vector3(-500, -500, -500), new Vector3(500, 500, 500));
DynamicHierarchy dh = new DynamicHierarchy();
Random rand = new Random(0);
RawList<Entity> entities = new RawList<Entity>();
for (int k = 0; k < 1000; k++)
{
Vector3 position = new Vector3((float)(rand.NextDouble() * (box.Max.X - box.Min.X) + box.Min.X),
(float)(rand.NextDouble() * (box.Max.Y - box.Min.Y) + box.Min.Y),
(float)(rand.NextDouble() * (box.Max.Z - box.Min.Z) + box.Min.Z));
toAdd = new Box(MathConverter.Convert(position), 1, 1, 1, 1);
entities.Add(toAdd);
}
testResults = new double[2];
int runCount = 10;
for (int k = 0; k < runCount; k++)
{
for (int i = 0; i < entities.Count; i++)
{
dh.Add(entities[i].CollisionInformation);
}
long start = Stopwatch.GetTimestamp();
for (int i = 0; i < entities.Count; i++)
{
//dh.RemoveFast(entities[i].CollisionInformation);
}
long end = Stopwatch.GetTimestamp();
testResults[0] += (end - start) / (double)Stopwatch.Frequency;
for (int i = 0; i < entities.Count; i++)
{
dh.Add(entities[i].CollisionInformation);
}
start = Stopwatch.GetTimestamp();
for (int i = 0; i < entities.Count; i++)
{
//dh.RemoveBrute(entities[i].CollisionInformation);
}
end = Stopwatch.GetTimestamp();
testResults[1] += (end - start) / (double)Stopwatch.Frequency;
}
testResults[0] /= runCount;
testResults[1] /= runCount;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TankDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
playerTank = new Tank(new Vector3(0, 0, 0));
playerTank.AddToSpace(Space);
//Create a bunch of other tanks.
autoTanks = new List <Tank>();
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
var autoTank = new Tank(new Vector3(-30 + i * 10, 30, -30 + j * 10));
autoTanks.Add(autoTank);
autoTank.AddToSpace(Space);
}
}
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
int xLength = 180;
int zLength = 180;
Fix64 xSpacing = 8;
Fix64 zSpacing = 8;
var heights = new Fix64[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
Fix64 x = i - xLength / 2;
Fix64 z = j - zLength / 2;
//heights[i,j] = (Fix64)(x * y / 1000f);
heights[i, j] = 20 * (Fix64.Sin(x / 8) + Fix64.Sin(z / 8));
//heights[i,j] = 3 * (Fix64)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, -10, -zLength * zSpacing / 2)));
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public SuspensionCarDemo2(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
var body = new Box(new Vector3(0, 0, 0), 2, .5f, 3, 20);
body.CollisionInformation.LocalPosition = new Vector3(0, 1f, 0);
Space.Add(body);
AddBackWheel(new Vector3(-1f, .55f, 1.3f), body, true);
AddBackWheel(new Vector3(1f, .55f, 1.3f), body, false);
Box suspensionLeg1, suspensionLeg2;
AddDriveWheel(new Vector3(-1f, .55f, -1.3f), body, true, out drivingMotor1, out steeringMotor1, out suspensionLeg1);
AddDriveWheel(new Vector3(1f, .55f, -1.3f), body, false, out drivingMotor2, out steeringMotor2, out suspensionLeg2);
//Add a stabilizer so that the wheels can't point different directions.
var steeringStabilizer = new RevoluteAngularJoint(suspensionLeg1, suspensionLeg2, Vector3.Right);
Space.Add(steeringStabilizer);
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
int xLength = 180;
int zLength = 180;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, -10, -zLength * zSpacing / 2)));
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public GraphicMatchingDemo(DemosGame game)
: base(game)
{
//When creating a collision shape based on a model, the graphic will generally be offset at first.
//This is because the collision shape computes the center of mass and offsets itself to align with the local origin.
//That offset must be applied to the graphic to make it match the collision shape.
//Check out the documentation page for more information:
//http://bepuphysics.codeplex.com/wikipage?title=Shape%20Recentering
var model = game.Content.Load <Model>("guy");
BEPUutilities.Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(model, out vertices, out indices);
//Create an entity based on the model.
ConvexHull hull = new ConvexHull(vertices, 10);
Space.Add(hull);
//Create a graphic for the hull. The BEPUphysicsDrawer will also automatically receive a visualization of the convex hull which we can compare our graphic against.
//The graphic will be offset from the collision shape because we have not attempted to offset it to match the collision shape's origin.
var graphic = new DisplayEntityModel(hull, model, game.ModelDrawer);
game.ModelDrawer.Add(graphic);
//Now let's create another entity from the same vertices.
hull = new ConvexHull(vertices, 10);
Space.Add(hull);
//Note that the prefab entity type ConvexHull uses the ConvexHullShape constructor internally, which outputs the computed center of the shape
//prior to offset. The ConvexHull constructor sets the entity's Position to that position so that the initial world space location of the vertices
//matches what was passed into the constructor.
//The same process could be performed using this code:
//Vector3 computedCenter;
//var shape = new ConvexHullShape(vertices, out computedCenter); //<-- It spits out the computed center here; this is what is used to offset the graphic!
//var entity = new Entity(shape, 10);
//entity.Position = computedCenter;
//Space.Add(entity);
//For more information about constructing entities, check out the EntityConstructionDemo.
//But for now, let's just use the prefab entity type. As mentioned earlier, the constructor set the entity's Position using the computed center.
//Since we didn't overwrite it with some other position yet, we can still use it.
graphic = new DisplayEntityModel(hull, model, game.ModelDrawer);
graphic.LocalTransform = Matrix.CreateTranslation(-hull.Position);
game.ModelDrawer.Add(graphic);
//This graphic is perfectly aligned with the collision shape! Hooray!
Box ground = new Box(new Vector3(0, -1.5m, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public SleepModeDemo(DemosGame game)
: base(game)
{
SpawnRow();
game.Camera.Position = new Vector3(-30, 30, -30);
game.Camera.Yaw((float)(-3 * Math.PI / 4));
game.Camera.Pitch(-(float)Math.PI / 12);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public SleepModeDemo(DemosGame game)
: base(game)
{
SpawnRow();
game.Camera.Position = new Vector3(-30, 30, -30);
game.Camera.Yaw((Fix64)(-3 * Math.PI / 4));
game.Camera.Pitch(-(Fix64)Math.PI / 12);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MobileMeshDemo(DemosGame game)
: base(game)
{
Vector3[] vertices;
int[] indices;
//Create a big hollow sphere (squished into an ellipsoid).
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load <Model>("hollowsphere"), out vertices, out indices);
var transform = new AffineTransform(new Vector3(.06f, .04f, .06f), Quaternion.Identity, new Vector3(0, 0, 0));
//Note that meshes can also be made solid (MobileMeshSolidity.Solid). This gives meshes a solid collidable volume, instead of just
//being thin shells. However, enabling solidity is more expensive.
var mesh = new MobileMesh(vertices, indices, transform, MobileMeshSolidity.Counterclockwise);
mesh.Position = new Vector3(0, 0, 0);
//Make the mesh spin a bit!
mesh.AngularVelocity = new Vector3(0, 1, 0);
Space.Add(mesh);
//Add another mobile mesh inside.
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load <Model>("tube"), out vertices, out indices);
transform = new AffineTransform(new Vector3(1, 1, 1), Quaternion.Identity, new Vector3(0, 0, 0));
mesh = new MobileMesh(vertices, indices, transform, MobileMeshSolidity.Counterclockwise, 10);
mesh.Position = new Vector3(0, 10, 0);
Space.Add(mesh);
//Create a bunch of boxes.
#if WINDOWS
int numColumns = 5;
int numRows = 5;
int numHigh = 5;
#else
//Keep the simulation a bit smaller on the xbox.
int numColumns = 4;
int numRows = 4;
int numHigh = 4;
#endif
float separation = 1.5f;
for (int i = 0; i < numRows; i++)
{
for (int j = 0; j < numColumns; j++)
{
for (int k = 0; k < numHigh; k++)
{
Space.Add(new Box(new Vector3(separation * i, k * separation, separation * j), 1, 1, 1, 5));
}
}
}
//Space.Add(new Box(new Vector3(0, -10, 0), 1, 1, 1));
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, -10, 5);
game.Camera.Yaw = 0;
game.Camera.Pitch = 0;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TerrainDemo(DemosGame game)
: base(game)
{
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
int xLength = 256;
int zLength = 256;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, 0, -zLength * zSpacing / 2)));
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 5; k++)
{
Space.Add(new Box(
new Vector3(0 + i * 4, 100 - j * 10, 0 + k * 4),
2 + i * j * k,
2 + i * j * k,
2 + i * j * k,
4 + 20 * i * j * k));
}
}
}
game.ModelDrawer.Add(terrain);
game.Camera.Position = new Microsoft.Xna.Framework.Vector3(0, 30, 20);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public LotsOfBoxesTestDemo(DemosGame game)
: base(game)
{
var ground = new Box(new Vector3(0, -.5m, 0), 200, 1, 200);
Space.Add(ground);
var spawnVolume = new BoundingBox
{
Min = new Vector3(-25, 2, -25),
Max = new Vector3(25, 102, 25)
};
var span = spawnVolume.Max - spawnVolume.Min;
NarrowPhaseHelper.Factories.BoxBox.EnsureCount(30000);
var random = new Random(5);
for (int i = 0; i < 5000; ++i)
{
Vector3 position;
position.X = spawnVolume.Min.X + (Fix64)random.NextDouble() * span.X;
position.Y = spawnVolume.Min.Y + (Fix64)random.NextDouble() * span.Y;
position.Z = spawnVolume.Min.Z + (Fix64)random.NextDouble() * span.Z;
var entity = new Box(position, 2, 2, 2, 10);
Space.Add(entity);
}
for (int i = 0; i < 100; ++i)
{
Space.Update();
}
Process.GetCurrentProcess().PriorityClass = ProcessPriorityClass.RealTime;
var start = Stopwatch.GetTimestamp();
for (int i = 0; i < 200; ++i)
{
Space.Update();
}
var end = Stopwatch.GetTimestamp();
var time = (end - start) / (double)Stopwatch.Frequency;
Console.WriteLine("Time: {0}", time);
game.Camera.Position = new Vector3(-10, 10, 10);
game.Camera.Yaw(MathHelper.Pi / -4);
game.Camera.Pitch(MathHelper.Pi / 9);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public SuspensionCarDemo2(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
var body = new Box(new Vector3(0, 0, 0), 2, .5f, 3, 20);
body.CollisionInformation.LocalPosition = new Vector3(0, 1f, 0);
Space.Add(body);
AddBackWheel(new Vector3(-1f, .55f, 1.3f), body, true);
AddBackWheel(new Vector3(1f, .55f, 1.3f), body, false);
Box suspensionLeg1, suspensionLeg2;
AddDriveWheel(new Vector3(-1f, .55f, -1.3f), body, true, out drivingMotor1, out steeringMotor1, out suspensionLeg1);
AddDriveWheel(new Vector3(1f, .55f, -1.3f), body, false, out drivingMotor2, out steeringMotor2, out suspensionLeg2);
//Add a stabilizer so that the wheels can't point different directions.
var steeringStabilizer = new RevoluteAngularJoint(suspensionLeg1, suspensionLeg2, Vector3.Right);
Space.Add(steeringStabilizer);
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
int xLength = 180;
int zLength = 180;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, -10, -zLength * zSpacing / 2)));
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public GraphicMatchingDemo(DemosGame game)
: base(game)
{
//When creating a collision shape based on a model, the graphic will generally be offset at first.
//This is because the collision shape computes the center of mass and offsets itself to align with the local origin.
//That offset must be applied to the graphic to make it match the collision shape.
//Check out the documentation page for more information:
//http://bepuphysics.codeplex.com/wikipage?title=Shape%20Recentering
var model = game.Content.Load<Model>("guy");
BEPUutilities.Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(model, out vertices, out indices);
//Create an entity based on the model.
ConvexHull hull = new ConvexHull(vertices, 10);
Space.Add(hull);
//Create a graphic for the hull. The BEPUphysicsDrawer will also automatically receive a visualization of the convex hull which we can compare our graphic against.
//The graphic will be offset from the collision shape because we have not attempted to offset it to match the collision shape's origin.
var graphic = new DisplayEntityModel(hull, model, game.ModelDrawer);
game.ModelDrawer.Add(graphic);
//Now let's create another entity from the same vertices.
hull = new ConvexHull(vertices, 10);
Space.Add(hull);
//Note that the prefab entity type ConvexHull uses the ConvexHullShape constructor internally, which outputs the computed center of the shape
//prior to offset. The ConvexHull constructor sets the entity's Position to that position so that the initial world space location of the vertices
//matches what was passed into the constructor.
//The same process could be performed using this code:
//Vector3 computedCenter;
//var shape = new ConvexHullShape(vertices, out computedCenter); //<-- It spits out the computed center here; this is what is used to offset the graphic!
//var entity = new Entity(shape, 10);
//entity.Position = computedCenter;
//Space.Add(entity);
//For more information about constructing entities, check out the EntityConstructionDemo.
//But for now, let's just use the prefab entity type. As mentioned earlier, the constructor set the entity's Position using the computed center.
//Since we didn't overwrite it with some other position yet, we can still use it.
graphic = new DisplayEntityModel(hull, model, game.ModelDrawer);
graphic.LocalTransform = Matrix.CreateTranslation(-hull.Position);
game.ModelDrawer.Add(graphic);
//This graphic is perfectly aligned with the collision shape! Hooray!
Box ground = new Box(new Vector3(0, -1.5f, 0), 50, 1, 50);
Space.Add(ground);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public AddRemoveStressDemo(DemosGame game)
: base(game)
{
Space.Remove(vehicle.Vehicle);
var compoundShape = new CompoundShape(new List<CompoundShapeEntry>
{
new CompoundShapeEntry(new BoxShape(1, 1, 1), new Vector3(0, 1, 0), 1),
new CompoundShapeEntry(new BoxShape(2, 1, 2), new Vector3(), 1),
new CompoundShapeEntry(new BoxShape(1, 1, 1), new Vector3(0, -1, 0), 1)
});
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(compoundShape, 10);
addedEntities.Add(toAdd);
}
var boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(boxShape, 10);
addedEntities.Add(toAdd);
}
Vector3[] vertices;
int[] indices;
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load<Model>("cube"), out vertices, out indices);
var mobileMeshShape = new MobileMeshShape(vertices, indices, new AffineTransform(Matrix3x3.CreateScale(1, 2, 1), new Vector3()), MobileMeshSolidity.Counterclockwise);
for (int i = 0; i < 300; ++i)
{
var toAdd = new Entity(mobileMeshShape, 10);
addedEntities.Add(toAdd);
}
for (int i = 0; i < addedEntities.Count; ++i)
{
var entity = addedEntities[i];
entity.Gravity = new Vector3();
entity.Position = GetRandomPosition(random);
entity.LinearVelocity = 3 * Vector3.Normalize(entity.Position);
Space.Add(entity);
}
var playgroundModel = game.Content.Load<Model>("playground");
ModelDataExtractor.GetVerticesAndIndicesFromModel(playgroundModel, out vertices, out indices);
var staticMesh = new StaticMesh(vertices, indices, new AffineTransform(Matrix3x3.CreateFromAxisAngle(Vector3.Up, MathHelper.Pi), new Vector3(0, -30, 0)));
staticMesh.Sidedness = TriangleSidedness.Counterclockwise;
Space.Add(staticMesh);
game.ModelDrawer.Add(staticMesh);
game.Camera.Position = new Vector3(0, 6, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public MobileMeshDemo(DemosGame game)
: base(game)
{
Vector3[] vertices;
int[] indices;
//Create a big hollow sphere (squished into an ellipsoid).
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load<Model>("hollowsphere"), out vertices, out indices);
var transform = new AffineTransform(new Vector3(.06f, .04f, .06f), Quaternion.Identity, new Vector3(0, 0, 0));
//Note that meshes can also be made solid (MobileMeshSolidity.Solid). This gives meshes a solid collidable volume, instead of just
//being thin shells. However, enabling solidity is more expensive.
var mesh = new MobileMesh(vertices, indices, transform, MobileMeshSolidity.Counterclockwise);
mesh.Position = new Vector3(0, 0, 0);
//Make the mesh spin a bit!
mesh.AngularVelocity = new Vector3(0, 1, 0);
Space.Add(mesh);
//Add another mobile mesh inside.
ModelDataExtractor.GetVerticesAndIndicesFromModel(game.Content.Load<Model>("tube"), out vertices, out indices);
transform = new AffineTransform(new Vector3(1, 1, 1), Quaternion.Identity, new Vector3(0, 0, 0));
mesh = new MobileMesh(vertices, indices, transform, MobileMeshSolidity.Counterclockwise, 10);
mesh.Position = new Vector3(0, 10, 0);
Space.Add(mesh);
//Create a bunch of boxes.
#if WINDOWS
int numColumns = 5;
int numRows = 5;
int numHigh = 5;
#else
//Keep the simulation a bit smaller on the xbox.
int numColumns = 4;
int numRows = 4;
int numHigh = 4;
#endif
float separation = 1.5f;
for (int i = 0; i < numRows; i++)
for (int j = 0; j < numColumns; j++)
for (int k = 0; k < numHigh; k++)
{
Space.Add(new Box(new Vector3(separation * i, k * separation, separation * j), 1, 1, 1, 5));
}
//Space.Add(new Box(new Vector3(0, -10, 0), 1, 1, 1));
game.Camera.Position = new Vector3(0, -10, 5);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public InverseKinematicsTestDemo(DemosGame game)
: base(game)
{
cameraControl = new FreeCameraControlScheme(10, game.Camera, game);
whitePixel = game.Content.Load<Texture2D>("whitePixel");
game.Camera.Position = new Vector3(0, 3, 5);
Box ground = new Box(new Vector3(0, 0, 0), 30, 1, 30);
Space.Add(ground);
Space.ForceUpdater.Gravity = new Vector3(0, -9.81f, 0);
stateControlGroup = new StateControlGroup(game.Camera, controls);
drawer = new InstancedModelDrawer(game);
solver.ActiveSet.UseAutomass = true;
solver.AutoscaleControlImpulses = true;
solver.AutoscaleControlMaximumForce = float.MaxValue;
solver.TimeStepDuration = .1f;
solver.ControlIterationCount = 100;
solver.FixerIterationCount = 10;
solver.VelocitySubiterationCount = 3;
BuildChain(new Vector3(-5, 2, 0));
BuildStick(new Vector3(-10, 2, 0));
BuildActionFigure(new Vector3(5, 6, -8));
BuildActionFigure(new Vector3(5, 6, -3));
BuildActionFigure(new Vector3(5, 6, 3));
BuildActionFigure(new Vector3(5, 6, 8));
BuildCyclicMesh(new Vector3(-5, 5, -5));
//BuildJointTest(new Vector3(0, 5, 0));
//BuildTinyTest(new Vector3(0, 15, 0));
BuildRoboArmThing(new Vector3(0, 5, 0));
BuildRing(new Vector3(0, 10, 8));
//Create the display objects.
Model cylinder = game.Content.Load<Model>("cylinder");
for (int i = 0; i < bones.Count; i++)
{
var displayBone = new DisplayModel(cylinder, drawer);
var completedBone = bones[i];
completedBone.DisplayBone = displayBone;
bones[i] = completedBone;
drawer.Add(displayBone);
}
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public JengaDemo(DemosGame game)
: base(game)
{
Space.Remove(kapow);
//Have to shrink the ball a little to make it fit between jenga tower blocks.
kapow = new Sphere(new Vector3(-11000, 0, 0), .2f, 20);
kapow.PositionUpdateMode = PositionUpdateMode.Continuous; //The ball's really tiny! It will work better if it's handled continuously.
Space.Add(kapow);
int numBlocksTall = 18; //How many 'stories' tall.
float blockWidth = 3f; //Total width/length of the tower.
float blockHeight = 1 / 2f;
Entity toAdd;
//The default number of iterations is 10, which works fine, but this demo
//is all about stability (it's jenga!). Increase the iterations a bit.
//Even though it's using twice as many iterations, it will early-out
//before reaching the limit MOST of the time.
//It's still pretty playable at around 7-8 max iterations, though.
Space.Solver.IterationLimit = 20;
for (int i = 0; i < numBlocksTall; i++)
{
if (i % 2 == 0)
{
for (int j = 0; j < 3; j++)
{
toAdd = new Box(new Vector3(
j * (blockWidth / 3) - blockWidth / 3f,
blockHeight / 2 + i * (blockHeight),
0),
blockWidth / 3, blockHeight, blockWidth, 10);
Space.Add(toAdd);
}
}
else
{
for (int j = 0; j < 3; j++)
{
toAdd = new Box(new Vector3(
0,
blockHeight / 2 + (i) * (blockHeight),
j * (blockWidth / 3) - blockWidth / 3f),
blockWidth, blockHeight, blockWidth / 3, 10);
Space.Add(toAdd);
}
}
}
Space.Add(new Box(new Vector3(0, -.5f, 0), 40, 1, 40));
game.Camera.Position = new Vector3(0, 5, 15);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public InverseKinematicsTestDemo2(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 3, 5);
Box ground = new Box(new Vector3(0, -3, 0), 30, 1, 30);
Space.Add(ground);
Space.ForceUpdater.Gravity = new Vector3(0, -9.81m, 0);
var solver = new IKSolver();
solver.ActiveSet.UseAutomass = true;
//solver.AutoscaleControlImpulses = true;
//solver.AutoscaleControlMaximumForce = Fix64.MaxValue;
solver.ControlIterationCount = 20;
solver.FixerIterationCount = 0;
solver.VelocitySubiterationCount = 3;
List <Bone> bones;
List <Entity> boneEntities;
int boneCount = 10;
BuildStick(new Vector3(0, 0.5m, 0), boneCount, out bones, out boneEntities);
DragControl dragger = new DragControl {
TargetBone = bones[boneCount - 1], MaximumForce = Fix64.MaxValue
};
dragger.LinearMotor.Rigidity = 16;
dragger.LinearMotor.LocalOffset = new Vector3(0, 0.5m, 0);
dragger.LinearMotor.TargetPosition = new Vector3(10, 0, 0);
bones[0].Pinned = true;
var controls = new List <Control>();
controls.Add(dragger);
solver.Solve(controls);
var tipLocation = bones[boneCount - 1].Position + Matrix3x3.CreateFromQuaternion(bones[boneCount - 1].Orientation).Up * 0.5m;
for (int i = 0; i < bones.Count; ++i)
{
boneEntities[i].Position = bones[i].Position;
boneEntities[i].Orientation = bones[i].Orientation;
Space.Add(boneEntities[i]);
}
}
