public static RevoluteJoint RevoluteJoint(Scene scene)
{
BoxShapeDescription boxShapeDescA = new BoxShapeDescription(3, 3, 3);
BoxShapeDescription boxShapeDescB = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDescA = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(75, 1.5f, -55),
Shapes = { boxShapeDescA }
};
Actor actorA = scene.CreateActor(actorDescA);
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(70, 1.5f, -55),
Shapes = { boxShapeDescB }
};
Actor actorB = scene.CreateActor(actorDescB);
//
RevoluteJointDescription revoluteJointDesc = new RevoluteJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
Motor = new MotorDescription(20, 20.1f, true)
};
revoluteJointDesc.Flags |= RevoluteJointFlag.MotorEnabled;
revoluteJointDesc.SetGlobalAnchor(new Vector3(73.5f, 1.5f, -55));
revoluteJointDesc.SetGlobalAxis(new Vector3(1, 0, 0));
RevoluteJoint revoluteJoint = scene.CreateJoint(revoluteJointDesc) as RevoluteJoint;
return(revoluteJoint);
}
public static RevoluteJoint RevoluteJoint(Scene scene)
{
BoxShapeDescription boxShapeDescA = new BoxShapeDescription(3, 3, 3);
BoxShapeDescription boxShapeDescB = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDescA = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(75, 1.5f, -55),
Shapes = { boxShapeDescA }
};
Actor actorA = scene.CreateActor(actorDescA);
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(70, 1.5f, -55),
Shapes = { boxShapeDescB }
};
Actor actorB = scene.CreateActor(actorDescB);
//
RevoluteJointDescription revoluteJointDesc = new RevoluteJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
Motor = new MotorDescription(20, 20.1f, true)
};
revoluteJointDesc.Flags |= RevoluteJointFlag.MotorEnabled;
revoluteJointDesc.SetGlobalAnchor(new Vector3(73.5f, 1.5f, -55));
revoluteJointDesc.SetGlobalAxis(new Vector3(1, 0, 0));
RevoluteJoint revoluteJoint = scene.CreateJoint(revoluteJointDesc) as RevoluteJoint;
return revoluteJoint;
}
public void LoadPhysics()
{
Core _core = this.Core;
Scene _scene = this.Scene;
#region Some Boxes
for (int x = 0; x < 5; x++)
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(2, 3, 8);
ActorDescription actorDesc = new ActorDescription()
{
Name = String.Format("Box {0}", x),
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(100, 15 + 3 * x, 20),
Shapes = { boxShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
#endregion
//#region Cloth (Flag)
//{
// // Create a Grid of Points
// VertexGrid grid = VertexGrid.CreateGrid( 10, 10 );
// ClothMeshDescription clothMeshDesc = new ClothMeshDescription();
// clothMeshDesc.AllocateVertices<Vector3>( grid.Points.Length );
// clothMeshDesc.AllocateTriangles<int>( grid.Indices.Length / 3 );
// clothMeshDesc.VertexCount = grid.Points.Length;
// clothMeshDesc.TriangleCount = grid.Indices.Length / 3;
// clothMeshDesc.VerticesStream.SetData( grid.Points );
// clothMeshDesc.TriangleStream.SetData( grid.Indices );
// // We are using 32 bit integers, so make sure the 16 bit flag is removed.
// // 32 bits are the default, so this isn't technically needed
// clothMeshDesc.Flags &= ~MeshFlag.Indices16Bit;
// // Write the cooked data to memory
// MemoryStream memoryStream = new MemoryStream();
// Cooking.InitializeCooking();
// Cooking.CookClothMesh( clothMeshDesc, memoryStream );
// Cooking.CloseCooking();
// // Need to reset the position of the stream to the beginning
// memoryStream.Position = 0;
// ClothMesh clothMesh = _core.CreateClothMesh( memoryStream );
// //
// ClothDescription clothDesc = new ClothDescription()
// {
// ClothMesh = clothMesh,
// Flags = ClothFlag.Gravity | ClothFlag.Bending | ClothFlag.CollisionTwoway | ClothFlag.Visualization,
// GlobalPose =
// Matrix.CreateFromYawPitchRoll( 0, (float)Math.PI / 2.0f, (float)Math.PI / 2.0f ) *
// Matrix.CreateTranslation( 0, 20, 0 )
// };
// clothDesc.MeshData.AllocatePositions<Vector3>( grid.Points.Length );
// clothDesc.MeshData.AllocateIndices<int>( grid.Indices.Length );
// clothDesc.MeshData.MaximumVertices = grid.Points.Length;
// clothDesc.MeshData.MaximumIndices = grid.Indices.Length;
// clothDesc.MeshData.NumberOfVertices = grid.Points.Length;
// clothDesc.MeshData.NumberOfIndices = grid.Indices.Length;
// _flag = _scene.CreateCloth( clothDesc );
// // Flag Pole
// ActorDescription flagPoleActorDesc = new ActorDescription()
// {
// GlobalPose = Matrix.CreateTranslation( 0, 10, 0 ),
// Shapes = { new BoxShapeDescription( 1.0f, 20.0f, 1.0f ) }
// };
// Actor flagPoleActor = _scene.CreateActor( flagPoleActorDesc );
// _flag.AttachToShape( flagPoleActor.Shapes[ 0 ], 0 );
// _flag.WindAcceleration = new Vector3( 10, 10, 10 );
// _flag.BendingStiffness = 0.1f;
//}
//#endregion
#region Revolute Joint
{
BoxShapeDescription boxShapeDescA = new BoxShapeDescription(3, 3, 3);
BoxShapeDescription boxShapeDescB = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDescA = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(75, 1.5f, 55),
Shapes = { boxShapeDescA }
};
Actor actorA = _scene.CreateActor(actorDescA);
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(70, 1.5f, 55),
Shapes = { boxShapeDescB }
};
Actor actorB = _scene.CreateActor(actorDescB);
//
RevoluteJointDescription revoluteJointDesc = new RevoluteJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
Motor = new MotorDescription(20, 20.1f, true)
};
revoluteJointDesc.Flags |= RevoluteJointFlag.MotorEnabled;
revoluteJointDesc.SetGlobalAnchor(new Vector3(73.5f, 1.5f, 55));
revoluteJointDesc.SetGlobalAxis(new Vector3(1, 0, 0));
RevoluteJoint revoluteJoint = _scene.CreateJoint(revoluteJointDesc) as RevoluteJoint;
}
#endregion
#region Prismatic Joint with Limit
{
Actor actorA, actorB;
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
BodyDescription bodyDesc = new BodyDescription(10.0f);
bodyDesc.BodyFlags |= BodyFlag.Kinematic;
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
GlobalPose = Matrix.Translation(70, 25, 65),
Shapes = { boxShapeDesc }
};
actorA = _scene.CreateActor(actorDesc);
}
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.Translation(70, 15, 65),
Shapes = { boxShapeDesc }
};
actorB = _scene.CreateActor(actorDesc);
}
PrismaticJointDescription prismaticJointDesc = new PrismaticJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
};
prismaticJointDesc.SetGlobalAnchor(new Vector3(70, 20, 65));
prismaticJointDesc.SetGlobalAxis(new Vector3(0, 1, 0));
PrismaticJoint prismaticJoint = _scene.CreateJoint(prismaticJointDesc) as PrismaticJoint;
LimitPlane limitPlane = new LimitPlane(new Vector3(0, 1, 0), new Vector3(-30, 8, -30), 0);
prismaticJoint.AddLimitPlane(limitPlane);
}
#endregion
#region Fluid
{
const int maximumParticles = 1000;
FluidEmitterDescription fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose = Matrix.Translation(-40, 10, 50),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);
FluidDescription fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization,
MaximumParticles = maximumParticles
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer <Vector3>(maximumParticles);
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
Fluid fluid = _scene.CreateFluid(fluidDesc);
// Ledge
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.RotationX(0.5f) * Matrix.Translation(-40, 5, 52),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor(drainActorDesc);
}
// Drain
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation(-40, 0, 55),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor(drainActorDesc);
}
}
#endregion
#region Force Field
{
BoxForceFieldShapeDescription boxForceFieldShapeDesc = new BoxForceFieldShapeDescription()
{
Size = new Vector3(10, 10, 10)
};
ForceFieldLinearKernelDescription kernelDesc = new ForceFieldLinearKernelDescription()
{
Constant = new Vector3(0, 100.0f, 0)
};
ForceFieldLinearKernel kernel = _scene.CreateForceFieldLinearKernel(kernelDesc);
ForceFieldShapeGroupDescription shapeGroupDesc = new ForceFieldShapeGroupDescription()
{
Shapes = { boxForceFieldShapeDesc }
};
ForceFieldShapeGroup shapeGroup = _scene.CreateForceFieldShapeGroup(shapeGroupDesc);
BoxForceFieldShape boxForceFieldShape = shapeGroup.CreateShape(boxForceFieldShapeDesc) as BoxForceFieldShape;
boxForceFieldShape.Pose = Matrix.Translation(30, 5, 0);
ForceFieldDescription forceFieldDesc = new ForceFieldDescription()
{
Kernel = kernel,
ShapeGroups = { shapeGroup }
};
ForceField forceField = _scene.CreateForceField(forceFieldDesc);
}
#endregion
#region Heightfield
{
int rows = 25;
int columns = 25;
HeightFieldSample[] samples = new HeightFieldSample[rows * columns];
for (int r = 0; r < rows; r++)
{
for (int c = 0; c < columns; c++)
{
// Put a z and x curve together
double h = Math.Sin(c) * Math.Cos(r) * short.MaxValue;
HeightFieldSample sample = new HeightFieldSample()
{
Height = (short)h,
MaterialIndex0 = 0,
MaterialIndex1 = 1,
TessellationFlag = 0
};
samples[r * columns + c] = sample;
}
}
HeightFieldDescription heightFieldDesc = new HeightFieldDescription()
{
NumberOfRows = rows,
NumberOfColumns = columns
};
heightFieldDesc.SetSamples(samples);
HeightField heightField = _core.CreateHeightField(heightFieldDesc);
//
HeightFieldShapeDescription heightFieldShapeDesc = new HeightFieldShapeDescription()
{
HeightField = heightField,
HoleMaterial = 2,
// The max height of our samples is short.MaxValue and we want it to be 1
HeightScale = 1.0f / (float)short.MaxValue,
RowScale = 3,
ColumnScale = 3
};
heightFieldShapeDesc.LocalPosition = new Vector3(-0.5f * rows * 1 * heightFieldShapeDesc.RowScale, 0, -0.5f * columns * 1 * heightFieldShapeDesc.ColumnScale);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation(100, 0, 0),
Shapes = { heightFieldShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
#endregion
//#region Convex Mesh
//{
// ModelMesh mesh = _torusModel.Meshes.First();
// Matrix[] transforms = new Matrix[ _torusModel.Bones.Count ];
// _torusModel.CopyAbsoluteBoneTransformsTo( transforms );
// // Gets the vertices from the mesh
// VertexPositionNormalTexture[] vertices = new VertexPositionNormalTexture[ mesh.MeshParts[ 0 ].NumVertices ];
// mesh.VertexBuffer.GetData<VertexPositionNormalTexture>( vertices );
// //
// // Allocate memory for the points and triangles
// var convexMeshDesc = new ConvexMeshDescription()
// {
// PointCount = vertices.Length
// };
// convexMeshDesc.Flags |= ConvexFlag.ComputeConvex;
// convexMeshDesc.AllocatePoints<Vector3>( vertices.Length );
// // Write in the points and triangles
// // We only want the Position component of the vertex. Also scale down the mesh
// foreach( VertexPositionNormalTexture vertex in vertices )
// {
// Vector3 position = Vector3.Transform( vertex.Position, Matrix.CreateScale( 0.1f, 0.1f, 0.1f ) * transforms[ 0 ] );
// convexMeshDesc.PointsStream.Write( position );
// }
// //
// // Cook to memory or to a file
// MemoryStream stream = new MemoryStream();
// //FileStream stream = new FileStream( @"Convex Mesh.cooked", FileMode.CreateNew );
// Cooking.InitializeCooking( new ConsoleOutputStream() );
// Cooking.CookConvexMesh( convexMeshDesc, stream );
// Cooking.CloseCooking();
// stream.Position = 0;
// ConvexMesh convexMesh = _core.CreateConvexMesh( stream );
// ConvexShapeDescription convexShapeDesc = new ConvexShapeDescription( convexMesh );
// ActorDescription actorDesc = new ActorDescription()
// {
// BodyDescription = new BodyDescription( 10.0f ),
// GlobalPose = Matrix.CreateTranslation( 30, 30, 0 )
// };
// actorDesc.Shapes.Add( convexShapeDesc );
// _torusActor = _scene.CreateActor( actorDesc );
//}
//#endregion
//#region SoftBody
//if( false ) // Enable to view soft bodies, they run slowly
//{
// XmlDocument doc = new XmlDocument();
// doc.Load( "Teapot.xml" );
// // Not how NxuStream are meant to used but what ever :S
// Vector3[] vertices = ReadVertices( doc.SelectSingleNode( "/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices" ) );
// int[] tetrahedraSingles = ReadTetrahedra( doc.SelectSingleNode( "/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra" ) );
// var softBodyMeshDesc = new SoftBodyMeshDescription()
// {
// VertexCount = vertices.Length,
// TetrahedraCount = tetrahedraSingles.Length / 4 // Tetrahedras come in quadruples of ints
// };
// softBodyMeshDesc.AllocateVertices<Vector3>( softBodyMeshDesc.VertexCount );
// softBodyMeshDesc.AllocateTetrahedra<int>( softBodyMeshDesc.TetrahedraCount ); // Note: T is an int. T is the type of each point
// softBodyMeshDesc.VertexStream.SetData( vertices );
// softBodyMeshDesc.TetrahedraStream.SetData( tetrahedraSingles );
// MemoryStream memoryStream = new MemoryStream();
// Cooking.InitializeCooking();
// Cooking.CookSoftBodyMesh( softBodyMeshDesc, memoryStream );
// Cooking.CloseCooking();
// memoryStream.Position = 0;
// SoftBodyMesh softBodyMesh = _core.CreateSoftBodyMesh( memoryStream );
// SoftBodyDescription desc = new SoftBodyDescription()
// {
// GlobalPose = Matrix.CreateTranslation( -30, 20, -30 ),
// SoftBodyMesh = softBodyMesh
// };
// desc.Flags |= SoftBodyFlag.Visualization;
// desc.MeshData.AllocatePositions<Vector3>( vertices.Length );
// desc.MeshData.AllocateIndices<int>( tetrahedraSingles.Length );
// SoftBody softBody = _scene.CreateSoftBody( desc );
//}
//#endregion
//#region Reports
//// Contact report
//// When the capsule actor hits the ground make it bounce by using the conact report
//{
// CapsuleShapeDescription capsuleShapeDesc = new CapsuleShapeDescription( 1, 5 );
// ActorDescription actorDesc = new ActorDescription()
// {
// GlobalPose = Matrix.CreateTranslation( -30, 20, 0 ),
// BodyDescription = new BodyDescription( 10.0f ),
// Name = "Report Capsule",
// Shapes = { capsuleShapeDesc }
// };
// _contactReportActor = _scene.CreateActor( actorDesc );
// _scene.SetActorPairFlags( _contactReportActor, _groundActor, ContactPairFlag.All );
// _scene.UserContactReport = new ContactReport( this );
//}
//// Trigger Reports
//{
// BoxShapeDescription boxShapeDesc = new BoxShapeDescription( 15, 8, 15 );
// boxShapeDesc.Flags |= ( ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave );
// ActorDescription actorDesc = new ActorDescription()
// {
// GlobalPose = Matrix.CreateTranslation( -30, 4, 0 ),
// Shapes = { boxShapeDesc }
// };
// _scene.CreateActor( actorDesc );
// _scene.UserTriggerReport = new TriggerReport( this );
//}
//_scene.UserNotify = new Notify( this );
//#endregion
//#region Wheel
//{
// _basicVehicle = new Vehicle( this );
//}
//#endregion
#region Controller
{
ControllerManager manager = _scene.CreateControllerManager();
CapsuleControllerDescription capsuleControllerDesc = new CapsuleControllerDescription(4, 3);
CapsuleController capsuleController = manager.CreateController <CapsuleController>(capsuleControllerDesc);
capsuleController.Position = new Vector3(0, 1.5f + 2, -15);
capsuleController.Actor.Name = "BoxController";
capsuleController.SetCollisionEnabled(true);
}
#endregion
}
public void LoadPhysics()
{
Core _core = this.Core;
Scene _scene = this.Scene;
#region Some Boxes
for( int x = 0; x < 5; x++ )
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription( 2, 3, 8 );
ActorDescription actorDesc = new ActorDescription()
{
Name = String.Format( "Box {0}", x ),
BodyDescription = new BodyDescription( 10.0f ),
GlobalPose = Matrix.Translation( 100, 15 + 3 * x, 20 ),
Shapes = { boxShapeDesc }
};
Actor actor = _scene.CreateActor( actorDesc );
}
#endregion
//#region Cloth (Flag)
//{
// // Create a Grid of Points
// VertexGrid grid = VertexGrid.CreateGrid( 10, 10 );
// ClothMeshDescription clothMeshDesc = new ClothMeshDescription();
// clothMeshDesc.AllocateVertices<Vector3>( grid.Points.Length );
// clothMeshDesc.AllocateTriangles<int>( grid.Indices.Length / 3 );
// clothMeshDesc.VertexCount = grid.Points.Length;
// clothMeshDesc.TriangleCount = grid.Indices.Length / 3;
// clothMeshDesc.VerticesStream.SetData( grid.Points );
// clothMeshDesc.TriangleStream.SetData( grid.Indices );
// // We are using 32 bit integers, so make sure the 16 bit flag is removed.
// // 32 bits are the default, so this isn't technically needed
// clothMeshDesc.Flags &= ~MeshFlag.Indices16Bit;
// // Write the cooked data to memory
// MemoryStream memoryStream = new MemoryStream();
// Cooking.InitializeCooking();
// Cooking.CookClothMesh( clothMeshDesc, memoryStream );
// Cooking.CloseCooking();
// // Need to reset the position of the stream to the beginning
// memoryStream.Position = 0;
// ClothMesh clothMesh = _core.CreateClothMesh( memoryStream );
// //
// ClothDescription clothDesc = new ClothDescription()
// {
// ClothMesh = clothMesh,
// Flags = ClothFlag.Gravity | ClothFlag.Bending | ClothFlag.CollisionTwoway | ClothFlag.Visualization,
// GlobalPose =
// Matrix.CreateFromYawPitchRoll( 0, (float)Math.PI / 2.0f, (float)Math.PI / 2.0f ) *
// Matrix.CreateTranslation( 0, 20, 0 )
// };
// clothDesc.MeshData.AllocatePositions<Vector3>( grid.Points.Length );
// clothDesc.MeshData.AllocateIndices<int>( grid.Indices.Length );
// clothDesc.MeshData.MaximumVertices = grid.Points.Length;
// clothDesc.MeshData.MaximumIndices = grid.Indices.Length;
// clothDesc.MeshData.NumberOfVertices = grid.Points.Length;
// clothDesc.MeshData.NumberOfIndices = grid.Indices.Length;
// _flag = _scene.CreateCloth( clothDesc );
// // Flag Pole
// ActorDescription flagPoleActorDesc = new ActorDescription()
// {
// GlobalPose = Matrix.CreateTranslation( 0, 10, 0 ),
// Shapes = { new BoxShapeDescription( 1.0f, 20.0f, 1.0f ) }
// };
// Actor flagPoleActor = _scene.CreateActor( flagPoleActorDesc );
// _flag.AttachToShape( flagPoleActor.Shapes[ 0 ], 0 );
// _flag.WindAcceleration = new Vector3( 10, 10, 10 );
// _flag.BendingStiffness = 0.1f;
//}
//#endregion
#region Revolute Joint
{
BoxShapeDescription boxShapeDescA = new BoxShapeDescription( 3, 3, 3 );
BoxShapeDescription boxShapeDescB = new BoxShapeDescription( 3, 3, 3 );
ActorDescription actorDescA = new ActorDescription()
{
BodyDescription = new BodyDescription( 10.0f ),
GlobalPose = Matrix.Translation( 75, 1.5f, 55 ),
Shapes = { boxShapeDescA }
};
Actor actorA = _scene.CreateActor( actorDescA );
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription( 10.0f ),
GlobalPose = Matrix.Translation( 70, 1.5f, 55 ),
Shapes = { boxShapeDescB }
};
Actor actorB = _scene.CreateActor( actorDescB );
//
RevoluteJointDescription revoluteJointDesc = new RevoluteJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
Motor = new MotorDescription( 20, 20.1f, true )
};
revoluteJointDesc.Flags |= RevoluteJointFlag.MotorEnabled;
revoluteJointDesc.SetGlobalAnchor( new Vector3( 73.5f, 1.5f, 55 ) );
revoluteJointDesc.SetGlobalAxis( new Vector3( 1, 0, 0 ) );
RevoluteJoint revoluteJoint = _scene.CreateJoint( revoluteJointDesc ) as RevoluteJoint;
}
#endregion
#region Prismatic Joint with Limit
{
Actor actorA, actorB;
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription( 3, 3, 3 );
BodyDescription bodyDesc = new BodyDescription( 10.0f );
bodyDesc.BodyFlags |= BodyFlag.Kinematic;
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
GlobalPose = Matrix.Translation( 70, 25, 65 ),
Shapes = { boxShapeDesc }
};
actorA = _scene.CreateActor( actorDesc );
}
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription( 3, 3, 3 );
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription( 10.0f ),
GlobalPose = Matrix.Translation( 70, 15, 65 ),
Shapes = { boxShapeDesc }
};
actorB = _scene.CreateActor( actorDesc );
}
PrismaticJointDescription prismaticJointDesc = new PrismaticJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
};
prismaticJointDesc.SetGlobalAnchor( new Vector3( 70, 20, 65 ) );
prismaticJointDesc.SetGlobalAxis( new Vector3( 0, 1, 0 ) );
PrismaticJoint prismaticJoint = _scene.CreateJoint( prismaticJointDesc ) as PrismaticJoint;
LimitPlane limitPlane = new LimitPlane( new Vector3( 0, 1, 0 ), new Vector3( -30, 8, -30 ), 0 );
prismaticJoint.AddLimitPlane( limitPlane );
}
#endregion
#region Fluid
{
const int maximumParticles = 1000;
FluidEmitterDescription fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose = Matrix.Translation( -40, 10, 50 ),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= ( FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization );
FluidDescription fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization,
MaximumParticles = maximumParticles
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer<Vector3>( maximumParticles );
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
Fluid fluid = _scene.CreateFluid( fluidDesc );
// Ledge
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription( 5, 0.1f, 5 );
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.RotationX( 0.5f ) * Matrix.Translation( -40, 5, 52 ),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor( drainActorDesc );
}
// Drain
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription( 5, 0.1f, 5 );
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation( -40, 0, 55 ),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor( drainActorDesc );
}
}
#endregion
#region Force Field
{
BoxForceFieldShapeDescription boxForceFieldShapeDesc = new BoxForceFieldShapeDescription()
{
Size = new Vector3( 10, 10, 10 )
};
ForceFieldLinearKernelDescription kernelDesc = new ForceFieldLinearKernelDescription()
{
Constant = new Vector3( 0, 100.0f, 0 )
};
ForceFieldLinearKernel kernel = _scene.CreateForceFieldLinearKernel( kernelDesc );
ForceFieldShapeGroupDescription shapeGroupDesc = new ForceFieldShapeGroupDescription()
{
Shapes = { boxForceFieldShapeDesc }
};
ForceFieldShapeGroup shapeGroup = _scene.CreateForceFieldShapeGroup( shapeGroupDesc );
BoxForceFieldShape boxForceFieldShape = shapeGroup.CreateShape( boxForceFieldShapeDesc ) as BoxForceFieldShape;
boxForceFieldShape.Pose = Matrix.Translation( 30, 5, 0 );
ForceFieldDescription forceFieldDesc = new ForceFieldDescription()
{
Kernel = kernel,
ShapeGroups = { shapeGroup }
};
ForceField forceField = _scene.CreateForceField( forceFieldDesc );
}
#endregion
#region Heightfield
{
int rows = 25;
int columns = 25;
HeightFieldSample[] samples = new HeightFieldSample[ rows * columns ];
for( int r = 0; r < rows; r++ )
{
for( int c = 0; c < columns; c++ )
{
// Put a z and x curve together
double h = Math.Sin( c ) * Math.Cos( r ) * short.MaxValue;
HeightFieldSample sample = new HeightFieldSample()
{
Height = (short)h,
MaterialIndex0 = 0,
MaterialIndex1 = 1,
TessellationFlag = 0
};
samples[ r * columns + c ] = sample;
}
}
HeightFieldDescription heightFieldDesc = new HeightFieldDescription()
{
NumberOfRows = rows,
NumberOfColumns = columns
};
heightFieldDesc.SetSamples( samples );
HeightField heightField = _core.CreateHeightField( heightFieldDesc );
//
HeightFieldShapeDescription heightFieldShapeDesc = new HeightFieldShapeDescription()
{
HeightField = heightField,
HoleMaterial = 2,
// The max height of our samples is short.MaxValue and we want it to be 1
HeightScale = 1.0f / (float)short.MaxValue,
RowScale = 3,
ColumnScale = 3
};
heightFieldShapeDesc.LocalPosition = new Vector3( -0.5f * rows * 1 * heightFieldShapeDesc.RowScale, 0, -0.5f * columns * 1 * heightFieldShapeDesc.ColumnScale );
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.Translation( 100, 0, 0 ),
Shapes = { heightFieldShapeDesc }
};
Actor actor = _scene.CreateActor( actorDesc );
}
#endregion
//#region Convex Mesh
//{
// ModelMesh mesh = _torusModel.Meshes.First();
// Matrix[] transforms = new Matrix[ _torusModel.Bones.Count ];
// _torusModel.CopyAbsoluteBoneTransformsTo( transforms );
// // Gets the vertices from the mesh
// VertexPositionNormalTexture[] vertices = new VertexPositionNormalTexture[ mesh.MeshParts[ 0 ].NumVertices ];
// mesh.VertexBuffer.GetData<VertexPositionNormalTexture>( vertices );
// //
// // Allocate memory for the points and triangles
// var convexMeshDesc = new ConvexMeshDescription()
// {
// PointCount = vertices.Length
// };
// convexMeshDesc.Flags |= ConvexFlag.ComputeConvex;
// convexMeshDesc.AllocatePoints<Vector3>( vertices.Length );
// // Write in the points and triangles
// // We only want the Position component of the vertex. Also scale down the mesh
// foreach( VertexPositionNormalTexture vertex in vertices )
// {
// Vector3 position = Vector3.Transform( vertex.Position, Matrix.CreateScale( 0.1f, 0.1f, 0.1f ) * transforms[ 0 ] );
// convexMeshDesc.PointsStream.Write( position );
// }
// //
// // Cook to memory or to a file
// MemoryStream stream = new MemoryStream();
// //FileStream stream = new FileStream( @"Convex Mesh.cooked", FileMode.CreateNew );
// Cooking.InitializeCooking( new ConsoleOutputStream() );
// Cooking.CookConvexMesh( convexMeshDesc, stream );
// Cooking.CloseCooking();
// stream.Position = 0;
// ConvexMesh convexMesh = _core.CreateConvexMesh( stream );
// ConvexShapeDescription convexShapeDesc = new ConvexShapeDescription( convexMesh );
// ActorDescription actorDesc = new ActorDescription()
// {
// BodyDescription = new BodyDescription( 10.0f ),
// GlobalPose = Matrix.CreateTranslation( 30, 30, 0 )
// };
// actorDesc.Shapes.Add( convexShapeDesc );
// _torusActor = _scene.CreateActor( actorDesc );
//}
//#endregion
//#region SoftBody
//if( false ) // Enable to view soft bodies, they run slowly
//{
// XmlDocument doc = new XmlDocument();
// doc.Load( "Teapot.xml" );
// // Not how NxuStream are meant to used but what ever :S
// Vector3[] vertices = ReadVertices( doc.SelectSingleNode( "/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices" ) );
// int[] tetrahedraSingles = ReadTetrahedra( doc.SelectSingleNode( "/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra" ) );
// var softBodyMeshDesc = new SoftBodyMeshDescription()
// {
// VertexCount = vertices.Length,
// TetrahedraCount = tetrahedraSingles.Length / 4 // Tetrahedras come in quadruples of ints
// };
// softBodyMeshDesc.AllocateVertices<Vector3>( softBodyMeshDesc.VertexCount );
// softBodyMeshDesc.AllocateTetrahedra<int>( softBodyMeshDesc.TetrahedraCount ); // Note: T is an int. T is the type of each point
// softBodyMeshDesc.VertexStream.SetData( vertices );
// softBodyMeshDesc.TetrahedraStream.SetData( tetrahedraSingles );
// MemoryStream memoryStream = new MemoryStream();
// Cooking.InitializeCooking();
// Cooking.CookSoftBodyMesh( softBodyMeshDesc, memoryStream );
// Cooking.CloseCooking();
// memoryStream.Position = 0;
// SoftBodyMesh softBodyMesh = _core.CreateSoftBodyMesh( memoryStream );
// SoftBodyDescription desc = new SoftBodyDescription()
// {
// GlobalPose = Matrix.CreateTranslation( -30, 20, -30 ),
// SoftBodyMesh = softBodyMesh
// };
// desc.Flags |= SoftBodyFlag.Visualization;
// desc.MeshData.AllocatePositions<Vector3>( vertices.Length );
// desc.MeshData.AllocateIndices<int>( tetrahedraSingles.Length );
// SoftBody softBody = _scene.CreateSoftBody( desc );
//}
//#endregion
//#region Reports
//// Contact report
//// When the capsule actor hits the ground make it bounce by using the conact report
//{
// CapsuleShapeDescription capsuleShapeDesc = new CapsuleShapeDescription( 1, 5 );
// ActorDescription actorDesc = new ActorDescription()
// {
// GlobalPose = Matrix.CreateTranslation( -30, 20, 0 ),
// BodyDescription = new BodyDescription( 10.0f ),
// Name = "Report Capsule",
// Shapes = { capsuleShapeDesc }
// };
// _contactReportActor = _scene.CreateActor( actorDesc );
// _scene.SetActorPairFlags( _contactReportActor, _groundActor, ContactPairFlag.All );
// _scene.UserContactReport = new ContactReport( this );
//}
//// Trigger Reports
//{
// BoxShapeDescription boxShapeDesc = new BoxShapeDescription( 15, 8, 15 );
// boxShapeDesc.Flags |= ( ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave );
// ActorDescription actorDesc = new ActorDescription()
// {
// GlobalPose = Matrix.CreateTranslation( -30, 4, 0 ),
// Shapes = { boxShapeDesc }
// };
// _scene.CreateActor( actorDesc );
// _scene.UserTriggerReport = new TriggerReport( this );
//}
//_scene.UserNotify = new Notify( this );
//#endregion
//#region Wheel
//{
// _basicVehicle = new Vehicle( this );
//}
//#endregion
#region Controller
{
ControllerManager manager = _scene.CreateControllerManager();
CapsuleControllerDescription capsuleControllerDesc = new CapsuleControllerDescription( 4, 3 );
CapsuleController capsuleController = manager.CreateController<CapsuleController>( capsuleControllerDesc );
capsuleController.Position = new Vector3( 0, 1.5f + 2, -15 );
capsuleController.Actor.Name = "BoxController";
capsuleController.SetCollisionEnabled( true );
}
#endregion
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
//Initialize the core of physics engine
CoreDescription coreDesc = new CoreDescription();
_core = new Core(coreDesc, null);
//Create a physics scene
_scene = _core.CreateScene(new StillDesign.PhysX.MathPrimitives.Vector3(0, -9.81f, 0), true);
_boxActor = new List <Actor>();
_wheel = new List <Actor>();
wheelj = new List <RevoluteJoint>();
boxes = new List <FixedJoint>();
//Create a material
MaterialDescription materialDec = new MaterialDescription();
materialDec.DirectionOfAnisotropy = new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1);
materialDec.DynamicFriction = 0.5f;
materialDec.DynamicFrictionV = 0.5f;
materialDec.StaticFriction = 0.5f;
materialDec.StaticFrictionV = 0.5f;
materialDec.Restitution = 0.8f;
materialDec.Flags = MaterialFlag.Ansiotropic;
Material material1 = _scene.CreateMaterial(materialDec);
ActorDescription boxADec = new ActorDescription();
boxADec.BodyDescription = new BodyDescription(5);
boxADec.Shapes.Add(new BoxShapeDescription(2, 2, 2)
{
LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(0, 1, 0), Material = material1
});
boxADec.Shapes.Add(new BoxShapeDescription(1, 3, 1)
{
LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(0, 3f, 0), Material = material1
});
boxADec.Shapes.Add(new BoxShapeDescription(3, 1, 1)
{
LocalPosition = new StillDesign.PhysX.MathPrimitives.Vector3(-1f, 5, 0), Material = material1
});
boxADec.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(47f, 1f, 6f);
_boxActor.Add(_scene.CreateActor(boxADec));
ActorDescription wheel1 = new ActorDescription();
wheel1.BodyDescription = new BodyDescription(5);
wheel1.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel1.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45.3f, 1f, 4.3f);
_wheel.Add(_scene.CreateActor(wheel1));
ActorDescription wheel2 = new ActorDescription();
wheel2.BodyDescription = new BodyDescription(5);
wheel2.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel2.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45.3f, 1, 7.8f);
_wheel.Add(_scene.CreateActor(wheel2));
ActorDescription wheel3 = new ActorDescription();
wheel3.BodyDescription = new BodyDescription(5);
wheel3.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel3.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48.7f, 1, 4.3f);
_wheel.Add(_scene.CreateActor(wheel3));
ActorDescription wheel4 = new ActorDescription();
wheel4.BodyDescription = new BodyDescription(5);
wheel4.Shapes.Add(new SphereShapeDescription(1)
{
Material = material1
});
wheel4.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48.7f, 1, 7.8f);
_wheel.Add(_scene.CreateActor(wheel4));
ActorDescription boxADec1 = new ActorDescription();
boxADec1.BodyDescription = new BodyDescription(1000);
boxADec1.Shapes.Add(new BoxShapeDescription(35, 10, 1));
boxADec1.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(33f, 5, 12.1f);
_boxActor.Add(_scene.CreateActor(boxADec1));
ActorDescription boxADec2 = new ActorDescription();
boxADec2.BodyDescription = new BodyDescription(1000);
boxADec2.Shapes.Add(new BoxShapeDescription(1, 10, 25.5f));
boxADec2.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(15f, 5, 24.4f);
_boxActor.Add(_scene.CreateActor(boxADec2));
ActorDescription boxADec3 = new ActorDescription();
boxADec3.BodyDescription = new BodyDescription(1000);
boxADec3.Shapes.Add(new BoxShapeDescription(4f, 10, 1f));
boxADec3.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(49f, 5, -1f);
_boxActor.Add(_scene.CreateActor(boxADec3));
ActorDescription boxADec4 = new ActorDescription();
boxADec4.BodyDescription = new BodyDescription(1000);
boxADec4.Shapes.Add(new BoxShapeDescription(1f, 10, 70f));
boxADec4.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(51f, 5, -3f);
_boxActor.Add(_scene.CreateActor(boxADec4));
ActorDescription boxADec5 = new ActorDescription();
boxADec5.BodyDescription = new BodyDescription(1000);
boxADec5.Shapes.Add(new BoxShapeDescription(105f, 10, 1f));
boxADec5.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(0f, 5, 37.7f);
_boxActor.Add(_scene.CreateActor(boxADec5));
ActorDescription boxADec6 = new ActorDescription();
boxADec6.BodyDescription = new BodyDescription(1000);
boxADec6.Shapes.Add(new BoxShapeDescription(1, 10, 25.5f));
boxADec6.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-16.6f, 5, 24.4f);
_boxActor.Add(_scene.CreateActor(boxADec6));
ActorDescription boxADec7 = new ActorDescription();
boxADec7.BodyDescription = new BodyDescription(1000);
boxADec7.Shapes.Add(new BoxShapeDescription(1, 10, 42f));
boxADec7.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-51f, 5, 16.5f);
_boxActor.Add(_scene.CreateActor(boxADec7));
ActorDescription boxADec8 = new ActorDescription();
boxADec8.BodyDescription = new BodyDescription(1000);
boxADec8.Shapes.Add(new BoxShapeDescription(8.5f, 10, 1f));
boxADec8.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-46.25f, 5, 12.15f);
_boxActor.Add(_scene.CreateActor(boxADec8));
ActorDescription boxADec9 = new ActorDescription();
boxADec9.BodyDescription = new BodyDescription(1000);
boxADec9.Shapes.Add(new BoxShapeDescription(8.5f, 10, 1f));
boxADec9.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-21f, 5, 12.15f);
_boxActor.Add(_scene.CreateActor(boxADec9));
ActorDescription boxADec10 = new ActorDescription();
boxADec10.BodyDescription = new BodyDescription(1);
boxADec10.Shapes.Add(new BoxShapeDescription(1, 1, 1));
boxADec10.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-20, 0.5f, 30);
_boxActor.Add(_scene.CreateActor(boxADec10));
ActorDescription boxADec11 = new ActorDescription();
boxADec11.BodyDescription = new BodyDescription(5);
boxADec11.Shapes.Add(new BoxShapeDescription(1, 1, 1)
{
Material = material1
});
boxADec11.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(45, 4, 6);
box11 = _scene.CreateActor(boxADec11);
ActorDescription boxADec12 = new ActorDescription();
boxADec12.BodyDescription = new BodyDescription(1000);
boxADec12.Shapes.Add(new BoxShapeDescription(4f, 10, 1f));
boxADec12.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(27.5f, 5, -1f);
_boxActor.Add(_scene.CreateActor(boxADec12));
ActorDescription boxADec13 = new ActorDescription();
boxADec13.BodyDescription = new BodyDescription(1000);
boxADec13.Shapes.Add(new BoxShapeDescription(21.5f, 10, 1f));
boxADec13.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(36f, 5, -26.8f);
_boxActor.Add(_scene.CreateActor(boxADec13));
ActorDescription boxADec14 = new ActorDescription();
boxADec14.BodyDescription = new BodyDescription(1000);
boxADec14.Shapes.Add(new BoxShapeDescription(4f, 10, 1f));
boxADec14.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(49f, 5, -26.8f);
_boxActor.Add(_scene.CreateActor(boxADec14));
ActorDescription boxADec15 = new ActorDescription();
boxADec15.BodyDescription = new BodyDescription(1000);
boxADec15.Shapes.Add(new BoxShapeDescription(106f, 10, 1f));
boxADec15.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(0f, 5, -38.1f);
_boxActor.Add(_scene.CreateActor(boxADec15));
ActorDescription boxADec16 = new ActorDescription();
boxADec16.BodyDescription = new BodyDescription(1000);
boxADec16.Shapes.Add(new BoxShapeDescription(1, 10, 26.8f));
boxADec16.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(25f, 5, -13.9f);
_boxActor.Add(_scene.CreateActor(boxADec16));
ActorDescription boxADec17 = new ActorDescription();
boxADec17.BodyDescription = new BodyDescription(1000);
boxADec17.Shapes.Add(new BoxShapeDescription(17.2f, 0.25f, 1f));
boxADec17.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.125f, -1f);
_boxActor.Add(_scene.CreateActor(boxADec17));
ActorDescription boxADec18 = new ActorDescription();
boxADec18.BodyDescription = new BodyDescription(1000);
boxADec18.Shapes.Add(new BoxShapeDescription(25f, 0.25f, 24.5f));
boxADec18.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38f, 0.25f, -14f);
_boxActor.Add(_scene.CreateActor(boxADec18));
ActorDescription boxADec19 = new ActorDescription();
boxADec19.BodyDescription = new BodyDescription(1000);
boxADec19.Shapes.Add(new BoxShapeDescription(17.2f, 0.25f, 1f));
boxADec19.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.5f, -2f);
_boxActor.Add(_scene.CreateActor(boxADec19));
ActorDescription boxADec20 = new ActorDescription();
boxADec20.BodyDescription = new BodyDescription(1000);
boxADec20.Shapes.Add(new BoxShapeDescription(17.2f, 0.5f, 1f));
boxADec20.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 0.5f, -3f);
_boxActor.Add(_scene.CreateActor(boxADec20));
ActorDescription boxADec21 = new ActorDescription();
boxADec21.BodyDescription = new BodyDescription(1000);
boxADec21.Shapes.Add(new BoxShapeDescription(17.2f, 0.75f, 1f));
boxADec21.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 1f, -4f);
_boxActor.Add(_scene.CreateActor(boxADec21));
ActorDescription boxADec22 = new ActorDescription();
boxADec22.BodyDescription = new BodyDescription(1000);
boxADec22.Shapes.Add(new BoxShapeDescription(17.2f, 1f, 1f));
boxADec22.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38.1f, 1.25f, -5f);
_boxActor.Add(_scene.CreateActor(boxADec22));
ActorDescription boxADec23 = new ActorDescription();
boxADec23.BodyDescription = new BodyDescription(1000);
boxADec23.Shapes.Add(new BoxShapeDescription(25f, 1f, 20.5f));
boxADec23.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(38f, 1.5f, -16f);
_boxActor.Add(_scene.CreateActor(boxADec23));
ActorDescription boxADec24 = new ActorDescription();
boxADec24.BodyDescription = new BodyDescription(1000);
boxADec24.Shapes.Add(new BoxShapeDescription(75f, 10, 1f));
boxADec24.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(-13f, 5, -1f);
_boxActor.Add(_scene.CreateActor(boxADec24));
ActorDescription boxADec25 = new ActorDescription();
boxADec25.BodyDescription = new BodyDescription(5);
boxADec25.Shapes.Add(new BoxShapeDescription(1, 1, 1)
{
Material = material1
});
boxADec25.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(48, 4, 6);
box12 = _scene.CreateActor(boxADec25);
RevoluteJointDescription jointDec = new RevoluteJointDescription();
jointDec.Actor1 = _boxActor[0];
jointDec.Actor2 = _wheel[0];
jointDec.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(45.3f, 1f, 4.3f));
jointDec.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec));
RevoluteJointDescription jointDec1 = new RevoluteJointDescription();
jointDec1.Actor1 = _boxActor[0];
jointDec1.Actor2 = _wheel[1];
jointDec1.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(45.3f, 1, 7.8f));
jointDec1.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, -1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec1));
RevoluteJointDescription jointDec2 = new RevoluteJointDescription();
jointDec2.Actor1 = _boxActor[0];
jointDec2.Actor2 = _wheel[2];
jointDec2.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(48.7f, 1, 4.3f));
jointDec2.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, 1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec2));
RevoluteJointDescription jointDec3 = new RevoluteJointDescription();
jointDec3.Actor1 = _boxActor[0];
jointDec3.Actor2 = _wheel[3];
jointDec3.SetGlobalAnchor(new StillDesign.PhysX.MathPrimitives.Vector3(48.7f, 1, 7.8f));
jointDec3.SetGlobalAxis(new StillDesign.PhysX.MathPrimitives.Vector3(0, 0, -1));
wheelj.Add(_scene.CreateJoint <RevoluteJoint>(jointDec3));
DistanceJointDescription jointDec4 = new DistanceJointDescription();
jointDec4.Actor1 = _boxActor[10];
jointDec4.Actor2 = box11;
jointDec4.MaximumDistance = 1000000;
jointDec4.MinimumDistance = 1;
jointDec4.Flags = DistanceJointFlag.EnforceMaximumDistance | DistanceJointFlag.EnforceMinimumDistance;
boxpick = _scene.CreateJoint <DistanceJoint>(jointDec4);
FixedJointDescription jointDec5 = new FixedJointDescription();
jointDec5.Actor1 = _boxActor[0];
jointDec5.Actor2 = box11;
boxes.Add(_scene.CreateJoint <FixedJoint>(jointDec5));
FixedJointDescription jointDec6 = new FixedJointDescription();
jointDec6.Actor1 = _boxActor[0];
jointDec6.Actor2 = box12;
boxes.Add(_scene.CreateJoint <FixedJoint>(jointDec6));
view1 = graphics.GraphicsDevice.Viewport;
view2 = view1;
view1.Height = 480;
view1.Width = 400;
view1.X = 400;
view1.Y = 0;
view2.Height = 480;
view2.Width = 400;
view2.X = 0;
view2.Y = 0;
_camera1 = new Camera("camera1", 1024, 768, 1024f / 768f, 1, 1f, 100000, true, view1);
_camera1.Initialize(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(0, 4, 6));
_camera2 = new Camera("camera2", 1024, 768, 1024f / 768f, 1, 1f, 100000, true, view2);
_camera2.Initialize(new Vector3(_boxActor[0].GlobalPosition.X, _boxActor[0].GlobalPosition.Y + 3, _boxActor[0].GlobalPosition.Z), new Vector3(100, 4, 6));
this.IsMouseVisible = true;
base.Initialize();
}