public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks(),
new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
var shape = new Sphere(0.5f);
BodyInertia sphereInertia;
sphereInertia.InverseMass = 1;
shape.ComputeLocalInverseInertia(sphereInertia.InverseMass, out sphereInertia.InverseInertiaTensor);
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 12;
const int height = 4;
const int length = 12;
var latticeSpacing = 5.1f;
var latticeOffset = -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 1.5f, latticeSpacing), new Vector3(latticeOffset, 10, latticeOffset), sphereInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
var staticShape = new Sphere(4);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidthInSpheres = 100;
const float staticSpacing = 6;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4,
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
}
