public void CutConvex()
{
var mesh = new BoxShape(1, 2, 3).GetMesh(0.01f, 1);
var dcel = DcelMesh.FromTriangleMesh((ITriangleMesh)mesh);
Assert.IsTrue(dcel.IsValid());
Assert.IsTrue(dcel.IsConvex());
Assert.IsTrue(dcel.IsClosed());
bool result = dcel.CutConvex(new Plane(new Vector3F(0, 0, 1), 1.5f));
Assert.IsFalse(result);
result = dcel.CutConvex(new Plane(new Vector3F(0, 0, 1), -1.5f));
Assert.IsTrue(result);
Assert.IsNull(dcel.Vertex);
Assert.AreEqual(0, dcel.Vertices.Count);
dcel = DcelMesh.FromTriangleMesh((ITriangleMesh)mesh);
result = dcel.CutConvex(new Plane(new Vector3F(0, 0, 1), 1f));
Assert.IsTrue(result);
Assert.IsTrue(dcel.IsValid());
Assert.IsTrue(dcel.IsConvex());
Assert.IsTrue(dcel.IsClosed());
Assert.AreEqual(12, dcel.Vertices.Count);
Assert.AreEqual(6 + 8 + 7 * 4, dcel.Edges.Count); // Bottom = 6 edges, new cap = 8 edges, cut sides = each 7 edges.
Assert.AreEqual(12 - 1, dcel.Faces.Count);
}
private void InitializeSimulation(Simulation simulation, Vector3F offset)
{
// Add default force effects.
simulation.ForceEffects.Add(new Gravity());
simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
simulation.RigidBodies.Add(groundPlane);
// Add a stack of boxes.
const float boxSize = 0.8f;
float overlap = simulation.Settings.Constraints.AllowedPenetration * 0.5f;
float yPosition = boxSize / 2 - overlap;
BoxShape boxShape = new BoxShape(boxSize, boxSize, boxSize);
for (int i = 0; i < 15; i++)
{
RigidBody stackBox = new RigidBody(boxShape)
{
Name = "StackBox" + i,
Pose = new Pose(new Vector3F(0, yPosition, 0) + offset),
};
simulation.RigidBodies.Add(stackBox);
yPosition += boxSize - overlap;
}
}
public BoxStackSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a stack of boxes.
const int numberOfBoxes = 5;
const float boxSize = 0.8f;
BoxShape boxShape = new BoxShape(boxSize, boxSize, boxSize);
// Optional: Use a small overlap between boxes to improve the stability.
float overlap = Simulation.Settings.Constraints.AllowedPenetration * 0.5f;
Vector3F position = new Vector3F(0, boxSize / 2 - overlap, 0);
for (int i = 0; i < numberOfBoxes; i++)
{
RigidBody box = new RigidBody(boxShape)
{
Name = "Box" + i,
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(box);
position.Y += boxSize - overlap;
}
}
public DumpContactSetSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
// Create two collision objects with triangle mesh shapes.
var meshA = new SphereShape(1).GetMesh(0.01f, 4);
var shapeA = new TriangleMeshShape(meshA, true) { Partition = new CompressedAabbTree() };
var poseA = new Pose(new Vector3F(-1, 0, 0), RandomHelper.Random.NextQuaternionF());
var collisionObjectA = new CollisionObject(new GeometricObject(shapeA, poseA));
var meshB = new BoxShape(0.2f, 2, 1f).GetMesh(0.01f, 4);
var shapeB = new TriangleMeshShape(meshB, true) { Partition = new CompressedAabbTree() };
var poseB = new Pose(new Vector3F(0.1f, 0, 0), RandomHelper.Random.NextQuaternionF());
var collisionObjectB = new CollisionObject(new GeometricObject(shapeB, poseB));
// Explicitly create a contact set. (Normally you would get the contact set
// from the collision domain...)
var contactSet = ContactSet.Create(collisionObjectA, collisionObjectB);
// Create a C# sample which visualizes the contact set.
const string Filename = "DumpedContactSet001.cs";
DumpContactSet(contactSet, Filename);
GraphicsScreen.DebugRenderer2D.DrawText(
"Contact set dumped into the file: " + Filename,
new Vector2F(300, 300),
Color.Black);
}
public void BoxVolume()
{
var s = new BoxShape(1, 2, 3);
Assert.AreEqual(1 * 2 * 3, s.GetVolume(0.0001f, 10));
var m = s.GetMesh(0.001f, 4);
Assert.AreEqual(1 * 2 * 3, m.GetVolume());
}
public void GetOutcode()
{
BoxShape box = new BoxShape(1, 2, 3);
Assert.AreEqual(0, GeometryHelper.GetOutcode(box.Extent, new Vector3F(0.1f, 0.1f, 0.1f)));
Assert.AreEqual(1 | 8, GeometryHelper.GetOutcode(box.Extent, new Vector3F(-1.1f, 2.1f, 0.1f)));
Assert.AreEqual(2 | 4 | 32, GeometryHelper.GetOutcode(box.Extent, new Vector3F(1.1f, -2.1f, 3.1f)));
Assert.AreEqual(16, GeometryHelper.GetOutcode(box.Extent, new Vector3F(0.1f, 0.9f, -3.1f)));
}
public LockRotationSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Next, we add boxes and capsules in random positions and orientations.
// For all bodies the flags LockRotationX/Y/Z are set. This will prevent all
// rotation that would be caused by forces. (It is still allowed to manually
// change the rotation or to set an angular velocity.)
BoxShape boxShape = new BoxShape(0.5f, 0.8f, 1.2f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 5;
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(boxShape)
{
Pose = new Pose(position, orientation),
LockRotationX = true,
LockRotationY = true,
LockRotationZ = true,
};
Simulation.RigidBodies.Add(body);
}
CapsuleShape capsuleShape = new CapsuleShape(0.3f, 1.2f);
for (int i = 0; i < 10; i++)
{
Vector3F randomPosition = RandomHelper.Random.NextVector3F(-10, 10);
randomPosition.Y = 5;
QuaternionF randomOrientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(capsuleShape)
{
Pose = new Pose(randomPosition, randomOrientation),
LockRotationX = true,
LockRotationY = true,
LockRotationZ = true,
};
Simulation.RigidBodies.Add(body);
}
}
public ResponseFilterSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Only disable collision response if you need collision detection info but no collision
// response. If you can disable collision detection too, use
// Simulation.CollisionDomain.CollisionDetection.CollisionFilter
// instead - this is more efficient!
// (In this sample, a custom filter implementation is used. DigitalRune.Physics provides
// a standard filter implementation: DigitalRune.Physics.CollisionResponseFilter.)
Simulation.ResponseFilter = new MyCollisionResponseFilter();
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add boxes at random poses.
BoxShape boxShape = new BoxShape(0.5f, 0.8f, 1.2f);
for (int i = 0; i < 20; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 5;
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(boxShape)
{
Pose = new Pose(position, orientation),
};
Simulation.RigidBodies.Add(body);
}
// ----- Add capsules at random poses.
CapsuleShape capsuleShape = new CapsuleShape(0.3f, 1.2f);
for (int i = 0; i < 20; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 5;
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(capsuleShape)
{
Pose = new Pose(position, orientation),
};
Simulation.RigidBodies.Add(body);
}
}
/// <summary>
/// Computes a minimum bounding shape that contains all given points.
/// </summary>
/// <param name="points">The points.</param>
/// <returns>A minimum bounding shape that contains all given points.</returns>
/// <remarks>
/// The returned shape will be a <see cref="SphereShape"/>, a <see cref="CapsuleShape"/>,
/// a <see cref="BoxShape"/>, or a <see cref="TransformedShape"/> (containing a sphere, capsule,
/// or a box). The bounding shape is not guaranteed to be optimal, it is only guaranteed that
/// the bounding shape includes all given points.
/// </remarks>
/// <exception cref="ArgumentNullException">
/// <paramref name="points"/> is <see langword="null"/>.
/// </exception>
/// <exception cref="ArgumentException">
/// <paramref name="points"/> is empty.
/// </exception>
public static Shape CreateBoundingShape(IList<Vector3F> points)
{
if (points == null)
throw new ArgumentNullException("points");
if (points.Count == 0)
throw new ArgumentException("The list of 'points' is empty.");
// Compute minimal sphere.
Vector3F center;
float radius;
ComputeBoundingSphere(points, out radius, out center);
SphereShape sphere = new SphereShape(radius);
float sphereVolume = sphere.GetVolume();
// Compute minimal capsule.
float height;
Pose capsulePose;
ComputeBoundingCapsule(points, out radius, out height, out capsulePose);
CapsuleShape capsule = new CapsuleShape(radius, height);
float capsuleVolume = capsule.GetVolume();
// Compute minimal box.
Vector3F boxExtent;
Pose boxPose;
ComputeBoundingBox(points, out boxExtent, out boxPose);
var box = new BoxShape(boxExtent);
float boxVolume = box.GetVolume();
// Return the object with the smallest volume.
// A TransformedShape is used if the shape needs to be translated or rotated.
if (sphereVolume < boxVolume && sphereVolume < capsuleVolume)
{
if (center.IsNumericallyZero)
return sphere;
return new TransformedShape(new GeometricObject(sphere, new Pose(center)));
}
else if (capsuleVolume < boxVolume)
{
if (!capsulePose.HasTranslation && !capsulePose.HasRotation)
return capsule;
return new TransformedShape(new GeometricObject(capsule, capsulePose));
}
else
{
if (!boxPose.HasTranslation && !boxPose.HasRotation)
return box;
return new TransformedShape(new GeometricObject(box, boxPose));
}
}
public ContentPipelineHeightFieldSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Load height field model and add it to the graphics scene.
_heightFieldModelNode = ContentManager.Load<ModelNode>("HeightField/TerrainHeights").Clone();
GraphicsScreen.Scene.Children.Add(_heightFieldModelNode);
// The UserData contains the collision shape of type HeightField.
HeightField heightField = (HeightField)_heightFieldModelNode.UserData;
_heightFieldModelNode.PoseWorld = new Pose(new Vector3F(-heightField.WidthX / 2, 0, -heightField.WidthZ / 2));
// Create rigid body.
_heightFieldBody = new RigidBody(heightField, null, null)
{
MotionType = MotionType.Static,
Pose = _heightFieldModelNode.PoseWorld,
// The PhysicsSample class should not draw the height field.
UserData = "NoDraw",
};
Simulation.RigidBodies.Add(_heightFieldBody);
// Distribute a few spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(sphereShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(boxShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
}
public WallSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Create a wall of boxes.
const int wallHeight = 10;
const int wallWidth = 10;
const float boxWidth = 1.0f;
const float boxDepth = 0.5f;
const float boxHeight = 0.5f;
BoxShape boxShape = new BoxShape(boxWidth, boxHeight, boxDepth);
// Optional: Use a small overlap between boxes to improve the stability.
float overlap = Simulation.Settings.Constraints.AllowedPenetration * 0.5f;
float x;
float y = boxHeight / 2 - overlap;
float z = -5;
for (int i = 0; i < wallHeight; i++)
{
for (int j = 0; j < wallWidth; j++)
{
// Tip: Leave a small gap between neighbor bricks. If the neighbors on the same
// row do not touch, the simulation has less work to do!
x = -boxWidth * wallWidth / 2 + j * (boxWidth + 0.02f) + (i % 2) * boxWidth / 2;
RigidBody brick = new RigidBody(boxShape)
{
Name = "Brick" + i,
Pose = new Pose(new Vector3F(x, y, z)),
};
Simulation.RigidBodies.Add(brick);
}
y += boxHeight - overlap;
}
}
public KinematicSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Create the kinematic body. (Kinematic means that the velocity of the body is not
// the result of simulated forces and constraints. Instead the velocity of the body
// is directly controlled by the application.)
_kinematicBody = new RigidBody(new ConeShape(0.3f, 1))
{
MotionType = MotionType.Kinematic
};
Simulation.RigidBodies.Add(_kinematicBody);
// Create a cyclic path.
CreatePath();
// Add a number of random boxes.
const int numberOfBoxes = 20;
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < numberOfBoxes; i++)
{
Vector3F randomPosition = RandomHelper.Random.NextVector3F(-5, 5);
randomPosition.Y = 5;
QuaternionF randomOrientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(boxShape)
{
Pose = new Pose(randomPosition, randomOrientation),
};
Simulation.RigidBodies.Add(body);
}
}
public RagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Add a number of ragdolls.
for (int i = 0; i < 5; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 1 + i;
AddRagdoll(Simulation, 1, position, 0.0005f, true);
}
// Add some random, static boxes.
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-5, 5);
position.Y = 0.5f;
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
RigidBody body = new RigidBody(boxShape)
{
Pose = new Pose(position, orientation),
MotionType = MotionType.Static
};
Simulation.RigidBodies.Add(body);
}
}
public void BoxMass()
{
var b = new BoxShape(1, 2, 3);
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(b, new Vector3F(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = b.GetMesh(0.1f, 1);
m.Transform(Matrix44F.CreateScale(1, -2, -3));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
Assert.AreEqual(m0, m1);
Assert.AreEqual(com0, com1);
Assert.AreEqual(i0, i1);
// Try other density.
float m2;
Vector3F com2;
Matrix33F i2;
MassHelper.GetMass(b, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2);
Assert.AreEqual(m0 * 0.7f, m2);
Assert.AreEqual(com0, com2);
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 0.7f, i2));
const float e = 0.01f;
// Try with target mass.
float m3;
Vector3F com3;
Matrix33F i3;
MassHelper.GetMass(b, new Vector3F(1, -2, -3), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
public SmallerScaleSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// The default simulation settings are optimized for game objects that are 1 unit in size.
// These default settings are useful for standard game objects: crates, barrels, furniture,
// humans, rocks, etc.
// The simulation settings should be adapted if the average game object is more than 10 times
// bigger or smaller. (Note: Future versions of DigitalRune.Physics will automatically
// adapt the simulation settings.)
// If you are unsure which settings are relevant for your game scenario, just ask in our
// support forums: http://www.digitalrune.com/Support/Forum.aspx
// Nevertheless, it is strongly recommended to scale game objects so that the average game
// object is about 1 unit in size.
// In this sample, the average game object is 0.05 units.
// Simulating small objects is a lot more difficult. Therefore, we decrease the time
// step size to improve the simulation accuracy.
Simulation.Settings.Timing.FixedTimeStep /= 5;
Simulation.Settings.Timing.MaxNumberOfSteps *= 5;
// Rigid bodies have an allowed penetration. Errors in this range are acceptable and not
// corrected to improve stability and remove jittering. For small objects this limit
// must be reduced.
Simulation.Settings.Constraints.AllowedPenetration /= 5;
// The collision detection settings are defined in the CollisionDetection class.
// The collision detection uses a tolerance to define when two contacts near each other
// can be considered the same contact. For small objects this limit must be reduced.
Simulation.CollisionDomain.CollisionDetection.ContactPositionTolerance /= 5;
// To improve stacking of small objects:
Simulation.Settings.Constraints.StackingFactor = 10;
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping { AngularDamping = 0.9f });
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a stack of small boxes.
const float boxSize = 0.05f;
float overlap = Simulation.Settings.Constraints.AllowedPenetration * 0.5f;
float yPosition = boxSize / 2 - overlap;
BoxShape boxShape = new BoxShape(boxSize, boxSize, boxSize);
for (int i = 0; i < 10; i++)
{
RigidBody stackBox = new RigidBody(boxShape)
{
Pose = new Pose(new Vector3F(0, yPosition, 0)),
};
Simulation.RigidBodies.Add(stackBox);
yPosition += boxSize - overlap;
}
// ------ Add spheres at random positions.
SphereShape sphereShape = new SphereShape(boxSize * 0.5f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-0.5f, 0.5f);
position.Y = 1;
RigidBody body = new RigidBody(sphereShape)
{
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(body);
}
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3F.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3F.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
/// <summary>
/// Gets a bounding shape that matches the specified AABB.
/// </summary>
/// <param name="aabb">The AABB.</param>
/// <returns>A box or transformed box that matches the specified AABB.</returns>
private Shape GetBoundingShape(Aabb aabb)
{
// The AABB of the LOD is real world size including scaling. We have to undo
// the scale because this LodGroupNode also applies the same scale.
var unscaledCenter = aabb.Center / ScaleWorld;
var unscaledExtent = aabb.Extent / ScaleWorld;
// Get existing shape objects to avoid unnecessary memory allocation.
BoxShape boxShape;
GeometricObject geometricObject = null;
TransformedShape transformedShape = null;
if (Shape is BoxShape)
{
boxShape = (BoxShape)Shape;
}
else if (Shape is TransformedShape)
{
transformedShape = (TransformedShape)Shape;
geometricObject = (GeometricObject)transformedShape.Child;
boxShape = (BoxShape)geometricObject.Shape;
}
else
{
boxShape = new BoxShape();
}
// Make bounding box the size of the unscaled AABB.
boxShape.Extent = unscaledExtent;
if (unscaledCenter.IsNumericallyZero)
{
// Bounding box is centered at origin.
return boxShape;
}
// Apply offset to bounding box.
if (transformedShape == null)
{
geometricObject = new GeometricObject(boxShape, new Pose(unscaledCenter));
transformedShape = new TransformedShape(geometricObject);
}
else
{
geometricObject.Shape = boxShape;
geometricObject.Pose = new Pose(unscaledCenter);
}
return transformedShape;
}
private void InitializePhysics()
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Add walls.
RigidBody wall0 = new RigidBody(new BoxShape(10, 2, 0.5f))
{
Name = "Wall0",
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(0, 1, -5))
};
Simulation.RigidBodies.Add(wall0);
RigidBody wall1 = new RigidBody(new BoxShape(10, 2, 0.5f))
{
Name = "Wall1",
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(0, 1, 5))
};
Simulation.RigidBodies.Add(wall1);
RigidBody wall2 = new RigidBody(new BoxShape(0.5f, 2, 10))
{
Name = "Wall2",
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(-5, 1, 0))
};
Simulation.RigidBodies.Add(wall2);
RigidBody wall3 = new RigidBody(new BoxShape(0.5f, 2, 10))
{
Name = "Wall3",
MotionType = MotionType.Static,
Pose = new Pose(new Vector3F(5, 1, 0))
};
Simulation.RigidBodies.Add(wall3);
// Add sphere.
RigidBody sphere = new RigidBody(new SphereShape(0.4f))
{
Name = "Sphere",
Pose = new Pose(new Vector3F(1, 1, 1)),
};
Simulation.RigidBodies.Add(sphere);
// Add a stack of boxes.
const int numberOfBoxes = 3;
const float boxSize = 0.8f;
BoxShape boxShape = new BoxShape(boxSize, boxSize, boxSize);
// Optional: Use a small overlap between boxes to improve the stability.
float overlap = Simulation.Settings.Constraints.AllowedPenetration * 0.5f;
Vector3F position = new Vector3F(0, boxSize / 2 - overlap, 0);
for (int i = 0; i < numberOfBoxes; i++)
{
RigidBody box = new RigidBody(boxShape)
{
Name = "Box" + i,
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(box);
position.Y += boxSize - overlap;
}
}
public HeightFieldSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a height field.
// The height data consists of height samples with a resolution of 20 entries per dimension.
// (Height samples are stored in a 1-dimensional array.)
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
// Set the y values (height).
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 5f + 5f);
}
}
// The height field has a size of 100 m x 100 m.
float widthX = 100;
float widthZ = 100;
// The origin is at (-50, -50) to center the height field at the world space origin.
float originX = -50;
float originZ = -50;
// Create the height field shape.
HeightField heightField = new HeightField(
originX, originZ, widthX, widthZ, samples, numberOfSamplesX, numberOfSamplesZ);
// We can set following flag to get a significant performance gain - but the collision
// detection will be less accurate. For smooth height fields this flag can be set.
heightField.UseFastCollisionApproximation = true;
// Create a static rigid body using the height field and add it to the simulation.
RigidBody landscape = new RigidBody(heightField)
{
Pose = Pose.Identity,
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(landscape);
// Distribute a few spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(sphereShape)
{
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(body);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 30; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-30, 30);
position.Y = 20;
RigidBody body = new RigidBody(boxShape)
{
Pose = new Pose(position),
};
Simulation.RigidBodies.Add(body);
}
}
protected override void OnLoad()
{
_scene = _services.GetInstance<IScene>();
// Get a bounding shape for the cells. We use a box with the cell size and
// make it bigger by some arbitrary values. The boxes must be bigger because
// mesh instances can be placed on the cell boundary and when they are animated
// tree branches can sway outside the cell bounds.
var meshAabb = _mesh.BoundingShape.GetAabb();
float meshWidth = new Vector2F(meshAabb.Extent.X, meshAabb.Extent.Z).Length * 1.5f;
float meshHeight = meshAabb.Extent.Y * 1.7f;
var boxShape = new BoxShape(_cellSize + meshWidth, meshHeight, _cellSize + meshWidth);
// Create one MeshInstancingNode per cell and add random instances.
_nodes = new MeshInstancingNode<InstanceData>[_numberOfCellsX, _numberOfCellsZ];
float xOrigin = -(_numberOfCellsX * _cellSize) / 2;
float zOrigin = -(_numberOfCellsZ * _cellSize) / 2;
var random = new Random(_randomSeed);
for (int x = 0; x < _numberOfCellsX; x++)
{
for (int z = 0; z < _numberOfCellsZ; z++)
{
var instances = new InstanceData[_numberOfInstancesPerCell];
for (int i = 0; i < instances.Length; i++)
{
Vector3F scale = new Vector3F(random.NextFloat(0.5f, 1.5f));
Pose pose = new Pose(new Vector3F(xOrigin + x * _cellSize + random.NextFloat(0, _cellSize),
0,
zOrigin + z * _cellSize + random.NextFloat(0, _cellSize)),
Matrix33F.CreateRotationY(random.NextFloat(0, 10)));
Vector4F color = new Vector4F(1);
instances[i] = new InstanceData(scale, pose, color);
}
_nodes[x, z] = new MeshInstancingNode<InstanceData>(_mesh, instances)
{
PoseLocal = new Pose(new Vector3F(xOrigin + (0.5f + x) * _cellSize,
boxShape.WidthY / 2,
zOrigin + (0.5f + z) * _cellSize)),
Shape = boxShape,
CastsShadows = _castsShadows,
};
_scene.Children.Add(_nodes[x, z]);
}
}
UpdateLodDistances();
// ----- Add GUI controls to the Options window.
var sampleFramework = _services.GetInstance<SampleFramework>();
var optionsPanel = sampleFramework.AddOptions("Game Objects");
var panel = SampleHelper.AddGroupBox(optionsPanel, "VegetationObject " + Name);
SampleHelper.AddSlider(
panel,
"Min distance",
"F2",
0,
100,
MinDistance,
value => MinDistance = value);
SampleHelper.AddSlider(
panel,
"Max distance",
"F2",
0,
100,
MaxDistance,
value => MaxDistance = value);
}
public static void Load(CollisionDomain collisionDomain)
{
// Create a box for the ground.
AddObject("Ground", new Pose(new Vector3F(0, -5, 0)), new BoxShape(60, 10, 60), collisionDomain);
// Create a small flying sphere to visualize the approx. head height. - This is just
// for debugging so that we have a feeling for heights.
AddObject("Sphere", new Pose(new Vector3F(0, 1.5f, 0)), new SphereShape(0.2f), collisionDomain);
// Create small walls at the level boundary.
AddObject("WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), collisionDomain);
AddObject("WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), collisionDomain);
// Create a few bigger objects.
// We position the boxes so that we have a few corners we can run into. Character controllers
// should be stable when the user runs into corners.
AddObject("House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), collisionDomain);
AddObject("House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), collisionDomain);
AddObject("House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), collisionDomain);
//
// Create stairs with increasing step height.
//
// Each step is a box. With this object we can test if our character can climb up
// stairs. The character controller has a step height limit. Increasing step heights
// let us test if the step height limit works.
float startHeight = 0;
const float stepDepth = 1f;
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.05f;
Pose pose = new Pose(new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth));
BoxShape shape = new BoxShape(2, stepHeight, stepDepth);
AddObject("Step" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
//
// Create a height field.
//
// Terrain that is uneven is best modeled with a height field. Height fields are faster
// than general triangle meshes.
// The height direction is the y direction.
// The height field lies in the x/z plane.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
// Create arbitrary height values.
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
AddObject("Heightfield", new Pose(new Vector3F(10, 0, 10)), heightField, collisionDomain);
// Create rubble on the floor (small random objects on the floor).
// Our character should be able to move over small bumps on the ground.
for (int i = 0; i < 50; i++)
{
Pose pose = new Pose(
new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20)),
RandomHelper.Random.NextQuaternionF());
BoxShape shape = new BoxShape(RandomHelper.Random.NextVector3F(0.05f, 0.8f));
AddObject("Stone" + i, pose, shape, collisionDomain);
}
// Create some slopes to see how our character performs on/under sloped surfaces.
// Here we can test how the character controller behaves if the head touches an inclined
// ceiling.
AddObject("SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
AddObject("SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
// Slopes with different tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.1f;
Pose pose = new Pose(
new Vector3F(-10, i * 0.5f, -i * 2),
Matrix33F.CreateRotationX(MathHelper.ToRadians(10) + i * MathHelper.ToRadians(10)));
BoxShape shape = new BoxShape(8 * (1 - i * 0.1f), 0.5f, 30);
AddObject("Slope" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
// Create a slope with a wall on one side.
// This objects let's us test how the character controller behaves while falling and
// sliding along a vertical wall. (Run up the slope and then jump down while moving into
// the wall.)
AddObject("LongSlope", new Pose(new Vector3F(-20, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), collisionDomain);
AddObject("LongSlopeWall", new Pose(new Vector3F(-22, 5, -10)), new BoxShape(0.5f, 10f, 25), collisionDomain);
// Create a mesh object to test walking on triangle meshes.
// Normally, the mesh would be loaded from a file. Here, we make a composite shape and
// let DigitalRune Geometry compute a mesh for it. Then we throw away the composite
// shape and use only the mesh. - We do this to test triangle meshes. Using the composite
// shape instead of the triangle mesh would be a lot faster.
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Pose(new Vector3F(15, 0, 5))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh);
// Collision detection speed for triangle meshes can be improved by using a spatial
// partition. Here, we assign an AabbTree to the triangle mesh shape. The tree is
// built automatically when needed and it stores triangle indices (therefore the generic
// parameter of the AabbTree is int).
meshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
AddObject("Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, collisionDomain);
}
private void CreateObjects()
{
// Create two collision objects with triangle mesh shapes.
var meshA = new TriangleMesh();
meshA.Add(new Triangle(new Vector3F(0, 1, 0), new Vector3F(0, 1, 0), new Vector3F(0, 1, 0)));
meshA.Add(new Triangle(new Vector3F(0, 1, 0), new Vector3F(0, 1, 0), new Vector3F(0, 1, 0)));
var shapeA = new TriangleMeshShape() { Partition = new CompressedAabbTree() };
var poseA = new Pose(new Vector3F(-1, 0, 0));
_objectA = new CollisionObject(new GeometricObject(shapeA, poseA));
var meshB = new BoxShape(0.2f, 2, 1f).GetMesh(0.05f, 4);
var shapeB = new TriangleMeshShape(meshB, true) { Partition = new CompressedAabbTree() };
var poseB = new Pose(new Vector3F(0.1f, 0, 0));
_objectB = new CollisionObject(new GeometricObject(shapeB, poseB));
}
public MaterialSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
// Adjust the coefficient of restitution of the ground plane.
// (By default, the material of a rigid body is of type UniformMaterial.)
((UniformMaterial)groundPlane.Material).Restitution = 1; // Max. bounciness. (The simulation actually
// accepts higher values, but these usually
// lead to unnatural bounciness.)
Simulation.RigidBodies.Add(groundPlane);
// Add a static inclined ground plane.
RigidBody inclinedPlane = new RigidBody(new PlaneShape(new Vector3F(-0.3f, 1f, 0).Normalized, 0))
{
Name = "InclinedPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(inclinedPlane);
// Create a few boxes with different coefficient of friction.
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 5; i++)
{
// Each box gets a different friction value.
UniformMaterial material = new UniformMaterial
{
DynamicFriction = i * 0.2f,
StaticFriction = i * 0.2f,
};
RigidBody box = new RigidBody(boxShape, null, material) // The second argument (the mass frame) is null. The
{ // simulation will automatically compute a default mass.
Name = "Box" + i,
Pose = new Pose(new Vector3F(5, 6, -5 + i * 2)),
};
Simulation.RigidBodies.Add(box);
}
// Create a few balls with different coefficient of restitution (= bounciness).
Shape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 6; i++)
{
// Vary restitution between 0 and 1.
UniformMaterial material = new UniformMaterial
{
Restitution = i * 0.2f
};
RigidBody body = new RigidBody(sphereShape, null, material)
{
Name = "Ball" + i,
Pose = new Pose(new Vector3F(-1 - i * 2, 5, 0)),
};
Simulation.RigidBodies.Add(body);
}
}
/// <summary>
/// Gets a bounding shape that matches the specified AABB.
/// </summary>
/// <param name="aabb">The AABB.</param>
/// <returns>A box or transformed box that matches the specified AABB.</returns>
private Shape GetBoundingShape(Aabb aabb)
{
// Get existing shape objects to avoid unnecessary memory allocation.
BoxShape boxShape;
GeometricObject geometricObject = null;
TransformedShape transformedShape = null;
if (Shape is BoxShape)
{
boxShape = (BoxShape)Shape;
}
else if (Shape is TransformedShape)
{
transformedShape = (TransformedShape)Shape;
geometricObject = (GeometricObject)transformedShape.Child;
boxShape = (BoxShape)geometricObject.Shape;
}
else
{
boxShape = new BoxShape();
}
// Make box the size of the AABB.
boxShape.Extent = aabb.Extent;
if (aabb.Center.IsNumericallyZero)
{
// Bounding box is centered at origin.
return boxShape;
}
// Apply offset to bounding box.
if (transformedShape == null)
{
geometricObject = new GeometricObject(boxShape, new Pose(aabb.Center));
transformedShape = new TransformedShape(geometricObject);
}
else
{
geometricObject.Shape = boxShape;
geometricObject.Pose = new Pose(aabb.Center);
}
return transformedShape;
}
public AdvancedAvatarRagdollSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
// This sample uses for a DebugRenderer to draw text and rigid bodies.
_debugRenderer = new DebugRenderer(GraphicsService, SpriteFont)
{
DefaultColor = Color.Black,
DefaultTextPosition = new Vector2F(10),
};
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services);
_cameraObject.ResetPose(new Vector3F(0, 1, -3), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Add some objects which allow the user to interact with the rigid bodies.
_grabObject = new GrabObject(Services);
_ballShooterObject = new BallShooterObject(Services) { Speed = 20 };
GameObjectService.Objects.Add(_grabObject);
GameObjectService.Objects.Add(_ballShooterObject);
// Add some default force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Create a random avatar.
_avatarDescription = AvatarDescription.CreateRandom();
_avatarRenderer = new AvatarRenderer(_avatarDescription);
// Use the "Wave" animation preset.
var avatarAnimation = new AvatarAnimation(AvatarAnimationPreset.Wave);
_expressionAnimation = new AnimationClip<AvatarExpression>(new WrappedAvatarExpressionAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
_skeletonAnimation = new AnimationClip<SkeletonPose>(new WrappedAvatarSkeletonAnimation(avatarAnimation))
{
LoopBehavior = LoopBehavior.Cycle,
Duration = TimeSpan.MaxValue,
};
// Add a ground plane in the simulation.
Simulation.RigidBodies.Add(new RigidBody(new PlaneShape(Vector3F.UnitY, 0)) { MotionType = MotionType.Static });
// Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.3f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(sphereShape) { Pose = new Pose(position) });
}
BoxShape boxShape = new BoxShape(0.6f, 0.6f, 0.6f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-10, 10);
position.Y = 1;
Simulation.RigidBodies.Add(new RigidBody(boxShape) { Pose = new Pose(position) });
}
}
private static void GetMass(BoxShape box, Vector3F scale, float densityOrMass, bool isDensity, out float mass, out Matrix33F inertia)
{
scale = Vector3F.Absolute(scale);
Vector3F extent = box.Extent * scale;
GetMass(extent, densityOrMass, isDensity, out mass, out inertia);
}
public ContentPipelineMeshSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Load triangle mesh model.
var sharedModelNode = ContentManager.Load<ModelNode>("Saucer/saucer");
// Let's create a clone because we do not want to change the shared Saucer
// instance stored in the content manager.
_modelNode = sharedModelNode.Clone();
_modelNode.PoseWorld = new Pose(new Vector3F(0, 2, -5), Matrix33F.CreateRotationY(MathHelper.ToRadians(-30)));
_modelNode.ScaleLocal = new Vector3F(8);
// The UserData contains the collision shape of type TriangleMeshShape.
TriangleMeshShape triangleMesh = (TriangleMeshShape)_modelNode.UserData;
// Add model node to graphics scene.
GraphicsScreen.Scene.Children.Add(_modelNode);
// Create rigid body.
// We explicitly specify a mass frame. We can use any mass frame for static bodies (because
// static bodies are effectively treated as if they have infinite mass). If we do not specify
// a mass frame in the rigid body constructor, the constructor will automatically compute an
// approximate mass frame (which can take some time for large meshes).
_rigidBody = new RigidBody(triangleMesh, new MassFrame(), null)
{
MotionType = MotionType.Static,
Pose = _modelNode.PoseWorld,
Scale = _modelNode.ScaleWorld,
// The PhysicsSample class should not draw the height field.
UserData = "NoDraw",
};
Simulation.RigidBodies.Add(_rigidBody);
// Distribute a few spheres and boxes across the triangle mesh.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 10);
position.Y = RandomHelper.Random.NextFloat(20, 40);
RigidBody body = new RigidBody(sphereShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 10);
position.Y = RandomHelper.Random.NextFloat(20, 40);
RigidBody body = new RigidBody(boxShape) { Pose = new Pose(position) };
Simulation.RigidBodies.Add(body);
}
}
/// <summary>
/// Initializes the physics simulation.
/// </summary>
private void InitializePhysics()
{
// Define the timing of the physics simulation:
// The Windows Phone runs with 30 FPS, so one frame takes 1/30 seconds.
// We can run the simulation using the same timing.
// However, 1/30 seconds is a very large time step for a physics simulation. A large
// time step improves performance, but reduces the quality of the simulation.
// Instead we can run the simulation with a time step of 1/60 seconds and compute
// 2 time steps per frame.
// Additionally, we can reduce the number of constraint solver iterations to gain additional
// performance. But if you want to simulate complex scene with stable stacks or walls, you
// might want to leave the default value.
// Below are two variants - you can comment/uncomment the variants to compare them.
// ----- Variant #1: "Fast, less stable"
Simulation.Settings.Timing.FixedTimeStep = 1.0f / 30.0f;
Simulation.Settings.Timing.MaxNumberOfSteps = 1;
Simulation.Settings.Constraints.NumberOfConstraintIterations = 6;
// ----- Variant #2: "Slower, more stable"
//_simulation.Settings.Timing.FixedTimeStep = 1.0f / 60.0f;
//_simulation.Settings.Timing.MaxNumberOfSteps = 2;
//_simulation.Settings.Constraints.NumberOfConstraintIterations = 10;
// Add the typical force effect for gravity and damping.
Simulation.ForceEffects.Add(new Gravity { Acceleration = new Vector3F(0, -10, 0) });
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane (static object).
var groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Create a set of predefined shapes.
// The shapes are chosen randomly when a new rigid body is added.
_shapes = new List<Shape>();
_shapes.Add(new BoxShape(1.0f, 1.0f, 1.0f));
_shapes.Add(new BoxShape(1.5f, 0.5f, 1.0f));
_shapes.Add(new BoxShape(1.0f, 0.75f, 1.0f));
_shapes.Add(new CapsuleShape(0.4f, 2.0f));
_shapes.Add(new SphereShape(0.6f));
// Add convex shape.
var randomPoints = new List<Vector3F>();
for (int i = 0; i < 20; i++)
randomPoints.Add(RandomHelper.Random.NextVector3F(-1, 1));
_shapes.Add(new ConvexPolyhedron(randomPoints));
// Add a composite shape looking like table.
var board = new BoxShape(2.0f, 0.3f, 1.2f);
var leg = new BoxShape(0.2f, 1f, 0.2f);
var table = new CompositeShape();
table.Children.Add(new GeometricObject(board, new Pose(new Vector3F(0.0f, 1.0f, 0.0f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(-0.7f, 0.5f, -0.4f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(-0.7f, 0.5f, 0.4f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(0.7f, 0.5f, 0.4f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(0.7f, 0.5f, -0.4f))));
_shapes.Add(table);
}
public ShapesSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a sphere.
Shape sphere = new SphereShape(0.5f);
Simulation.RigidBodies.Add(new RigidBody(sphere));
// ----- Add a box.
BoxShape box = new BoxShape(0.5f, 0.9f, 0.7f);
Simulation.RigidBodies.Add(new RigidBody(box));
// ----- Add a capsule.
CapsuleShape capsule = new CapsuleShape(0.4f, 1.2f);
Simulation.RigidBodies.Add(new RigidBody(capsule));
// ----- Add a cone.
ConeShape cone = new ConeShape(0.5f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cone));
// ----- Add a cylinder.
CylinderShape cylinder = new CylinderShape(0.3f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cylinder));
// ----- Add a convex hull of random points.
ConvexHullOfPoints convexHullOfPoints = new ConvexHullOfPoints();
for (int i = 0; i < 20; i++)
convexHullOfPoints.Points.Add(RandomHelper.Random.NextVector3F(-0.5f, 0.5f));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfPoints));
// ----- Add a convex polyhedron.
// (A ConvexPolyhedron is similar to the ConvexHullOfPoints. The difference is that
// the points in a ConvexHullOfPoints can be changed at runtime. A ConvexPolyhedron
// cannot be changed at runtime, but it is faster.)
List<Vector3F> points = new List<Vector3F>();
for (int i = 0; i < 20; i++)
points.Add(RandomHelper.Random.NextVector3F(-0.7f, 0.7f));
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(points);
Simulation.RigidBodies.Add(new RigidBody(convexPolyhedron));
// ----- Add a composite shape (a table that consists of 5 boxes).
CompositeShape composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 0.8f, 0))));
Simulation.RigidBodies.Add(new RigidBody(composite));
// ----- Add a convex hull of multiple shapes.
ConvexHullOfShapes convexHullOfShapes = new ConvexHullOfShapes();
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(-0.4f, 0, 0))));
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(+0.4f, 0, 0))));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfShapes));
// ----- Add the Minkowski sum of two shapes.
// (The Minkowski sum is a mathematical operation that combines two shapes.
// Here a circle is combined with a sphere. The result is a wheel.)
MinkowskiSumShape minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.2f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new CircleShape(0.5f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// Create another Minkowski sum. (Here a small sphere is added to a box to create a
// box with rounded corners.)
minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.1f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new BoxShape(0.2f, 0.5f, 0.8f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// ----- Add a triangle mesh.
// A triangle mesh could be loaded from a file or built from an XNA model.
// Here we first create a composite shape and convert the shape into a triangle
// mesh. (Any Shape in DigitalRune.Geometry can be converted to a triangle mesh.)
CompositeShape dumbbell = new CompositeShape();
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(-0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new CylinderShape(0.1f, 0.6f), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
TriangleMeshShape triangleMeshShape = new TriangleMeshShape(dumbbell.GetMesh(0.01f, 2));
// Optional: We can enable "contact welding". When this flag is enabled, the triangle shape
// precomputes additional internal information for the mesh. The collision detection will
// be able to compute better contacts (e.g. better normal vectors at triangle edges).
// Pro: Collision detection can compute better contact information.
// Con: Contact welding information needs a bit of memory. And the collision detection is
// a bit slower.
triangleMeshShape.EnableContactWelding = true;
// Optional: Assign a spatial partitioning scheme to the triangle mesh. (A spatial partition
// adds an additional memory overhead, but it improves collision detection speed tremendously!)
triangleMeshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
Simulation.RigidBodies.Add(new RigidBody(triangleMeshShape));
// ----- Set random positions/orientations.
// (Start with the second object. The first object is the ground plane which should
// not be changed.)
for (int i = 1; i < Simulation.RigidBodies.Count; i++)
{
RigidBody body = Simulation.RigidBodies[i];
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 3; // Position the objects 3m above ground.
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
body.Pose = new Pose(position, orientation);
}
}
public CompositeMaterialSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// ----- Create a simple height field.
// The height data consists of height samples with a resolution of 20 entries per dimension.
// (Height samples are stored in a 1-dimensional array.)
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
// Set the y values (height).
samples[z * numberOfSamplesX + x] = 20 - z;
}
}
// Set the size of the height field in world space. (WidthX/Z determine the extent
// of the height field but not the resolution of the height samples.)
float widthX = 40;
float widthZ = 40;
// The origin is at (-20, -20) to center the height field at the world space origin.
float originX = -20;
float originZ = -20;
// Create the height field shape.
HeightField heightField = new HeightField(
originX, originZ, widthX, widthZ, samples, numberOfSamplesX, numberOfSamplesZ);
RigidBody ground = new RigidBody(heightField)
{
Pose = new Pose(new Vector3F(0, -10, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(ground);
// Assign two different materials to the height field.
// A rough material (high friction) should be used for the left cells of the height field.
UniformMaterial roughMaterial = new UniformMaterial
{
DynamicFriction = 1,
StaticFriction = 1,
};
// A slippery material (low friction) should be used for the right cells of the height field.
UniformMaterial slipperyMaterial = new UniformMaterial
{
DynamicFriction = 0,
StaticFriction = 0,
};
// Use a CompositeMaterial two assign the materials to the features of the height field.
CompositeMaterial compositeMaterial = new CompositeMaterial();
// A "feature" of a height field is a triangle:
// The height field is triangulated. Each cell consists of two triangles. The triangles are
// numbered from left-to-right and top-to-bottom.
// (For more information: See the description of HeightField.)
// Loop over the cells.
// (If the resolution is 20, we have 20 height values in one row. Between these height
// values are 19 cells.)
for (int z = 0; z < numberOfSamplesZ - 1; z++)
{
for (int x = 0; x < numberOfSamplesX - 1; x++)
{
// Assign the rough material to the left cells and the slippery material to the
// right cells.
if (x < numberOfSamplesX / 2)
{
// Each cell contains 2 triangles, therefore we have to add 2 entries to the
// CompositeMaterial.
compositeMaterial.Materials.Add(roughMaterial);
compositeMaterial.Materials.Add(roughMaterial);
}
else
{
compositeMaterial.Materials.Add(slipperyMaterial);
compositeMaterial.Materials.Add(slipperyMaterial);
}
}
}
ground.Material = compositeMaterial;
// Create a few boxes on the height field.
// The left boxes will roll or stop on the height field because of the high friction.
// The right boxes will slide down because of the low friction.
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 10; i++)
{
RigidBody body = new RigidBody(boxShape, null, roughMaterial)
{
Pose = new Pose(new Vector3F(-19 + i * 4, 10, -10)),
};
Simulation.RigidBodies.Add(body);
}
}