private PhyObject CreateVanilla(ObjectState state, CollidableDescription collidableDescription, BodyInertia bodyInertia)
{
PhyObject phy;
if (state.mass != 0)
{
BodyDescription boxDescription = BodyDescription.CreateDynamic(state.position, bodyInertia,
collidableDescription,
new BodyActivityDescription(0.01f));
boxDescription.Pose = new RigidPose(state.position, state.quaternion);
var bodyHandle = Simulation.Bodies.Add(boxDescription);
phy = SetUpPhyObject(bodyHandle, state);
objectsHandlers.Add(bodyHandle, phy);
}
else
{
StaticDescription description = new StaticDescription(state.position, state.quaternion, collidableDescription);
StaticHandle handle = Simulation.Statics.Add(description);
//collidableMaterials.Allocate(handle) = new SimpleMaterial { FrictionCoefficient = 1, MaximumRecoveryVelocity = float.MaxValue, SpringSettings = new SpringSettings(1f, 1f) };
phy = SetUpPhyObject(handle, state);
staticObjectsHandlers.Add(handle, (StaticPhyObject)phy);
//objectsHandlers.Add(handle,phy);
}
return(phy);
}
public MovingPlatform(CollidableDescription collidable, double timeOffset, float goalSatisfactionTime, Simulation simulation, Func <double, RigidPose> poseCreator)
{
PoseCreator = poseCreator;
BodyHandle = simulation.Bodies.Add(BodyDescription.CreateKinematic(poseCreator(timeOffset), collidable, new BodyActivityDescription(-1)));
InverseGoalSatisfactionTime = 1f / goalSatisfactionTime;
TimeOffset = timeOffset;
}
internal override void CreateAndAddCollidableDescription(
BepuPhysicsComponent physicsComponent,
BepuSimulation xenkoSimulation,
out TypedIndex shapeTypeIndex,
out CollidableDescription collidableDescription)
{
CreateAndAddCollidableDescription <Sphere>(
physicsComponent, xenkoSimulation, out shapeTypeIndex, out collidableDescription);
}
static void ComputeCollisions(CollisionTaskRegistry registry, Shapes shapes, BufferPool pool,
ref Manifolds manifolds, CollidableDescription a, CollidableDescription b, ref Buffer<RigidPose> posesA, ref Buffer<RigidPose> posesB, Buffer<int> remapIndices, int pairCount)
{
var batcher = new CollisionBatcher<BatcherCallbacks>(pool, shapes, registry, 1 / 60f, new BatcherCallbacks { Pool = pool, Manifolds = manifolds });
for (int i = 0; i < pairCount; ++i)
{
var index = remapIndices[i];
ref var poseA = ref posesA[index];
ref var poseB = ref posesB[index];
protected override void OnAttach()
{
//this will set all the properties in the native side object
base.OnAttach();
Entity.Transform.UpdateWorldMatrix();
Entity.Transform.GetWorldTransformation(out var entityPosition, out var entityRotation, out var scale);
var position = new System.Numerics.Vector3(entityPosition.X, entityPosition.Y, entityPosition.Z);
var rotation = new System.Numerics.Quaternion(entityRotation.X, entityRotation.Y,
entityRotation.Z, entityRotation.W);
var collidableDescription = new CollidableDescription(ColliderShape.InternalShapeIndex, SpeculativeMargin);
staticHandle = Simulation.AddStatic(new StaticDescription(position, rotation, collidableDescription));
Simulation.physicsBodySettings.Allocate(staticHandle) = new SimplePhysicsBodySettings
{
CustomDamping = false,
CustomGravity = false,
};
Simulation.physicsMaterials.Allocate(staticHandle) = new SimplePhysicsMaterial
{
FrictionCoefficient = 1f,
MaximumRecoveryVelocity = 2f,
SpringSettings = new BepuPhysics.Constraints.SpringSettings(30, 1)
};
Simulation.physicsTags.Allocate(staticHandle) = new SimplePhysicsTag
{
ComponentId = Id
};
Simulation.collisionProps.Allocate(staticHandle) = new CollisionProperty
{
GenerateOverlapEvents = GenerateOverlapEvents,
CollisionEnabled = CollisionPresets.CollisionEnabled,
ObjectType = CollisionPresets.ObjectType,
Visibility = CollisionPresets.CollisionResponses.TraceResponse.Visibility,
Camera = CollisionPresets.CollisionResponses.TraceResponse.Camera,
WorldStatic = CollisionPresets.CollisionResponses.ObjectResponse.WorldStatic,
WorldDynamic = CollisionPresets.CollisionResponses.ObjectResponse.WorldDynamic,
Pawn = CollisionPresets.CollisionResponses.ObjectResponse.Pawn,
PhysicsBody = CollisionPresets.CollisionResponses.ObjectResponse.PhysicsBody,
};
if (GenerateOverlapEvents)
{
Simulation.RegisterOverlapListener(staticHandle);
}
}
private PhyObject CreateSphere(SphereState state)
{
var sphere = new Sphere(state.radius);
CollidableDescription collidableDescription = new CollidableDescription(Simulation.Shapes.Add(sphere), 0.1f);
BodyInertia bodyInertia;
sphere.ComputeInertia(state.mass, out bodyInertia);
var phy = CreateVanilla(state, collidableDescription, bodyInertia);
return(phy);
}
//Default constructor
public EnemyEntity(Vector3 SpawnLocation)
{
//Store the entities default location then add a new physics collider into the world physics simulation
DefaultLocation = SpawnLocation;
EntityColliderShape = new Cylinder(0.6f, 1.7f);
EntityColliderDescription = new CollidableDescription(Program.World.World.Shapes.Add(EntityColliderShape), 0.25f);
EntityColliderShape.ComputeInertia(1, out var Inertia);
Program.World.World.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(SpawnLocation, Quaternion.Identity), Inertia, EntityColliderDescription, new BodyActivityDescription(0.01f)));
//Pass it to the entity manager to be stored with all the others and set the enemies type value
EntityManager.AddEntity(this);
this.Type = "Skeleton Warrior";
}
private PhyObject CreateBox(BoxState state)
{
var box = new Box(state.halfSize.X, state.halfSize.Y, state.halfSize.Z);
CollidableDescription collidableDescription = new CollidableDescription(Simulation.Shapes.Add(box), 0.1f);
BodyInertia bodyInertia;
box.ComputeInertia(state.mass, out bodyInertia);
var phy = CreateVanilla(state, collidableDescription, bodyInertia);
return(phy);
}
private PhyObject CreateMesh(BoxState state)
{
LoadModel(server.GetMesh(state.mesh), out var mesh, state.halfSize);
//fs.Close();
CollidableDescription collidableDescription = new CollidableDescription(Simulation.Shapes.Add(mesh), 0.1f);
mesh.ComputeClosedInertia(state.mass, out var bodyInertia);
var phy = CreateVanilla(state, collidableDescription, bodyInertia);
objects.Add(state.uID, phy);
return(phy);
}
//Initialize the characters body in the physics simulation
public void InitializeBody(Simulation World, Vector3 Location)
{
if (BodyActive)
{
return;
}
BodyActive = true;
BodyShape = new Capsule(0.5f, 2);
BodyIndex = World.Shapes.Add(BodyShape);
CollidableDescription = new CollidableDescription(BodyIndex, 0.1f);
BodyShape.ComputeInertia(1, out var Inertia);
Vector3 SpawnLocation = new Vector3(Location.X, Location.Y + 1.5f, Location.Z);
BodyPose = new RigidPose(SpawnLocation, Quaternion.Identity);
ActivityDescription = new BodyActivityDescription(0.01f);
BodyDescription = BodyDescription.CreateKinematic(BodyPose, CollidableDescription, ActivityDescription);
BodyHandle = World.Bodies.Add(BodyDescription);
}
public static TriggerBox Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector3 size)
{
var shape = new Box(size.X, size.Y, size.Z);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.01f);
var descriptor = new StaticDescription(position, rotation, collidable);
var handle = simulation.Simulation.Statics.Add(descriptor);
var obj = new TriggerBox(simulation, handle);
simulation.Register(obj);
return(obj);
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 4, -6);
camera.Yaw = MathHelper.Pi;
Simulation = Simulation.Create(BufferPool, new IndexReportingNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, 0f, 0)));
var builder = new CompoundBuilder(BufferPool, Simulation.Shapes, 4);
builder.Add(new Sphere(0.5f), new RigidPose(new Vector3(-1, 0, 0)), 1);
builder.Add(new Capsule(0.5f, 1f), new RigidPose(new Vector3(0, 0, 0)), 1);
builder.Add(new Box(1f, 1f, 1f), new RigidPose(new Vector3(1, 0, 0)), 1);
builder.BuildDynamicCompound(out var children, out var inertia, out var center);
var compoundCollidable = new CollidableDescription(Simulation.Shapes.Add(new Compound(children)), 0.1f);
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(0, 2, 0), inertia, compoundCollidable, new BodyActivityDescription(0.01f)));
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(0, 4, 0), inertia, compoundCollidable, new BodyActivityDescription(0.01f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(), new CollidableDescription(Simulation.Shapes.Add(new Box(100, 1, 100)), 0.1f)));
}
public static CylinderBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector2 size)
{
var shape = new Cylinder(size.X, size.Y);
shape.ComputeInertia(1, out var inertia);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.1f);
var activity = new BodyActivityDescription(0);
var pose = new RigidPose(position, rotation);
var descriptor = BodyDescription.CreateDynamic(pose, inertia, collidable, activity);
var handle = simulation.Simulation.Bodies.Add(descriptor);
var obj = new CylinderBody(simulation, handle);
simulation.Register(obj);
return(obj);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(25, 4, 40);
camera.Yaw = 0;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var shapeA = new Box(.75f, 1, .5f);
var shapeIndexA = Simulation.Shapes.Add(shapeA);
var collidableA = new CollidableDescription(shapeIndexA, 0.1f);
var shapeB = new Box(.75f, 1, .5f);
var shapeIndexB = Simulation.Shapes.Add(shapeB);
var collidableB = new CollidableDescription(shapeIndexB, 0.1f);
var activity = new BodyActivityDescription(0.01f);
shapeA.ComputeInertia(1, out var inertiaA);
shapeA.ComputeInertia(1, out var inertiaB);
var nextX = -10f;
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new Hinge
{
LocalOffsetA = new Vector3(0, 1, 0),
LocalHingeAxisA = new Vector3(0, 1, 0),
LocalOffsetB = new Vector3(0, -1, 0),
LocalHingeAxisB = new Vector3(0, 1, 0),
SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularSwivelHinge {
LocalSwivelAxisA = new Vector3(1, 0, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new SwingLimit {
AxisLocalA = new Vector3(0, 1, 0), AxisLocalB = new Vector3(0, 1, 0), MaximumSwingAngle = MathHelper.PiOver2, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new SwivelHinge
{
LocalOffsetA = new Vector3(0, 1, 0),
LocalSwivelAxisA = new Vector3(1, 0, 0),
LocalOffsetB = new Vector3(0, -1, 0),
LocalHingeAxisB = new Vector3(0, 1, 0),
SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new SwingLimit {
AxisLocalA = new Vector3(0, 1, 0), AxisLocalB = new Vector3(0, 1, 0), MaximumSwingAngle = MathHelper.PiOver2, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistServo
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
TargetAngle = MathHelper.PiOver4,
SpringSettings = new SpringSettings(30, 1),
ServoSettings = new ServoSettings(float.MaxValue, 0, float.MaxValue)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistLimit
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
MinimumAngle = MathHelper.Pi * -0.5f,
MaximumAngle = MathHelper.Pi * 0.95f,
SpringSettings = new SpringSettings(30, 1),
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistMotor
{
LocalAxisA = new Vector3(0, 1, 0),
LocalAxisB = new Vector3(0, 1, 0),
TargetVelocity = MathHelper.Pi * 2,
Settings = new MotorSettings(float.MaxValue, 0.1f)
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularServo
{
TargetRelativeRotationLocalA = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2),
ServoSettings = new ServoSettings(float.MaxValue, 0, 12f),
SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularMotor {
TargetVelocityLocalA = new Vector3(0, 1, 0), Settings = new MotorSettings(15, 0.0001f)
});
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity);
//aDescription.Velocity.Angular = new Vector3(0, 0, 5);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new Weld {
LocalOffset = new Vector3(0, 2, 0), LocalOrientation = Quaternion.Identity, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var sphere = new Sphere(0.125f);
//Treat each vertex as a point mass that cannot rotate.
var sphereInertia = new BodyInertia {
InverseMass = 1
};
var sphereCollidable = new CollidableDescription(Simulation.Shapes.Add(sphere), 0.1f);
var a = new Vector3(x, 3, 0);
var b = new Vector3(x, 4, 0);
var c = new Vector3(x, 3, 1);
var d = new Vector3(x + 1, 3, 0);
var aDescription = BodyDescription.CreateDynamic(a, sphereInertia, sphereCollidable, activity);
var bDescription = BodyDescription.CreateDynamic(b, sphereInertia, sphereCollidable, activity);
var cDescription = BodyDescription.CreateDynamic(c, sphereInertia, sphereCollidable, activity);
var dDescription = BodyDescription.CreateDynamic(d, sphereInertia, sphereCollidable, activity);
var aHandle = Simulation.Bodies.Add(aDescription);
var bHandle = Simulation.Bodies.Add(bDescription);
var cHandle = Simulation.Bodies.Add(cDescription);
var dHandle = Simulation.Bodies.Add(dDescription);
var distanceSpringiness = new SpringSettings(3f, 1);
Simulation.Solver.Add(aHandle, bHandle, new CenterDistanceConstraint(Vector3.Distance(a, b), distanceSpringiness));
Simulation.Solver.Add(aHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(a, c), distanceSpringiness));
Simulation.Solver.Add(aHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(a, d), distanceSpringiness));
Simulation.Solver.Add(bHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(b, c), distanceSpringiness));
Simulation.Solver.Add(bHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(b, d), distanceSpringiness));
Simulation.Solver.Add(cHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(c, d), distanceSpringiness));
Simulation.Solver.Add(aHandle, bHandle, cHandle, dHandle, new VolumeConstraint(a, b, c, d, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 6, 0), inertiaB, collidableB, activity);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new DistanceServo(new Vector3(0, 0.55f, 0), new Vector3(0, -0.55f, 0), 1.9f, new SpringSettings(30, 1), ServoSettings.Default));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 6, 0), inertiaB, collidableB, activity);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new DistanceLimit(new Vector3(0, 0.55f, 0), new Vector3(0, -0.55f, 0), 1f, 3, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var sphere = new Sphere(0.125f);
//Treat each vertex as a point mass that cannot rotate.
var sphereInertia = new BodyInertia {
InverseMass = 1
};
var sphereCollidable = new CollidableDescription(Simulation.Shapes.Add(sphere), 0.1f);
var a = new Vector3(x, 3, 0);
var b = new Vector3(x, 4, 0);
var c = new Vector3(x + 1, 3, 0);
var aDescription = BodyDescription.CreateDynamic(a, sphereInertia, sphereCollidable, activity);
var bDescription = BodyDescription.CreateDynamic(b, sphereInertia, sphereCollidable, activity);
var cDescription = BodyDescription.CreateDynamic(c, sphereInertia, sphereCollidable, activity);
var aHandle = Simulation.Bodies.Add(aDescription);
var bHandle = Simulation.Bodies.Add(bDescription);
var cHandle = Simulation.Bodies.Add(cDescription);
var distanceSpringiness = new SpringSettings(3f, 1);
Simulation.Solver.Add(aHandle, bHandle, new CenterDistanceConstraint(Vector3.Distance(a, b), distanceSpringiness));
Simulation.Solver.Add(aHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(a, c), distanceSpringiness));
Simulation.Solver.Add(bHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(b, c), distanceSpringiness));
Simulation.Solver.Add(aHandle, bHandle, cHandle, new AreaConstraint(a, b, c, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), default, collidableA, activity);
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 25, 80);
camera.Yaw = 0;
camera.Pitch = 0;
timestepper = new SubsteppingTimestepper(8);
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks()
{
ContactSpringiness = new SpringSettings(120, 120)
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), timestepper, 8);
rolloverInfo = new RolloverInfo();
{
//We'll create a 0 level arm rope like the one from the RopeStabilityDemo. No skip constraints, though- and the mass ratio will be 1000:1 instead of 100:1!
var startLocation = new Vector3(15, 40, 0);
const float bodySpacing = 0.3f;
const float bodyRadius = 0.5f;
var springSettings = new SpringSettings(240, 480);
var bodyHandles = RopeStabilityDemo.BuildRope(Simulation, startLocation, 12, bodyRadius, bodySpacing, 0, 1, 0, springSettings);
var bigWreckingBall = new Sphere(5);
bigWreckingBall.ComputeInertia(1000, out var bigWreckingBallInertia);
RopeStabilityDemo.AttachWreckingBall(Simulation, bodyHandles, bodyRadius, bodySpacing, 0, bigWreckingBall.Radius, bigWreckingBallInertia, Simulation.Shapes.Add(bigWreckingBall), springSettings);
rolloverInfo.Add(startLocation + new Vector3(0, 2, 0), "1000:1 mass ratio");
}
{
//Stack with a heavy block on top. Note that the contact springiness we chose in the DemoNarrowPhaseCallbacks above is important to making the stack resist the weight of the top block.
//It's also the reason why we need higher substeps- 120hz frequency is too high for 60hz solving! Watch what happens when you drop the substep count to 3.
//(Note that the demos timestep frequency is 60hz, so 4 substeps is a 240hz solve rate- twice the 120hz contact frequency.)
var boxShape = new Box(4, 0.5f, 6f);
boxShape.ComputeInertia(1, out var boxInertia);
//Note that sleeping is disabled with a negative velocity threshold. We want to watch the stack as we change simulation settings; if it's inactive, it won't respond!
var boxDescription = BodyDescription.CreateDynamic(new Vector3(), boxInertia, new CollidableDescription(Simulation.Shapes.Add(boxShape), 0.1f), new BodyActivityDescription(-1f));
for (int i = 0; i < 20; ++i)
{
boxDescription.Pose = new RigidPose(new Vector3(0, 0.5f + boxShape.Height * (i + 0.5f), 0), QuaternionEx.CreateFromAxisAngle(Vector3.UnitY, MathF.PI * 0.05f * i));
Simulation.Bodies.Add(boxDescription);
}
var topBlockShape = new Box(8, 2, 8);
topBlockShape.ComputeInertia(200, out var topBlockInertia);
Simulation.Bodies.Add(
BodyDescription.CreateDynamic(boxDescription.Pose.Position + new Vector3(0, boxShape.HalfHeight + 1f, 0), topBlockInertia,
new CollidableDescription(Simulation.Shapes.Add(topBlockShape), 0.1f), new BodyActivityDescription(-1f)));
rolloverInfo.Add(boxDescription.Pose.Position + new Vector3(0, 4, 0), "200:1 mass ratio");
}
{
//Now a weird rotating multi-arm thing. Long constraint sequences with high leverages under stress are a really tough problem for iterative velocity solvers.
//(Fortunately, all 5 degrees of freedom of each hinge constraint are solved analytically, so the convergence issues aren't quite as bad as they could be.)
var basePosition = new Vector3(-20, 20, 0);
var boxShape = new Box(0.5f, 0.5f, 3f);
var boxCollidable = new CollidableDescription(Simulation.Shapes.Add(boxShape), 0.1f);
boxShape.ComputeInertia(1, out var boxInertia);
var linkDescription = BodyDescription.CreateDynamic(new Vector3(), boxInertia, boxCollidable, new BodyActivityDescription(0.01f));
for (int chainIndex = 0; chainIndex < 4; ++chainIndex)
{
linkDescription.Pose.Position = basePosition + new Vector3(0, 0, chainIndex * 15);
var previousLinkHandle = Simulation.Bodies.Add(BodyDescription.CreateKinematic(linkDescription.Pose.Position, boxCollidable, new BodyActivityDescription(0.01f)));
for (int linkIndex = 0; linkIndex < 8; ++linkIndex)
{
var previousPosition = linkDescription.Pose.Position;
var offset = new Vector3(boxShape.Width * 1.05f, 0, boxShape.Length - boxShape.Width);
linkDescription.Pose.Position += offset;
var linkHandle = Simulation.Bodies.Add(linkDescription);
Simulation.Solver.Add(previousLinkHandle, linkHandle, new Hinge
{
LocalHingeAxisA = Vector3.UnitX,
LocalHingeAxisB = Vector3.UnitX,
LocalOffsetA = offset * 0.5f,
LocalOffsetB = offset * -0.5f,
//Once again, the choice of high stiffness makes this potentially unstable without substepping.
SpringSettings = new SpringSettings(120, 1)
});
Simulation.Solver.Add(previousLinkHandle, linkHandle, new AngularAxisMotor
{
LocalAxisA = Vector3.UnitX,
TargetVelocity = .25f,
Settings = new MotorSettings(float.MaxValue, 0.0001f)
});
previousLinkHandle = linkHandle;
}
}
rolloverInfo.Add(basePosition + new Vector3(0, 4, 0), "High stiffness, long lever arm motorized chain");
}
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(200, 1, 200)), 0.1f)));
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(20, 10, 20);
camera.Yaw = MathF.PI;
camera.Pitch = 0;
characters = new CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
CreateCharacter(new Vector3(0, 2, -4));
//Create a bunch of legos to hurt your feet on.
var random = new Random(5);
var origin = new Vector3(-3f, 0.5f, 0);
var spacing = new Vector3(0.5f, 0, -0.5f);
for (int i = 0; i < 12; ++i)
{
for (int j = 0; j < 12; ++j)
{
var position = origin + new Vector3(i, 0, j) * spacing;
var orientation = QuaternionEx.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0.0001f) + new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), 10 * (float)random.NextDouble());
var shape = new Box(0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble());
var collidable = new CollidableDescription(Simulation.Shapes.Add(shape), 0.1f);
shape.ComputeInertia(1, out var inertia);
var choice = (i + j) % 3;
switch (choice)
{
case 0:
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(position, orientation), inertia, collidable, new BodyActivityDescription(0.01f)));
break;
case 1:
Simulation.Bodies.Add(BodyDescription.CreateKinematic(new RigidPose(position, orientation), collidable, new BodyActivityDescription(0.01f)));
break;
case 2:
Simulation.Statics.Add(new StaticDescription(position, orientation, collidable));
break;
}
}
}
//Add some spinning fans to get slapped by.
var bladeDescription = BodyDescription.CreateConvexDynamic(new Vector3(), 3, Simulation.Shapes, new Box(10, 0.2f, 2));
var bladeBaseDescription = BodyDescription.CreateConvexKinematic(new Vector3(), Simulation.Shapes, new Box(0.2f, 1, 0.2f));
for (int i = 0; i < 3; ++i)
{
bladeBaseDescription.Pose.Position = new Vector3(-22, 1, i * 11);
bladeDescription.Pose.Position = new Vector3(-22, 1.7f, i * 11);
var baseHandle = Simulation.Bodies.Add(bladeBaseDescription);
var bladeHandle = Simulation.Bodies.Add(bladeDescription);
Simulation.Solver.Add(baseHandle, bladeHandle,
new Hinge
{
LocalHingeAxisA = Vector3.UnitY,
LocalHingeAxisB = Vector3.UnitY,
LocalOffsetA = new Vector3(0, 0.7f, 0),
LocalOffsetB = new Vector3(0, 0, 0),
SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(baseHandle, bladeHandle,
new AngularAxisMotor
{
LocalAxisA = Vector3.UnitY,
TargetVelocity = (i + 1) * (i + 1) * (i + 1) * (i + 1) * 0.2f,
Settings = new MotorSettings(5 * (i + 1), 0.0001f)
});
}
//Include a giant newt to test character-newt behavior and to ensure thematic consistency.
DemoMeshHelper.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(15, 15, 15), out var newtMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0.5f, 0), new CollidableDescription(Simulation.Shapes.Add(newtMesh), 0.1f)));
//Give the newt a tongue, I guess.
var tongueBase = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(0, 8.4f, 24), default, default));
// public override Vector3 Scaling
// {
// get => cachedScaling;
// set
// {
// base.Scaling = value;
// foreach (var colliderShape in colliderShapes)
// {
// colliderShape.Scaling = cachedScaling;
// }
// }
// }
internal override void CreateAndAddCollidableDescription(
BepuPhysicsComponent physicsComponent, BepuSimulation xenkoSimulation, out TypedIndex shapeTypeIndex, out CollidableDescription collidableDescription)
{
//throw new System.NotImplementedException();
shapeTypeIndex = default;
collidableDescription = default;
}
