///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
terrain = entryA as Terrain;
convex = entryB as ConvexCollidable;
if (terrain == null || convex == null)
{
terrain = entryB as Terrain;
convex = entryA as ConvexCollidable;
if (terrain == null || convex == null)
throw new Exception("Inappropriate types used to initialize pair.");
}
//Contact normal goes from A to B.
broadPhaseOverlap.entryA = convex;
broadPhaseOverlap.entryB = terrain;
UpdateMaterialProperties(convex.entity != null ? convex.entity.material : null, terrain.material);
base.Initialize(entryA, entryB);
}
public Map(Terrain terrain)
: base(MobileFortressClient.Game)
{
Terrain = terrain;
var map = Terrain.Shape.Heights;
int width = map.GetLength(0);
int x, y;
vertexPNTs = new VertexMultitextured[width * width];
ResetVertexBuffer();
indices = new int[(width - 1) * (width - 1) * 6];
int counter = 0;
for (y = 0; y < width - 1; y++)
{
for (x = 0; x < width - 1; x++)
{
int lowerLeft = x + y * width;
int lowerRight = (x + 1) + y * width;
int topLeft = x + (y + 1) * width;
int topRight = (x + 1) + (y + 1) * width;
indices[counter++] = topLeft;
indices[counter++] = lowerRight;
indices[counter++] = lowerLeft;
indices[counter++] = topLeft;
indices[counter++] = topRight;
indices[counter++] = lowerRight;
}
}
MobileFortressClient.Game.Components.Add(this);
CopyToBuffers();
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
terrain = null;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TerrainDemo(DemosGame game)
: base(game)
{
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
//[The size here is limited by the Reach profile the demos use- the drawer draws the terrain as a big block and runs into primitive drawing limits.
//The physics can support far larger terrains!]
int xLength = 180;
int zLength = 180;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, 0, -zLength * zSpacing / 2)));
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
for (int k = 0; k < 5; k++)
{
Space.Add(new Box(
new Vector3(0 + i * 4, 100 - j * 10, 0 + k * 4),
2 + i * j * k,
2 + i * j * k,
2 + i * j * k,
4 + 20 * i * j * k));
}
}
}
game.ModelDrawer.Add(terrain);
game.Camera.Position = new Vector3(0, 30, 20);
}
///<summary>
/// Initializes the pair handler.
///</summary>
///<param name="entryA">First entry in the pair.</param>
///<param name="entryB">Second entry in the pair.</param>
public override void Initialize(BroadPhaseEntry entryA, BroadPhaseEntry entryB)
{
terrain = entryA as Terrain;
if (terrain == null)
{
terrain = entryB as Terrain;
if (terrain == null)
{
throw new Exception("Inappropriate types used to initialize pair.");
}
}
base.Initialize(entryA, entryB);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public AccumulationTestDemo(DemosGame game)
: base(game)
{
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
int xLength = 256;
int zLength = 256;
float xSpacing = .5f;
float zSpacing = .5f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, 0, -zLength * zSpacing / 2)));
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
eventHandler = (sender, other, pair) =>
{
var entityCollidable = other as EntityCollidable;
if (entityCollidable == null || !entityCollidable.Entity.IsDynamic)
{
sender.Events.RemoveAllEvents();
sender.Entity.LinearVelocity = new Vector3();
sender.Entity.AngularVelocity = new Vector3();
sender.Entity.BecomeKinematic();
sender.CollisionRules.Group = CollisionRules.DefaultDynamicCollisionGroup;
}
};
game.Camera.Position = new Vector3(0, 30, 20);
}
/// <summary>
/// Constuct a TerrainPhysics entity.
/// </summary>
/// <param name="terrainName">The name of the terrain.</param>
/// <param name="translation">The position of the terrain.</param>
/// <param name="orientation">The orientation of the terrain.</param>
/// <param name="scale">The amount to scale the terrain</param>
public TerrainPhysics(String terrainName, Vector3 translation, Quaternion orientation, Vector3 scale)
{
float[,] heights = null;// AssetLibrary.LookupTerrainHeightMap(terrainName).GetHeights();
StaticCollidable = new Terrain(
heights,
new AffineTransform(scale, orientation, translation - new Vector3(scale.X * .5f * heights.GetLength(0), 0f, scale.Z * .5f * heights.GetLength(1)))
);
StaticCollidable.CollisionRules.Group = TerrainPhysicsGroup;
StaticCollidable.Tag = this;
Position = translation;
XNAOrientationMatrix = Matrix.CreateFromQuaternion(orientation);
Scale = scale;
mTerrainRenderable = new TerrainRenderable(terrainName);
}
void CreateTerrain()
{
float peakValue = 0;
for (int x = 0; x < map.GetLength(0); x++)
for (int y = 0; y < map.GetLength(0); y++)
if (map[x, y] > peakValue) peakValue = map[x, y];
float half = (map.GetLength(0) * lateralScale) / 2;
AffineTransform transform = new AffineTransform(
new Vector3(lateralScale, verticalScale, -lateralScale),
Quaternion.Identity,
new Vector3(-half, 0, half));
Terrain = new Terrain(map, transform);
Sector.Redria.Space.Add(Terrain);
}
private void CreateStaticCollidable()
{
float[,] heights = AssetLibrary.LookupHeightMap(mName).Mesh.Heights;
Vector3 collidableScale = new Vector3(Scale.X / (float)(heights.GetLength(0) - 1), Scale.Y, Scale.Z / (float)(heights.GetLength(1) - 1));
StaticCollidable = new Terrain(heights, new BEPUphysics.MathExtensions.AffineTransform(collidableScale, OrientationQuaternion, Position));
StaticCollidable.CollisionRules.Group = HeightMapPhysicsGroup;
StaticCollidable.Tag = this;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
mesh = null;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TornadoDemo(DemosGame game)
: base(game)
{
shape = new BoundingBoxForceFieldShape(new BoundingBox(new Vector3(-100, -20, -40), new Vector3(-20, 120, 40)));
tornado = new Tornado(shape, (shape.BoundingBox.Min + shape.BoundingBox.Max) / 2, new Vector3(0, 1, 0),
150, false, 50, 10, 200, 200, 80, 2000, 40, 10);
tornado.ForceWakeUp = true; //The tornado will be moving, so it should wake up things that it comes into contact with.
Space.Add(tornado);
//Create the unfortunate box-like citizens about to be hit by the tornado.
int numColumns = 10;
int numRows = 10;
int numHigh = 1;
float separation = 1.5f;
Entity toAdd;
for (int i = 0; i < numRows; i++)
for (int j = 0; j < numColumns; j++)
for (int k = 0; k < numHigh; k++)
{
toAdd = new Box(new Vector3(
separation * i - numRows * separation / 2,
5 + k * separation,
separation * j - numColumns * separation / 2),
1, 1, 1, 10);
Space.Add(toAdd);
}
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
//[The size here is limited by the Reach profile the demos use- the drawer draws the terrain as a big block and runs into primitive drawing limits.
//The physics can support far larger terrains!]
int xLength = 180;
int zLength = 180;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength,zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)Math.Pow(1.2 * Math.Sqrt(x * x + y * y), 2);
//heights[i,j] = -1f / (x * x + y * y);
//heights[i,j] = (float)(x * y / 100f);
heights[i,j] = (float)(5 * (Math.Sin(x / 8f) + Math.Sin(z / 8f)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, 0, -zLength * zSpacing / 2)));
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
game.Camera.Position = new Vector3(0, 5, 60);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public ReverseTrikeDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
game.Camera.Yaw = 0;
game.Camera.Pitch = 0;
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
var body = new Box(new Vector3(0, 0, 0), 2, 1, 3, 10);
body.CollisionInformation.LocalPosition = new Vector3(0, .8f, 0);
Space.Add(body);
#region First Wheel
var wheel = new Cylinder(body.Position + new Vector3(-1.3f, 0, -1.5f), .2f, .5f, 4);
wheel.Material = new Material(1.5f, 1.5f, 0);
wheel.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
//Preventing the occasional pointless collision pair can speed things up.
CollisionRules.AddRule(body, wheel, CollisionRule.NoBroadPhase);
//Connect the wheel to the body.
var ballSocketJoint = new BallSocketJoint(body, wheel, wheel.Position);
var swivelHingeAngularJoint = new SwivelHingeAngularJoint(body, wheel, Vector3.Up, Vector3.Right);
//Motorize the wheel.
drivingMotor1 = new RevoluteMotor(body, wheel, Vector3.Left);
drivingMotor1.Settings.VelocityMotor.Softness = .2f;
//Let it roll when the user isn't giving specific commands.
drivingMotor1.IsActive = false;
steeringMotor1 = new RevoluteMotor(body, wheel, Vector3.Up);
steeringMotor1.Settings.Mode = MotorMode.Servomechanism;
//The constructor makes a guess about how to set up the constraint.
//It can't always be right since it doesn't have all the information;
//in this case, it chooses the basis and test axis incorrectly.
//This leads to a 'flipping' behavior when the wheel is rolling
//(the test axis is 'rolling' with the wheel, and passes over
//a singularity which causes a flip).
//To fix this, we configure the constraint directly.
//The basis is aligned with how the wheel is set up; we choose 'up' as
//the motorized axis, and right/forward to define the angle measurement plane.
//The test axis is set to be perpendicular to the wheel's rotation so that
//it only measures the steering angle.
//If you're curious, the angle measurement is just a Math.Atan2.
//The current world test axis is dotted against the two plane axes (Right and Forward here).
//This gives an x and y value. These can be plugged into Atan2 just like when
//you compute an angle on a normal 2d graph.
steeringMotor1.Basis.SetWorldAxes(Vector3.Up, Vector3.Right);
steeringMotor1.TestAxis = Vector3.Right;
//Add the wheel and connection to the space.
Space.Add(wheel);
Space.Add(ballSocketJoint);
Space.Add(swivelHingeAngularJoint);
Space.Add(drivingMotor1);
Space.Add(steeringMotor1);
#endregion
#region Second Wheel
wheel = new Cylinder(body.Position + new Vector3(1.3f, 0, -1.5f), .2f, .5f, 4);
wheel.Material = new Material(1.5f, 1.5f, 0);
wheel.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
//Preventing the occasional pointless collision pair can speed things up.
CollisionRules.AddRule(body, wheel, CollisionRule.NoBroadPhase);
//Connect the wheel to the body.
ballSocketJoint = new BallSocketJoint(body, wheel, wheel.Position);
swivelHingeAngularJoint = new SwivelHingeAngularJoint(body, wheel, Vector3.Up, Vector3.Right);
//Motorize the wheel.
drivingMotor2 = new RevoluteMotor(body, wheel, Vector3.Left);
drivingMotor2.Settings.VelocityMotor.Softness = .2f;
//Let it roll when the user isn't giving specific commands.
drivingMotor2.IsActive = false;
steeringMotor2 = new RevoluteMotor(body, wheel, Vector3.Up);
steeringMotor2.Settings.Mode = MotorMode.Servomechanism;
//Configure the motor. See wheel 1 for more description.
steeringMotor2.Basis.SetWorldAxes(Vector3.Up, Vector3.Right);
steeringMotor2.TestAxis = Vector3.Right;
//Add the wheel and connection to the space.
Space.Add(wheel);
Space.Add(ballSocketJoint);
Space.Add(swivelHingeAngularJoint);
Space.Add(drivingMotor2);
Space.Add(steeringMotor2);
#endregion
#region Third Wheel
wheel = new Cylinder(body.Position + new Vector3(0, -.3f, 1.5f), .2f, .5f, 4);
wheel.Material = new Material(1.5f, 1.5f, 0);
wheel.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
//Preventing the occasional pointless collision pair can speed things up.
CollisionRules.AddRule(body, wheel, CollisionRule.NoBroadPhase);
//Connect the wheel to the body.
ballSocketJoint = new BallSocketJoint(body, wheel, wheel.Position);
//Notice that the third wheel isn't a swivel hinge, it's just a revolute axis.
//This lets it roll, but prevents flopping around like the wheels of a grocery cart.
//Could have used a RevoluteJoint solver group here, but this shows it's possible to do
//the same things without using the combo-constraints.
var revoluteAngularJoint = new RevoluteAngularJoint(body, wheel, Vector3.Right);
//Add the wheel and connection to the space.
Space.Add(wheel);
Space.Add(ballSocketJoint);
Space.Add(revoluteAngularJoint);
#endregion
int xLength = 256;
int zLength = 256;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, -10, -zLength * zSpacing / 2)));
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
}
///<summary>
/// Initializes the manifold.
///</summary>
///<param name="newCollidableA">First collidable.</param>
///<param name="newCollidableB">Second collidable.</param>
public override void Initialize(Collidable newCollidableA, Collidable newCollidableB)
{
convex = newCollidableA as ConvexCollidable;
terrain = newCollidableB as Terrain;
if (convex == null || terrain == null)
{
convex = newCollidableB as ConvexCollidable;
terrain = newCollidableA as Terrain;
if (convex == null || terrain == null)
throw new Exception("Inappropriate types used to initialize contact manifold.");
}
}
///<summary>
/// Cleans up the manifold.
///</summary>
public override void CleanUp()
{
terrain = null;
convex = null;
base.CleanUp();
}
private void LoadHeightData(Texture2D heightMap)
{
terrainWidth = heightMap.Width;
terrainHeight = heightMap.Height;
Color[] heightMapColors = new Color[terrainWidth * terrainHeight];
heightMap.GetData(heightMapColors);
heightData = new float[terrainWidth, terrainHeight];
var bepuHehighData = new float[terrainWidth, terrainHeight];
for (int x = 0; x < terrainWidth; x++)
{
for (int y = 0; y < terrainHeight; y++)
{
heightData[x, y] = heightMapColors[x + y * terrainWidth].R / 5.0f;
}
}
int yy = 0;
for (int x = 0; x < terrainWidth; x++)
{
for (int y = terrainHeight - 1; y >= 0 ; y--)
{
bepuHehighData[x, y] = heightMapColors[x + yy * terrainWidth].R / 5.0f;
yy++;
}
yy = 0;
}
bepuTerrain = new BEPUphysics.Collidables.Terrain(bepuHehighData, new AffineTransform(
new Vector3(1, 1, 1)
, Quaternion.Identity
,new Vector3(0, 0, -terrainHeight)
));
XNAGame.Instance.Space.Add(bepuTerrain);
//XNAGame.Instance.ModelDrawer.Add(bepuTerrain);
}
/// <summary>
/// Create a Terrain Physic Object
/// </summary>
/// <param name="gfactory">The gfactory.</param>
/// <param name="heighmapName">Name of the heighmap texture</param>
/// <param name="translation">The translation.</param>
/// <param name="rotation">The rotation.</param>
/// <param name="materialDesc">The material desc.</param>
/// <param name="XSpacing">The X spacing.</param>
/// <param name="ZSpacing">The Z spacing.</param>
/// <param name="heightMultipler">Default 10 - controla a altura, menor mais alto</param>
public TerrainObject(GraphicFactory gfactory, String heighmapName, Vector3 translation, Matrix? rotation = null, MaterialDescription materialDesc = null, float XSpacing = 1, float ZSpacing = 1, float heightMultipler = 10)
{
if (!rotation.HasValue)
rotation = Matrix.Identity;
if (materialDecription == null)
materialDecription = MaterialDescription.DefaultBepuMaterial();
//Used to calculate ther proportion of the xNormalized in the getHeightFast method
xScale = XSpacing;
zScale = ZSpacing;
this.heightMultipler = heightMultipler;
this.image = heighmapName;
sourceImage = gfactory.GetTexture2D(image);
int xLength = sourceImage.Width;
int yLength = sourceImage.Height;
terrainWidth = xLength;
terrainHeight = yLength;
this.rotation = rotation.Value;
//this.scale = scale;
Color[] colorData = new Color[xLength * yLength];
sourceImage.GetData<Color>(colorData);
var heightStore = new float[xLength, yLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < yLength; j++)
{
Color color = colorData[j * xLength + i];
heightStore[i, j] = (color.R) / heightMultipler;
if (heightStore[i, j] > maxHeight)
{
maxHeight = heightStore[i, j];
}
if (heightStore[i, j] < minHeight)
{
minHeight = heightStore[i, j];
}
}
}
//Create the terrain.
BEPUphysics.CollisionShapes.TerrainShape shape = new BEPUphysics.CollisionShapes.TerrainShape(heightStore, BEPUphysics.CollisionShapes.QuadTriangleOrganization.BottomLeftUpperRight);
terrain = new Terrain(shape, new BEPUphysics.MathExtensions.AffineTransform(new Vector3(XSpacing, 1, ZSpacing), Quaternion.CreateFromRotationMatrix(rotation.Value), new Vector3(-xLength * XSpacing / 2, 0, -yLength * ZSpacing / 2) + translation));
terrain.ImproveBoundaryBehavior = true;
SetMaterialDescription(materialDesc);
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public SuspensionCarDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
game.Camera.Yaw = 0;
game.Camera.Pitch = 0;
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
var body = new Box(new Vector3(0, 0, 0), 4, .5f, 5, 20);
body.CollisionInformation.LocalPosition = new Vector3(0, .8f, 0);
Space.Add(body);
AddBackWheel(new Vector3(-1.8f, -.2f, 2.1f), body);
AddBackWheel(new Vector3(1.8f, -.2f, 2.1f), body);
var wheel1 = AddDriveWheel(new Vector3(-1.8f, -.2f, -2.1f), body, out drivingMotor1, out steeringMotor1);
var wheel2 = AddDriveWheel(new Vector3(1.8f, -.2f, -2.1f), body, out drivingMotor2, out steeringMotor2);
//Add a stabilizer so that the wheels can't point different directions.
var steeringStabilizer = new RevoluteAngularJoint(wheel1, wheel2, Vector3.Right);
Space.Add(steeringStabilizer);
//x and y, in terms of heightmaps, refer to their local x and y coordinates. In world space, they correspond to x and z.
//Setup the heights of the terrain.
int xLength = 256;
int zLength = 256;
float xSpacing = 8f;
float zSpacing = 8f;
var heights = new float[xLength, zLength];
for (int i = 0; i < xLength; i++)
{
for (int j = 0; j < zLength; j++)
{
float x = i - xLength / 2;
float z = j - zLength / 2;
//heights[i,j] = (float)(x * y / 1000f);
heights[i, j] = (float)(10 * (Math.Sin(x / 8) + Math.Sin(z / 8)));
//heights[i,j] = 3 * (float)Math.Sin(x * y / 100f);
//heights[i,j] = (x * x * x * y - y * y * y * x) / 1000f;
}
}
//Create the terrain.
var terrain = new Terrain(heights, new AffineTransform(
new Vector3(xSpacing, 1, zSpacing),
Quaternion.Identity,
new Vector3(-xLength * xSpacing / 2, -10, -zLength * zSpacing / 2)));
//terrain.Thickness = 5; //Uncomment this and shoot some things at the bottom of the terrain! They'll be sucked up through the ground.
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
}
public TerrainObject(GraphicFactory gfactory, Vector3 translation, Matrix rotation, float[,] heights, MaterialDescription materialDesc,BEPUphysics.CollisionShapes.QuadTriangleOrganization triangleorientation = BEPUphysics.CollisionShapes.QuadTriangleOrganization.BottomLeftUpperRight )
{
terrainWidth = heights.GetLength(0);
terrainHeight = heights.GetLength(1);
//Create the terrain.
BEPUphysics.CollisionShapes.TerrainShape shape = new BEPUphysics.CollisionShapes.TerrainShape(heights, triangleorientation);
terrain = new Terrain(shape, new BEPUphysics.MathExtensions.AffineTransform(Vector3.One, Quaternion.CreateFromRotationMatrix(rotation), translation));
terrain.ImproveBoundaryBehavior = true;
SetMaterialDescription(materialDesc);
}