protected override void ComponentsCreatedHandler(object sender, EventArgs e)
{
base.ComponentsCreatedHandler(sender, e);
TerrainRenderComponent terrainRenderComponent = Owner.GetComponent <TerrainRenderComponent>(ComponentType.Render);
if (terrainRenderComponent == null)
{
throw new LevelManifestException("TerrainCollisionComponent expect to be accompanied by a TerrainRenderComponent.");
}
float[,] heightVals = terrainRenderComponent.Heights;
XnaVector3 originShift = new XnaVector3(terrainRenderComponent.TerrainAsset.XZScale * (terrainRenderComponent.TerrainAsset.VertexCountAlongXAxis - 1) * 0.5f,
0.0f,
terrainRenderComponent.TerrainAsset.XZScale * (terrainRenderComponent.TerrainAsset.VertexCountAlongZAxis - 1) * 0.5f);
AffineTransform terrainTransform = new BEPUutilities.AffineTransform(
new BEPUutilities.Vector3(terrainRenderComponent.TerrainAsset.XZScale, 1.0f, terrainRenderComponent.TerrainAsset.XZScale),
BepuConverter.Convert(mTransformComponent.Orientation),
BepuConverter.Convert(mTransformComponent.Translation - originShift));
mSimTerrain = new BepuTerrain(heightVals, terrainTransform);
mSimTerrain.Material.Bounciness = 0.60f;
mSimTerrain.Material.StaticFriction = 1.0f;
mSimTerrain.Material.KineticFriction = 1.0f;
mSimTerrain.Tag = Owner.Id;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
terrain = null;
convex = null;
}
protected override void ComponentsCreatedHandler(object sender, EventArgs e)
{
base.ComponentsCreatedHandler(sender, e);
TerrainRenderComponent terrainRenderComponent = Owner.GetComponent<TerrainRenderComponent>(ComponentType.Render);
if (terrainRenderComponent == null)
throw new LevelManifestException("TerrainCollisionComponent expect to be accompanied by a TerrainRenderComponent.");
float[,] heightVals = terrainRenderComponent.Heights;
XnaVector3 originShift = new XnaVector3(terrainRenderComponent.TerrainAsset.XZScale * (terrainRenderComponent.TerrainAsset.VertexCountAlongXAxis - 1) * 0.5f,
0.0f,
terrainRenderComponent.TerrainAsset.XZScale * (terrainRenderComponent.TerrainAsset.VertexCountAlongZAxis - 1) * 0.5f);
AffineTransform terrainTransform = new BEPUutilities.AffineTransform(
new BEPUutilities.Vector3(terrainRenderComponent.TerrainAsset.XZScale, 1.0f, terrainRenderComponent.TerrainAsset.XZScale),
BepuConverter.Convert(mTransformComponent.Orientation),
BepuConverter.Convert(mTransformComponent.Translation - originShift));
mSimTerrain = new BepuTerrain(heightVals, terrainTransform);
mSimTerrain.Material.Bounciness = 0.60f;
mSimTerrain.Material.StaticFriction = 1.0f;
mSimTerrain.Material.KineticFriction = 1.0f;
mSimTerrain.Tag = Owner.Id;
}
///<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 ArgumentException("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);
}
/// <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>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public SuspensionCarDemo2(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
var body = new Box(new Vector3(0, 0, 0), 2, .5f, 3, 20);
body.CollisionInformation.LocalPosition = new Vector3(0, 1f, 0);
Space.Add(body);
AddBackWheel(new Vector3(-1f, .55f, 1.3f), body, true);
AddBackWheel(new Vector3(1f, .55f, 1.3f), body, false);
Box suspensionLeg1, suspensionLeg2;
AddDriveWheel(new Vector3(-1f, .55f, -1.3f), body, true, out drivingMotor1, out steeringMotor1, out suspensionLeg1);
AddDriveWheel(new Vector3(1f, .55f, -1.3f), body, false, out drivingMotor2, out steeringMotor2, out suspensionLeg2);
//Add a stabilizer so that the wheels can't point different directions.
var steeringStabilizer = new RevoluteAngularJoint(suspensionLeg1, suspensionLeg2, 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 = 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, -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);
}
///<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 ArgumentException("Inappropriate types used to initialize contact manifold.");
}
}
///<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)
{
mesh = entryA as Terrain;
if (mesh == null)
{
mesh = entryB as Terrain;
if (mesh == 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>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public SpiderDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
BuildBot(new Vector3(0, 3, 0), out legJoints);
//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 = 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, -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);
}
/// <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);
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 = 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, -10, -zLength * zSpacing / 2)));
Space.Add(terrain);
game.ModelDrawer.Add(terrain);
}
public TerrainCollisionComponent(Actor owner)
: base(owner)
{
mSimTerrain = null;
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public TankDemo(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 2, 15);
Space.Add(new Box(new Vector3(0, -5, 0), 20, 1, 20));
playerTank = new Tank(new Vector3(0, 0, 0));
playerTank.AddToSpace(Space);
//Create a bunch of other tanks.
autoTanks = new List<Tank>();
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
var autoTank = new Tank(new Vector3(-30 + i * 10, 30, -30 + j * 10));
autoTanks.Add(autoTank);
autoTank.AddToSpace(Space);
}
}
//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 = 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)(20 * (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 TerrainCollisionComponent(Actor owner)
: base(owner)
{
mSimTerrain = null;
}
///<summary>
/// Cleans up the pair handler.
///</summary>
public override void CleanUp()
{
base.CleanUp();
mesh = null;
}
