public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-20, 10, -20);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
var shape = new Box(1f, 3f, 2f);
BodyInertia localInertia;
localInertia.InverseMass = 1f;
shape.ComputeLocalInverseInertia(localInertia.InverseMass, out localInertia.InverseInertiaTensor);
//capsuleInertia.InverseInertiaTensor = new Triangular3x3();
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 8;
const int height = 16;
const int length = 8;
var latticeSpacing = 1.0f;
var latticeOffset = 0;// -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(1, 3, 2), new Vector3(latticeOffset, 1.5f, latticeOffset), localInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
//Simulation.Bodies.ActiveSet.Velocities[0].Linear = new Vector3(-2, 0, 0);
//Simulation.Solver.IterationCount = 100;
//var sphere = new Sphere(0.5f);
//var sphereShapeIndex = Simulation.Shapes.Add(ref sphere);
//BodyInertia sphereLocalInertia;
//sphereLocalInertia.InverseMass = 1;
//sphere.ComputeLocalInverseInertia(sphereLocalInertia.InverseMass, out sphereLocalInertia.InverseInertiaTensor);
//for (int j = 0; j < 16; ++j)
//{
// var bodyDescription = new BodyDescription
// {
// Pose = new RigidPose
// {
// Position = new Vector3(-16, 0.5f + j, 0),
// Orientation = BepuUtilities.Quaternion.Identity
// },
// LocalInertia = sphereLocalInertia,
// Collidable = new CollidableDescription
// {
// Continuity = new ContinuousDetectionSettings(),
// SpeculativeMargin = 0.04f,
// Shape = sphereShapeIndex
// },
// Activity = new BodyActivityDescription
// {
// SleepThreshold = -.1f,
// MinimumTimestepCountUnderThreshold = 32
// }
// };
// Simulation.Bodies.Add(ref bodyDescription);
//}
var staticShape = new Box(1, 1, 1);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidth = 100;
const float staticSpacing = 1.2f;
var gridOffset = -0.5f * staticGridWidth * staticSpacing;
for (int i = 0; i < staticGridWidth; ++i)
{
for (int j = 0; j < staticGridWidth; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
1 + gridOffset + i * staticSpacing,
-0.5f,
0.5f + gridOffset + j * staticSpacing),
//Orientation = BepuUtilities.Quaternion.Identity
Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1 + i, i * j % 10, -10 + -j)), (i ^ j) * 0.5f * (MathHelper.PiOver4))
//Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0, 0, 1)), MathHelper.Pi)
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
var shape = new Sphere(0.5f);
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 16;
const int height = 16;
const int length = 16;
var latticeSpacing = 1.1f;
var latticeOffset = -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 1.0f, latticeSpacing), new Vector3(latticeOffset, 100, latticeOffset), 1f / (shape.Radius * shape.Radius * 2 / 3), shapeIndex),
new BallSocketConstraintBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = true;
var staticShape = new Sphere(4);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidthInSpheres = 16;
const float staticSpacing = 6;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4,
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
//ref var velocity = ref Simulation.Bodies.Velocities[Simulation.Bodies.HandleToIndex[bodyHandles[width]]];
//velocity.Linear = new Vector3(0.1f, 0, 0.1f);
//velocity.Angular = new Vector3();
//Simulation.Solver.IterationCount = 100;
Console.WriteLine(Simulation.Solver.CountConstraints());
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks(),
new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
var shape = new Sphere(0.5f);
BodyInertia sphereInertia;
sphereInertia.InverseMass = 1;
shape.ComputeLocalInverseInertia(sphereInertia.InverseMass, out sphereInertia.InverseInertiaTensor);
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 16;
const int height = 16;
const int length = 16;
var latticeSpacing = 1.1f;
var latticeOffset = -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 1.1f, latticeSpacing), new Vector3(latticeOffset, 10, latticeOffset), sphereInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -1, 0);
Simulation.Deterministic = false;
var staticShape = new Sphere(4);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidthInSpheres = 100;
const float staticSpacing = 6;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4,
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
//ref var velocity = ref Simulation.Bodies.Velocities[Simulation.Bodies.HandleToIndex[bodyHandles[width]]];
//velocity.Linear = new Vector3(0.1f, 0, 0.1f);
//velocity.Angular = new Vector3();
//Simulation.Solver.IterationCount = 100;
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)),
initialAllocationSizes: new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
var shape = new Sphere(0.5f);
shape.ComputeInertia(1, out var sphereInertia);
var shapeIndex = Simulation.Shapes.Add(shape);
const int width = 12;
const int height = 4;
const int length = 12;
var latticeSpacing = 5.1f;
var latticeOffset = -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 1.5f, latticeSpacing), new Vector3(latticeOffset, 10, latticeOffset), sphereInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.Deterministic = false;
var staticShape = new Sphere(4);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
const int staticGridWidthInSpheres = 100;
const float staticSpacing = 6;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4,
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
}
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-10, 5, -10);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
var shape = new Capsule(.5f, 3.5f);
BodyInertia localInertia;
localInertia.InverseMass = 1f;
shape.ComputeLocalInverseInertia(localInertia.InverseMass, out localInertia.InverseInertiaTensor);
//capsuleInertia.InverseInertiaTensor = new Triangular3x3();
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 4;
const int height = 4;
const int length = 4;
var latticeSpacing = 1.1f;
var latticeOffset = 0;// -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 2.1f, latticeSpacing), new Vector3(latticeOffset, 7, latticeOffset), localInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -1, 0);
Simulation.Deterministic = false;
//var bodyDescription = new BodyDescription
//{
// Pose = new RigidPose
// {
// Position = new Vector3(0, 5, -0.5f),
// //Orientation = BepuUtilities.Quaternion.Identity
// Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2)
// },
// LocalInertia = new BodyInertia(),
// Collidable = new CollidableDescription
// {
// Continuity = new ContinuousDetectionSettings(),
// SpeculativeMargin = 0.1f,
// Shape = shapeIndex
// },
// Activity = new BodyActivityDescription
// {
// SleepThreshold = -.1f,
// MinimumTimestepCountUnderThreshold = 32
// },
// //Velocity = new BodyVelocity { Angular = new Vector3(0, (rowIndex % 2 - 0.5f) * 20, 0) }
//};
//Simulation.Bodies.Add(ref bodyDescription);
var staticShape = new Sphere(4f);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidth = 64;
const float staticSpacing = 6;
var gridOffset = -0.5f * staticGridWidth * staticSpacing;
for (int i = 0; i < staticGridWidth; ++i)
{
for (int j = 0; j < staticGridWidth; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
gridOffset + i * staticSpacing,
-4,
gridOffset + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1, 0, 1)), MathHelper.PiOver4)
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
}