public void ConeTest() { var s = new ConeShape(1, 2); var v0 = s.GetVolume(0.001f, 10); var m = s.GetMesh(0.001f, 10); var v1 = m.GetVolume(); Assert.IsTrue(Numeric.AreEqual(v0, v1, 0.01f * (1 + v0))); // 1% error is allowed. }
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); } }
// 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; } }
private static void GetMass(ConeShape cone, Vector3F scale, float densityOrMass, bool isDensity, out float mass, out Vector3F centerOfMass, out Matrix33F inertia) { float radiusX = cone.Radius * Math.Abs(scale.X); float radiusZ = cone.Radius * Math.Abs(scale.Z); float height = cone.Height * Math.Abs(scale.Y); mass = (isDensity) ? 1.0f / 3.0f * ConstantsF.Pi * radiusX * radiusZ * height * densityOrMass : densityOrMass; centerOfMass = new Vector3F(0, height / 4, 0) * Math.Sign(scale.Y); inertia = Matrix33F.Zero; inertia.M00 = 3.0f / 20.0f * mass * (radiusZ * radiusZ + 1.0f / 4.0f * height * height); inertia.M11 = 3.0f / 20.0f * mass * (radiusX * radiusX + radiusZ * radiusZ); inertia.M22 = 3.0f / 20.0f * mass * (radiusX * radiusX + 1.0f / 4.0f * height * height); }
public void ConeMass() { var s = new ConeShape(1, 2); float m0; Vector3F com0; Matrix33F i0; MassHelper.GetMass(s, new Vector3F(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0); var m = s.GetMesh(0.001f, 10); m.Transform(Matrix44F.CreateScale(1, -2, -3)); float m1; Vector3F com1; Matrix33F i1; MassHelper.GetMass(m, out m1, out com1, out i1); const float e = 0.01f; Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0))); Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length))); Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace))); // Try other density. float m2; Vector3F com2; Matrix33F i2; MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2); Assert.IsTrue(Numeric.AreEqual(m0 * 0.7f, m2, e * (1 + m0))); Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com2, e * (1 + com0.Length))); Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 0.7f, i2, e * (1 + i0.Trace))); // Try with target mass. float m3; Vector3F com3; Matrix33F i3; MassHelper.GetMass(s, 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))); }
// Creates a lot of random objects. private void CreateRandomObjects() { var random = new Random(12345); for (int i = 0; i < NumberOfObjects; i++) { // Randomly choose a shape. Shape randomShape; switch (random.Next(0, 7)) { case 0: // Box randomShape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3); break; case 1: // Capsule randomShape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize); break; case 2: // Cone randomShape = new ConeShape(1 * ObjectSize, 2 * ObjectSize); break; case 3: // Cylinder randomShape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize); break; case 4: // Sphere randomShape = 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)); randomShape = 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)))); randomShape = composite; break; default: #if WINDOWS Trace.Fail("Ups, we shouldn't land here :-("); #endif randomShape = new SphereShape(); break; } // 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 = randomShape, LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)), AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward) * RandomHelper.Random.NextFloat(0, MaxAngularVelocity), }; // Add collision object to collision domain. _domain.CollisionObjects.Add(new CollisionObject(newObject)); // We will collect a few statistics for debugging. Profiler.SetFormat("NumObjects", 1, "The total number of objects."); Profiler.SetFormat("NumObjectPairs", 1, "The number of objects pairs, which have to be checked."); Profiler.SetFormat("BroadPhasePairs", 1, "The number of overlaps reported by the broad phase."); Profiler.SetFormat("ContactSetCount", 1, "The number of actual collisions."); } }