static void CreateBallSocket(ref RigidPose a, ref RigidPose b, out BallSocket description)
{
var midpoint = 0.5f * (a.Position + b.Position);
description.LocalOffsetA = QuaternionEx.Transform(midpoint - a.Position, QuaternionEx.Conjugate(a.Orientation));
description.LocalOffsetB = QuaternionEx.Transform(midpoint - b.Position, QuaternionEx.Conjugate(b.Orientation));
description.SpringSettings = new SpringSettings(15, 0.1f);
}
static void CreateBallSocket(ref RigidPose a, ref RigidPose b, out BallSocket description)
{
var midpoint = 0.5f * (a.Position + b.Position);
description.LocalOffsetA = Quaternion.Transform(midpoint - a.Position, Quaternion.Conjugate(a.Orientation));
description.LocalOffsetB = Quaternion.Transform(midpoint - b.Position, Quaternion.Conjugate(b.Orientation));
description.SpringSettings = new SpringSettings
{
NaturalFrequency = (float)(Math.PI * 0.5f * 60),
DampingRatio = 0.1f
};
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 8, -60);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0;
//The PositionFirstTimestepper is the simplest timestepping mode, but since it integrates velocity into position at the start of the frame, directly modified velocities outside of the timestep
//will be integrated before collision detection or the solver has a chance to intervene. That's fine in this demo. Other built-in options include the PositionLastTimestepper and the SubsteppingTimestepper.
//Note that the timestepper also has callbacks that you can use for executing logic between processing stages, like BeforeCollisionDetection.
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionFirstTimestepper());
var boxShape = new Box(1, 1, 1);
boxShape.ComputeInertia(1, out var boxInertia);
var boxIndex = Simulation.Shapes.Add(boxShape);
const int forkCount = 20;
const int blocksPerChain = 20;
BodyHandle[] blockHandles = new BodyHandle[blocksPerChain];
for (int forkIndex = 0; forkIndex < forkCount; ++forkIndex)
{
//Build the blocks.
for (int blockIndex = 0; blockIndex < blocksPerChain; ++blockIndex)
{
var bodyDescription = BodyDescription.CreateDynamic(
new Vector3(0, 5 + blockIndex * (boxShape.Height + 1), (forkIndex - forkCount * 0.5f) * (boxShape.Length + 4)),
//Make the uppermost block kinematic to hold up the rest of the chain.
blockIndex == blocksPerChain - 1 ? new BodyInertia() : boxInertia,
new CollidableDescription(boxIndex, .1f),
new BodyActivityDescription(.01f, 32));
blockHandles[blockIndex] = Simulation.Bodies.Add(bodyDescription);
}
//Build the chains.
for (int i = 1; i < blocksPerChain; ++i)
{
var ballSocket = new BallSocket
{
LocalOffsetA = new Vector3(0, 1f, 0),
LocalOffsetB = new Vector3(0, -1f, 0),
SpringSettings = new SpringSettings(30, 5)
};
Simulation.Solver.Add(blockHandles[i - 1], blockHandles[i], ref ballSocket);
}
}
Simulation.Statics.Add(new StaticDescription(new Vector3(1, -0.5f, 1), new CollidableDescription(Simulation.Shapes.Add(new Box(200, 1, 200)), 0.1f)));
//Build the coin description for the ponz-I mean ICO.
var coinShape = new Cylinder(1.5f, 0.2f);
coinShape.ComputeInertia(1, out var coinInertia);
coinDescription = BodyDescription.CreateDynamic(RigidPose.Identity, coinInertia, new CollidableDescription(Simulation.Shapes.Add(coinShape), 0.1f), new BodyActivityDescription(0.01f));
}
void Start()
{
foreach (Transform tr in ballSocketParent)
{
BallSocket ballSocket = tr.GetChild(0).GetComponent <BallSocket>();
ballSocket.OnSocketActivated += SocketActivated;
ballSockets.Add(ballSocket);
}
foreach (Transform tr in ballsParent)
{
Ball ball = tr.GetComponent <Ball>();
balls.Add(ball);
}
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-120, 30, -120);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0.1f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
Simulation.Solver.IterationCount = 8;
//Build a grid of shapes to be connected.
var clothNodeShape = new Sphere(0.5f);
clothNodeShape.ComputeInertia(1, out var clothNodeInertia);
var clothNodeShapeIndex = Simulation.Shapes.Add(clothNodeShape);
const int width = 128;
const int length = 128;
const float spacing = 1.75f;
int[][] nodeHandles = new int[width][];
for (int i = 0; i < width; ++i)
{
nodeHandles[i] = new int[length];
for (int j = 0; j < length; ++j)
{
var location = new Vector3(0, 30, 0) + new Vector3(spacing, 0, spacing) * (new Vector3(i, 0, j) + new Vector3(-width * 0.5f, 0, -length * 0.5f));
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = 0.01f
},
Pose = new RigidPose
{
Orientation = BepuUtilities.Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Shape = clothNodeShapeIndex,
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
},
LocalInertia = clothNodeInertia
};
nodeHandles[i][j] = Simulation.Bodies.Add(bodyDescription);
}
}
//Construct some joints between the nodes.
var left = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, 0),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, 0),
SpringSettings = new SpringSettings(10, 1)
};
var up = new BallSocket
{
LocalOffsetA = new Vector3(0, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(0, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var leftUp = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var rightUp = new BallSocket
{
LocalOffsetA = new Vector3(spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(-spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < length; ++j)
{
if (i >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j], ref left);
}
if (j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i][j - 1], ref up);
}
if (i >= 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j - 1], ref leftUp);
}
if (i < width - 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i + 1][j - 1], ref rightUp);
}
}
}
var bigBallShape = new Sphere(45);
var bigBallShapeIndex = Simulation.Shapes.Add(bigBallShape);
var bigBallDescription = new BodyDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = bigBallShapeIndex,
SpeculativeMargin = 0.1f
},
Activity = new BodyActivityDescription(0),
Pose = new RigidPose
{
Position = new Vector3(-10, -15, 0),
Orientation = BepuUtilities.Quaternion.Identity
}
};
bigBallHandle = Simulation.Bodies.Add(bigBallDescription);
var groundShape = new Box(200, 1, 200);
var groundShapeIndex = Simulation.Shapes.Add(groundShape);
var groundDescription = new BodyDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = groundShapeIndex,
SpeculativeMargin = 0.1f
},
Activity = new BodyActivityDescription(0),
Pose = new RigidPose
{
Position = new Vector3(0, -10, 0),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Bodies.Add(groundDescription);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 8, -60);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var boxShape = new Box(1, 1, 1);
boxShape.ComputeInertia(1, out var boxInertia);
var boxIndex = Simulation.Shapes.Add(boxShape);
const int forkCount = 20;
const int blocksPerChain = 20;
int[] blockHandles = new int[blocksPerChain];
for (int forkIndex = 0; forkIndex < forkCount; ++forkIndex)
{
//Build the blocks.
for (int blockIndex = 0; blockIndex < blocksPerChain; ++blockIndex)
{
var bodyDescription = new BodyDescription
{
//Make the uppermost block kinematic to hold up the rest of the chain.
LocalInertia = blockIndex == blocksPerChain - 1 ? new BodyInertia() : boxInertia,
Pose = new RigidPose
{
Position = new Vector3(0,
5 + blockIndex * (boxShape.Height + 1),
(forkIndex - forkCount * 0.5f) * (boxShape.Length + 4)),
Orientation = Quaternion.Identity
},
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = .01f
},
Collidable = new CollidableDescription {
Shape = boxIndex, SpeculativeMargin = .1f
},
};
blockHandles[blockIndex] = Simulation.Bodies.Add(bodyDescription);
}
//Build the chains.
for (int i = 1; i < blocksPerChain; ++i)
{
var ballSocket = new BallSocket
{
LocalOffsetA = new Vector3(0, 1f, 0),
LocalOffsetB = new Vector3(0, -1f, 0),
SpringSettings = new SpringSettings(30, 5)
};
Simulation.Solver.AddRef(blockHandles[i - 1], blockHandles[i], ref ballSocket);
}
}
var staticShape = new Box(200, 1, 200);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
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, -0.5f, 1),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
//Build the coin description for the ponz-I mean ICO.
var coinShape = new Cylinder(1.5f, 0.2f);
coinShape.ComputeInertia(1, out var coinInertia);
coinDescription = BodyDescription.CreateDynamic(RigidPose.Identity, coinInertia, new CollidableDescription(Simulation.Shapes.Add(coinShape), 0.1f), new BodyActivityDescription(0.01f));
}
public unsafe override void Initialize(ContentArchive content, 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());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
var a = AddBody(new Box(3, 1, 1), 1, new RigidPose {
Position = new Vector3(0, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
var b = AddBody(new Box(3, 1, 1), 0, new RigidPose {
Position = new Vector3(5, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
a.Velocity.Angular = new Vector3(1f, 5f, 1f);
//a.Pose.Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1, 1, 1)), MathHelper.PiOver4);
var springSettings = new SpringSettings(15, 1);
var ballSocket = new BallSocket
{
LocalOffsetA = new Vector3(2.5f, 0, 0),
LocalOffsetB = new Vector3(-2.5f, 0, 0),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref ballSocket);
//springSettings = new BepuPhysics.CollisionDetection.SpringSettings { DampingRatio = 0f, NaturalFrequency = MathHelper.Pi * 1 };
var angularHinge = new AngularHinge
{
HingeAxisLocalA = Vector3.Normalize(new Vector3(0, 1, 0)),
HingeAxisLocalB = Vector3.Normalize(new Vector3(0, 1, 0)),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref angularHinge);
//var swivelHinge = new AngularSwivelHinge
//{
// SwivelAxisLocalA = new Vector3(1, 0, 0),
// HingeAxisLocalB = new Vector3(0, 1, 0),
// SpringSettings = springSettings
//};
//Simulation.Solver.Add(a.Handle, b.Handle, ref swivelHinge);
var swingLimit = new SwingLimit
{
AxisLocalA = new Vector3(1, 0, 0),
AxisLocalB = new Vector3(1, 0, 0),
MinimumDot = -0.5f,
SpringSettings = new SpringSettings(15, 1)
};
Simulation.Solver.Add(a.Handle, b.Handle, ref swingLimit);
var staticShape = new Box(100, 1, 100);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
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, -0.5f, 1),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-120, 30, -120);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0.1f;
//The PositionFirstTimestepper is the simplest timestepping mode, but since it integrates velocity into position at the start of the frame, directly modified velocities outside of the timestep
//will be integrated before collision detection or the solver has a chance to intervene. That's fine in this demo. Other built-in options include the PositionLastTimestepper and the SubsteppingTimestepper.
//Note that the timestepper also has callbacks that you can use for executing logic between processing stages, like BeforeCollisionDetection.
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionFirstTimestepper());
//Build a grid of shapes to be connected.
var clothNodeShape = new Sphere(0.5f);
clothNodeShape.ComputeInertia(1, out var clothNodeInertia);
var clothNodeShapeIndex = Simulation.Shapes.Add(clothNodeShape);
const int width = 128;
const int length = 128;
const float spacing = 1.75f;
BodyHandle[][] nodeHandles = new BodyHandle[width][];
for (int i = 0; i < width; ++i)
{
nodeHandles[i] = new BodyHandle[length];
for (int j = 0; j < length; ++j)
{
var location = new Vector3(0, 30, 0) + new Vector3(spacing, 0, spacing) * (new Vector3(i, 0, j) + new Vector3(-width * 0.5f, 0, -length * 0.5f));
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = 0.01f
},
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Shape = clothNodeShapeIndex,
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
},
LocalInertia = clothNodeInertia
};
nodeHandles[i][j] = Simulation.Bodies.Add(bodyDescription);
}
}
//Construct some joints between the nodes.
var left = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, 0),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, 0),
SpringSettings = new SpringSettings(10, 1)
};
var up = new BallSocket
{
LocalOffsetA = new Vector3(0, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(0, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var leftUp = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var rightUp = new BallSocket
{
LocalOffsetA = new Vector3(spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(-spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < length; ++j)
{
if (i >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j], ref left);
}
if (j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i][j - 1], ref up);
}
if (i >= 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j - 1], ref leftUp);
}
if (i < width - 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i + 1][j - 1], ref rightUp);
}
}
}
var bigBallShape = new Sphere(25);
var bigBallShapeIndex = Simulation.Shapes.Add(bigBallShape);
var bigBallDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = bigBallShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(-10, -15, 0),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(bigBallDescription);
var groundShape = new Box(200, 1, 200);
var groundShapeIndex = Simulation.Shapes.Add(groundShape);
var groundDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = groundShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(0, -10, 0),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(groundDescription);
}
