//=====================================================================
/// <summary>
/// This is overridden to allow cloning of a PDI object
/// </summary>
/// <returns>A clone of the object</returns>
public override object Clone()
{
BodyProperty o = new BodyProperty();
o.Clone(this);
return(o);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(20, 10, 20);
camera.Yaw = MathHelper.Pi * -1f / 4;
camera.Pitch = MathHelper.Pi * 0.05f;
var masks = new BodyProperty <ulong>();
characters = new CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var random = new Random(5);
for (int i = 0; i < 8192; ++i)
{
ref var character = ref characters.AllocateCharacter(
Simulation.Bodies.Add(
BodyDescription.CreateDynamic(
new Vector3(250 * (float)random.NextDouble() - 125, 2, 250 * (float)random.NextDouble() - 125), new BodyInertia {
InverseMass = 1
},
new CollidableDescription(Simulation.Shapes.Add(new Capsule(0.5f, 1f)), 0.1f),
new BodyActivityDescription(-1))),
out var characterIndex);
character.CosMaximumSlope = .707f;
character.LocalUp = Vector3.UnitY;
character.MaximumHorizontalForce = 10;
character.MaximumVerticalForce = 10;
character.MinimumSupportContinuationDepth = -0.1f;
character.MinimumSupportDepth = -0.01f;
character.TargetVelocity = new Vector2(4, 0);
character.ViewDirection = new Vector3(0, 0, -1);
character.JumpVelocity = 4;
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 8, -60);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0;
_bodyProperties = new BodyProperty <BodyProperty>(BufferPool);
_events = new CollisionEvents <CollisionEventHandler>(new CollisionEventHandler(), BufferPool,
ThreadDispatcher);
_events.EventHandler.Pairs = new QuickList <CollidablePair>(128, BufferPool);
_events.EventHandler.Simulation = Simulation;
_collisionGroups =
new FeeSimNarrowPhaseCallbacks <CollisionEventHandler>
{
Events = _events,
CollisionGroups = _bodyProperties
};
Simulation = Simulation.Create(BufferPool, _collisionGroups,
new DefaultPoseIntegratorCallbacks(BufferPool), timestepper: new CustomPositionLastTimestepper());
var boxShape = new Box(1, 1, 1);
boxShape.ComputeInertia(1, out _boxInertia);
_boxIndex = Simulation.Shapes.Add(boxShape);
CreateFloors();
}
public void SetBody(object value)
{
if (InstanceGetters.IsDisabledProcessing())
{
throw new InvalidOperationException("'SetBody(object)' can't be called while Prig framework is disabling processing. " +
"Confirm unintended calls for 'InstanceGetters.DisableProcessing().'");
}
BodyProperty.SetValue(BodyPropertyTarget, value, null);
}
// Start is called before the first frame update
void Start()
{
// get useful classes
tF = GetComponent <Transform>();
dS = GameObject.Find("Setting").GetComponent <DisplaySetting>();
bP = GetComponent <BodyProperty>();
bO = GetComponent <BodyOrbit>();
if (bO.centralBody != null)
{
cBM = bO.centralBody.GetComponent <BodyMotion>();
}
// set display size of body
float d = (float)(bP.D * dS.scaleD);
tF.localScale = new Vector3(d, d, d);
MeshRenderer mr = GetComponent <MeshRenderer>();
mr.material.color = Color.white;
InitOrbit();
/*
* // set the initial position of body,
* // initial position is relative to the central body
* pos[0] = bO.R;
* SetPosition();
*
* // set the initial velocity of revolution
* // initial velocity if relative to the central body
* double pi = Math.PI;
* vel[1] = Math.Sin(pi * bO.angle / 180) * bO.V;
* vel[2] = Math.Cos(pi * bO.angle / 180) * bO.V;
*/
t0 = Time.time;
minZ = bO.R;
// init trajectory and line drawing setting
if (trajEnable)
{
AddTrajectory();
line = gameObject.GetComponent <LineRenderer>();
line.material = new Material(Shader.Find("Sprites/Default"));
line.positionCount = 0;
line.startWidth = (float)(dS.scaleD * bP.D * 1.05); // self 1.05 times;
//line.startWidth = (float)(cBM.bP.D * dS.scaleD * 0.1); // 1/10 of central body size;
line.endWidth = 0.01f;
line.startColor = Color.red;
line.endColor = Color.red;
line.useWorldSpace = true;
}
Debug.Log(this.name + " size=" + tF.localScale + " pos=" + tF.position);
}
/// <summary>
/// The method can be called to clear all current property values from the vNote. The version is left
/// unchanged.
/// </summary>
public void ClearProperties()
{
uid = null;
summary = null;
body = null;
classification = null;
categories = null;
dateCreated = null;
lastModified = null;
customProps = null;
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 25, 100);
camera.Yaw = 0;
camera.Pitch = 0;
var filters = new BodyProperty <SubgroupCollisionFilter>();
Simulation = Simulation.Create(BufferPool, new SubgroupFilteredCallbacks()
{
CollisionFilters = filters
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
}
public void Init()
{
bufferPool = new BufferPool();
var collider = new BodyProperty <Collider>();
simulation = Simulation.Create(bufferPool, new CarCallbacks {
Collider = collider
}, new DemoPoseIntegratorCallbacks(new System.Numerics.Vector3(0, -10, 0)));
Simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(0f, 0f, 0f), new CollidableDescription(Simulation.Shapes.Add(new Box(30, 1, 30)), 0.04f)));
threadDispatcher = new SimpleThreadDispatcher(Environment.ProcessorCount);
(new Thread(PoolThread)).Start();
}
private static PropertyDeclarationSyntax CreateBodyProperty(BodyProperty property)
{
var propertyDeclaration = PropertyDeclaration(
TypeGenerator.Create(property.Type), Identifier(property.Name))
.AddAccessorListAccessors(CreateAccessDeclaration(SyntaxKind.GetAccessorDeclaration, property.GetBody, property.GetModifiers));
if (property.SetBody != null)
{
propertyDeclaration =
propertyDeclaration.AddAccessorListAccessors(CreateAccessDeclaration(SyntaxKind.SetAccessorDeclaration, property.SetBody, property.SetModifiers));
}
return(propertyDeclaration);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 9, -40);
camera.Yaw = MathHelper.Pi;
camera.Pitch = 0;
var filters = new BodyProperty <SubgroupCollisionFilter>();
Simulation = Simulation.Create(BufferPool, new SubgroupFilteredCallbacks {
CollisionFilters = filters
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
int ragdollIndex = 0;
var spacing = new Vector3(1.7f, 1.8f, 0.5f);
int width = 4;
int height = 4;
int length = 44;
var origin = -0.5f * spacing * new Vector3(width - 1, 0, length - 1) + new Vector3(0, 5f, 0);
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
RagdollDemo.AddRagdoll(origin + spacing * new Vector3(i, j, k), Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathHelper.Pi * 0.05f), ragdollIndex++, filters, Simulation);
}
}
}
var tubeCenter = new Vector3(0, 8, 0);
const int panelCount = 20;
const float tubeRadius = 6;
var panelShape = new Box((float)Math.PI * 2 * tubeRadius / panelCount, 1, 80);
var panelShapeIndex = Simulation.Shapes.Add(panelShape);
var builder = new CompoundBuilder(BufferPool, Simulation.Shapes, panelCount + 1);
for (int i = 0; i < panelCount; ++i)
{
var rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, i * MathHelper.TwoPi / panelCount);
Quaternion.TransformUnitY(rotation, out var localUp);
var position = localUp * tubeRadius;
builder.AddForKinematic(panelShapeIndex, new RigidPose(position, rotation), 1);
}
builder.AddForKinematic(Simulation.Shapes.Add(new Box(1, 2, panelShape.Length)), new RigidPose(new Vector3(0, tubeRadius - 1, 0)), 0);
builder.BuildKinematicCompound(out var children);
var compound = new BigCompound(children, Simulation.Shapes, BufferPool);
Simulation.Bodies.Add(BodyDescription.CreateKinematic(tubeCenter, new BodyVelocity(default, new Vector3(0, 0, .25f)), new CollidableDescription(Simulation.Shapes.Add(compound), 0.1f), new BodyActivityDescription()));
/// <summary>
/// This is overridden to allow copying of the additional properties
/// </summary>
/// <param name="p">The PDI object from which the settings are to be copied</param>
protected override void Clone(PDIObject p)
{
VNote o = (VNote)p;
this.ClearProperties();
dateCreated = (DateCreatedProperty)o.DateCreated.Clone();
lastModified = (LastModifiedProperty)o.LastModified.Clone();
summary = (SummaryProperty)o.Summary.Clone();
body = (BodyProperty)o.Body.Clone();
classification = (ClassificationProperty)o.Classification.Clone();
categories = (CategoriesProperty)o.Categories.Clone();
uid = (UniqueIdProperty)o.UniqueId.Clone();
this.CustomProperties.CloneRange(o.CustomProperties);
}
public WalkerDemo()
{
var masks = new BodyProperty <ulong>();
var callbacks = new Demos.Demos.RagdollCallbacks {
Masks = masks
};
Simulation = Simulation.Create(BufferPool, callbacks);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -9.8f, 0);
FixedTimeScale = 1; // TODO: Statistics doesn't work without this because ElapsedMilliseconds is only computed then
Objects.Add(new World());
Objects.Add(new Quadruped());
Objects.Add(new DemoEngine.Objects.Controls());
Objects.Add(new DemoEngine.Objects.Statistics(this));
}
internal void Initialize(ContentArchive content, Camera camera)
{
ThreadDispatcher = new SimpleThreadDispatcher(Environment.ProcessorCount);
BufferPool = new BufferPool();
camera.Position = new Vector3(20, 10, 20);
camera.Yaw = MathF.PI;
camera.Pitch = 0;
characterCTs = new CharacterControllers(BufferPool);
var collider = new BodyProperty <Collider>();
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characterCTs), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
//Simulation = Simulation.Create(BufferPool, new MolCallbacks { Collider = collider, Characters= characterCTs }, new DemoPoseIntegratorCallbacks(new System.Numerics.Vector3(0, -10, 0)));
CreateCharacter(characterCTs, new Vector3(0, 2, -4), 1);
CreateCharacter(characterCTs, new Vector3(0, 3, -2), 2);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(200, 1, 200)), 0.1f)));
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(20, 10, 20);
camera.Yaw = MathF.PI;
camera.Pitch = 0;
bufferPool = new BufferPool();
var collider = new BodyProperty <Collider>();
//characters = new CharacterControllers(BufferPool);
characs = new CharacterControllers(BufferPool);
//Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
Simulation = Simulation.Create(BufferPool, new MolCallbacks(characs, collider), new DemoPoseIntegratorCallbacks(new System.Numerics.Vector3(0, -10, 0)));
character = new PlayerCharacter(1, 1, "noname", 1, this, new Vector3(0f, 3f, 0f));
AddPlayerCharacter(character);
//Prevent the character from falling into the void.
//Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(200, 1, 200)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new System.Numerics.Vector3(0, -2f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(200, 1, 200)), 0.4f)));
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-5f, 5.5f, 5f);
camera.Yaw = MathHelper.Pi / 4;
camera.Pitch = MathHelper.Pi * 0.15f;
var filters = new BodyProperty <DeformableCollisionFilter>();
Simulation = Simulation.Create(BufferPool, new DeformableCallbacks {
Filters = filters
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var meshContent = content.Load <MeshContent>("Content\\newt.obj");
float cellSize = 0.1f;
DumbTetrahedralizer.Tetrahedralize(meshContent.Triangles, cellSize, BufferPool,
out var vertices, out var vertexSpatialIndices, out var cellVertexIndices, out var tetrahedraVertexIndices);
var weldSpringiness = new SpringSettings(30f, 0);
var volumeSpringiness = new SpringSettings(30f, 1);
for (int i = 0; i < 5; ++i)
{
NewtDemo.CreateDeformable(Simulation, new Vector3(i * 3, 5 + i * 1.5f, 0), Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathF.PI * (i * 0.55f)), 1f, cellSize, weldSpringiness, volumeSpringiness, i, filters, ref vertices, ref vertexSpatialIndices, ref cellVertexIndices, ref tetrahedraVertexIndices);
}
BufferPool.Return(ref vertices);
vertexSpatialIndices.Dispose(BufferPool);
BufferPool.Return(ref cellVertexIndices);
BufferPool.Return(ref tetrahedraVertexIndices);
Simulation.Bodies.Add(BodyDescription.CreateConvexDynamic(new Vector3(0, 100, -.5f), 10, Simulation.Shapes, new Sphere(5)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -0.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(1500, 1, 1500)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -1.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Sphere(3)), 0.1f)));
var bulletShape = new Sphere(0.5f);
bulletShape.ComputeInertia(.25f, out var bulletInertia);
bulletDescription = BodyDescription.CreateDynamic(RigidPose.Identity, bulletInertia, new CollidableDescription(Simulation.Shapes.Add(bulletShape), 1f), new BodyActivityDescription(0.01f));
DemoMeshHelper.LoadModel(content, BufferPool, "Content\\newt.obj", new Vector3(20), out var mesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(200, 0.5f, 120), Quaternion.CreateFromAxisAngle(Vector3.UnitY, -3 * MathHelper.PiOver4), new CollidableDescription(Simulation.Shapes.Add(mesh), 0.1f)));
}
private void CreateFloors()
{
var floorShape = new Box(200, 1, 10);
var floorShapeIndex = Simulation.Shapes.Add(floorShape);
var position = new Vector3(0, -0.5f, -NumberOfFloors * floorShape.HalfLength);
_floorReferences = new List <BodyReference>(NumberOfFloors);
var offset = new Vector3(0, 0, floorShape.Length);
for (var i = 0; i < NumberOfFloors; i++)
{
var floorIndex = CreateFloor(position, floorShapeIndex);
position += offset;
var floorReference = new BodyReference(floorIndex, Simulation.Bodies);
ref var floorBodyProperties = ref _bodyProperties.Allocate(floorIndex);
var floorCollisionGroup = new CollisionGroup(0b1);
floorBodyProperties = new BodyProperty {
Filter = floorCollisionGroup, Friction = 1f
};
_floorReferences.Add(floorReference);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-32f, 20.5f, 61f);
camera.Yaw = MathHelper.Pi * 0.3f;
camera.Pitch = MathHelper.Pi * -0.05f;
filters = new BodyProperty <SubgroupCollisionFilter>(BufferPool);
Simulation = Simulation.Create(BufferPool, new SubgroupFilteredCallbacks()
{
CollisionFilters = filters
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -0.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(1500, 1, 1500)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 10, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(70, 20, 80)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 7.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(80, 15, 90)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 5, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(90, 10, 100)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 2.5f, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(100, 5, 110)), 0.1f)));
//High fidelity simulation isn't super important on this one.
Simulation.Solver.IterationCount = 2;
DemoMeshHelper.LoadModel(content, BufferPool, "Content\\newt.obj", new Vector3(30), out var mesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 20, 0), Quaternion.CreateFromAxisAngle(Vector3.UnitY, 0), new CollidableDescription(Simulation.Shapes.Add(mesh), 0.1f)));
}
set => SetValue(BodyProperty, value);
public void Update(Simulation simulation, BodyProperty <TankDemoBodyProperties> bodyProperties, Random random, long frameIndex, in Vector2 playAreaMin, in Vector2 playAreaMax, int aiIndex, ref QuickList <AITank> aiTanks, ref int projectileCount)
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(20, 10, 20);
camera.Yaw = MathF.PI;
camera.Pitch = 0;
var masks = new BodyProperty <ulong>();
characters = new CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
CreateCharacter(new Vector3(0, 2, -4));
//Create a bunch of legos to hurt your feet on.
var random = new Random(5);
var origin = new Vector3(-3f, 0.5f, 0);
var spacing = new Vector3(0.5f, 0, -0.5f);
for (int i = 0; i < 12; ++i)
{
for (int j = 0; j < 12; ++j)
{
var position = origin + new Vector3(i, 0, j) * spacing;
var orientation = Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0.0001f) + new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), 10 * (float)random.NextDouble());
var shape = new Box(0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble());
var collidable = new CollidableDescription(Simulation.Shapes.Add(shape), 0.1f);
shape.ComputeInertia(1, out var inertia);
var choice = (i + j) % 3;
switch (choice)
{
case 0:
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(position, orientation), inertia, collidable, new BodyActivityDescription(0.01f)));
break;
case 1:
Simulation.Bodies.Add(BodyDescription.CreateKinematic(new RigidPose(position, orientation), collidable, new BodyActivityDescription(0.01f)));
break;
case 2:
Simulation.Statics.Add(new StaticDescription(position, orientation, collidable));
break;
}
}
}
//Add some spinning fans to get slapped by.
var bladeDescription = BodyDescription.CreateConvexDynamic(new Vector3(), 3, Simulation.Shapes, new Box(10, 0.2f, 2));
var bladeBaseDescription = BodyDescription.CreateConvexKinematic(new Vector3(), Simulation.Shapes, new Box(0.2f, 1, 0.2f));
for (int i = 0; i < 3; ++i)
{
bladeBaseDescription.Pose.Position = new Vector3(-22, 1, i * 11);
bladeDescription.Pose.Position = new Vector3(-22, 1.7f, i * 11);
var baseHandle = Simulation.Bodies.Add(bladeBaseDescription);
var bladeHandle = Simulation.Bodies.Add(bladeDescription);
Simulation.Solver.Add(baseHandle, bladeHandle,
new Hinge
{
LocalHingeAxisA = Vector3.UnitY,
LocalHingeAxisB = Vector3.UnitY,
LocalOffsetA = new Vector3(0, 0.7f, 0),
LocalOffsetB = new Vector3(0, 0, 0),
SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(baseHandle, bladeHandle,
new AngularAxisMotor
{
LocalAxisA = Vector3.UnitY,
TargetVelocity = (i + 1) * (i + 1) * (i + 1) * (i + 1) * 0.2f,
Settings = new MotorSettings(5 * (i + 1), 0.0001f)
});
}
//Include a giant newt to test character-newt behavior and to ensure thematic consistency.
MeshDemo.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(15, 15, 15), out var newtMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0.5f, 0), new CollidableDescription(Simulation.Shapes.Add(newtMesh), 0.1f)));
//Give the newt a tongue, I guess.
var tongueBase = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(0, 8.4f, 24), default, default));
public MolCallbacks(CharacterControllers characters, BodyProperty <Collider> Collider)
{
this.Characters = characters;
this.Collider = Collider;
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 5, 10);
camera.Yaw = 0;
camera.Pitch = 0;
var properties = new BodyProperty <CarBodyProperties>();
Simulation = Simulation.Create(BufferPool, new CarCallbacks()
{
Properties = properties
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var builder = new CompoundBuilder(BufferPool, Simulation.Shapes, 2);
builder.Add(new Box(1.85f, 0.7f, 4.73f), RigidPose.Identity, 10);
builder.Add(new Box(1.85f, 0.6f, 2.5f), new RigidPose(new Vector3(0, 0.65f, -0.35f)), 0.5f);
builder.BuildDynamicCompound(out var children, out var bodyInertia, out _);
builder.Dispose();
var bodyShape = new Compound(children);
var bodyShapeIndex = Simulation.Shapes.Add(bodyShape);
var wheelShape = new Cylinder(0.4f, .18f);
wheelShape.ComputeInertia(0.25f, out var wheelInertia);
var wheelShapeIndex = Simulation.Shapes.Add(wheelShape);
const float x = 0.9f;
const float y = -0.1f;
const float frontZ = 1.7f;
const float backZ = -1.7f;
playerController = new SimpleCarController(SimpleCar.Create(Simulation, properties, new RigidPose(new Vector3(0, 10, 0), Quaternion.Identity), bodyShapeIndex, bodyInertia, 0.5f, wheelShapeIndex, wheelInertia, 2f,
new Vector3(-x, y, frontZ), new Vector3(x, y, frontZ), new Vector3(-x, y, backZ), new Vector3(x, y, backZ), new Vector3(0, -1, 0), 0.25f,
new SpringSettings(5f, 0.7f), Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathF.PI * 0.5f)),
forwardSpeed: 75, forwardForce: 6, zoomMultiplier: 2, backwardSpeed: 30, backwardForce: 4, idleForce: 0.25f, brakeForce: 7, steeringSpeed: 1.5f, maximumSteeringAngle: MathF.PI * 0.23f);
//Create a bunch of AI cars to race against.
const int aiCount = 384;
BufferPool.Take(aiCount, out aiControllers);
const int planeWidth = 257;
const float scale = 3;
Vector2 terrainPosition = new Vector2(1 - planeWidth, 1 - planeWidth) * scale * 0.5f;
raceTrack = new RaceTrack {
QuadrantRadius = (planeWidth - 32) * scale * 0.25f, Center = default
};
var random = new Random(5);
//Add some building-ish landmarks in the middle of each of the four racetrack quadrants.
for (int i = 0; i < 4; ++i)
{
var landmarkCenter = new Vector3((i & 1) * raceTrack.QuadrantRadius * 2 - raceTrack.QuadrantRadius, -20, (i & 2) * raceTrack.QuadrantRadius - raceTrack.QuadrantRadius);
var landmarkMin = landmarkCenter - new Vector3(raceTrack.QuadrantRadius * 0.5f, 0, raceTrack.QuadrantRadius * 0.5f);
var landmarkSpan = new Vector3(raceTrack.QuadrantRadius, 0, raceTrack.QuadrantRadius);
for (int j = 0; j < 25; ++j)
{
var buildingShape = new Box(10 + (float)random.NextDouble() * 10, 20 + (float)random.NextDouble() * 20, 10 + (float)random.NextDouble() * 10);
Simulation.Statics.Add(new StaticDescription(
new Vector3(0, buildingShape.HalfHeight, 0) + landmarkMin + landmarkSpan * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()),
Quaternion.CreateFromAxisAngle(Vector3.UnitY, (float)random.NextDouble() * MathF.PI),
new CollidableDescription(Simulation.Shapes.Add(buildingShape), 0.1f)));
}
}
Vector3 min = new Vector3(-planeWidth * scale * 0.45f, 10, -planeWidth * scale * 0.45f);
Vector3 span = new Vector3(planeWidth * scale * 0.9f, 15, planeWidth * scale * 0.9f);
for (int i = 0; i < aiCount; ++i)
{
//The AI cars are very similar, except... we handicap them a little to make the player good about themselves.
var position = min + span * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
var orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), (float)random.NextDouble() * MathF.PI * 2);
aiControllers[i].Controller = new SimpleCarController(SimpleCar.Create(Simulation, properties, new RigidPose(position, orientation), bodyShapeIndex, bodyInertia, 0.5f, wheelShapeIndex, wheelInertia, 2f,
new Vector3(-x, y, frontZ), new Vector3(x, y, frontZ), new Vector3(-x, y, backZ), new Vector3(x, y, backZ), new Vector3(0, -1, 0), 0.25f,
new SpringSettings(5, 0.7f), Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathF.PI * 0.5f)),
forwardSpeed: 50, forwardForce: 5, zoomMultiplier: 2, backwardSpeed: 10, backwardForce: 4, idleForce: 0.25f, brakeForce: 7, steeringSpeed: 1.5f, maximumSteeringAngle: MathF.PI * 0.23f);
aiControllers[i].LaneOffset = (float)random.NextDouble() * 20 - 10;
}
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeWidth,
(int vX, int vY) =>
{
var octave0 = (MathF.Sin((vX + 5f) * 0.05f) + MathF.Sin((vY + 11) * 0.05f)) * 1.8f;
var octave1 = (MathF.Sin((vX + 17) * 0.15f) + MathF.Sin((vY + 19) * 0.15f)) * 0.9f;
var octave2 = (MathF.Sin((vX + 37) * 0.35f) + MathF.Sin((vY + 93) * 0.35f)) * 0.4f;
var octave3 = (MathF.Sin((vX + 53) * 0.65f) + MathF.Sin((vY + 47) * 0.65f)) * 0.2f;
var octave4 = (MathF.Sin((vX + 67) * 1.50f) + MathF.Sin((vY + 13) * 1.5f)) * 0.125f;
var distanceToEdge = planeWidth / 2 - Math.Max(Math.Abs(vX - planeWidth / 2), Math.Abs(vY - planeWidth / 2));
var edgeRamp = 25f / (distanceToEdge + 1);
var terrainHeight = octave0 + octave1 + octave2 + octave3 + octave4;
var vertexPosition = new Vector2(vX * scale, vY * scale) + terrainPosition;
var distanceToTrack = raceTrack.GetDistance(vertexPosition);
var trackWeight = MathF.Min(1f, 3f / (distanceToTrack * 0.1f + 1f));
var height = trackWeight * -10f + terrainHeight * (1 - trackWeight);
return(new Vector3(vertexPosition.X, height + edgeRamp, vertexPosition.Y));
}, new Vector3(1, 1, 1), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -15, 0), Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathF.PI / 2),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 5, 10);
camera.Yaw = 0;
camera.Pitch = 0;
bodyProperties = new BodyProperty <TankDemoBodyProperties>();
Simulation = Simulation.Create(BufferPool, new TankCallbacks()
{
Properties = bodyProperties
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var builder = new CompoundBuilder(BufferPool, Simulation.Shapes, 2);
builder.Add(new Box(1.85f, 0.7f, 4.73f), RigidPose.Identity, 10);
builder.Add(new Box(1.85f, 0.6f, 2.5f), new RigidPose(new Vector3(0, 0.65f, -0.35f)), 0.5f);
builder.BuildDynamicCompound(out var children, out var bodyInertia, out _);
builder.Dispose();
var bodyShape = new Compound(children);
var bodyShapeIndex = Simulation.Shapes.Add(bodyShape);
var wheelShape = new Cylinder(0.4f, .18f);
wheelShape.ComputeInertia(0.25f, out var wheelInertia);
var wheelShapeIndex = Simulation.Shapes.Add(wheelShape);
var projectileShape = new Sphere(0.1f);
projectileShape.ComputeInertia(0.2f, out var projectileInertia);
var tankDescription = new TankDescription
{
Body = TankPartDescription.Create(10, new Box(4f, 1, 5), RigidPose.Identity, 0.5f, Simulation.Shapes),
Turret = TankPartDescription.Create(1, new Box(1.5f, 0.7f, 2f), new RigidPose(new Vector3(0, 0.85f, 0.4f)), 0.5f, Simulation.Shapes),
Barrel = TankPartDescription.Create(0.5f, new Box(0.2f, 0.2f, 3f), new RigidPose(new Vector3(0, 0.85f, 0.4f - 1f - 1.5f)), 0.5f, Simulation.Shapes),
TurretAnchor = new Vector3(0f, 0.5f, 0.4f),
BarrelAnchor = new Vector3(0, 0.5f + 0.35f, 0.4f - 1f),
TurretBasis = Quaternion.Identity,
TurretServo = new ServoSettings(1f, 0f, 40f),
TurretSpring = new SpringSettings(10f, 1f),
BarrelServo = new ServoSettings(1f, 0f, 40f),
BarrelSpring = new SpringSettings(10f, 1f),
ProjectileShape = Simulation.Shapes.Add(projectileShape),
ProjectileSpeed = 100f,
BarrelLocalProjectileSpawn = new Vector3(0, 0, -1.5f),
ProjectileInertia = projectileInertia,
LeftTreadOffset = new Vector3(-1.9f, 0f, 0),
RightTreadOffset = new Vector3(1.9f, 0f, 0),
SuspensionLength = 1f,
SuspensionSettings = new SpringSettings(2.5f, 1.5f),
WheelShape = wheelShapeIndex,
WheelInertia = wheelInertia,
WheelFriction = 2f,
TreadSpacing = 1f,
WheelCountPerTread = 5,
WheelOrientation = QuaternionEx.CreateFromAxisAngle(Vector3.UnitZ, MathF.PI * -0.5f),
};
playerController = new TankController(Tank.Create(Simulation, bodyProperties, BufferPool, new RigidPose(new Vector3(0, 10, 0), Quaternion.Identity), tankDescription), 20, 5, 2, 1, 3.5f);
const int planeWidth = 257;
const float terrainScale = 3;
const float inverseTerrainScale = 1f / terrainScale;
var terrainPosition = new Vector2(1 - planeWidth, 1 - planeWidth) * terrainScale * 0.5f;
random = new Random(5);
//Add some building-ish landmarks.
var landmarkMin = new Vector3(planeWidth * terrainScale * -0.45f, 0, planeWidth * terrainScale * -0.45f);
var landmarkMax = new Vector3(planeWidth * terrainScale * 0.45f, 0, planeWidth * terrainScale * 0.45f);
var landmarkSpan = landmarkMax - landmarkMin;
for (int j = 0; j < 25; ++j)
{
var buildingShape = new Box(10 + (float)random.NextDouble() * 10, 20 + (float)random.NextDouble() * 20, 10 + (float)random.NextDouble() * 10);
var position = landmarkMin + landmarkSpan * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Simulation.Statics.Add(new StaticDescription(
new Vector3(0, buildingShape.HalfHeight - 4f + GetHeightForPosition(position.X, position.Z, planeWidth, inverseTerrainScale, terrainPosition), 0) + position,
QuaternionEx.CreateFromAxisAngle(Vector3.UnitY, (float)random.NextDouble() * MathF.PI),
new CollidableDescription(Simulation.Shapes.Add(buildingShape), 0.1f)));
}
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeWidth,
(int vX, int vY) =>
{
var position2D = new Vector2(vX, vY) * terrainScale + terrainPosition;
return(new Vector3(position2D.X, GetHeightForPosition(position2D.X, position2D.Y, planeWidth, inverseTerrainScale, terrainPosition), position2D.Y));
}, new Vector3(1, 1, 1), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0, 0),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
explosions = new QuickList <Explosion>(32, BufferPool);
//Create the AI tanks.
const int aiTankCount = 100;
aiTanks = new QuickList <AITank>(aiTankCount, BufferPool);
playAreaMin = new Vector2(landmarkMin.X, landmarkMin.Z);
playAreaMax = new Vector2(landmarkMax.X, landmarkMax.Z);
var playAreaSpan = playAreaMax - playAreaMin;
for (int i = 0; i < aiTankCount; ++i)
{
var horizontalPosition = playAreaMin + new Vector2((float)random.NextDouble(), (float)random.NextDouble()) * playAreaSpan;
aiTanks.AllocateUnsafely() = new AITank
{
Controller = new TankController(
Tank.Create(Simulation, bodyProperties, BufferPool, new RigidPose(
new Vector3(horizontalPosition.X, 10, horizontalPosition.Y),
QuaternionEx.CreateFromAxisAngle(new Vector3(0, 1, 0), (float)random.NextDouble() * 0.1f)),
tankDescription), 20, 5, 2, 1, 3.5f),
HitPoints = 5
};
}
}
//=====================================================================
/// <summary>
/// This is overridden to allow cloning of a PDI object
/// </summary>
/// <returns>A clone of the object</returns>
public override object Clone()
{
BodyProperty o = new BodyProperty();
o.Clone(this);
return o;
}
get => (View)GetValue(BodyProperty); set => SetValue(BodyProperty, value);
