private readonly ConstantsBuffer <float> constants; //alas, lack of root constants
public CompressToSwap(ContentArchive content, float gamma = 2.2f) : base(
content.Load <GLSLContent>(@"PostProcessing\CompressToSwap.glvs").Source,
content.Load <GLSLContent>(@"PostProcessing\CompressToSwap.glfs").Source
)
{
Gamma = gamma;
constants = new ConstantsBuffer <float>(BufferTarget.UniformBuffer, debugName: "CompressToSwap Constants");
}
public GlyphRenderer(ContentArchive content, int maximumGlyphsPerDraw = 2048) : base(
content.Load <GLSLContent>(@"UI\RenderGlyphs.glvs").Source,
content.Load <GLSLContent>(@"UI\RenderGlyphs.glfs").Source
)
{
instances = new StructuredBuffer <GlyphInstance>(BufferTarget.ShaderStorageBuffer, maximumGlyphsPerDraw, "Glyph Instances");
indices = new IndexBuffer(Helpers.GetQuadIndices(maximumGlyphsPerDraw), "Glyph Indices");
vertexConstants = new ConstantsBuffer <VertexConstants>(BufferTarget.UniformBuffer, debugName: "Glyph Renderer Vertex Constants");
}
public MeshRenderer(MeshCache meshCache, ContentArchive content, int maximumInstancesPerDraw = 2048) : base(
content.Load <GLSLContent>(@"ShapeDrawing\RenderMeshes.glvs").Source,
content.Load <GLSLContent>(@"ShapeDrawing\RenderMeshes.glfs").Source
)
{
this.meshCache = meshCache;
instances = new StructuredBuffer <MeshInstance>(BufferTarget.ShaderStorageBuffer, maximumInstancesPerDraw, $"Mesh Instances");
vertexConstants = new ConstantsBuffer <RasterizedVertexConstants>(BufferTarget.UniformBuffer, debugName: $"Mesh Renderer Vertex Constants");
}
public RasterizedRenderer(ContentArchive content, string shaderPath, int maximumInstancesPerDraw = 2048) : base(
content.Load <GLSLContent>($"{shaderPath}.glvs").Source,
content.Load <GLSLContent>($"{shaderPath}.glfs").Source
)
{
string instanceTypeName = typeof(TInstance).Name;
instances = new StructuredBuffer <TInstance>(BufferTarget.ShaderStorageBuffer, maximumInstancesPerDraw, $"{instanceTypeName} Instances");
vertexConstants = new ConstantsBuffer <RasterizedVertexConstants>(BufferTarget.UniformBuffer, debugName: $"{instanceTypeName} Renderer Vertex Constants");
}
public RayTracedRenderer(ContentArchive content, string shaderPath, int maximumInstancesPerDraw = 2048) : base(
content.Load <GLSLContent>($"{shaderPath}.glvs").Source,
content.Load <GLSLContent>($"{shaderPath}.glfs").Source
)
{
var instanceTypeName = typeof(TInstance).Name;
instances = new StructuredBuffer <TInstance>(BufferTarget.ShaderStorageBuffer, maximumInstancesPerDraw, $"{instanceTypeName} Instances");
indices = new IndexBuffer(Helpers.GetBoxIndices(maximumInstancesPerDraw), $"{instanceTypeName} AABB Indices");
vertexConstants = new ConstantsBuffer <RayTracedVertexConstants>(BufferTarget.UniformBuffer, debugName: $"{instanceTypeName} Renderer Vertex Constants");
pixelConstants = new ConstantsBuffer <RayTracedPixelConstants>(BufferTarget.UniformBuffer, debugName: $"{instanceTypeName} Renderer Pixel Constants");
}
public DemoHarness(GameLoop loop, ContentArchive content,
Controls?controls = null)
{
this.loop = loop;
this.content = content;
timeSamples = new SimulationTimeSamples(512, loop.Pool);
if (controls == null)
{
this.controls = Controls.Default;
}
var fontContent = content.Load <FontContent>(@"Content\Carlito-Regular.ttf");
font = new Font(loop.Surface.Device, loop.Surface.Context, fontContent);
timingGraph = new Graph(new GraphDescription
{
BodyLineColor = new Vector3(1, 1, 1),
AxisLabelHeight = 16,
AxisLineRadius = 0.5f,
HorizontalAxisLabel = "Frames",
VerticalAxisLabel = "Time (ms)",
VerticalIntervalValueScale = 1e3f,
VerticalIntervalLabelRounding = 2,
BackgroundLineRadius = 0.125f,
IntervalTextHeight = 12,
IntervalTickRadius = 0.25f,
IntervalTickLength = 6f,
TargetHorizontalTickCount = 5,
HorizontalTickTextPadding = 0,
VerticalTickTextPadding = 3,
LegendMinimum = new Vector2(20, 200),
LegendNameHeight = 12,
LegendLineLength = 7,
TextColor = new Vector3(1, 1, 1),
Font = font,
LineSpacingMultiplier = 1f,
ForceVerticalAxisMinimumToZero = true
});
timingGraph.AddSeries("Total", new Vector3(1, 1, 1), 0.75f, timeSamples.Simulation);
timingGraph.AddSeries("Pose Integrator", new Vector3(0, 0, 1), 0.25f, timeSamples.PoseIntegrator);
timingGraph.AddSeries("Sleeper", new Vector3(0.5f, 0, 1), 0.25f, timeSamples.Sleeper);
timingGraph.AddSeries("Broad Update", new Vector3(1, 1, 0), 0.25f, timeSamples.BroadPhaseUpdate);
timingGraph.AddSeries("Collision Test", new Vector3(0, 1, 0), 0.25f, timeSamples.CollisionTesting);
timingGraph.AddSeries("Narrow Flush", new Vector3(1, 0, 1), 0.25f, timeSamples.NarrowPhaseFlush);
timingGraph.AddSeries("Solver", new Vector3(1, 0, 0), 0.5f, timeSamples.Solver);
timingGraph.AddSeries("Body Opt", new Vector3(1, 0.5f, 0), 0.125f, timeSamples.BodyOptimizer);
timingGraph.AddSeries("Constraint Opt", new Vector3(0, 0.5f, 1), 0.125f, timeSamples.ConstraintOptimizer);
timingGraph.AddSeries("Batch Compress", new Vector3(0, 0.5f, 0), 0.125f, timeSamples.BatchCompressor);
demoSet = new DemoSet();
demo = demoSet.Build(0, content, loop.Camera, loop.Surface);
OnResize(loop.Window.Resolution);
}
public Renderer(RenderSurface surface)
{
Surface = surface;
ContentArchive content;
using (var stream = GetType().Assembly.GetManifestResourceStream("DemoRenderer.DemoRenderer.contentarchive"))
{
content = ContentArchive.Load(stream);
}
Shapes = new ShapesExtractor(looper, pool);
SphereRenderer = new RayTracedRenderer <SphereInstance>(content, @"ShapeDrawing\RenderSpheres");
CapsuleRenderer = new RayTracedRenderer <CapsuleInstance>(content, @"ShapeDrawing\RenderCapsules");
CylinderRenderer = new RayTracedRenderer <CylinderInstance>(content, @"ShapeDrawing\RenderCylinders");
BoxRenderer = new BoxRenderer(content);
TriangleRenderer = new TriangleRenderer(content);
MeshRenderer = new MeshRenderer(Shapes.MeshCache, content);
Lines = new LineExtractor(pool, looper);
LineRenderer = new LineRenderer(content);
Background = new BackgroundRenderer(content);
CompressToSwap = new CompressToSwap(content);
ImageRenderer = new ImageRenderer(content);
ImageBatcher = new ImageBatcher(pool);
GlyphRenderer = new GlyphRenderer(content);
TextBatcher = new TextBatcher();
UILineRenderer = new UILineRenderer(content);
UILineBatcher = new UILineBatcher();
OnResize();
}
private static void Main()
{
if (!false) // Run in the background
{
using (var simulation = new WalkerDemo())
{
var start = System.DateTime.UtcNow;
simulation.RunPhysics(canContinue: () => (System.DateTime.UtcNow - start).TotalSeconds < -5); // Run for a few secs
}
}
ContentArchive content;
using (var stream = typeof(Demos.DemoHarness).Assembly.GetManifestResourceStream("Demos.Demos.contentarchive"))
{
content = ContentArchive.Load(stream);
}
using (var window = new DemoEngine.Window("SharpNeat Walker", new Int2((int)(DisplayDevice.Default.Width * 0.75f), (int)(DisplayDevice.Default.Height * 0.75f)), WindowMode.Windowed))
using (var loop = new GameLoop(window))
{
var harness = new DemoHarness(loop, content, customDemoSet: new DemoSet().AddOption <WalkerDemo>());
loop.Run(harness);
}
/*var loop = new GameLoop(window);
* var demo = new DemoHarness(loop, content, customDemoSet: new DemoSet().AddOption<Walker>());
* loop.Run(demo);
* loop.Dispose();*/
}
public static ContentArchive GetDemosContentArchive()
{
using (var stream = typeof(Demos.Demos.FountainStressTestDemo).Assembly.GetManifestResourceStream("Demos.Demos.contentarchive"))
{
return(ContentArchive.Load(stream));
}
}
public static Dictionary <string, ContentElement> Load(Stream stream)
{
using (var reader = new BinaryReader(stream))
{
try
{
var cache = new Dictionary <string, ContentElement>();
var contentCount = reader.ReadInt32();
for (int i = 0; i < contentCount; ++i)
{
var path = reader.ReadString();
var lastModifiedTimestamp = reader.ReadInt64();
var contentType = (ContentType)reader.ReadInt32();
var content = ContentArchive.Load(contentType, reader);
cache.Add(path, new ContentElement {
LastModifiedTimestamp = lastModifiedTimestamp, Content = content
});
}
return(cache);
}
catch (Exception e)
{
Console.WriteLine($"Content build cache load failed; may be corrupted. Assuming fresh build. Message:");
Console.WriteLine(e.Message);
return(new Dictionary <string, ContentElement>());
}
}
}
//Loads a mesh into memory, then returns a key you can use to access that mesh from the dictionary
public static int LoadMesh(string ContentName, Vector3 Scale)
{
//Make sure the manager has been initialized first
if (MeshArchive == null || MemoryPool == null)
{
MessageLog.Print("ERROR: MeshManager has not been initialized yet, initialize it first before trying to load meshes into memory.");
return(-1);
}
//Make sure there isnt already a mesh loaded with this name
if (LoadedMeshNames.Contains(ContentName))
{
MessageLog.Print("Theres already a mesh loaded by the name of " + ContentName + ".");
return(-1);
}
//Load the meshes content from the archive and build a new Mesh object with its information
var MeshContent = MeshArchive.Load <MeshContent>(ContentName);
MemoryPool.Take <Triangle>(MeshContent.Triangles.Length, out var Triangles);
for (int i = 0; i < MeshContent.Triangles.Length; i++)
{
Triangles[i] = new Triangle(MeshContent.Triangles[i].A, MeshContent.Triangles[i].B, MeshContent.Triangles[i].C);
}
Mesh MeshObject = new Mesh(Triangles, Scale, MemoryPool);
//Store the new mesh object into the dictionary with the others
int MeshKey = ++NextMeshKey;
LoadedMeshes.Add(MeshKey, MeshObject);
return(MeshKey);
}
RenderableImage CreateRewardImage(string rewardImagePath, ContentArchive content, RenderSurface surface)
{
var textureContent = content.Load <Texture2DContent>(rewardImagePath);
return(new RenderableImage(
#if !OPENGL
surface.Device, surface.Context,
#endif
textureContent, debugName: Path.GetFileNameWithoutExtension(rewardImagePath)
));
}
static void Main(string[] args)
{
//OperatorCodegenTests.Test();
//ConstraintDescriptionMappingTests.Test();
//CollidablePairComparerTests.Test();
//HeadlessDemo.Simple();
//BatchedCollisionTests.Test();
//TypeIdCodeGenTests.Test();
//DeterminismTest.Test();
//return;
//ScalarWideTests.Test();
//DenseFlagTests.Test();
//VirtualOverheadTest.Test();
//TreeTest.Test();
//ReinterpretVectorRepro.Test();
//TriangularTests.Test();
//LocalsinitCodegen.Test();
//InterlockedOverheadTests.Test();
//LocalsinitCodegen.Test();
//AutoTester.Test();
//BallSocketConvergenceTests.Test();
//MemoryResizeTests.Test();
//DisposeTests.Test();
//ConstraintCacheOptimizationTests.Test();
//SortTest.Test();
//SpanCodegenTests.Test();
//IntertreeThreadingTests.Test();
//return;
//Console.ReadKey();
var window = new Window("pretty cool multicolored window",
new Int2((int)(DisplayDevice.Default.Width * 0.75f), (int)(DisplayDevice.Default.Height * 0.75f)), WindowMode.Windowed);
var loop = new GameLoop(window);
ContentArchive content;
using (var stream = new MemoryStream(Resources.Content))
{
content = ContentArchive.Load(stream);
}
//var fontContent = content.Load<FontContent>(@"Content\Courier Prime Sans.ttf");
var fontContent = content.Load <FontContent>(@"Content\Carlito-Regular.ttf");
var font = new Font(loop.Surface.Device, loop.Surface.Context, fontContent);
var demo = new DemoHarness(window, loop.Input, loop.Camera, font);
loop.Run(demo);
loop.Dispose();
window.Dispose();
}
static void Main(string[] args)
{
var window = new Window("pretty cool multicolored window", new Int2((int)(DisplayDevice.Default.Width * 0.75f), (int)(DisplayDevice.Default.Height * 0.75f)), WindowMode.Windowed);
var loop = new GameLoop(window);
ContentArchive content;
using (var stream = typeof(Program).Assembly.GetManifestResourceStream("bepuphysics2_for_nelalen.Demos.contentarchive"))
{
content = ContentArchive.Load(stream);
}
var demo = new DemoHarness(loop, content);
loop.Run(demo);
loop.Dispose();
window.Dispose();
}
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 bool StartServer(string ServerIP)
{
//Display a message to the console indicating the server is not being started
MessageLog.Print("Starting server on " + ServerIP);
//Before connecting to the server we need to load the connection settings from the .xml config file, start by loading the file into memory
XmlDocument ConnectionSettings = new XmlDocument();
ConnectionSettings.Load("SQLConnectionSettings.xml");
//Extract all the required values from the file and store each of their into their own variables
int NetworkPort = Convert.ToInt32(ConnectionSettings.DocumentElement.SelectSingleNode("/root/NetworkPort").InnerText);
string WindowsServiceName = ConnectionSettings.DocumentElement.SelectSingleNode("/root/WindowsServiceName").InnerText;
string Username = ConnectionSettings.DocumentElement.SelectSingleNode("/root/Username").InnerText;
string Password = ConnectionSettings.DocumentElement.SelectSingleNode("/root/Password").InnerText;
//Load all the existing game items from the exported text file
ItemInfoDatabase.LoadItemList("Content/MasterItemList.txt");
ItemManager.InitializeItemManager();
//Start listening for new network client connections
ConnectionManager.Initialize(ServerIP);
//Open a new window for rendering so we can see whats going on while the server is up
ApplicationWindow = new Window("Swaelo Server 2.0", new Int2(1024, 768), WindowMode.Windowed); // new Int2(1700, 100), WindowMode.Windowed);
LogicLoop = new GameLoop(ApplicationWindow);
//Load in the contents needed for the scene to run
ContentArchive Content;
using (var Stream = typeof(Program).Assembly.GetManifestResourceStream("Server.Content.ServerContents.contentarchive"))
Content = ContentArchive.Load(Stream);
//Initialize the game world simulation
World = new GameWorld(LogicLoop, Content);
return(true);
}
static void Main(string[] args)
{
//ConstraintDescriptionMappingTests.Test();
//Console.ReadKey();
var window = new Window("pretty cool multicolored window",
new Int2((int)(DisplayDevice.Default.Width * 0.75f), (int)(DisplayDevice.Default.Height * 0.75f)), WindowMode.Windowed);
var loop = new GameLoop(window);
ContentArchive content;
using (var stream = new MemoryStream(Resources.Content))
{
content = ContentArchive.Load(stream);
}
//var fontContent = content.Load<FontContent>(@"Content\Courier Prime Sans.ttf");
var fontContent = content.Load <FontContent>(@"Content\Carlito-Regular.ttf");
var font = new Font(loop.Surface.Device, loop.Surface.Context, fontContent);
var demo = new DemoHarness(window, loop.Input, loop.Camera, font);
loop.Run(demo);
loop.Dispose();
window.Dispose();
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(25f, 1.5f, 15f);
camera.Yaw = 3 * MathHelper.Pi / 4;
camera.Pitch = 0;// MathHelper.Pi * 0.15f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionFirstTimestepper());
var meshContent = content.Load <MeshContent>("Content\\newt.obj");
//This is actually a pretty good example of how *not* to make a convex hull shape.
//Generating it directly from a graphical data source tends to have way more surface complexity than needed,
//and it tends to have a lot of near-but-not-quite-coplanar surfaces which can make the contact manifold less stable.
//Prefer a simpler source with more distinct features, possibly created with an automated content-time tool.
var points = new QuickList <Vector3>(meshContent.Triangles.Length * 3, BufferPool);
for (int i = 0; i < meshContent.Triangles.Length; ++i)
{
ref var triangle = ref meshContent.Triangles[i];
//resisting the urge to just reinterpret the memory
points.AllocateUnsafely() = triangle.A * new Vector3(1, 1.5f, 1);
points.AllocateUnsafely() = triangle.B * new Vector3(1, 1.5f, 1);
points.AllocateUnsafely() = triangle.C * new Vector3(1, 1.5f, 1);
}
public BackgroundRenderer(ContentArchive content) : base(
content.Load <GLSLContent>(@"Background\RenderBackground.glvs").Source,
content.Load <GLSLContent>(@"Background\RenderBackground.glfs").Source
) =>
//Constructor which sets up the whole game world scene
public GameWorld(GameLoop Loop, ContentArchive Content)
{
//Store references from the GameLoop class
ApplicationWindow = Loop.Window;
UserInput = Loop.Input;
//Assign the camera reference
ObservationCamera.SetCamera(Loop);
this.Content = Content;
TimeSamples = new SimulationTimeSamples(512, Loop.Pool);
UserControls = Controls.Default;
//Load font from the content archive
var FontContent = Content.Load <FontContent>(@"Carlito-Regular.ttf");
UIFont = new Font(Loop.Surface.Device, Loop.Surface.Context, FontContent);
//Position the camera
ObservationCamera.PositionCamera(new Vector3(2.7f, 6.48f, 9.76f));
ObservationCamera.FaceCamera(0.269f, 0.15899f);
//Setup character controller and world simulation
BufferPool = new BufferPool();
ThreadDispatcher = new SimpleThreadDispatcher(Environment.ProcessorCount);
World = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(new CharacterControllers(BufferPool)), new ScenePoseIntegratorCallbacks(new Vector3(0, -10, 0)));
//Initialize the mesh loader
MeshManager.Initialize(Content, BufferPool);
//Load in the numbers display the direction of the X/Z axes
AxisMarkers.LoadModels();
AxisMarkers.AddModels(World);
//Load in the PVP arena
ArenaMeshHandle = MeshManager.LoadMesh(@"Arena.obj", new Vector3(1));
//Define its starting position and location
Vector3 ArenaPosition = new Vector3(29.82f, 3.62f, 0.94f);
Quaternion ArenaRotation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), Trig.DegreesToRadians(180));
//Use those to add it into the world
MeshManager.AddStatic(World, ArenaMeshHandle, ArenaPosition, ArenaRotation);
//Place the jumping cubes
World.Statics.Add(new StaticDescription(new Vector3(1.299f, 2.3f, -31.24f), new CollidableDescription(World.Shapes.Add(new Box(5, 5, 5)), 0.1f)));
World.Statics.Add(new StaticDescription(new Vector3(-26.56f, 2.3f, -35.2f), new CollidableDescription(World.Shapes.Add(new Box(5, 5, 5)), 0.1f)));
World.Statics.Add(new StaticDescription(new Vector3(-33.12f, 2.3f, -21.65f), new CollidableDescription(World.Shapes.Add(new Box(5, 5, 5)), 0.1f)));
World.Statics.Add(new StaticDescription(new Vector3(-26.05f, 2.3f, -9.38f), new CollidableDescription(World.Shapes.Add(new Box(5, 5, 5)), 0.1f)));
World.Statics.Add(new StaticDescription(new Vector3(-10.31f, 2.3f, -5.62f), new CollidableDescription(World.Shapes.Add(new Box(5, 5, 5)), 0.1f)));
World.Statics.Add(new StaticDescription(new Vector3(1.94f, 2.3f, -15.88f), new CollidableDescription(World.Shapes.Add(new Box(5, 5, 5)), 0.1f)));
World.Statics.Add(new StaticDescription(new Vector3(-11.3f, 2.3f, -37.44f), new CollidableDescription(World.Shapes.Add(new Box(5, 5, 5)), 0.1f)));
//Place a ground plane to walk on
World.Statics.Add(new StaticDescription(new Vector3(0, -0.5f, 0), new CollidableDescription(World.Shapes.Add(new Box(100, 1, 100)), 0.1f)));
//Setup the command executor
CommandInputField.Initialize();
//Make sure the window size is correct relative to the current resolution
OnResize(ApplicationWindow.Resolution);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-10, 0, -10);
//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);
var box = new Box(1f, 3f, 2f);
var capsule = new Capsule(1f, 1f);
var sphere = new Sphere(.5f);
box.ComputeInertia(1, out var boxInertia);
capsule.ComputeInertia(1, out var capsuleInertia);
sphere.ComputeInertia(1, out var sphereInertia);
var boxIndex = Simulation.Shapes.Add(box);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var sphereIndex = Simulation.Shapes.Add(sphere);
const int width = 1;
const int height = 3;
const int length = 1;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var location = new Vector3(3, 3, 3) * new Vector3(i, j, k);// + new Vector3(-width * 1.5f, 1.5f, -length * 1.5f);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = -0.01f
},
Pose = new RigidPose
{
Orientation = BepuUtilities.Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
}
};
switch (j % 3)
{
case 0:
bodyDescription.Collidable.Shape = boxIndex;
bodyDescription.LocalInertia = boxInertia;
break;
case 1:
bodyDescription.Collidable.Shape = capsuleIndex;
bodyDescription.LocalInertia = capsuleInertia;
break;
case 2:
bodyDescription.Collidable.Shape = sphereIndex;
bodyDescription.LocalInertia = sphereInertia;
break;
}
//Simulation.Bodies.Add(bodyDescription);
}
}
}
//Simulation.Bodies.Add(new BodyDescription
//{
// Activity = new BodyActivityDescription(-1),
// Pose = new RigidPose(new Vector3(1, 2.999f, 0), BepuUtilities.Quaternion.CreateFromYawPitchRoll(0, 0, -0.00001f)),
// Collidable = new CollidableDescription(capsuleIndex, 1),
// LocalInertia = capsuleInertia
//});
Simulation.Bodies.Add(new BodyDescription
{
Activity = new BodyActivityDescription(-1),
Pose = new RigidPose(new Vector3(0, 0, 0), BepuUtilities.Quaternion.Identity),
Collidable = new CollidableDescription(boxIndex, .1f),
LocalInertia = boxInertia
});
Simulation.Bodies.Add(new BodyDescription
{
Activity = new BodyActivityDescription(-1),
Pose = new RigidPose(new Vector3(1, 3, 0), BepuUtilities.Quaternion.Identity),
Collidable = new CollidableDescription(boxIndex, .1f),
LocalInertia = new BodyInertia()
});
var meshContent = content.Load <MeshContent>(@"Content\box.obj");
//BufferPool.Take<Triangle>(meshContent.Triangles.Length, out var triangles);
//for (int i = 0; i < meshContent.Triangles.Length; ++i)
//{
// triangles[i] = new Triangle(meshContent.Triangles[i].A, meshContent.Triangles[i].B, meshContent.Triangles[i].C);
//}
//var meshShape = new Mesh(triangles.Slice(0, meshContent.Triangles.Length), new Vector3(5, 1, 5), BufferPool);
BufferPool.Take <Triangle>(2, out var triangles);
for (int i = 2; i < 4; ++i)
{
triangles[i - 2] = new Triangle(meshContent.Triangles[i].A, meshContent.Triangles[i].B, meshContent.Triangles[i].C);
}
var meshShape = new Mesh(triangles.Slice(0, 2), new Vector3(5, 1, 5), BufferPool);
var staticShapeIndex = Simulation.Shapes.Add(meshShape);
for (int i = 0; i < 1; ++i)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription(staticShapeIndex, 0.1f),
Pose = new RigidPose
{
Position = new Vector3(i * 10, -10, 0),
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(staticDescription);
}
}