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));
}
//Default constructor
public EnemyEntity(Vector3 SpawnLocation)
{
//Store the entities default location then add a new physics collider into the world physics simulation
DefaultLocation = SpawnLocation;
EntityColliderShape = new Cylinder(0.6f, 1.7f);
EntityColliderDescription = new CollidableDescription(Program.World.World.Shapes.Add(EntityColliderShape), 0.25f);
EntityColliderShape.ComputeInertia(1, out var Inertia);
Program.World.World.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(SpawnLocation, Quaternion.Identity), Inertia, EntityColliderDescription, new BodyActivityDescription(0.01f)));
//Pass it to the entity manager to be stored with all the others and set the enemies type value
EntityManager.AddEntity(this);
this.Type = "Skeleton Warrior";
}
public static CylinderBody Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector2 size)
{
var shape = new Cylinder(size.X, size.Y);
shape.ComputeInertia(1, out var inertia);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.1f);
var activity = new BodyActivityDescription(0);
var pose = new RigidPose(position, rotation);
var descriptor = BodyDescription.CreateDynamic(pose, inertia, collidable, activity);
var handle = simulation.Simulation.Bodies.Add(descriptor);
var obj = new CylinderBody(simulation, handle);
simulation.Register(obj);
return(obj);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 10, -30);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
Simulation.Deterministic = true;
var sphere = new Sphere(1.5f);
var capsule = new Capsule(1f, 1f);
var box = new Box(1f, 3f, 2f);
var cylinder = new Cylinder(1.5f, 0.3f);
const int pointCount = 32;
var points = new QuickList <Vector3>(pointCount, BufferPool);
//points.Allocate(BufferPool) = new Vector3(0, 0, 0);
//points.Allocate(BufferPool) = new Vector3(0, 0, 1);
//points.Allocate(BufferPool) = new Vector3(0, 1, 0);
//points.Allocate(BufferPool) = new Vector3(0, 1, 1);
//points.Allocate(BufferPool) = new Vector3(1, 0, 0);
//points.Allocate(BufferPool) = new Vector3(1, 0, 1);
//points.Allocate(BufferPool) = new Vector3(1, 1, 0);
//points.Allocate(BufferPool) = new Vector3(1, 1, 1);
var random = new Random(5);
for (int i = 0; i < pointCount; ++i)
{
points.AllocateUnsafely() = new Vector3(3 * (float)random.NextDouble(), 1 * (float)random.NextDouble(), 3 * (float)random.NextDouble());
//points.AllocateUnsafely() = new Vector3(0, 1, 0) + Vector3.Normalize(new Vector3((float)random.NextDouble() * 2 - 1, (float)random.NextDouble() * 2 - 1, (float)random.NextDouble() * 2 - 1)) * (float)random.NextDouble();
}
var convexHull = new ConvexHull(points.Span.Slice(points.Count), BufferPool, out _);
box.ComputeInertia(1, out var boxInertia);
capsule.ComputeInertia(1, out var capsuleInertia);
sphere.ComputeInertia(1, out var sphereInertia);
cylinder.ComputeInertia(1, out var cylinderInertia);
convexHull.ComputeInertia(1, out var hullInertia);
var boxIndex = Simulation.Shapes.Add(box);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var sphereIndex = Simulation.Shapes.Add(sphere);
var cylinderIndex = Simulation.Shapes.Add(cylinder);
var hullIndex = Simulation.Shapes.Add(convexHull);
const int width = 8;
const int height = 16;
const int length = 8;
var shapeCount = 0;
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(6, 3, 6) * new Vector3(i, j, k) + new Vector3(-width * 1.5f, 5.5f, -length * 1.5f);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription(0.01f),
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
}
};
var index = shapeCount++;
switch (2 + index % 5)
{
case 0:
bodyDescription.Collidable.Shape = sphereIndex;
bodyDescription.LocalInertia = sphereInertia;
break;
case 1:
bodyDescription.Collidable.Shape = capsuleIndex;
bodyDescription.LocalInertia = capsuleInertia;
break;
case 2:
bodyDescription.Collidable.Shape = boxIndex;
bodyDescription.LocalInertia = boxInertia;
break;
case 3:
bodyDescription.Collidable.Shape = cylinderIndex;
bodyDescription.LocalInertia = cylinderInertia;
break;
case 4:
bodyDescription.Collidable.Shape = hullIndex;
bodyDescription.LocalInertia = hullInertia;
break;
}
Simulation.Bodies.Add(bodyDescription);
}
}
}
DemoMeshHelper.CreateDeformedPlane(128, 128, (x, y) => new Vector3(x - 64, 2f * (float)(Math.Sin(x * 0.5f) * Math.Sin(y * 0.5f)), y - 64), new Vector3(4, 1, 4), BufferPool, out var mesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(), new CollidableDescription(Simulation.Shapes.Add(mesh), 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;
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 void ComputeAnalyticInertia(float mass, out BodyInertia inertia)
{
Cylinder.ComputeInertia(mass, out inertia);
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 5, 10);
camera.Yaw = 0;
camera.Pitch = 0;
bodyProperties = new CollidableProperty <TankDemoBodyProperties>();
//We assign velocities outside of the timestep to fire bullets, so using the PositionLastTimestepper avoids integrating those velocities into positions before the solver has a chance to intervene.
//We could have also modified velocities in the PositionFirstTimestepper's BeforeCollisionDetection callback, but it's just a little simpler to do this with very little cost.
Simulation = Simulation.Create(BufferPool, new TankCallbacks()
{
Properties = bodyProperties
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionLastTimestepper());
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
};
}
}
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 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 DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var box = new Box(1f, 3f, 2f);
var capsule = new Capsule(1f, 1f);
var sphere = new Sphere(1f);
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 = 16;
const int height = 0;
const int length = 16;
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(5, 5, 5) * 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 ((i + j) % 3)
{
case 0:
bodyDescription.Collidable.Shape = sphereIndex;
bodyDescription.LocalInertia = sphereInertia;
break;
case 1:
bodyDescription.Collidable.Shape = capsuleIndex;
bodyDescription.LocalInertia = capsuleInertia;
break;
case 2:
bodyDescription.Collidable.Shape = boxIndex;
bodyDescription.LocalInertia = boxInertia;
break;
}
Simulation.Bodies.Add(bodyDescription);
}
}
}
var testShape = new Cylinder(1, 0.2f);
testShape.ComputeInertia(1, out var testInertia);
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(10, 10, 10), testInertia, new CollidableDescription(Simulation.Shapes.Add(testShape), 10.1f), new BodyActivityDescription(-0.01f)));
//DemoMeshHelper.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(5, 5, 5), out var newtMesh);
//newtMesh.ComputeClosedInertia(10, out var newtInertia, out _);
//Simulation.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(new Vector3(30, 20, 30)), newtInertia,
// new CollidableDescription(Simulation.Shapes.Add(newtMesh), 0.1f), new BodyActivityDescription(0.01f)));
//Simulation.Statics.Add(new StaticDescription(new Vector3(30, 15, 30), new CollidableDescription(Simulation.Shapes.Add(new Box(15, 1, 15)), 0.1f)));
//DemoMeshHelper.LoadModel(content, BufferPool, @"Content\box.obj", new Vector3(5, 1, 5), out var boxMesh);
//Simulation.Statics.Add(new StaticDescription(new Vector3(10, 5, -20), new CollidableDescription(Simulation.Shapes.Add(boxMesh), 0.1f)));
//DemoMeshHelper.CreateFan(64, 16, new Vector3(1, 1, 1), BufferPool, out var fanMesh);
//Simulation.Statics.Add(new StaticDescription(new Vector3(-10, 0, -20), new CollidableDescription(Simulation.Shapes.Add(fanMesh), 0.1f)));
const int planeWidth = 128;
const int planeHeight = 128;
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
return(new Vector3(x - planeWidth / 2, 1 * MathF.Cos(x / 2f) * MathF.Sin(y / 2f), y - planeHeight / 2));
}, new Vector3(1, 0, 1), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(64, -10, 64), BepuUtilities.Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathF.PI / 2),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
}