public void CopyManifoldWideProperties(ref Vector3 offsetB, ref PairMaterialProperties material)
{
Common.OffsetB = offsetB;
Common.FrictionCoefficient = material.FrictionCoefficient;
Common.SpringSettings = material.SpringSettings;
Common.MaximumRecoveryVelocity = material.MaximumRecoveryVelocity;
}
public bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold,
out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
//The IContactManifold parameter includes functions for accessing contact data regardless of what the underlying type of the manifold is.
//If you want to have direct access to the underlying type, you can use the manifold.Convex property and a cast like Unsafe.As<TManifold, ConvexContactManifold or NonconvexContactManifold>(ref manifold).
//The engine does not define any per-body material properties. Instead, all material lookup and blending operations are handled by the callbacks.
//For the purposes of this demo, we'll use the same settings for all pairs.
//(Note that there's no bounciness property! See here for more details: https://github.com/bepu/bepuphysics2/issues/3)
pairMaterial.FrictionCoefficient = 1f;
pairMaterial.MaximumRecoveryVelocity = 2f;
pairMaterial.SpringSettings = new SpringSettings(30, 1);
//For the purposes of the demo, contact constraints are always generated.
try
{
OnCollision(pair.A, pair.B);
}
catch (Exception e)
{
Console.WriteLine(e);
}
return(false);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
pairMaterial = new PairMaterialProperties {
FrictionCoefficient = 1, MaximumRecoveryVelocity = 2, SpringSettings = new SpringSettings(30, 1)
};
Characters.TryReportContacts(pair, ref manifold, workerIndex, ref pairMaterial);
return(true);
}
void ConfigureMaterial(out PairMaterialProperties pairMaterial)
{
//The engine does not define any per-body material properties. Instead, all material lookup and blending operations are handled by the callbacks.
//For the purposes of this demo, we'll use the same settings for all pairs.
//(Note that there's no bounciness property! See here for more details: https://github.com/bepu/bepuphysics2/issues/3)
pairMaterial.FrictionCoefficient = 1f;
pairMaterial.MaximumRecoveryVelocity = 2f;
pairMaterial.SpringSettings = new SpringSettings(30, 1);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
BepuPhysicsComponent a = getFromReference(pair.A);
BepuPhysicsComponent b = getFromReference(pair.B);
pairMaterial.FrictionCoefficient = a.FrictionCoefficient * b.FrictionCoefficient;
pairMaterial.MaximumRecoveryVelocity = (a.MaximumRecoveryVelocity + b.MaximumRecoveryVelocity) * 0.5f;
pairMaterial.SpringSettings.AngularFrequency = (a.SpringSettings.AngularFrequency + b.SpringSettings.AngularFrequency) * 0.5f;
pairMaterial.SpringSettings.TwiceDampingRatio = (a.SpringSettings.TwiceDampingRatio + b.SpringSettings.TwiceDampingRatio) * 0.5f;
if (((uint)a.CanCollideWith & (uint)b.CollisionGroup) != 0)
{
RecordContact(a, b, ref manifold);
return(!a.GhostBody && !b.GhostBody);
}
return(false);
}
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, ConvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
pairMaterial = new PairMaterialProperties();
return(false);
}
void ConfigureMaterial(out PairMaterialProperties pairMaterial)
{
pairMaterial = new PairMaterialProperties();
}
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, ConvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
if (manifold->Count > 0)
{
Console.WriteLine($"CONVEX PAIR: {pair.A} versus {pair.B}");
}
ConfigureMaterial(out pairMaterial);
return(true);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
if (manifold.Count > 0)
{
if (manifold.Convex)
{
Console.WriteLine($"CONVEX PAIR: {pair.A} versus {pair.B}");
}
else
{
Console.WriteLine($"NONCONVEX PAIR: {pair.A} versus {pair.B}");
}
}
pairMaterial.FrictionCoefficient = 1f;
pairMaterial.MaximumRecoveryVelocity = 2f;
pairMaterial.SpringSettings = new SpringSettings(30, 1);
return(true);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
pairMaterial = new PairMaterialProperties();
return(false);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
//For the purposes of this demo, we'll use multiplicative blending for the friction and choose spring properties according to which collidable has a higher maximum recovery velocity.
var a = CollidableMaterials[pair.A];
var b = CollidableMaterials[pair.B];
pairMaterial.FrictionCoefficient = a.FrictionCoefficient * b.FrictionCoefficient;
pairMaterial.MaximumRecoveryVelocity = MathF.Max(a.MaximumRecoveryVelocity, b.MaximumRecoveryVelocity);
pairMaterial.SpringSettings = pairMaterial.MaximumRecoveryVelocity == a.MaximumRecoveryVelocity ? a.SpringSettings : b.SpringSettings;
return(true);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold <TManifold>
{
pairMaterial.FrictionCoefficient = this.FrictionCoefficient;
pairMaterial.MaximumRecoveryVelocity = this.MaximumRecoveryVelocity;
pairMaterial.SpringSettings = this.ContactSpringiness;
return(true);
}
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, ConvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
GetMaterial(out pairMaterial);
//Console.WriteLine("ConfigureContactManifold2");
//Console.WriteLine(pair.A.Handle);
//Console.WriteLine(pair.B.Handle);
return(true);
}
/// <summary>
/// Provides a notification that a manifold has been created for a pair. Offers an opportunity to change the manifold's details.
/// </summary>
/// <param name="workerIndex">Index of the worker thread that created this manifold.</param>
/// <param name="pair">Pair of collidables that the manifold was detected between.</param>
/// <param name="manifold">Set of contacts detected between the collidables.</param>
/// <param name="pairMaterial">Material properties of the manifold.</param>
/// <returns>True if a constraint should be created for the manifold, false otherwise.</returns>
public bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
ConfigureMaterial(out pairMaterial);
return(true);
}
static void GetMaterial(out PairMaterialProperties pairMaterial)
{
pairMaterial = new PairMaterialProperties {
FrictionCoefficient = 1, MaximumRecoveryVelocity = 2, SpringSettings = new SpringSettings(30, 1)
};
}
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, ConvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
GetMaterial(out pairMaterial);
return(true);
}
void ConfigureMaterial(out PairMaterialProperties pairMaterial)
{
pairMaterial.FrictionCoefficient = 1f;
pairMaterial.MaximumRecoveryVelocity = 2f;
pairMaterial.SpringSettings = new SpringSettings(30, 1);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
pairMaterial.FrictionCoefficient = Properties[pair.A.Handle].Friction;
if (pair.B.Mobility != CollidableMobility.Static)
{
//If two bodies collide, just average the friction.
pairMaterial.FrictionCoefficient = (pairMaterial.FrictionCoefficient + Properties[pair.B.Handle].Friction) * 0.5f;
}
pairMaterial.MaximumRecoveryVelocity = 2f;
pairMaterial.SpringSettings = new SpringSettings(30, 1);
return(true);
}
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, NonconvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
ConfigureMaterial(out pairMaterial);
events.HandleManifold(workerIndex, pair, manifold);
return(true);
}
public bool ConfigureContactManifold(int workerIndex, CollidablePair pair, ContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
pairMaterial.FrictionCoefficient = 1;
pairMaterial.MaximumRecoveryVelocity = float.MaxValue;
pairMaterial.SpringSettings.NaturalFrequency = MathHelper.Pi * 30;
pairMaterial.SpringSettings.DampingRatio = 100f;// 100000;
return(true);
}
public unsafe bool ConfigureContactManifold(int workerIndex, CollidablePair pair, NonconvexContactManifold *manifold, out PairMaterialProperties pairMaterial)
{
GetMaterial(out pairMaterial);
Characters.TryReportContacts(pair, ref *manifold, workerIndex, ref pairMaterial);
return(true);
}
public unsafe bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
pairMaterial.FrictionCoefficient = 1;
pairMaterial.MaximumRecoveryVelocity = 2f;
pairMaterial.SpringSettings = new SpringSettings(30, 1);
return(true);
}
public bool ConfigureContactManifold <TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold,
out PairMaterialProperties pairMaterial) where TManifold : struct, IContactManifold <TManifold>
{
CreateMaterial(out pairMaterial);
return(CollisionGroup.AllowCollision(CollisionGroups[pair.A.Handle].Filter, CollisionGroups[pair.B.Handle].Filter));
}
