public static int[] AddObject(GameObject gameObject, Texture2D texture, float minMass, float maxMass, float minStiffness, float maxStiffness, float minDamping, float maxDamping)
{
List <int> indexes = new List <int>();
var filters = gameObject.GetComponentsInChildren <MeshFilter>();
if (filters != null)
{
foreach (var filter in filters)
{
filter.mesh.MarkDynamic();
ObjectData meshData = new ObjectData();
meshData.mesh = filter.mesh;
meshData.vertices = meshData.mesh.vertices;
meshData.uv = meshData.mesh.uv;
meshData.pixels = texture.GetPixels();
meshData.transform = filter.gameObject.transform;
meshData.position = filter.gameObject.transform.position;
meshData.rotation = filter.gameObject.transform.rotation;
meshData.scale = filter.gameObject.transform.lossyScale;
int index = PhysicsSimulation.AddObjectToSimulation(ref meshData.position, ref meshData.rotation, ref meshData.scale, meshData.vertices, meshData.uv, meshData.mesh.vertexCount, meshData.pixels, texture.height, texture.width, minMass, maxMass, minStiffness, maxStiffness, minDamping, maxDamping);
meshData.index = index;
datas.Add(meshData);
indexes.Add(index);
}
}
return(indexes.ToArray());
}
public void CapsuleSphereCollision()
{
// r=1.5 at (0,8,0)
var sphere = SphereBody.Create(_simulation,
new Vector3(0, 8, 0),
1.5f);
// pointing straight up, should hit sphere
var capsule1 = CapsuleBody.Create(this._simulation,
new Vector3(0, 0, 0),
Quaternion.Identity,
1f,
6f);
// rotated 45deg, should miss sphere
var capsule2 = CapsuleBody.Create(this._simulation,
new Vector3(0, 0, 0),
Quaternion.CreateFromAxisAngle(Vector3.UnitX, (float)(0.125 * Math.Tau)),
1f,
6f);
// floating, rotated 90deg, should hit sphere
var capsule3 = CapsuleBody.Create(this._simulation,
new Vector3(8, 8, 0),
Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(0.25 * Math.Tau)),
1f,
6f);
Assert.IsTrue(PhysicsSimulation.CapsuleSphereCollision(capsule1, sphere));
Assert.IsFalse(PhysicsSimulation.CapsuleSphereCollision(capsule2, sphere));
Assert.IsTrue(PhysicsSimulation.CapsuleSphereCollision(capsule3, sphere));
}
public static void ChangeObjectsPhysicsVariableLimits(float minMass, float maxMass, float minStiffness, float maxStiffness, float minDamping, float maxDamping, params int[] index)
{
for (int i = 0; i < index.Length; i++)
{
PhysicsSimulation.ChangeObjectsPhysicsVariableLimits(index[i], minMass, maxMass, minStiffness, maxStiffness, minDamping, maxDamping);
}
}
public static void RemoveObjectsFromSimulation(params int[] index)
{
for (int i = 0; i < index.Length; i++)
{
PhysicsSimulation.RemoveObjectFromSimulation(index[i]);
datas.RemoveAll(data => data.index == index[i]);
}
}
public bool Contains(PointF point)
{
Body body = GenerateBody(PhysicsSimulation.World, false);
bool result = PhysicsSimulation.CheckPoint(body, point);
PhysicsSimulation.RemoveBody(body);
return(result);
}
void OnValidate()
{
if (minMass < 0)
{
minMass = 0;
}
if (maxMass < 0)
{
maxMass = minMass;
}
if (minStiffness < 0)
{
minStiffness = 0;
}
if (maxStiffness < 0)
{
maxStiffness = minStiffness;
}
if (minDamping < 0)
{
minDamping = 0;
}
if (maxDamping < 0)
{
maxDamping = minDamping;
}
if (minMass > maxMass)
{
minMass = maxMass;
}
if (minStiffness > maxStiffness)
{
minStiffness = maxStiffness;
}
if (minDamping > maxDamping)
{
minDamping = maxDamping;
}
if (!Application.isPlaying)
{
return;
}
if (!initialValidationDone)
{
initialValidationDone = true;
return;
}
if (physicsTexture != null)
{
PhysicsSimulation.ChangePhysicsTexture(physicsTexture, indexes);
}
PhysicsSimulation.ChangeObjectsPhysicsVariableLimits(minMass, maxMass, minStiffness, maxStiffness, minDamping, maxDamping, indexes);
}
static void RunPhysicsOnSelected()
{
if (Selection.activeGameObject != null)
{
PhysicsSimulation.RunSimulation(Selection.gameObjects);
}
Selection.activeGameObject = null;
Selection.activeObject = null;
}
public static void PhysicsUpdate()
{
while (!GameExiting && PhysicsOnBackgroundThread)
{
DateTime now = DateTime.Now;
double elapsed = (now - physicsLastUpdate).TotalMilliseconds;
PhysicsSimulation.Update((float)elapsed / 1000);
physicsLastUpdate = now;
Thread.Sleep(5);
}
}
static void Main(string[] args)
{
int THREADS = 2;
int OBJECTS = 2;
if (args.Length != 0)
{
for (int i = 0; i < args.Length; i++)
{
if (args[i] == "--threads")
{
i++;
if (int.Parse(args[i]) > THREADS)
{
THREADS = int.Parse(args[i]);
}
}
if (args[i] == "--objects")
{
i++;
OBJECTS = int.Parse(args[i]);
}
}
}
Console.WriteLine("Using {0} threads", THREADS);
Console.WriteLine("Creating {0} objects", OBJECTS);
Thread.Sleep(1000);
Random rand = new Random();
System.Collections.ArrayList objs = new System.Collections.ArrayList();
PhysicsSimulation m_Physics = new PhysicsSimulation(THREADS);
for (int i = 0; i < OBJECTS; i++)
{
Spheroid m_Spheroid = new Spheroid(
new Vector3(rand.Next(-100, 100), rand.Next(-100, 100), rand.Next(-100, 100)),
new Vector3(1, 1, 1),
rand.Next(1, 9));
objs.Add(m_Spheroid);
}
Console.SetCursorPosition(0, Console.CursorTop);
Console.Write(">");
ControlPlane control = new ControlPlane(objs, THREADS);
control.Start();
}
public static void ChangePhysicsTexture(Texture2D newTexture, params int[] index)
{
Color[] colors = newTexture.GetPixels();
int textureHeight = newTexture.height;
int textureWidth = newTexture.width;
for (int i = 0; i < index.Length; i++)
{
ObjectData oD = datas.Find(data => data.index == index[i]);
oD.pixels = colors;
PhysicsSimulation.ChangeObjectsPhysicsTexture(index[i], colors, textureHeight, textureWidth);
}
}
public void BoxBoxCollision()
{
// This test does not check cases where the boxes collide but none of
// the vertices are contained by the other box (edge-edge collisions).
// 10x10x10 at (0,0,0)
var boxAtZero = BoxBody.Create(_simulation,
new Vector3(0, 0, 0),
Quaternion.Identity,
Vector3.One * 10);
// 1x1x1 at (5,5,5)
var smallBox5 = BoxBody.Create(_simulation,
new Vector3(5, 5, 5),
Quaternion.Identity,
Vector3.One);
// 5x5x5 at (-7,0,0)
var box7 = BoxBody.Create(_simulation,
new Vector3(-7, 0, 0),
Quaternion.Identity,
Vector3.One * 5);
// 1x10x1 at (0,8,0)
var box8 = BoxBody.Create(_simulation,
new Vector3(0, 8, 0),
Quaternion.Identity,
new Vector3(1, 10, 1));
// 1x10x1 at (0,8,0) but rotated 90 deg around Z axis
var box8Rotated = BoxBody.Create(_simulation,
new Vector3(0, 8, 0),
Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)(Math.Tau / 4)),
new Vector3(1, 10, 1));
// 1x1x1 at (4,8.5,0.5)
var box9 = BoxBody.Create(_simulation,
new Vector3(4, 8.5f, 0.5f),
Quaternion.Identity,
new Vector3(1, 1, 1));
Assert.IsTrue(PhysicsSimulation.BoxBoxCollision(boxAtZero, smallBox5));
Assert.IsTrue(PhysicsSimulation.BoxBoxCollision(boxAtZero, box7));
Assert.IsTrue(PhysicsSimulation.BoxBoxCollision(boxAtZero, box8));
Assert.IsFalse(PhysicsSimulation.BoxBoxCollision(boxAtZero, box8Rotated));
Assert.IsFalse(PhysicsSimulation.BoxBoxCollision(smallBox5, box7));
Assert.IsTrue(PhysicsSimulation.BoxBoxCollision(box9, box8Rotated));
}
public override void OnInspectorGUI()
{
base.OnInspectorGUI();
PhysicsSimulation sim = (PhysicsSimulation)target;
if (GUILayout.Button("Simulate"))
{
sim.RunSimulation();
}
if (GUILayout.Button("Reset"))
{
sim.ResetAllBodies();
}
}
internal Workspace()
{
VoidHeight = -500;
PlaceLoaded = new Signal <string>(this);
CameraChanged = new Signal <Camera>(this);
CurrentCamera = MakeDefaultCamera();
Physics = new PhysicsSimulation();
RenderObjectProvider = new WorldRenderer();
Gravity = new Vector3(0, -196.2f, 0);
Terrain = new Terrain(this);
Game.AddWorld(this);
}
void Update()
{
for (int i = 0; i < datas.Count; i++)
{
datas[i].position = datas[i].transform.position;
datas[i].rotation = datas[i].transform.rotation;
datas[i].scale = datas[i].transform.lossyScale;
UpdateMesh(datas[i]);
}
PhysicsSimulation.Simulate(Time.deltaTime);
for (int i = 0; i < datas.Count; i++)
{
datas[i].mesh.vertices = datas[i].vertices;
datas[i].transform.position = datas[i].position;
}
}
public void BoxSphereCollision()
{
// r=10 at (100,0,0)
var sphereFar = SphereBody.Create(_simulation,
new Vector3(100, 0, 0),
10f);
// r=4 at (7,0,0)
var sphereClose = SphereBody.Create(_simulation,
new Vector3(7, 0, 0),
4f);
// r=0.5 at (5,5,0)
var sphere2 = SphereBody.Create(_simulation,
new Vector3(5, 5, 0),
0.5f);
// r=0.5 at (6,0,0)
var sphere3 = SphereBody.Create(_simulation,
new Vector3(6, 0, 0),
0.5f);
// 10x10x10 at (0,0,0)
var boxAtZero = BoxBody.Create(_simulation,
new Vector3(0, 0, 0),
Quaternion.Identity,
Vector3.One * 10);
// No rotation
Assert.IsTrue(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphereClose));
Assert.IsFalse(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphereFar));
Assert.IsTrue(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphere2));
Assert.IsFalse(PhysicsSimulation.BoxSphereCollision(boxAtZero, sphere3));
// Rotate box by 45deg around Z axis. Should now miss small sphere at (5,5,0) and hit small sphere at (6,0,0)
var boxAtZeroRotated = BoxBody.Create(_simulation,
new Vector3(0, 0, 0),
Quaternion.CreateFromAxisAngle(Vector3.UnitZ, (float)Math.Tau / 8),
Vector3.One * 10);
Assert.IsFalse(PhysicsSimulation.BoxSphereCollision(boxAtZeroRotated, sphere2));
Assert.IsTrue(PhysicsSimulation.BoxSphereCollision(boxAtZeroRotated, sphere3));
}
public void SphereSphereCollision()
{
// r=10 at (0,0,0)
var sphereAtZero = SphereBody.Create(_simulation, new Vector3(0, 0, 0),
10f);
// r=10 at (100,0,0)
var sphereFar = SphereBody.Create(_simulation,
new Vector3(100, 0, 0),
10f);
// r=4 at (11,0,0)
var sphereClose = SphereBody.Create(_simulation,
new Vector3(11, 0, 0),
4f);
Assert.IsFalse(PhysicsSimulation.SphereSphereCollision(sphereAtZero, sphereFar));
Assert.IsTrue(PhysicsSimulation.SphereSphereCollision(sphereAtZero, sphereClose));
}
public static void Update(GameTime gameTime)
{
for (int i = 0; i < gameSubSystems.Count; i++)
{
gameSubSystems[i].Update(gameTime);
}
if (CursorVisible)
{
if (!SystemCore.Game.IsMouseVisible)
{
SystemCore.Game.IsMouseVisible = true;
}
}
else
{
if (SystemCore.Game.IsMouseVisible)
{
SystemCore.Game.IsMouseVisible = false;
}
}
if (SystemCore.EscapeQuitsGame)
{
if (SystemCore.Input.KeyPress(Keys.Escape))
{
SystemCore.Game.Exit();
}
}
if (!PhysicsOnBackgroundThread)
{
PhysicsSimulation.Update((float)gameTime.ElapsedGameTime.TotalSeconds);
}
DebugText.Update(gameTime);
EventManager.Update(gameTime.ElapsedGameTime);
}
public Zone(ZoneInfo zoneInfo, UchuServer uchuServer, ushort instanceId = default, uint cloneId = default)
{
Zone = this;
ZoneInfo = zoneInfo;
UchuServer = uchuServer;
InstanceId = instanceId;
CloneId = cloneId;
EarlyPhysics = new Event();
LatePhysics = new Event();
OnPlayerLoad = new Event <Player>();
OnObject = new Event <Object>();
OnTick = new Event();
OnChatMessage = new Event <Player, string>();
ScriptManager = new ScriptManager(this);
ManagedScriptEngine = new ManagedScriptEngine();
UpdatedObjects = new List <UpdatedObject>();
ManagedObjects = new List <Object>();
SpawnedObjects = new List <GameObject>();
Simulation = new PhysicsSimulation();
Listen(OnDestroyed, () => { _running = false; });
}
public RayHitHandler(PhysicsSimulation simulation, Memory <RayHit> hits) : this()
{
Simulation = simulation;
Hits = hits;
}
public void LoadWithPhysicsControlData(VehiclePhysicsControlData controlData)
{
this.ControlData = controlData;
Simulation = new PhysicsSimulation(ControlData);
}
void OnApplicationQuit()
{
PhysicsSimulation.CleanSimulationData();
}
static void ResetPhysicsOnSelected()
{
PhysicsSimulation.ResetAllBodies();
}
public void SetupTest()
{
_simulation = new PhysicsSimulation();
}
void Start()
{
animator = GetComponent <Animator>();
transformPlayer = GetComponent <Transform>();
physicsSimulation = GetComponent <PhysicsSimulation>();
}
