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()));
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(25, 4, 40);
camera.Yaw = 0;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var shapeA = new Box(.75f, 1, .5f);
var shapeIndexA = Simulation.Shapes.Add(shapeA);
var collidableA = new CollidableDescription(shapeIndexA, 0.1f);
var shapeB = new Box(.75f, 1, .5f);
var shapeIndexB = Simulation.Shapes.Add(shapeB);
var collidableB = new CollidableDescription(shapeIndexB, 0.1f);
var activity = new BodyActivityDescription(0.01f);
shapeA.ComputeInertia(1, out var inertiaA);
shapeA.ComputeInertia(1, out var inertiaB);
var nextX = -10f;
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new Hinge
{
LocalOffsetA = new Vector3(0, 1, 0),
LocalHingeAxisA = new Vector3(0, 1, 0),
LocalOffsetB = new Vector3(0, -1, 0),
LocalHingeAxisB = new Vector3(0, 1, 0),
SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularSwivelHinge {
LocalSwivelAxisA = new Vector3(1, 0, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new SwingLimit {
AxisLocalA = new Vector3(0, 1, 0), AxisLocalB = new Vector3(0, 1, 0), MaximumSwingAngle = MathHelper.PiOver2, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new SwivelHinge
{
LocalOffsetA = new Vector3(0, 1, 0),
LocalSwivelAxisA = new Vector3(1, 0, 0),
LocalOffsetB = new Vector3(0, -1, 0),
LocalHingeAxisB = new Vector3(0, 1, 0),
SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new SwingLimit {
AxisLocalA = new Vector3(0, 1, 0), AxisLocalB = new Vector3(0, 1, 0), MaximumSwingAngle = MathHelper.PiOver2, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistServo
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
TargetAngle = MathHelper.PiOver4,
SpringSettings = new SpringSettings(30, 1),
ServoSettings = new ServoSettings(float.MaxValue, 0, float.MaxValue)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistLimit
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
MinimumAngle = MathHelper.Pi * -0.5f,
MaximumAngle = MathHelper.Pi * 0.95f,
SpringSettings = new SpringSettings(30, 1),
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistMotor
{
LocalAxisA = new Vector3(0, 1, 0),
LocalAxisB = new Vector3(0, 1, 0),
TargetVelocity = MathHelper.Pi * 2,
Settings = new MotorSettings(float.MaxValue, 0.1f)
});
Simulation.Solver.Add(a, b, new AngularHinge {
LocalHingeAxisA = new Vector3(0, 1, 0), LocalHingeAxisB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(x, 3, 0), collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularServo
{
TargetRelativeRotationLocalA = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2),
ServoSettings = new ServoSettings(float.MaxValue, 0, 12f),
SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var a = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity));
var b = Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularMotor {
TargetVelocityLocalA = new Vector3(0, 1, 0), Settings = new MotorSettings(15, 0.0001f)
});
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 5, 0), inertiaB, collidableB, activity);
//aDescription.Velocity.Angular = new Vector3(0, 0, 5);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new Weld {
LocalOffset = new Vector3(0, 2, 0), LocalOrientation = Quaternion.Identity, SpringSettings = new SpringSettings(30, 1)
});
}
{
var x = GetNextPosition(ref nextX);
var sphere = new Sphere(0.125f);
//Treat each vertex as a point mass that cannot rotate.
var sphereInertia = new BodyInertia {
InverseMass = 1
};
var sphereCollidable = new CollidableDescription(Simulation.Shapes.Add(sphere), 0.1f);
var a = new Vector3(x, 3, 0);
var b = new Vector3(x, 4, 0);
var c = new Vector3(x, 3, 1);
var d = new Vector3(x + 1, 3, 0);
var aDescription = BodyDescription.CreateDynamic(a, sphereInertia, sphereCollidable, activity);
var bDescription = BodyDescription.CreateDynamic(b, sphereInertia, sphereCollidable, activity);
var cDescription = BodyDescription.CreateDynamic(c, sphereInertia, sphereCollidable, activity);
var dDescription = BodyDescription.CreateDynamic(d, sphereInertia, sphereCollidable, activity);
var aHandle = Simulation.Bodies.Add(aDescription);
var bHandle = Simulation.Bodies.Add(bDescription);
var cHandle = Simulation.Bodies.Add(cDescription);
var dHandle = Simulation.Bodies.Add(dDescription);
var distanceSpringiness = new SpringSettings(3f, 1);
Simulation.Solver.Add(aHandle, bHandle, new CenterDistanceConstraint(Vector3.Distance(a, b), distanceSpringiness));
Simulation.Solver.Add(aHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(a, c), distanceSpringiness));
Simulation.Solver.Add(aHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(a, d), distanceSpringiness));
Simulation.Solver.Add(bHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(b, c), distanceSpringiness));
Simulation.Solver.Add(bHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(b, d), distanceSpringiness));
Simulation.Solver.Add(cHandle, dHandle, new CenterDistanceConstraint(Vector3.Distance(c, d), distanceSpringiness));
Simulation.Solver.Add(aHandle, bHandle, cHandle, dHandle, new VolumeConstraint(a, b, c, d, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 6, 0), inertiaB, collidableB, activity);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new DistanceServo(new Vector3(0, 0.55f, 0), new Vector3(0, -0.55f, 0), 1.9f, new SpringSettings(30, 1), ServoSettings.Default));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), inertiaA, collidableA, activity);
var bDescription = BodyDescription.CreateDynamic(new Vector3(x, 6, 0), inertiaB, collidableB, activity);
var a = Simulation.Bodies.Add(aDescription);
var b = Simulation.Bodies.Add(bDescription);
Simulation.Solver.Add(a, b, new DistanceLimit(new Vector3(0, 0.55f, 0), new Vector3(0, -0.55f, 0), 1f, 3, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var sphere = new Sphere(0.125f);
//Treat each vertex as a point mass that cannot rotate.
var sphereInertia = new BodyInertia {
InverseMass = 1
};
var sphereCollidable = new CollidableDescription(Simulation.Shapes.Add(sphere), 0.1f);
var a = new Vector3(x, 3, 0);
var b = new Vector3(x, 4, 0);
var c = new Vector3(x + 1, 3, 0);
var aDescription = BodyDescription.CreateDynamic(a, sphereInertia, sphereCollidable, activity);
var bDescription = BodyDescription.CreateDynamic(b, sphereInertia, sphereCollidable, activity);
var cDescription = BodyDescription.CreateDynamic(c, sphereInertia, sphereCollidable, activity);
var aHandle = Simulation.Bodies.Add(aDescription);
var bHandle = Simulation.Bodies.Add(bDescription);
var cHandle = Simulation.Bodies.Add(cDescription);
var distanceSpringiness = new SpringSettings(3f, 1);
Simulation.Solver.Add(aHandle, bHandle, new CenterDistanceConstraint(Vector3.Distance(a, b), distanceSpringiness));
Simulation.Solver.Add(aHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(a, c), distanceSpringiness));
Simulation.Solver.Add(bHandle, cHandle, new CenterDistanceConstraint(Vector3.Distance(b, c), distanceSpringiness));
Simulation.Solver.Add(aHandle, bHandle, cHandle, new AreaConstraint(a, b, c, new SpringSettings(30, 1)));
}
{
var x = GetNextPosition(ref nextX);
var aDescription = BodyDescription.CreateDynamic(new Vector3(x, 3, 0), default, collidableA, activity);
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 4, 15);
camera.Yaw = 0;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var shapeA = new Box(.75f, 1, .5f);
var shapeB = new Box(.75f, 1, .5f);
shapeA.ComputeInertia(1, out var inertiaA);
shapeA.ComputeInertia(1, out var inertiaB);
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(-10, 3, 0), inertiaA, Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(-10, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(-7, 3, 0), new BodyInertia(), Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(-7, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularHinge {
HingeAxisLocalA = new Vector3(0, 1, 0), HingeAxisLocalB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(-4, 3, 0), new BodyInertia(), Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(-4, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularSwivelHinge {
SwivelAxisLocalA = new Vector3(0, 1, 0), HingeAxisLocalB = new Vector3(1, 0, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new SwingLimit {
AxisLocalA = new Vector3(0, 1, 0), AxisLocalB = new Vector3(0, 1, 0), MaximumSwingAngle = MathHelper.PiOver2, SpringSettings = new SpringSettings(30, 1)
});
}
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(-1, 3, 0), new BodyInertia(), Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(-1, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistServo
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
TargetAngle = MathHelper.PiOver4,
SpringSettings = new SpringSettings(30, 1),
ServoSettings = new ServoSettings(float.MaxValue, 0, float.MaxValue)
});
}
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(2, 3, 0), new BodyInertia(), Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(2, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistLimit
{
LocalBasisA = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
LocalBasisB = RagdollDemo.CreateBasis(new Vector3(0, 1, 0), new Vector3(1, 0, 0)),
MinimumAngle = MathHelper.Pi * -0.5f,
MaximumAngle = MathHelper.Pi * 0.95f,
SpringSettings = new SpringSettings(30, 1),
});
Simulation.Solver.Add(a, b, new AngularHinge {
HingeAxisLocalA = new Vector3(0, 1, 0), HingeAxisLocalB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(5, 3, 0), new BodyInertia(), Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(5, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new TwistMotor
{
LocalAxisA = new Vector3(0, 1, 0),
LocalAxisB = new Vector3(0, 1, 0),
TargetVelocity = MathHelper.Pi * 2,
Settings = new MotorSettings(float.MaxValue, 0.1f)
});
Simulation.Solver.Add(a, b, new AngularHinge {
HingeAxisLocalA = new Vector3(0, 1, 0), HingeAxisLocalB = new Vector3(0, 1, 0), SpringSettings = new SpringSettings(30, 1)
});
}
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(8, 3, 0), new BodyInertia(), Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(8, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularServo
{
TargetRelativeRotationLocalA = Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2),
ServoSettings = new ServoSettings(float.MaxValue, 0, 12f),
SpringSettings = new SpringSettings(30, 1)
});
}
{
var a = Simulation.Bodies.Add(new BodyDescription(new Vector3(11, 3, 0), inertiaA, Simulation.Shapes.Add(shapeA), 0.1f, new BodyActivityDescription(0.01f)));
var b = Simulation.Bodies.Add(new BodyDescription(new Vector3(11, 5, 0), inertiaB, Simulation.Shapes.Add(shapeB), 0.1f, new BodyActivityDescription(0.01f)));
Simulation.Solver.Add(a, b, new BallSocket {
LocalOffsetA = new Vector3(0, 1, 0), LocalOffsetB = new Vector3(0, -1, 0), SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(a, b, new AngularMotor {
TargetVelocityLocalA = new Vector3(0, 1, 0), Settings = new MotorSettings(15, 0.0001f)
});
}
Simulation.Statics.Add(new StaticDescription(new Vector3(), new CollidableDescription(Simulation.Shapes.Add(new Box(256, 1, 256)), 0.1f)));
}