public void ComputeCollision()
{
CollisionObject a = new CollisionObject();
CompositeShape compo = new CompositeShape();
compo.Children.Add(new GeometricObject(new SphereShape(2), Pose.Identity));
compo.Children.Add(new GeometricObject(new SphereShape(1), new Pose(new Vector3F(0, 3, 0))));
a.GeometricObject = new GeometricObject(compo, Pose.Identity);
CollisionObject b = new CollisionObject(new GeometricObject
{
Shape = new PlaneShape(new Vector3F(0, 1, 0), 1),
Pose = new Pose(new Vector3F(0, -1, 0)),
});
ContactSet set;
CompositeShapeAlgorithm algo = new CompositeShapeAlgorithm(new CollisionDetection());
set = algo.GetClosestPoints(a, b);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
Assert.AreEqual(1, set.Count);
Assert.AreEqual(2, set[0].PenetrationDepth);
Assert.AreEqual(new Vector3F(0, -2, 0), set[0].PositionAWorld);
((GeometricObject)a.GeometricObject).Pose = new Pose(new Vector3F(0, 2, 3), a.GeometricObject.Pose.Orientation);
set = set.Swapped;
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(true, algo.HaveContact(b, a));
Assert.AreEqual(1, set.Count);
Assert.AreEqual(0, set[0].PenetrationDepth);
Assert.AreEqual(new Vector3F(0, 0, 3), set[0].PositionBWorld);
((GeometricObject)a.GeometricObject).Pose = new Pose(new Vector3F(0, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));
set = set.Swapped; // new order: (a, b)
algo.UpdateContacts(set, 0);
Assert.AreEqual(true, algo.HaveContact(a, b));
Assert.AreEqual(2, set.Count);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-2, 0, 0), set[0].PositionALocal));
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-1, 3, 0), set[1].PositionALocal));
Assert.AreEqual(new Vector3F(0, -1, 0), set[0].Normal);
Assert.AreEqual(new Vector3F(0, -1, 0), set[1].Normal);
Assert.AreEqual(2, set[0].PenetrationDepth);
Assert.IsTrue(Numeric.AreEqual(1, set[1].PenetrationDepth));
algo.UpdateClosestPoints(set, 0);
Assert.AreEqual(1, set.Count);
((GeometricObject)a.GeometricObject).Pose = new Pose(new Vector3F(0, 2.1f, 0), a.GeometricObject.Pose.Orientation);
algo.UpdateContacts(set, 0);
Assert.AreEqual(false, algo.HaveContact(a, b));
Assert.AreEqual(0, set.Count);
algo.UpdateClosestPoints(set, 0);
Assert.AreEqual(1, set.Count);
Assert.IsTrue(Vector3F.AreNumericallyEqual(new Vector3F(-2, 0, 0), set[0].PositionALocal));
Assert.AreEqual(new Vector3F(0, -1, 0), set[0].Normal);
}
private CompositeFixture(CompositeShape wrappedCompositeShape, CompositeMaterial wrappedCompositeMaterial, Matrix4x4 realParentPose, FixtureDescriptor descriptor)
{
_root = false;
_realParentPose = realParentPose;
_pose = descriptor.Pose;
_realPose = GMath.mul( _pose ,_realParentPose);
UserData = descriptor.UserData;
_wrappedCompositeMaterial = wrappedCompositeMaterial;
_wrappedCompositeShape = wrappedCompositeShape;
FixtureFactory = new CompositeFixtureFixtureFactory(this);
}
public CompositeFixture(DR.RigidBody wrappedRigidBody, FixtureDescriptor descriptor)
{
_root = true;
_pose = descriptor.Pose;
_realPose = _pose;
_wrappedCompositeMaterial = new CompositeMaterial();
wrappedRigidBody.Material = _wrappedCompositeMaterial;
_wrappedCompositeShape = new CompositeShape();
wrappedRigidBody.Shape = _wrappedCompositeShape;
UserData = descriptor.UserData;
FixtureFactory = new CompositeFixtureFixtureFactory(this);
}
public CompositeMaterial2Sample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(new Vector3F(0, 1, 0.25f).Normalized, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
// Adjust the coefficients of friction of the ground plane.
((UniformMaterial)groundPlane.Material).DynamicFriction = 0.5f;
((UniformMaterial)groundPlane.Material).StaticFriction = 0.5f;
Simulation.RigidBodies.Add(groundPlane);
// Prepare two materials: a slippery material and a rough material.
UniformMaterial slipperyMaterial = new UniformMaterial
{
DynamicFriction = 0.001f,
StaticFriction = 0.001f,
};
UniformMaterial roughMaterial = new UniformMaterial
{
DynamicFriction = 1,
StaticFriction = 1,
};
// Create a rigid body that consists of multiple shapes: Two boxes and a cylinder between them.
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(new BoxShape(1f, 1f, 1f), new Pose(new Vector3F(1.5f, 0f, 0f))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(1f, 1, 1f), new Pose(new Vector3F(-1.5f, 0f, 0f))));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(0.1f, 2), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
// A CompositeMaterial is used to assign a different material to each shape.
CompositeMaterial compositeMaterial = new CompositeMaterial();
compositeMaterial.Materials.Add(roughMaterial); // Assign the rough material to the first box.
compositeMaterial.Materials.Add(slipperyMaterial); // Assign the slippery material to the second box.
compositeMaterial.Materials.Add(null); // Use whatever is default for the handle between the boxes.
RigidBody body = new RigidBody(compositeShape, null, compositeMaterial)
{
Pose = new Pose(new Vector3F(0, 2.2f, -5)),
};
Simulation.RigidBodies.Add(body);
}
public ContinuousCollisionDetectionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
SetCamera(new Vector3F(0, 1, 10), 0, 0);
// ----- Initialize collision detection and create objects.
// Create a geometric object with a capsule shape.
// Position it on the top with an arbitrary rotation.
_startPoseA = new Pose(new Vector3F(0, 2, 0), Matrix33F.CreateRotationZ(0.1f));
var geometricObjectA = new GeometricObject(new CapsuleShape(0.2f, 1), _startPoseA);
_collisionObjectA = new CollisionObject(geometricObjectA);
// Object A moves to the bottom of the screen.
_targetPoseA = new Pose(new Vector3F(0, -2, 0), Matrix33F.CreateRotationZ(0.63f));
// Create a geometric object with a composite shape.
// Position it on the left with an arbitrary rotation.
_startPoseB = new Pose(new Vector3F(-3, -1, 0), Matrix33F.CreateRotationZ(0.2f));
var composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(-0.75f, 0.5f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(0.75f, 0.5f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(-0.75f, 0.5f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 1, 0.1f), new Pose(new Vector3F(0.75f, 0.5f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 1f, 0))));
var geometricObjectB = new GeometricObject(composite, _startPoseB);
// Object B moves to the left of the screen.
_targetPoseB = new Pose(new Vector3F(3, -1, 0), Matrix33F.CreateRotationZ(0.3f));
// Create collision objects for the geometric objects.
// (A collision object is just a wrapper around the geometric object that stores additional
// information that is required by the collision detection.)
_collisionObjectA = new CollisionObject(geometricObjectA);
_collisionObjectB = new CollisionObject(geometricObjectB);
// Create a collision detection.
// (The CollisionDetection stores general parameters and it can be used to perform
// closest-point and contact queries.)
_collisionDetection = new CollisionDetection();
}
public void CompositeShapeTest()
{
var c = new CompositeShape();
Assert.AreEqual(0, c.GetVolume(0.1f, 10));
c.Children.Add(
new GeometricObject(
new BoxShape(1, 2, 3),
new Vector3F(10, 10, 10),
new Pose(new Vector3F(1, 2, 3), RandomHelper.Random.NextQuaternionF())));
c.Children.Add(
new GeometricObject(
new BoxShape(4, 5, 6),
new Vector3F(2, 2, 2),
new Pose(new Vector3F(10, -2, 0), RandomHelper.Random.NextQuaternionF())));
var v0 = c.GetVolume(0.001f, 10);
Assert.AreEqual(10 * 20 * 30 + 8 * 10 * 12, v0);
}
CompositeShape(CompositeShapeDescriptor descriptor)
{
WrappedCompositeShape = new DR.Geometry.Shapes.CompositeShape();
UserData = descriptor.UserData;
ShapePositionerFactory = new CompositeShapeShapePositionerFactory(this);
}
public static void Load(CollisionDomain collisionDomain)
{
// Create a box for the ground.
AddObject("Ground", new Pose(new Vector3F(0, -5, 0)), new BoxShape(60, 10, 60), collisionDomain);
// Create a small flying sphere to visualize the approx. head height. - This is just
// for debugging so that we have a feeling for heights.
AddObject("Sphere", new Pose(new Vector3F(0, 1.5f, 0)), new SphereShape(0.2f), collisionDomain);
// Create small walls at the level boundary.
AddObject("WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), collisionDomain);
AddObject("WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), collisionDomain);
AddObject("WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), collisionDomain);
// Create a few bigger objects.
// We position the boxes so that we have a few corners we can run into. Character controllers
// should be stable when the user runs into corners.
AddObject("House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), collisionDomain);
AddObject("House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), collisionDomain);
AddObject("House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), collisionDomain);
//
// Create stairs with increasing step height.
//
// Each step is a box. With this object we can test if our character can climb up
// stairs. The character controller has a step height limit. Increasing step heights
// let us test if the step height limit works.
float startHeight = 0;
const float stepDepth = 1f;
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.05f;
Pose pose = new Pose(new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth));
BoxShape shape = new BoxShape(2, stepHeight, stepDepth);
AddObject("Step" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
//
// Create a height field.
//
// Terrain that is uneven is best modeled with a height field. Height fields are faster
// than general triangle meshes.
// The height direction is the y direction.
// The height field lies in the x/z plane.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
// Create arbitrary height values.
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
AddObject("Heightfield", new Pose(new Vector3F(10, 0, 10)), heightField, collisionDomain);
// Create rubble on the floor (small random objects on the floor).
// Our character should be able to move over small bumps on the ground.
for (int i = 0; i < 50; i++)
{
Pose pose = new Pose(
new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20)),
RandomHelper.Random.NextQuaternionF());
BoxShape shape = new BoxShape(RandomHelper.Random.NextVector3F(0.05f, 0.8f));
AddObject("Stone" + i, pose, shape, collisionDomain);
}
// Create some slopes to see how our character performs on/under sloped surfaces.
// Here we can test how the character controller behaves if the head touches an inclined
// ceiling.
AddObject("SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
AddObject("SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), collisionDomain);
// Slopes with different tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.1f;
Pose pose = new Pose(
new Vector3F(-10, i * 0.5f, -i * 2),
Matrix33F.CreateRotationX(MathHelper.ToRadians(10) + i * MathHelper.ToRadians(10)));
BoxShape shape = new BoxShape(8 * (1 - i * 0.1f), 0.5f, 30);
AddObject("Slope" + i, pose, shape, collisionDomain);
startHeight += stepHeight;
}
// Create a slope with a wall on one side.
// This objects let's us test how the character controller behaves while falling and
// sliding along a vertical wall. (Run up the slope and then jump down while moving into
// the wall.)
AddObject("LongSlope", new Pose(new Vector3F(-20, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), collisionDomain);
AddObject("LongSlopeWall", new Pose(new Vector3F(-22, 5, -10)), new BoxShape(0.5f, 10f, 25), collisionDomain);
// Create a mesh object to test walking on triangle meshes.
// Normally, the mesh would be loaded from a file. Here, we make a composite shape and
// let DigitalRune Geometry compute a mesh for it. Then we throw away the composite
// shape and use only the mesh. - We do this to test triangle meshes. Using the composite
// shape instead of the triangle mesh would be a lot faster.
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Pose(new Vector3F(15, 0, 5))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh);
// Collision detection speed for triangle meshes can be improved by using a spatial
// partition. Here, we assign an AabbTree to the triangle mesh shape. The tree is
// built automatically when needed and it stores triangle indices (therefore the generic
// parameter of the AabbTree is int).
meshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
AddObject("Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, collisionDomain);
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3F.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3F.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
public void CompositeShapeWithRotatedChildren()
{
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0), RandomHelper.Random.NextQuaternionF())));
s.Children.Add(new GeometricObject(new ConeShape(1, 2), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0), RandomHelper.Random.NextQuaternionF())));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix44F.CreateScale(2));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
/// <summary>
/// Initializes the physics simulation.
/// </summary>
private void InitializePhysics()
{
// Define the timing of the physics simulation:
// The Windows Phone runs with 30 FPS, so one frame takes 1/30 seconds.
// We can run the simulation using the same timing.
// However, 1/30 seconds is a very large time step for a physics simulation. A large
// time step improves performance, but reduces the quality of the simulation.
// Instead we can run the simulation with a time step of 1/60 seconds and compute
// 2 time steps per frame.
// Additionally, we can reduce the number of constraint solver iterations to gain additional
// performance. But if you want to simulate complex scene with stable stacks or walls, you
// might want to leave the default value.
// Below are two variants - you can comment/uncomment the variants to compare them.
// ----- Variant #1: "Fast, less stable"
Simulation.Settings.Timing.FixedTimeStep = 1.0f / 30.0f;
Simulation.Settings.Timing.MaxNumberOfSteps = 1;
Simulation.Settings.Constraints.NumberOfConstraintIterations = 6;
// ----- Variant #2: "Slower, more stable"
//_simulation.Settings.Timing.FixedTimeStep = 1.0f / 60.0f;
//_simulation.Settings.Timing.MaxNumberOfSteps = 2;
//_simulation.Settings.Constraints.NumberOfConstraintIterations = 10;
// Add the typical force effect for gravity and damping.
Simulation.ForceEffects.Add(new Gravity { Acceleration = new Vector3F(0, -10, 0) });
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane (static object).
var groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane",
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// Create a set of predefined shapes.
// The shapes are chosen randomly when a new rigid body is added.
_shapes = new List<Shape>();
_shapes.Add(new BoxShape(1.0f, 1.0f, 1.0f));
_shapes.Add(new BoxShape(1.5f, 0.5f, 1.0f));
_shapes.Add(new BoxShape(1.0f, 0.75f, 1.0f));
_shapes.Add(new CapsuleShape(0.4f, 2.0f));
_shapes.Add(new SphereShape(0.6f));
// Add convex shape.
var randomPoints = new List<Vector3F>();
for (int i = 0; i < 20; i++)
randomPoints.Add(RandomHelper.Random.NextVector3F(-1, 1));
_shapes.Add(new ConvexPolyhedron(randomPoints));
// Add a composite shape looking like table.
var board = new BoxShape(2.0f, 0.3f, 1.2f);
var leg = new BoxShape(0.2f, 1f, 0.2f);
var table = new CompositeShape();
table.Children.Add(new GeometricObject(board, new Pose(new Vector3F(0.0f, 1.0f, 0.0f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(-0.7f, 0.5f, -0.4f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(-0.7f, 0.5f, 0.4f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(0.7f, 0.5f, 0.4f))));
table.Children.Add(new GeometricObject(leg, new Pose(new Vector3F(0.7f, 0.5f, -0.4f))));
_shapes.Add(table);
}
public void CompositeShapeWithRigidBodies()
{
// The first composite shape does not use rigid bodies.
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0), RandomHelper.Random.NextQuaternionF())));
s.Children.Add(new GeometricObject(new ConeShape(1, 2), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0), RandomHelper.Random.NextQuaternionF())));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1), 0.7f, true, 0.001f, 10, out m0, out com0, out i0);
// The second composite shape uses rigid bodies as children.
var r0 = new RigidBody(s.Children[0].Shape);
r0.Pose = s.Children[0].Pose;
r0.Scale = s.Children[0].Scale;
r0.MassFrame = MassFrame.FromShapeAndDensity(r0.Shape, r0.Scale, 0.7f, 0.001f, 10);
var r1 = new RigidBody(s.Children[1].Shape);
r1.Pose = s.Children[1].Pose;
r1.Scale = s.Children[1].Scale;
r1.MassFrame = MassFrame.FromShapeAndDensity(r1.Shape, r1.Scale, 0.7f, 0.001f, 10);
var s1 = new CompositeShape();
s1.Children.Add(r0);
s1.Children.Add(r1);
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(s1, new Vector3F(1), 100, true, 0.001f, 10, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
public void CompositeShapeWithRigidBodiesDoesNotSupportScaling()
{
// The first composite shape does not use rigid bodies.
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0), RandomHelper.Random.NextQuaternionF())));
s.Children.Add(new GeometricObject(new ConeShape(1, 2), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0), RandomHelper.Random.NextQuaternionF())));
// The second composite shape uses rigid bodies as children.
var r0 = new RigidBody(s.Children[0].Shape);
r0.Pose = s.Children[0].Pose;
r0.Scale = s.Children[0].Scale;
r0.MassFrame = MassFrame.FromShapeAndDensity(r0.Shape, r0.Scale, 0.7f, 0.001f, 10);
var r1 = new RigidBody(s.Children[1].Shape);
r1.Pose = s.Children[1].Pose;
r1.Scale = s.Children[1].Scale;
r1.MassFrame = MassFrame.FromShapeAndDensity(r1.Shape, r1.Scale, 0.7f, 0.001f, 10);
var s1 = new CompositeShape();
s1.Children.Add(r0);
s1.Children.Add(r1);
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(s1,
new Vector3F(2), // !!!
100, true, 0.001f, 10, out m1, out com1, out i1);
}
//--------------------------------------------------------------
#region Methods
//--------------------------------------------------------------
protected override void OnLoad()
{
// Add rigid bodies to simulation.
var simulation = _services.GetInstance<Simulation>();
// We use a random number generator with a custom seed.
RandomHelper.Random = new Random(123);
// ----- Add a ground plane.
AddBody(simulation, "GroundPlane", Pose.Identity, new PlaneShape(Vector3F.UnitY, 0), MotionType.Static);
// ----- Create a small flying sphere.
AddBody(simulation, "Sphere", new Pose(new Vector3F(0, 1f, 0)), new SphereShape(0.2f), MotionType.Static);
// ----- Create small walls at the level boundary.
AddBody(simulation, "WallLeft", new Pose(new Vector3F(-30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallRight", new Pose(new Vector3F(30, 1, 0)), new BoxShape(0.3f, 2, 60), MotionType.Static);
AddBody(simulation, "WallFront", new Pose(new Vector3F(0, 1, -30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
AddBody(simulation, "WallBack", new Pose(new Vector3F(0, 1, 30)), new BoxShape(60, 2, 0.3f), MotionType.Static);
// ----- Create a few bigger objects.
// We position the boxes so that we have a few corners we can run into. Character controllers
// should be stable when the user runs into corners.
AddBody(simulation, "House0", new Pose(new Vector3F(10, 1, -10)), new BoxShape(8, 2, 8f), MotionType.Static);
AddBody(simulation, "House1", new Pose(new Vector3F(13, 1, -4)), new BoxShape(2, 2, 4), MotionType.Static);
AddBody(simulation, "House2", new Pose(new Vector3F(10, 2, -15), Matrix33F.CreateRotationY(-0.3f)), new BoxShape(8, 4, 2), MotionType.Static);
// ----- Create stairs with increasing step height.
// Each step is a box. With this object we can test if our character can climb up
// stairs. The character controller has a step height limit. Increasing step heights
// let us test if the step height limit works.
float startHeight = 0;
const float stepDepth = 1f;
for (int i = 0; i < 10; i++)
{
float stepHeight = 0.1f + i * 0.05f;
Vector3F position = new Vector3F(0, startHeight + stepHeight / 2, -2 - i * stepDepth);
AddBody(simulation, "Step" + i, new Pose(position), new BoxShape(2, stepHeight, stepDepth), MotionType.Static);
startHeight += stepHeight;
}
// ----- V obstacle to test if we get stuck.
AddBody(simulation, "V0", new Pose(new Vector3F(-5.5f, 0, 10), QuaternionF.CreateRotationZ(0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
AddBody(simulation, "V1", new Pose(new Vector3F(-4, 0, 10), QuaternionF.CreateRotationZ(-0.2f)), new BoxShape(1f, 2f, 2), MotionType.Static);
// ----- Create a height field.
// Terrain that is uneven is best modeled with a height field. Height fields are faster
// than general triangle meshes.
// The height direction is the y direction.
// The height field lies in the x/z plane.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
// Create arbitrary height values.
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
AddBody(simulation, "HeightField", new Pose(new Vector3F(10, 0, 10)), heightField, MotionType.Static);
// ----- Create rubble on the floor (small random objects on the floor).
// Our character should be able to move over small bumps on the ground.
for (int i = 0; i < 50; i++)
{
Vector3F position = new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
Vector3F size = RandomHelper.Random.NextVector3F(0.05f, 0.8f);
AddBody(simulation, "Stone" + i, new Pose(position, orientation), new BoxShape(size), MotionType.Static);
}
// ----- Create some slopes to see how our character performs on/under sloped surfaces.
// Here we can test how the character controller behaves if the head touches an inclined
// ceiling.
AddBody(simulation, "SlopeGround", new Pose(new Vector3F(-2, 1.8f, -12), QuaternionF.CreateRotationX(0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
AddBody(simulation, "SlopeRoof", new Pose(new Vector3F(-2, 5.6f, -12), QuaternionF.CreateRotationX(-0.4f)), new BoxShape(2, 0.5f, 10), MotionType.Static);
// Create slopes with increasing tilt angles.
// The character controller has a slope limit. Only flat slopes should be climbable.
// Movement between slopes should be smooth.
Vector3F slopePosition = new Vector3F(-17, -0.25f, 6);
BoxShape slopeShape = new BoxShape(8, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX((i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
AddBody(simulation, "Slope" + i, new Pose(slopePosition, rotation), slopeShape, MotionType.Static);
}
// Create slopes with decreasing tilt angles.
slopePosition = new Vector3F(-8, -2, 5);
slopeShape = new BoxShape(8f, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - (i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
Vector3F position = slopePosition - rotation * new Vector3F(0, slopeShape.WidthY / 2, 0);
AddBody(simulation, "Slope2" + i, new Pose(position, rotation), slopeShape, MotionType.Static);
}
// ----- Create a slope with a wall on one side.
// This objects let's us test how the character controller behaves while falling and
// sliding along a vertical wall. (Run up the slope and then jump down while moving into
// the wall.)
AddBody(simulation, "LongSlope", new Pose(new Vector3F(-24, 3, -10), Matrix33F.CreateRotationX(0.4f)), new BoxShape(4, 5f, 30), MotionType.Static);
AddBody(simulation, "LongSlopeWall", new Pose(new Vector3F(-26, 5, -10)), new BoxShape(0.5f, 10f, 25), MotionType.Static);
// ----- Create a trigger object that represents a ladder.
var ladder = AddBody(simulation, "Ladder", new Pose(new Vector3F(-25.7f, 5, 0)), new BoxShape(0.5f, 10f, 1), MotionType.Static);
ladder.CollisionObject.Type = CollisionObjectType.Trigger;
// ----- Create a mesh object to test walking on triangle meshes.
// Normally, the mesh would be loaded from a file. Here, we make a composite shape and
// let DigitalRune Geometry compute a mesh for it. Then we throw away the composite
// shape and use only the mesh. (We do this to test triangle meshes. Using the composite
// shape instead of the triangle mesh would be a lot faster.)
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 5))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(4, 4, 3), new Pose(new Vector3F(15, 1.5f, 0))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh);
// Collision detection speed for triangle meshes can be improved by using a spatial
// partition. Here, we assign an AabbTree to the triangle mesh shape. The tree is
// built automatically when needed and it stores triangle indices (therefore the generic
// parameter of the AabbTree is int).
meshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
// Contact welding creates smoother contact normals - but it costs a bit of performance.
meshShape.EnableContactWelding = true;
AddBody(simulation, "Mesh", new Pose(new Vector3F(-30, 0, 10)), meshShape, MotionType.Static);
// ----- Create a seesaw.
var seesawBase = AddBody(simulation, "SeesawBase", new Pose(new Vector3F(5, 0.5f, 0)), new BoxShape(0.2f, 1, 1), MotionType.Static);
var seesaw = AddBody(simulation, "Seesaw", new Pose(new Vector3F(5, 1.05f, 0)), new BoxShape(5, 0.1f, 1), MotionType.Dynamic);
// Attach the seesaw to the base using a hinge joint.
simulation.Constraints.Add(new HingeJoint
{
BodyA = seesaw,
BodyB = seesawBase,
AnchorPoseALocal = new Pose(new Vector3F(0, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.5f, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
CollisionEnabled = false,
});
// ----- A platform that is moving up/down.
_elevator = AddBody(simulation, "Elevator", new Pose(new Vector3F(5, -1f, 5)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_elevator.LinearVelocity = new Vector3F(2, 2, 0);
// ----- A platform that is moving sideways.
_pusher = AddBody(simulation, "Pusher", new Pose(new Vector3F(15, 0.5f, 0)), new BoxShape(3, 1f, 3), MotionType.Kinematic);
_pusher.LinearVelocity = new Vector3F(0, 0, 2);
// ----- Create conveyor belt with two static boxes on the sides.
AddBody(simulation, "ConveyorSide0", new Pose(new Vector3F(19, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
AddBody(simulation, "ConveyorSide1", new Pose(new Vector3F(21, 0.25f, 0)), new BoxShape(0.8f, 0.5f, 8f), MotionType.Static);
// The conveyor belt is a simple box with a special material.
var conveyorBelt = AddBody(simulation, "ConveyorBelt", new Pose(new Vector3F(20, 0.25f, 0)), new BoxShape(1f, 0.51f, 8f), MotionType.Static);
UniformMaterial materialWithSurfaceMotion = new UniformMaterial("ConveyorBelt", true) // Important: The second parameter enables the surface
{ // motion. It has to be set to true in the constructor!
SurfaceMotion = new Vector3F(0, 0, 1), // The surface motion relative to the object.
};
conveyorBelt.Material = materialWithSurfaceMotion;
// ----- Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Sphere" + i, new Pose(position), sphereShape, MotionType.Dynamic);
}
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 10; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-15, 15);
position.Y = 20;
AddBody(simulation, "Box" + i, new Pose(position), boxShape, MotionType.Dynamic);
}
}
public void CompositeShapeWithNonUniformScaling()
{
var s = new CompositeShape();
s.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(100, 10, 0))));
s.Children.Add(new GeometricObject(new SphereShape(1), new Vector3F(1.1f, 0.3f, 0.8f), new Pose(new Vector3F(-10, -10, 0))));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 0.7f, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix44F.CreateScale(2, 2.1f, 2.8f));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, 0.7f * m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, 0.7f * i1, e * (1 + i0.Trace)));
// Try with target mass.
float m3;
Vector3F com3;
Matrix33F i3;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
public LightClipSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
_graphicsScreen = new DeferredGraphicsScreen(Services);
_graphicsScreen.DrawReticle = true;
GraphicsService.Screens.Insert(0, _graphicsScreen);
GameObjectService.Objects.Add(new DeferredGraphicsOptionsObject(Services));
Services.Register(typeof(DebugRenderer), null, _graphicsScreen.DebugRenderer);
Services.Register(typeof(IScene), null, _graphicsScreen.Scene);
// Add gravity and damping to the physics simulation.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a custom game object which controls the camera.
var cameraGameObject = new CameraObject(Services);
GameObjectService.Objects.Add(cameraGameObject);
_graphicsScreen.ActiveCameraNode = cameraGameObject.CameraNode;
GameObjectService.Objects.Add(new GrabObject(Services));
GameObjectService.Objects.Add(new DynamicSkyObject(Services, true, false, true));
GameObjectService.Objects.Add(new GroundObject(Services));
GameObjectService.Objects.Add(new DudeObject(Services));
GameObjectService.Objects.Add(new DynamicObject(Services, 1));
GameObjectService.Objects.Add(new DynamicObject(Services, 2));
GameObjectService.Objects.Add(new DynamicObject(Services, 3));
GameObjectService.Objects.Add(new DynamicObject(Services, 4));
GameObjectService.Objects.Add(new DynamicObject(Services, 6));
GameObjectService.Objects.Add(new DynamicObject(Services, 7));
GameObjectService.Objects.Add(new ObjectCreatorObject(Services));
GameObjectService.Objects.Add(new FogObject(Services));
// The LavaBalls class controls all lava ball instances.
var lavaBalls = new LavaBallsObject(Services);
GameObjectService.Objects.Add(lavaBalls);
// Create a lava ball instance.
lavaBalls.Spawn();
// Add a few palm trees.
Random random = new Random(12345);
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-3, -8), 0, random.NextFloat(0, -5));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
GameObjectService.Objects.Add(new StaticObject(Services, "PalmTree/palm_tree", scale, new Pose(position, orientation)));
}
var boxShape = new BoxShape(3, 3, 3);
var compositeShape = new CompositeShape
{
Children =
{
new GeometricObject(boxShape, new Pose(new Vector3F(-2, 1.4f, 0))),
new GeometricObject(boxShape, new Pose(new Vector3F(2, 1.4f, 0))),
}
};
_clip = new GeometricObject(compositeShape, Pose.Identity);
foreach (var lightNode in _graphicsScreen.Scene.GetDescendants().OfType<LightNode>())
{
lightNode.Clip = _clip;
//lightNode.InvertClip = true;
}
}
CompositeShape(CompositeShapeDescriptor descriptor)
{
WrappedCompositeShape = new DR.Geometry.Shapes.CompositeShape();
UserData = descriptor.UserData;
ShapePositionerFactory = new CompositeShapeShapePositionerFactory(this);
}
public override void Update(GameTime gameTime)
{
// If progress has changed significantly, get current decomposition.
if (_newProgress - _oldProgress >= 10
|| _newProgress > 90 && _newProgress - _oldProgress > 1)
{
_decomposition = _convexDecomposition.Decomposition;
_oldProgress = _newProgress;
}
var debugRenderer = GraphicsScreen.DebugRenderer;
debugRenderer.Clear();
// Draw a wireframe of the model.
debugRenderer.DrawModel(_modelNode, Color.White, true, false);
// Show current progress.
debugRenderer.DrawText("\n\nProgress: " + _newProgress + " %");
// Draw the current convex hulls.
if (_decomposition != null)
{
foreach (var childGeometry in _decomposition.Children)
debugRenderer.DrawObject(childGeometry, GraphicsHelper.GetUniqueColor(childGeometry), false, false);
debugRenderer.DrawText("Number of convex parts: " + _decomposition.Children.Count);
}
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random(12345);
for (int i = 0; i < NumberOfObjects; i++)
{
// Randomly choose a shape.
Shape randomShape;
switch (random.Next(0, 7))
{
case 0:
// Box
randomShape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
randomShape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
randomShape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
randomShape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
randomShape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
randomShape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
randomShape = composite;
break;
default:
#if WINDOWS
Trace.Fail("Ups, we shouldn't land here :-(");
#endif
randomShape = new SphereShape();
break;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = randomShape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
// We will collect a few statistics for debugging.
Profiler.SetFormat("NumObjects", 1, "The total number of objects.");
Profiler.SetFormat("NumObjectPairs", 1, "The number of objects pairs, which have to be checked.");
Profiler.SetFormat("BroadPhasePairs", 1, "The number of overlaps reported by the broad phase.");
Profiler.SetFormat("ContactSetCount", 1, "The number of actual collisions.");
}
}
private void CreateCompositeShape()
{
// Convert islands into CompositeShape with convex children.
_decomposition = new CompositeShape();
if (_islands == null)
return;
foreach (var island in _islands)
{
if (island.Vertices.Length <= 0)
continue;
// ReSharper disable EmptyGeneralCatchClause
try
{
// ----- Get convex hull mesh.
DcelMesh convexHullMesh;
if (island.ConvexHullBuilder == null)
{
// Create convex hull from scratch.
// Get all vertices of all island triangles.
var points = island.Triangles.SelectMany(t => t.Vertices);
// Create convex hull.
convexHullMesh = GeometryHelper.CreateConvexHull(points, VertexLimit, SkinWidth);
}
else
{
// Use existing convex hull.
convexHullMesh = island.ConvexHullBuilder.Mesh;
if (convexHullMesh.Vertices.Count > VertexLimit || SkinWidth != 0)
convexHullMesh.ModifyConvex(VertexLimit, SkinWidth);
}
// ----- Add a ConvexPolyhedron to CompositeShape.
if (convexHullMesh.Vertices.Count > 0)
{
var convexHullPoints = convexHullMesh.Vertices.Select(v => v.Position);
var convexPolyhedron = new ConvexPolyhedron(convexHullPoints);
var geometricObject = new GeometricObject(convexPolyhedron);
_decomposition.Children.Add(geometricObject);
}
}
catch
{
// Could not generate convex hull. Ignore object.
}
// ReSharper restore EmptyGeneralCatchClause
}
}
private void DoWork()
{
// The locks are released regularly, so that the Decomposition property can be
// accessed.
Exception exception = null;
try
{
if ((GlobalSettings.ValidationLevelInternal & GlobalSettings.ValidationLevelUserHighExpensive) != 0)
ValidateInput();
lock (_syncRoot)
{
_decomposition = null;
// Create the Dual graph.
CreateDualGraph();
}
// Partitioning process:
MergeIslands(); // Each internal loop is locked.
lock (_syncRoot)
{
if (!_cancel)
CreateCompositeShape();
}
if (!_cancel)
OnProgressChanged(100);
}
catch (Exception e)
{
exception = e;
if (!IsBusy) // Throw only when in synchronous decomposition.
throw;
}
finally
{
_mesh = null;
if (IsBusy) // IsBusy is only set for async operations.
{
IsBusy = false;
// Raise completed event.
var handler = Completed;
if (handler != null)
handler(this, new AsyncCompletedEventArgs(exception, _cancel, null));
}
}
}
private void MergeIslands()
{
List<CDIslandLink> newLinks = new List<CDIslandLink>();
List<CDIslandLink> obsoleteLinks = (EnableMultithreading) ? new List<CDIslandLink>() : null;
while (_links.Count > 0 && !_cancel)
{
lock (_syncRoot)
{
// Find link with lowest decimation cost.
CDIslandLink bestLink = _links[0];
int bestLinkIndex = 0;
for (int i = 0; i < _links.Count; i++)
{
var link = _links[i];
if (link.DecimationCost < bestLink.DecimationCost)
{
bestLink = link;
bestLinkIndex = i;
}
}
// Remove the found link.
_links.RemoveAt(bestLinkIndex);
// Ignore links that have exceeded the concavity limit.
if (bestLink.Concavity > AllowedConcavity)
continue;
// The created composite shape is now invalid again.
_decomposition = null;
// Remove island B
_islands.Remove(bestLink.IslandB);
// Merge the islands of the best link into island A.
foreach (var triangle in bestLink.IslandB.Triangles)
triangle.Island = bestLink.IslandA;
bestLink.IslandA.Triangles = bestLink.IslandA.Triangles.Union(bestLink.IslandB.Triangles).ToArray();
bestLink.IslandA.Aabb = bestLink.Aabb;
bestLink.IslandA.Vertices = bestLink.Vertices;
bestLink.IslandA.ConvexHullBuilder = bestLink.ConvexHullBuilder;
// Remove old links where A and B are involved and add new
// links with A.
if (!EnableMultithreading)
{
for (int i = _links.Count - 1; i >= 0; i--)
{
var link = _links[i];
CDIsland otherIsland = null;
if (link.IslandA == bestLink.IslandA || link.IslandA == bestLink.IslandB)
otherIsland = link.IslandB;
else if (link.IslandB == bestLink.IslandA || link.IslandB == bestLink.IslandB)
otherIsland = link.IslandA;
// This link does not link to the merged islands.
if (otherIsland == null)
continue;
// Remove link.
_links.RemoveAt(i);
// If _newLinks already contains a link with otherIsland we are done.
bool linkExists = false;
foreach (var newLink in newLinks)
{
if (newLink.IslandA == otherIsland || newLink.IslandB == otherIsland)
{
linkExists = true;
break;
}
}
if (linkExists)
continue;
// Create link between otherIsland and bestLink.IslandA.
link = new CDIslandLink(otherIsland, bestLink.IslandA, AllowedConcavity, SmallIslandBoost,
IntermediateVertexLimit, SampleTriangleVertices, SampleTriangleCenters);
newLinks.Add(link);
}
}
else
{
// Experimental multithreading hack.
// Note: When multithreading is enabled the result is non-deterministic
// because the order of the links in the _links list change...
Parallel.ForEach(_links, link =>
{
CDIsland otherIsland = null;
if (link.IslandA == bestLink.IslandA || link.IslandA == bestLink.IslandB)
otherIsland = link.IslandB;
else if (link.IslandB == bestLink.IslandA || link.IslandB == bestLink.IslandB)
otherIsland = link.IslandA;
// This link does not link to the merged islands.
if (otherIsland == null)
return;
// Remove link.
lock (obsoleteLinks)
obsoleteLinks.Add(link);
// If _newLinks already contains a link with otherIsland we are done.
lock (newLinks)
{
foreach (var newLink in newLinks)
if (newLink.IslandA == otherIsland || newLink.IslandB == otherIsland)
return;
}
// Create link between otherIsland and bestLink.IslandA.
link = new CDIslandLink(otherIsland, bestLink.IslandA, AllowedConcavity, SmallIslandBoost,
IntermediateVertexLimit, SampleTriangleVertices, SampleTriangleCenters);
// Add link but only if another thread did not add a similar link.
// TODO: Can this happen or can we remove this check.
lock (newLinks)
{
foreach (var newLink in newLinks)
if (newLink.IslandA == otherIsland || newLink.IslandB == otherIsland)
return;
newLinks.Add(link);
}
});
foreach (var link in obsoleteLinks)
_links.Remove(link);
obsoleteLinks.Clear();
}
// Add new links.
_links.AddRange(newLinks);
newLinks.Clear();
OnProgressChanged((_mesh.NumberOfTriangles - _islands.Count) * 100 / _mesh.NumberOfTriangles);
}
}
}
public ShapesSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a sphere.
Shape sphere = new SphereShape(0.5f);
Simulation.RigidBodies.Add(new RigidBody(sphere));
// ----- Add a box.
BoxShape box = new BoxShape(0.5f, 0.9f, 0.7f);
Simulation.RigidBodies.Add(new RigidBody(box));
// ----- Add a capsule.
CapsuleShape capsule = new CapsuleShape(0.4f, 1.2f);
Simulation.RigidBodies.Add(new RigidBody(capsule));
// ----- Add a cone.
ConeShape cone = new ConeShape(0.5f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cone));
// ----- Add a cylinder.
CylinderShape cylinder = new CylinderShape(0.3f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cylinder));
// ----- Add a convex hull of random points.
ConvexHullOfPoints convexHullOfPoints = new ConvexHullOfPoints();
for (int i = 0; i < 20; i++)
convexHullOfPoints.Points.Add(RandomHelper.Random.NextVector3F(-0.5f, 0.5f));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfPoints));
// ----- Add a convex polyhedron.
// (A ConvexPolyhedron is similar to the ConvexHullOfPoints. The difference is that
// the points in a ConvexHullOfPoints can be changed at runtime. A ConvexPolyhedron
// cannot be changed at runtime, but it is faster.)
List<Vector3F> points = new List<Vector3F>();
for (int i = 0; i < 20; i++)
points.Add(RandomHelper.Random.NextVector3F(-0.7f, 0.7f));
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(points);
Simulation.RigidBodies.Add(new RigidBody(convexPolyhedron));
// ----- Add a composite shape (a table that consists of 5 boxes).
CompositeShape composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 0.8f, 0))));
Simulation.RigidBodies.Add(new RigidBody(composite));
// ----- Add a convex hull of multiple shapes.
ConvexHullOfShapes convexHullOfShapes = new ConvexHullOfShapes();
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(-0.4f, 0, 0))));
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(+0.4f, 0, 0))));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfShapes));
// ----- Add the Minkowski sum of two shapes.
// (The Minkowski sum is a mathematical operation that combines two shapes.
// Here a circle is combined with a sphere. The result is a wheel.)
MinkowskiSumShape minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.2f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new CircleShape(0.5f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// Create another Minkowski sum. (Here a small sphere is added to a box to create a
// box with rounded corners.)
minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.1f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new BoxShape(0.2f, 0.5f, 0.8f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// ----- Add a triangle mesh.
// A triangle mesh could be loaded from a file or built from an XNA model.
// Here we first create a composite shape and convert the shape into a triangle
// mesh. (Any Shape in DigitalRune.Geometry can be converted to a triangle mesh.)
CompositeShape dumbbell = new CompositeShape();
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(-0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new CylinderShape(0.1f, 0.6f), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
TriangleMeshShape triangleMeshShape = new TriangleMeshShape(dumbbell.GetMesh(0.01f, 2));
// Optional: We can enable "contact welding". When this flag is enabled, the triangle shape
// precomputes additional internal information for the mesh. The collision detection will
// be able to compute better contacts (e.g. better normal vectors at triangle edges).
// Pro: Collision detection can compute better contact information.
// Con: Contact welding information needs a bit of memory. And the collision detection is
// a bit slower.
triangleMeshShape.EnableContactWelding = true;
// Optional: Assign a spatial partitioning scheme to the triangle mesh. (A spatial partition
// adds an additional memory overhead, but it improves collision detection speed tremendously!)
triangleMeshShape.Partition = new AabbTree<int>()
{
// The tree is automatically built using a mixed top-down/bottom-up approach. Bottom-up
// building is slower but produces better trees. If the tree building takes too long,
// we can lower the BottomUpBuildThreshold (default is 128).
BottomUpBuildThreshold = 0,
};
Simulation.RigidBodies.Add(new RigidBody(triangleMeshShape));
// ----- Set random positions/orientations.
// (Start with the second object. The first object is the ground plane which should
// not be changed.)
for (int i = 1; i < Simulation.RigidBodies.Count; i++)
{
RigidBody body = Simulation.RigidBodies[i];
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 3; // Position the objects 3m above ground.
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
body.Pose = new Pose(position, orientation);
}
}
protected override void OnLoad()
{
// Add rigid bodies to simulation.
var simulation = _services.GetInstance<Simulation>();
// ----- Add a ground plane.
AddBody(simulation, "GroundPlane", Pose.Identity, new PlaneShape(Vector3F.UnitY, 0), MotionType.Static);
// ----- Create a height field.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
samples[z * numberOfSamplesX + x] = -1;
}
else
{
samples[z * numberOfSamplesX + x] = 1.0f + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1.0f);
}
}
}
HeightField heightField = new HeightField(0, 0, 120, 120, samples, numberOfSamplesX, numberOfSamplesZ);
//heightField.UseFastCollisionApproximation = true;
AddBody(simulation, "HeightField", new Pose(new Vector3F(10, 0, 20)), heightField, MotionType.Static);
// ----- Create rubble on the floor (small random objects on the floor).
for (int i = 0; i < 60; i++)
{
Vector3F position = new Vector3F(RandomHelper.Random.NextFloat(-5, 5), 0, RandomHelper.Random.NextFloat(10, 20));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
BoxShape shape = new BoxShape(RandomHelper.Random.NextVector3F(0.05f, 0.5f));
AddBody(simulation, "Stone" + i, new Pose(position, orientation), shape, MotionType.Static);
}
// ----- Slopes with different tilt angles.
// Create a loop.
Vector3F slopePosition = new Vector3F(-20, -0.25f, -5);
BoxShape slopeShape = new BoxShape(8, 0.5f, 2);
for (int i = 1; i < 33; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX((i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
AddBody(simulation, "Loop" + i, new Pose(slopePosition, rotation), slopeShape, MotionType.Static);
}
// Create an arched bridge.
slopePosition = new Vector3F(-10, -2, -15);
slopeShape = new BoxShape(8f, 0.5f, 5);
for (int i = 1; i < 8; i++)
{
Matrix33F oldRotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - (i - 1) * MathHelper.ToRadians(10));
Matrix33F rotation = Matrix33F.CreateRotationX(MathHelper.ToRadians(40) - i * MathHelper.ToRadians(10));
slopePosition += (oldRotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2
+ (rotation * new Vector3F(0, 0, -slopeShape.WidthZ)) / 2;
Vector3F position = slopePosition - rotation * new Vector3F(0, slopeShape.WidthY / 2, 0);
AddBody(simulation, "Bridge" + i, new Pose(position, rotation), slopeShape, MotionType.Static);
}
// ----- Create a mesh object.
// We first build a composite shape out of several primitives and then convert the
// composite shape to a triangle mesh. (Just for testing.)
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(heightField, Pose.Identity));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(1, 2), new Pose(new Vector3F(10, 1, 10))));
compositeShape.Children.Add(new GeometricObject(new SphereShape(3), new Pose(new Vector3F(15, 0, 15))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(1, 2, 3), new Pose(new Vector3F(15, 0, 5))));
ITriangleMesh mesh = compositeShape.GetMesh(0.01f, 3);
TriangleMeshShape meshShape = new TriangleMeshShape(mesh, true);
meshShape.Partition = new AabbTree<int>() { BottomUpBuildThreshold = 0 };
AddBody(simulation, "Mesh", new Pose(new Vector3F(-120, 0, 20)), meshShape, MotionType.Static);
// ----- Create a seesaw.
var seesawBase = AddBody(simulation, "SeesawBase", new Pose(new Vector3F(15, 0.5f, 0)), new BoxShape(0.2f, 1, 6), MotionType.Static);
var seesaw = AddBody(simulation, "Seesaw", new Pose(new Vector3F(16, 1.05f, 0)), new BoxShape(15, 0.1f, 6), MotionType.Dynamic);
seesaw.MassFrame.Mass = 500;
seesaw.CanSleep = false;
// Connect seesaw using a hinge joint.
simulation.Constraints.Add(new HingeJoint
{
BodyA = seesaw,
BodyB = seesawBase,
AnchorPoseALocal = new Pose(new Vector3F(1.0f, 0, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
AnchorPoseBLocal = new Pose(new Vector3F(0, 0.5f, 0),
new Matrix33F(0, 0, -1,
0, 1, 0,
1, 0, 0)),
CollisionEnabled = false,
});
// ----- Distribute a few dynamic spheres and boxes across the landscape.
SphereShape sphereShape = new SphereShape(0.5f);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-60, 60);
position.Y = 10;
AddBody(simulation, "Sphere" + i, new Pose(position), sphereShape, MotionType.Dynamic);
}
BoxShape boxShape = new BoxShape(1.0f, 1.0f, 1.0f);
for (int i = 0; i < 40; i++)
{
Vector3F position = RandomHelper.Random.NextVector3F(-60, 60);
position.Y = 1;
AddBody(simulation, "Box" + i, new Pose(position), boxShape, MotionType.Dynamic);
}
}