private BodyDescription CreateBoxDescription(float width, float height, float lenght)
{
var boxShape = new Box(width, height, lenght);
var boxShapeIndex = Simulation.Shapes.Add(boxShape);
boxShape.ComputeInertia(1, out var boxInertia);
Symmetric3x3.Scale(boxInertia.InverseInertiaTensor, .5f, out boxInertia.InverseInertiaTensor);
var boxDescription = new BodyDescription()
{
LocalInertia = boxInertia,
Pose = new RigidPose
{
Position = Vector3.Zero,
Orientation = Quaternion.Identity
},
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = .01f
},
Collidable = new CollidableDescription {
Shape = boxShapeIndex, SpeculativeMargin = .1f
},
};
return(boxDescription);
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 8, -60);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0;
_poseIntegrator = new DefaultPoseIntegratorCallbacks(BufferPool);
Simulation = Simulation.Create(BufferPool, new DefaultNarrowPhaseCallbacks(), _poseIntegrator);
var boxShape = new Box(1, 1, 1);
var baseShape = new Box(5, 1, 5);
boxShape.ComputeInertia(1000, out var boxInertia);
var boxShapeIndex = Simulation.Shapes.Add(boxShape);
var baseShapeIndex = Simulation.Shapes.Add(baseShape);
Symmetric3x3.Scale(boxInertia.InverseInertiaTensor, .5f, out boxInertia.InverseInertiaTensor);
var boxDescription = new BodyDescription
{
//Make the uppermost block kinematic to hold up the rest of the chain.
LocalInertia = boxInertia,
Pose = new RigidPose
{
Position = new Vector3(0, -2, 0),
Orientation = Quaternion.Identity
},
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = .01f
},
Collidable = new CollidableDescription {
Shape = boxShapeIndex, SpeculativeMargin = .1f
},
};
var baseDescription = new BodyDescription
{
//Make the uppermost block kinematic to hold up the rest of the chain.
LocalInertia = new BodyInertia(),
Pose = new RigidPose
{
Position = new Vector3(0, 0, 0),
Orientation = Quaternion.Identity
},
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = .01f
},
Collidable = new CollidableDescription {
Shape = baseShapeIndex, SpeculativeMargin = .1f
},
};
var boxIndex = Simulation.Bodies.Add(boxDescription);
var baseIndex = Simulation.Bodies.Add(baseDescription);
_boxReference = new BodyReference(boxIndex, Simulation.Bodies);
_baseReference = new BodyReference(baseIndex, Simulation.Bodies);
}