public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-20f, 13, -20f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new NoCollisionCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var box = new Box(0.5f, 1.5f, 1f);
var capsule = new Capsule(0, 0.5f);
var sphere = new Sphere(0.5f);
var boxIndex = Simulation.Shapes.Add(box);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var sphereIndex = Simulation.Shapes.Add(sphere);
const int width = 16;
const int height = 16;
const int length = 16;
var spacing = new Vector3(2.01f);
var halfSpacing = spacing / 2;
float randomizationSubset = 0.9f;
var randomizationSpan = (spacing - new Vector3(1)) * randomizationSubset;
var randomizationBase = randomizationSpan * -0.5f;
var random = new Random(5);
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var r = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
var location = spacing * (new Vector3(i, j, k) + new Vector3(-width, -height, -length) * 0.5f) + randomizationBase + r * randomizationSpan;
BepuUtilities.Quaternion orientation;
orientation.X = -1 + 2 * (float)random.NextDouble();
orientation.Y = -1 + 2 * (float)random.NextDouble();
orientation.Z = -1 + 2 * (float)random.NextDouble();
orientation.W = 0.01f + (float)random.NextDouble();
orientation.Normalize();
TypedIndex shapeIndex;
switch ((i + j + k) % 3)
{
case 0:
shapeIndex = boxIndex;
break;
case 1:
shapeIndex = capsuleIndex;
break;
default:
shapeIndex = sphereIndex;
break;
}
if ((i + j + k) % 2 == 1)
{
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = -0.1f
},
Pose = new RigidPose
{
Orientation = orientation,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f,
Shape = shapeIndex
}
};
Simulation.Bodies.Add(bodyDescription);
}
else
{
var staticDescription = new StaticDescription
{
Pose = new RigidPose
{
Orientation = orientation,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f,
Shape = shapeIndex
}
};
Simulation.Statics.Add(staticDescription);
}
}
}
}
const int planeWidth = 128;
const int planeHeight = 128;
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
return(new Vector3(x - planeWidth / 2, 1 * MathF.Cos(x / 4f) * MathF.Sin(y / 4f), y - planeHeight / 2));
}, new Vector3(1, 3, 1), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(
new Vector3(0, -10, 0), BepuUtilities.Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathF.PI / 4),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
int raySourceCount = 3;
raySources = new QuickList <QuickList <TestRay> >(raySourceCount, BufferPool);
raySources.Count = raySourceCount;
//Spew rays all over the place, starting inside the shape cube.
int randomRayCount = 1 << 14;
ref var randomRays = ref raySources[0];
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-20f, 13, -20f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
//The PositionFirstTimestepper is the simplest timestepping mode, but since it integrates velocity into position at the start of the frame, directly modified velocities outside of the timestep
//will be integrated before collision detection or the solver has a chance to intervene. That's fine in this demo. Other built-in options include the PositionLastTimestepper and the SubsteppingTimestepper.
//Note that the timestepper also has callbacks that you can use for executing logic between processing stages, like BeforeCollisionDetection.
Simulation = Simulation.Create(BufferPool, new NoCollisionCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionFirstTimestepper());
var sphere = new Sphere(0.5f);
var capsule = new Capsule(0, 0.5f);
var box = new Box(0.5f, 1.5f, 1f);
var cylinder = new Cylinder(0.5f, 1);
const int pointCount = 16;
var points = new QuickList <Vector3>(pointCount, BufferPool);
var random = new Random(5);
for (int i = 0; i < pointCount; ++i)
{
points.AllocateUnsafely() = new Vector3(1 * (float)random.NextDouble(), 1 * (float)random.NextDouble(), 1 * (float)random.NextDouble());
}
var hullShape = new ConvexHull(points, BufferPool, out _);
var sphereIndex = Simulation.Shapes.Add(sphere);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var boxIndex = Simulation.Shapes.Add(box);
var cylinderIndex = Simulation.Shapes.Add(cylinder);
var hullIndex = Simulation.Shapes.Add(hullShape);
const int width = 16;
const int height = 16;
const int length = 16;
var spacing = new Vector3(2.01f);
var halfSpacing = spacing / 2;
float randomizationSubset = 0.9f;
var randomizationSpan = (spacing - new Vector3(1)) * randomizationSubset;
var randomizationBase = randomizationSpan * -0.5f;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var r = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
var location = spacing * (new Vector3(i, j, k) + new Vector3(-width, -height, -length) * 0.5f) + randomizationBase + r * randomizationSpan;
Quaternion orientation;
orientation.X = -1 + 2 * (float)random.NextDouble();
orientation.Y = -1 + 2 * (float)random.NextDouble();
orientation.Z = -1 + 2 * (float)random.NextDouble();
orientation.W = 0.01f + (float)random.NextDouble();
QuaternionEx.Normalize(ref orientation);
var shapeIndex = ((i + j + k) % 5) switch
{
0 => boxIndex,
1 => capsuleIndex,
2 => sphereIndex,
3 => cylinderIndex,
_ => hullIndex,
};
if ((i + j + k) % 2 == 1)
{
Simulation.Bodies.Add(BodyDescription.CreateKinematic(new RigidPose(location, orientation), new CollidableDescription(shapeIndex, 0.1f), new BodyActivityDescription(-0.1f)));
}
else
{
Simulation.Statics.Add(new StaticDescription(location, orientation, new CollidableDescription(shapeIndex, 0.1f)));
}
}
}
}
const int planeWidth = 128;
const int planeHeight = 128;
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
return(new Vector3(x - planeWidth / 2, 1 * MathF.Cos(x / 4f) * MathF.Sin(y / 4f), y - planeHeight / 2));
}, new Vector3(1, 3, 1), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(
new Vector3(0, -10, 0), QuaternionEx.CreateFromAxisAngle(new Vector3(0, 1, 0), MathF.PI / 4),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
int raySourceCount = 3;
raySources = new QuickList <QuickList <TestRay> >(raySourceCount, BufferPool);
raySources.Count = raySourceCount;
//Spew rays all over the place, starting inside the shape cube.
int randomRayCount = 1 << 14;
ref var randomRays = ref raySources[0];
