private void RunPhysicsSimulation(float time)
{
//read skinned meshes bone positions
for (int i = 0; i < scenes.Count; i++)
{
var physicsScene = scenes[i];
if (physicsScene.Simulation != null)
{
//first process any needed cleanup
physicsScene.Processor.UpdateRemovals();
// after we took care of cleanup, are we disabled?
if (Simulation.DisableSimulation == false)
{
//read skinned meshes bone positions and write them to the physics engine
physicsScene.Processor.UpdateBones();
//simulate physics
physicsScene.Simulation.Simulate(time);
//update character bound entity's transforms from physics engine simulation
physicsScene.Processor.UpdateCharacters();
//Perform clean ups before test contacts in this frame
physicsScene.Simulation.BeginContactTesting();
//handle frame contacts
physicsScene.Processor.UpdateContacts();
//This is the heavy contact logic
physicsScene.Simulation.EndContactTesting();
//send contact events
physicsScene.Simulation.SendEvents();
}
}
if (physicsScene.BepuSimulation != null)
{
// do anything before simulation (which might modify ToBeAdded or ToBeRemoved)
while (physicsScene.BepuSimulation.ActionsBeforeSimulationStep.TryDequeue(out Action <float> a))
{
a(time);
}
// any static objects need to be moved?
while (BepuStaticColliderComponent.NeedsRepositioning.TryDequeue(out var scc))
{
// might need a writelock here because ApplyDescription can wake bodies (which can move them around)
using (physicsScene.BepuSimulation.simulationLocker.WriteLock())
{
scc.InternalStatic.ApplyDescription(scc.staticDescription);
}
}
lock (physicsScene.BepuSimulation.ToBeAdded)
{
// remove all bodies set to be removed
physicsScene.BepuSimulation.ProcessRemovals();
// did we request a clear?
int clearMode = physicsScene.BepuSimulation.clearRequested;
if (clearMode > 0)
{
physicsScene.BepuSimulation.Clear(clearMode == 2, true);
}
// add everyone waiting (which could have been something just removed)
physicsScene.BepuSimulation.ProcessAdds();
}
// critical actions for rigidbodies
while (physicsScene.BepuSimulation.CriticalActions.TryDequeue(out var a))
{
// don't worry about this if we are to be removed (or have been removed)
if (a.Body.InternalBody.Handle.Value == -1 || BepuSimulation.instance.ToBeRemoved.Contains(a.Body))
{
continue;
}
switch (a.Action)
{
case BepuRigidbodyComponent.RB_ACTION.IsActive:
using (physicsScene.BepuSimulation.simulationLocker.WriteLock())
{
a.Body.InternalBody.Awake = a.Body.wasAwake;
}
break;
case BepuRigidbodyComponent.RB_ACTION.ColliderShape:
a.Body.InternalColliderShapeReadd();
break;
}
}
if (Simulation.DisableSimulation == false)
{
// don't make changes to rigidbodies while simulating
BepuRigidbodyComponent.safeRun = false;
// simulate!
float totalTime = time;
for (int k = 0; k < MaxSubSteps && totalTime > 0f; k++)
{
float simtime = Math.Min(MaximumSimulationTime, totalTime);
physicsScene.BepuSimulation.Simulate(simtime);
totalTime -= simtime;
}
BepuRigidbodyComponent.safeRun = true;
// update all rigidbodies
Xenko.Core.Threading.Dispatcher.For(0, physicsScene.BepuSimulation.AllRigidbodies.Count, (j) =>
{
BepuRigidbodyComponent rb = physicsScene.BepuSimulation.AllRigidbodies[j];
// if we lost the entity, just return
Entity e = rb.Entity;
if (e == null)
{
return;
}
rb.resetProcessingContactsList();
// pre-sync
while (rb.queuedActions.TryDequeue(out var action))
{
action(rb);
}
rb.UpdateCachedPoseAndVelocity();
// per-rigidbody update
if (rb.ActionPerSimulationTick != null)
{
rb.ActionPerSimulationTick(rb, time);
}
rb.UpdateTransformationComponent(e);
});
private void RunPhysicsSimulation(float time)
{
//read skinned meshes bone positions
for (int i = 0; i < scenes.Count; i++)
{
var physicsScene = scenes[i];
if (physicsScene.Simulation != null)
{
//first process any needed cleanup
physicsScene.Processor.UpdateRemovals();
// after we took care of cleanup, are we disabled?
if (Simulation.DisableSimulation == false)
{
//read skinned meshes bone positions and write them to the physics engine
physicsScene.Processor.UpdateBones();
//simulate physics
physicsScene.Simulation.Simulate(time);
//update character bound entity's transforms from physics engine simulation
physicsScene.Processor.UpdateCharacters();
//Perform clean ups before test contacts in this frame
physicsScene.Simulation.BeginContactTesting();
//handle frame contacts
physicsScene.Processor.UpdateContacts();
//This is the heavy contact logic
physicsScene.Simulation.EndContactTesting();
//send contact events
physicsScene.Simulation.SendEvents();
}
}
if (physicsScene.BepuSimulation != null)
{
// do anything before simulation (which might modify ToBeAdded or ToBeRemoved)
while (physicsScene.BepuSimulation.ActionsBeforeSimulationStep.TryDequeue(out Action <float> a))
{
a(time);
}
lock (physicsScene.BepuSimulation.ToBeAdded)
{
// remove all bodies set to be removed
physicsScene.BepuSimulation.ProcessRemovals();
// did we request a clear?
int clearMode = physicsScene.BepuSimulation.clearRequested;
if (clearMode > 0)
{
physicsScene.BepuSimulation.Clear(clearMode == 2, true);
}
// add everyone waiting (which could have been something just removed)
physicsScene.BepuSimulation.ProcessAdds();
}
if (Simulation.DisableSimulation == false)
{
// simulate!
float totalTime = time;
for (int k = 0; k < MaxSubSteps && totalTime > 0f; k++)
{
float simtime = Math.Min(MaximumSimulationTime, totalTime);
physicsScene.BepuSimulation.Simulate(simtime);
totalTime -= simtime;
}
// update all rigidbodies
Xenko.Core.Threading.Dispatcher.For(0, physicsScene.BepuSimulation.AllRigidbodies.Count, (j) =>
{
BepuRigidbodyComponent rb = physicsScene.BepuSimulation.AllRigidbodies[j];
rb.resetProcessingContactsList();
rb.UpdateCachedPoseAndVelocity();
// per-rigidbody update
if (rb.ActionPerSimulationTick != null)
{
rb.ActionPerSimulationTick(rb, time);
}
rb.UpdateTransformationComponent();
});
}
}
}
}
public override void Start()
{
//simulation = this.GetSimulation();
simulation = SceneSystem.SceneInstance.GetProcessor <BepuPhysicsProcessor>()?.Simulation;
simulation.Gravity = new Vector3(0, -9, 0);
cubeRigidBody = cube.Get <BepuRigidbodyComponent>();
cubeRigidBody.CanSleep = false;
sphereRigidBody = sphere.Get <BepuRigidbodyComponent>();
sphereRigidBody.CanSleep = false;
// Create the UI
constraintNameBlock = new TextBlock
{
Font = Font,
TextSize = 55,
TextColor = Color.White,
};
constraintNameBlock.SetCanvasPinOrigin(new Vector3(0.5f, 0.5f, 0));
constraintNameBlock.SetCanvasRelativePosition(new Vector3(0.5f, 0.83f, 0));
Entity.Get <UIComponent>().Page = new UIPage
{
RootElement = new Canvas
{
Children =
{
constraintNameBlock,
CreateButton("Next", Font, 1),
CreateButton("Previous",Font, -1)
}
}
};
// Create and initialize constraint
PhysicsSampleList.Add(CreatePoint2PointConstraint);
//PhysicsSampleList.Add(CreateHingeConstraint);
//PhysicsSampleList.Add(CreateGearConstraint);
//PhysicsSampleList.Add(CreateSliderConstraint);
//PhysicsSampleList.Add(CreateConeTwistConstraint);
//PhysicsSampleList.Add(CreateGeneric6DoFConstraint);
RemoveConstraint();
PhysicsSampleList[constraintIndex]();
//Add a script for the slider constraint, to apply an impulse on collision
cubeRigidBody.ProcessCollisions = true;
Script.AddTask(async() =>
{
while (Game.IsRunning)
{
var collision = await cubeRigidBody.NewCollision();
//if (!(currentConstraint is SliderConstraint)) continue;
if (collision.ColliderA != sphereRigidBody && collision.ColliderB != sphereRigidBody)
{
continue;
}
sphereRigidBody.LinearVelocity = Vector3.Zero; //clear any existing velocity
sphereRigidBody.ApplyImpulse(new Vector3(-25, 0, 0)); //fire impulse
}
});
}
