void CreatePoint2PointConstraint()
{
cubeRigidBody.LinearFactor = Vector3.Zero;
cubeRigidBody.AngularFactor = Vector3.Zero;
sphereRigidBody.LinearFactor = new Vector3(1, 1, 1);
sphereRigidBody.AngularFactor = new Vector3(1, 1, 1);
currentConstraint = BepuSimulation.CreateConstraint(ConstraintTypes.Point2Point, cubeRigidBody, sphereRigidBody,
Matrix.Identity, Matrix.Translation(new Vector3(4, 0, 0)));
simulation.AddConstraint(currentConstraint);
constraintNameBlock.Text = "Point to Point";
//there are no limits so the sphere will orbit once we apply this
sphereRigidBody.ApplyImpulse(new Vector3(0, 0, 18));
}
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
}
});
}