/// <summary>
/// Creates a new instance of the <see cref="RunePhysicsWorld"/> class.
/// </summary>
/// <param name="bounds"></param>
/// <param name="serialNumber"></param>
public RunePhysicsWorld(Bounds bounds, string serialNumber)
{
// adding license is important for digital rune
DigitalRune.Licensing.AddSerialNumber(serialNumber);
this.simulation = new Simulation();
// creating the world space based on the bounds
//var worldSize = bounds.Size;
//this.simulation.World.Shape = new BoxShape(worldSize.X, worldSize.Y, worldSize.Z);
// setting the world position based on the bounds
//var worldMin = bounds.Min;
//this.simulation.World.Pose = new Pose(new Vector3F(worldMin.X + worldSize.X * .5f, worldMin.Y + worldSize.Y * .5f, worldMin.Z + worldSize.Z * .5f));
// setting up world forces
// this will prevent any world forces from acting on the character controllers
//var avatarExcludedAreaOfEffect = new GlobalAreaOfEffect { Exclude = body => body.CollisionObject.CollisionGroup == CollisionGroupAvatar };
//this.simulation.ForceEffects.Add(new Gravity(avatarExcludedAreaOfEffect));
//this.simulation.ForceEffects.Add(new Damping(avatarExcludedAreaOfEffect));
// enabling multi-threading for collision
this.simulation.Settings.EnableMultithreading = true;
this.simulation.CollisionDomain.EnableMultithreading = true;
// defining collision filters
var broadPhaseCollisionFilter = new CollisionFilter(maxNumberOfGroups: 4);
broadPhaseCollisionFilter.Set(CollisionGroupObject, CollisionGroupObject, false);
broadPhaseCollisionFilter.Set(CollisionGroupObject, CollisionGroupAvatar, true);
broadPhaseCollisionFilter.Set(CollisionGroupAvatar, CollisionGroupAvatar, false);
this.simulation.CollisionDomain.BroadPhase.Filter = broadPhaseCollisionFilter;
this.bounds = bounds;
}
private bool _cullingEnabled = true; // True to use frustum culling. False to disable frustum culling.
public FrustumCullingSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.CornflowerBlue;
// The top-down camera.
var orthographicProjection = new OrthographicProjection();
orthographicProjection.Set(
LevelSize * 1.1f * GraphicsService.GraphicsDevice.Viewport.AspectRatio,
LevelSize * 1.1f,
1,
10000f);
var topDownCamera = new Camera(orthographicProjection);
_topDownCameraNode = new CameraNode(topDownCamera)
{
View = Matrix44F.CreateLookAt(new Vector3F(0, 1000, 0), new Vector3F(0, 0, 0), -Vector3F.UnitZ),
};
// The perspective camera moving through the scene.
var perspectiveProjection = new PerspectiveProjection();
perspectiveProjection.SetFieldOfView(
MathHelper.ToRadians(45),
GraphicsService.GraphicsDevice.Viewport.AspectRatio,
1,
500);
var sceneCamera = new Camera(perspectiveProjection);
_sceneCameraNode = new CameraNode(sceneCamera);
// Initialize collision detection.
// We use one collision domain that manages all objects.
_domain = new CollisionDomain(new CollisionDetection())
{
// We exchange the default broad phase with a DualPartition. The DualPartition
// has special support for frustum culling.
BroadPhase = new DualPartition <CollisionObject>(),
};
// Create a lot of random objects and add them to the collision domain.
RandomHelper.Random = new Random(12345);
for (int i = 0; i < NumberOfObjects; i++)
{
// A real scene consists of a lot of complex objects such as characters, vehicles,
// buildings, lights, etc. When doing frustum culling we need to test each objects against
// the viewing frustum. If it intersects with the viewing frustum, the object is visible
// from the camera's point of view. However, in practice we do not test the exact object
// against the viewing frustum. Each objects is approximated by a simpler shape. In our
// example, we assume that each object is approximated with an oriented bounding box.
// (We could also use an other shape, such as a bounding sphere.)
// Create a random box.
Shape randomShape = new BoxShape(RandomHelper.Random.NextVector3F(1, 10));
// Create a random position.
Vector3F randomPosition;
randomPosition.X = RandomHelper.Random.NextFloat(-LevelSize / 2, LevelSize / 2);
randomPosition.Y = RandomHelper.Random.NextFloat(0, 2);
randomPosition.Z = RandomHelper.Random.NextFloat(-LevelSize / 2, LevelSize / 2);
// Create a random orientation.
QuaternionF randomOrientation = RandomHelper.Random.NextQuaternionF();
// Create object and add it to collision domain.
var geometricObject = new GeometricObject(randomShape, new Pose(randomPosition, randomOrientation));
var collisionObject = new CollisionObject(geometricObject)
{
CollisionGroup = 0,
};
_domain.CollisionObjects.Add(collisionObject);
}
// Per default, the collision domain computes collision between all objects.
// In this sample we do not need this information and disable it with a collision
// filter.
// In a real application, we would use this collision information for rendering,
// for example, to find out which lights overlap with which meshes, etc.
var filter = new CollisionFilter();
// Disable collision between objects in collision group 0.
filter.Set(0, 0, false);
_domain.CollisionDetection.CollisionFilter = filter;
// Start with the top-down camera.
GraphicsScreen.CameraNode = _topDownCameraNode;
// We will collect a few statistics for debugging.
Profiler.SetFormat("NoCull", 1000, "Time in ms to submit DebugRenderer draw jobs without frustum culling.");
Profiler.SetFormat("WithCull", 1000, "Time in ms to submit DebugRenderer draw jobs with frustum culling.");
}
public CollisionFilterSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
GraphicsScreen.ClearBackground = true;
GraphicsScreen.BackgroundColor = Color.Gray;
GraphicsScreen.DrawReticle = true;
SetCamera(new Vector3F(0, 0, 10), 0, 0);
// ----- Initialize collision detection system.
// We use one collision domain that manages all objects.
var domain = new CollisionDomain();
// Let's set a filter which disables collision between object in the same collision group.
// We can use a broad phase or a narrow phase filter:
// Option A) Broad phase filter
// The collision detection broad phase computes bounding box overlaps.
// A broad phase filter is best used if the filtering rules are simple and do not change
// during the runtime of your application.
//domain.BroadPhase.Filter = new DelegatePairFilter<CollisionObject>(
// pair => pair.First.CollisionGroup != pair.Second.CollisionGroup);
// Option B) Narrow phase filter
// The collision detection narrow phase computes contacts between objects where the broad
// phase has detected a bounding box overlap. Use a narrow phase filter if the filtering rules
// are complex or can change during the runtime of your application.
var filter = new CollisionFilter();
// Disable collision between objects in the same groups.
filter.Set(0, 0, false);
filter.Set(1, 1, false);
filter.Set(2, 2, false);
filter.Set(3, 3, false);
domain.CollisionDetection.CollisionFilter = filter;
// Create a random list of points.
var points = new List <Vector3F>();
for (int i = 0; i < 100; i++)
{
points.Add(RandomHelper.Random.NextVector3F(-1.5f, 1.5f));
}
// Add lots of spheres to the collision domain. Assign spheres to different collision groups.
var random = new Random();
var sphereShape = new SphereShape(0.7f);
for (int i = 0; i < 20; i++)
{
var randomPosition = new Vector3F(random.NextFloat(-6, 6), random.NextFloat(-3, 3), 0);
var geometricObject = new GeometricObject(sphereShape, new Pose(randomPosition));
var collisionObject = new CollisionObject(geometricObject)
{
// A collision group is simply an integer. We can assign collision objects to collision
// groups to control the collision filtering.
CollisionGroup = random.NextInteger(0, 3),
};
domain.CollisionObjects.Add(collisionObject);
}
// Compute collisions. (The objects do not move in this sample. Therefore, we only have to
// call Update once.)
domain.Update(0);
// Draw objects. The color depends on the collision group.
var debugRenderer = GraphicsScreen.DebugRenderer;
debugRenderer.Clear();
foreach (var collisionObject in domain.CollisionObjects)
{
Color color;
switch (collisionObject.CollisionGroup)
{
case 0: color = Color.LightBlue; break;
case 1: color = Color.Yellow; break;
case 2: color = Color.Orange; break;
default: color = Color.LightGreen; break;
}
debugRenderer.DrawObject(collisionObject.GeometricObject, color, false, false);
}
debugRenderer.DrawContacts(domain.ContactSets, 0.1f, Color.Red, true);
}
public void Test1()
{
CollisionObject object1A = new CollisionObject();
object1A.CollisionGroup = 1;
CollisionObject object1B = new CollisionObject();
object1B.CollisionGroup = 1;
CollisionObject object2A = new CollisionObject();
object2A.CollisionGroup = 2;
CollisionObject object2B = new CollisionObject();
object2B.CollisionGroup = 2;
CollisionFilter filter = new CollisionFilter();
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(2, false);
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(1, false);
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(2, true);
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(1, true);
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(1, 1, false);
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(2, 1, false);
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(1, 1, true);
filter.Set(1, 2, true);
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(object1A, object2B, false);
filter.Set(object1B, object1A, false);
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(object1A, object2B, true);
filter.Set(object1B, object1A, true);
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
filter.Set(object1B, object1A, false);
filter.Reset();
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair<CollisionObject>(object1A, object2B)));
}
public void Test1()
{
CollisionObject object1A = new CollisionObject();
object1A.CollisionGroup = 1;
CollisionObject object1B = new CollisionObject();
object1B.CollisionGroup = 1;
CollisionObject object2A = new CollisionObject();
object2A.CollisionGroup = 2;
CollisionObject object2B = new CollisionObject();
object2B.CollisionGroup = 2;
CollisionFilter filter = new CollisionFilter();
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(2, false);
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(1, false);
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(2, true);
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(1, true);
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(1, 1, false);
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(2, 1, false);
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(1, 1, true);
filter.Set(1, 2, true);
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(object1A, object2B, false);
filter.Set(object1B, object1A, false);
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsFalse(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(object1A, object2B, true);
filter.Set(object1B, object1A, true);
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
filter.Set(object1B, object1A, false);
filter.Reset();
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object2B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object2A, object1B)));
Assert.IsTrue(filter.Filter(new Pair <CollisionObject>(object1A, object2B)));
}
