public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 8, -10);
camera.Yaw = MathHelper.Pi;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
MeshDemo.LoadModel(content, BufferPool, @"Content\newt.obj", Vector3.One, out var mesh);
new Box(2.5f, 1, 4).ComputeInertia(1, out var approximateInertia);
var meshShapeIndex = Simulation.Shapes.Add(mesh);
for (int meshIndex = 0; meshIndex < 3; ++meshIndex)
{
Simulation.Bodies.Add(
BodyDescription.CreateDynamic(new Vector3(0, 2 + meshIndex * 2, 0), approximateInertia,
new CollidableDescription(meshShapeIndex, 0.1f), new BodyActivityDescription(0.01f)));
}
var compoundBuilder = new CompoundBuilder(BufferPool, Simulation.Shapes, 12);
for (int i = 0; i < mesh.Triangles.Length; ++i)
{
compoundBuilder.Add(mesh.Triangles[i], RigidPose.Identity, 1);
}
compoundBuilder.BuildDynamicCompound(out var children, out var compoundInertia);
var compound = new BigCompound(children, Simulation.Shapes, BufferPool);
var compoundShapeIndex = Simulation.Shapes.Add(compound);
compoundBuilder.Dispose();
for (int i = 0; i < 3; ++i)
{
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(5, 2 + i * 2, 0), compoundInertia, new CollidableDescription(compoundShapeIndex, 0.1f), new BodyActivityDescription(0.01f)));
}
var staticShape = new Box(1500, 1, 1500);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -0.5f, 0), new CollidableDescription(staticShapeIndex, 0.1f)));
}
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());
//Simulation.PoseIntegrator.Gravity = 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;
MeshDemo.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;
QuickList <QuickList <TestRay, Buffer <TestRay> >, Buffer <QuickList <TestRay, Buffer <TestRay> > > > .Create(BufferPool.SpecializeFor <QuickList <TestRay, Buffer <TestRay> > >(), raySourceCount, out raySources);
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(20, 10, 20);
camera.Yaw = MathF.PI;
camera.Pitch = 0;
var masks = new BodyProperty <ulong>();
characters = new CharacterControllers(BufferPool);
Simulation = Simulation.Create(BufferPool, new CharacterNarrowphaseCallbacks(characters), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
CreateCharacter(new Vector3(0, 2, -4));
//Create a bunch of legos to hurt your feet on.
var random = new Random(5);
var origin = new Vector3(-3f, 0.5f, 0);
var spacing = new Vector3(0.5f, 0, -0.5f);
for (int i = 0; i < 12; ++i)
{
for (int j = 0; j < 12; ++j)
{
var position = origin + new Vector3(i, 0, j) * spacing;
var orientation = Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0.0001f) + new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble())), 10 * (float)random.NextDouble());
var shape = new Box(0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble(), 0.1f + 0.3f * (float)random.NextDouble());
var collidable = new CollidableDescription(Simulation.Shapes.Add(shape), 0.1f);
shape.ComputeInertia(1, out var inertia);
var choice = (i + j) % 3;
switch (choice)
{
case 0:
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new RigidPose(position, orientation), inertia, collidable, new BodyActivityDescription(0.01f)));
break;
case 1:
Simulation.Bodies.Add(BodyDescription.CreateKinematic(new RigidPose(position, orientation), collidable, new BodyActivityDescription(0.01f)));
break;
case 2:
Simulation.Statics.Add(new StaticDescription(position, orientation, collidable));
break;
}
}
}
//Add some spinning fans to get slapped by.
var bladeDescription = BodyDescription.CreateConvexDynamic(new Vector3(), 3, Simulation.Shapes, new Box(10, 0.2f, 2));
var bladeBaseDescription = BodyDescription.CreateConvexKinematic(new Vector3(), Simulation.Shapes, new Box(0.2f, 1, 0.2f));
for (int i = 0; i < 3; ++i)
{
bladeBaseDescription.Pose.Position = new Vector3(-22, 1, i * 11);
bladeDescription.Pose.Position = new Vector3(-22, 1.7f, i * 11);
var baseHandle = Simulation.Bodies.Add(bladeBaseDescription);
var bladeHandle = Simulation.Bodies.Add(bladeDescription);
Simulation.Solver.Add(baseHandle, bladeHandle,
new Hinge
{
LocalHingeAxisA = Vector3.UnitY,
LocalHingeAxisB = Vector3.UnitY,
LocalOffsetA = new Vector3(0, 0.7f, 0),
LocalOffsetB = new Vector3(0, 0, 0),
SpringSettings = new SpringSettings(30, 1)
});
Simulation.Solver.Add(baseHandle, bladeHandle,
new AngularAxisMotor
{
LocalAxisA = Vector3.UnitY,
TargetVelocity = (i + 1) * (i + 1) * (i + 1) * (i + 1) * 0.2f,
Settings = new MotorSettings(5 * (i + 1), 0.0001f)
});
}
//Include a giant newt to test character-newt behavior and to ensure thematic consistency.
MeshDemo.LoadModel(content, BufferPool, @"Content\newt.obj", new Vector3(15, 15, 15), out var newtMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0.5f, 0), new CollidableDescription(Simulation.Shapes.Add(newtMesh), 0.1f)));
//Give the newt a tongue, I guess.
var tongueBase = Simulation.Bodies.Add(BodyDescription.CreateKinematic(new Vector3(0, 8.4f, 24), default, default));
