private PhyObject CreateVanilla(ObjectState state, CollidableDescription collidableDescription, BodyInertia bodyInertia)
{
PhyObject phy;
if (state.mass != 0)
{
BodyDescription boxDescription = BodyDescription.CreateDynamic(state.position, bodyInertia,
collidableDescription,
new BodyActivityDescription(0.01f));
boxDescription.Pose = new RigidPose(state.position, state.quaternion);
var bodyHandle = Simulation.Bodies.Add(boxDescription);
phy = SetUpPhyObject(bodyHandle, state);
objectsHandlers.Add(bodyHandle, phy);
}
else
{
StaticDescription description = new StaticDescription(state.position, state.quaternion, collidableDescription);
StaticHandle handle = Simulation.Statics.Add(description);
//collidableMaterials.Allocate(handle) = new SimpleMaterial { FrictionCoefficient = 1, MaximumRecoveryVelocity = float.MaxValue, SpringSettings = new SpringSettings(1f, 1f) };
phy = SetUpPhyObject(handle, state);
staticObjectsHandlers.Add(handle, (StaticPhyObject)phy);
//objectsHandlers.Add(handle,phy);
}
return(phy);
}
public StaticObject(ICanyonShooterGame game, StaticObjectDescription desc)
: base(game, desc.Name)
{
this.game = game;
StaticDescription sd = game.Content.Load <StaticDescription>("Content/Statics/" + desc.Name);
SetModel(sd.Model);
//TODO: Implement Position relative to canyon from XML Config (additive)
DataLayer.Level.LevelCache c = game.World.Level.Cache[desc.SegmentId];
ContactGroup = Engine.Physics.ContactGroup.Statics;
CanyonSegment = desc.SegmentId;
// Get the position from current canyon segment
LocalPosition = game.World.Level.Cache[desc.SegmentId].APos + sd.Position;
Vector3 canyonDir = game.World.Level.Cache[desc.SegmentId].ADir;
canyonDir.Normalize();
// Rotate the player to zero
LocalRotation = Quaternion.Identity;
LocalRotation = Helper.RotateTo(canyonDir, new Vector3(0, 0, -100));
//Velocity = Vector3.Zero;
if (game.Graphics.ShadowMappingSupported)
{
game.World.Sky.Sunlight.ShadowMapLow.Scene.AddDrawable(this);
game.World.Sky.Sunlight.ShadowMapHigh.Scene.AddDrawable(this);
}
}
public StaticReference AddStatic(StaticDescription description, object context = null)
{
var handle = Simulation.Statics.Add(description);
if (context != null)
{
_staticContexts[handle] = context;
}
return(new StaticReference(handle, Simulation.Statics));
}
protected override void OnAttach()
{
base.OnAttach();
if (ColliderShape is null)
{
throw new ArgumentNullException(nameof(ColliderShape), "Static colliders cannot lack a shape. Their only purpose is colliding.");
}
Matrix4x4.Decompose(Entity !.Transform.WorldMatrix, out _, out Quaternion rotation, out Vector3 translation);
StaticDescription description = new StaticDescription(translation, rotation.ToQuaternion(), ColliderShape.ShapeIndex, 0.1f);
Handle = Simulation !.InternalSimulation.Statics.Add(description);
Simulation.StaticColliders.GetOrAddValueRef(Handle) = this;
}
public static TriggerBox Create(PhysicsSimulation simulation, Vector3 position, Quaternion rotation, Vector3 size)
{
var shape = new Box(size.X, size.Y, size.Z);
var index = simulation.Simulation.Shapes.Add(shape);
var collidable = new CollidableDescription(index, 0.01f);
var descriptor = new StaticDescription(position, rotation, collidable);
var handle = simulation.Simulation.Statics.Add(descriptor);
var obj = new TriggerBox(simulation, handle);
simulation.Register(obj);
return(obj);
}
public override void InitializePhysics(Simulation simulation, BufferPool bufferPool, SimpleThreadDispatcher threadDispatcher)
{
/*var boxShape = new Box(0.5f, 0.5f, 2.5f);
* boxShape.ComputeInertia(1, out var boxLocalInertia);
* var boxDescription = new BodyDescription
* {
* Activity = new BodyActivityDescription { MinimumTimestepCountUnderThreshold = 32, SleepThreshold = -0.01f },
* LocalInertia = boxLocalInertia,
* Pose = new RigidPose
* {
* Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), 0),
* Position = new Vector3(1, -0.5f, 0)
* },
* Collidable = new CollidableDescription { SpeculativeMargin = 50.1f, Shape = simulation.Shapes.Add(boxShape) }
* };
* simulation.Bodies.Add(boxDescription);
*
* simulation.Statics.Add(new StaticDescription(new Vector3(0, -3, 0), new CollidableDescription { SpeculativeMargin = 0.1f, Shape = simulation.Shapes.Add(new Box(4, 1, 4)) }));*/
var staticShape = new Box(300, 1, 300);
var staticShapeIndex = simulation.Shapes.Add(staticShape);
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(0, -0.5f, 0),
Orientation = BepuUtilities.Quaternion.Identity
}
};
simulation.Statics.Add(staticDescription);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)),
initialAllocationSizes: new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
var shape = new Sphere(0.5f);
shape.ComputeInertia(1, out var sphereInertia);
var shapeIndex = Simulation.Shapes.Add(shape);
const int width = 12;
const int height = 4;
const int length = 12;
var latticeSpacing = 5.1f;
var latticeOffset = -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 1.5f, latticeSpacing), new Vector3(latticeOffset, 10, latticeOffset), sphereInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.Deterministic = false;
var staticShape = new Sphere(4);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
const int staticGridWidthInSpheres = 100;
const float staticSpacing = 6;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4,
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
}
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-15f, 20, -15f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
//Using minimum sized allocations forces as many resizes as possible.
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), initialAllocationSizes:
new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
Simulation.Deterministic = true;
const int planeWidth = 8;
const int planeHeight = 8;
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
Vector2 offsetFromCenter = new Vector2(x - planeWidth / 2, y - planeHeight / 2);
return(new Vector3(offsetFromCenter.X, MathF.Cos(x / 4f) * MathF.Sin(y / 4f) - 0.2f * offsetFromCenter.LengthSquared(), offsetFromCenter.Y));
}, new Vector3(2, 1, 2), BufferPool, out var staticShape);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
const int staticGridWidthInInstances = 128;
const float staticSpacing = 8;
for (int i = 0; i < staticGridWidthInInstances; ++i)
{
for (int j = 0; j < staticGridWidthInInstances; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInInstances * staticSpacing * 0.5f + i * staticSpacing,
-4 + 4 * (float)Math.Cos(i * 0.3) + 4 * (float)Math.Cos(j * 0.3),
-staticGridWidthInInstances * staticSpacing * 0.5f + j * staticSpacing),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
}
//A bunch of kinematic balls do acrobatics as an extra stressor.
var kinematicShape = new Sphere(8);
var kinematicShapeIndex = Simulation.Shapes.Add(kinematicShape);
var kinematicCount = 64;
var anglePerKinematic = MathHelper.TwoPi / kinematicCount;
var startingRadius = 256;
kinematicHandles = new BodyHandle[kinematicCount];
for (int i = 0; i < kinematicCount; ++i)
{
var angle = anglePerKinematic * i;
var description = new BodyDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = kinematicShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
startingRadius * (float)Math.Cos(angle),
0,
startingRadius * (float)Math.Sin(angle)),
Orientation = Quaternion.Identity
},
Activity = new BodyActivityDescription {
SleepThreshold = 0, MinimumTimestepCountUnderThreshold = 4
},
};
kinematicHandles[i] = Simulation.Bodies.Add(description);
}
dynamicHandles = new QuickQueue <BodyHandle>(65536, BufferPool);
removedStatics = new QuickQueue <StaticDescription>(512, BufferPool);
random = new Random(5);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-13f, 6, -13f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.05f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
using (var compoundBuilder = new CompoundBuilder(BufferPool, Simulation.Shapes, 8))
{
{
//Note that, in bepuphysics v2, there is no 'recentering' when constructing a shape. The pose you pass in for a child is exactly the pose that the compound will use,
//even if the 'true' center of mass isn't at the local origin.
//Instead, if recentering is desired, it should performed ahead of time. The CompoundBuilder can help with this.
//We'll construct this compound using shapes far from the origin, and then use the CompoundBuilder overload that recenters the children and outputs the computed center.
var capsuleChildShape = new Capsule(0.5f, 0.5f);
var capsuleLocalPose = new RigidPose {
Position = new Vector3(-0.5f, 4, 4), Orientation = BepuUtilities.Quaternion.Identity
};
var boxChildShape = new Box(0.5f, 1f, 1.5f);
var boxLocalPose = new RigidPose {
Position = new Vector3(0.5f, 4, 4), Orientation = BepuUtilities.Quaternion.Identity
};
//All allocations from the buffer pool used for the final compound shape will be disposed when the demo is disposed. Don't have to worry about leaks in these demos.
compoundBuilder.Add(capsuleChildShape, capsuleLocalPose, 1);
compoundBuilder.Add(boxChildShape, boxLocalPose, 1);
compoundBuilder.BuildDynamicCompound(out var compoundChildren, out var compoundInertia, out var compoundCenter);
compoundBuilder.Reset();
var compound = new Compound(compoundChildren);
var compoundDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(compound),
SpeculativeMargin = 0.1f,
},
LocalInertia = compoundInertia,
Pose = new RigidPose {
Position = compoundCenter, Orientation = BepuUtilities.Quaternion.Identity
},
};
Simulation.Bodies.Add(compoundDescription);
}
//Build a stack of sphere grids to stress manifold reduction heuristics in a convex-ish situation.
{
var gridShape = new Sphere(0.5f);
const float gridSpacing = 1.5f;
const int gridWidth = 3;
var gridShapeIndex = Simulation.Shapes.Add(gridShape);
gridShape.ComputeInertia(1, out var gridBoxInertia);
float localPoseOffset = -0.5f * gridSpacing * (gridWidth - 1);
for (int i = 0; i < gridWidth; ++i)
{
for (int j = 0; j < gridWidth; ++j)
{
var localPose = new RigidPose
{
Orientation = BepuUtilities.Quaternion.Identity,
Position = new Vector3(localPoseOffset, 0, localPoseOffset) + new Vector3(gridSpacing) * new Vector3(i, 0, j)
};
compoundBuilder.Add(gridShapeIndex, localPose, gridBoxInertia.InverseInertiaTensor, 1);
}
}
compoundBuilder.BuildDynamicCompound(out var gridChildren, out var gridInertia, out var center);
compoundBuilder.Reset();
var gridCompound = new Compound(gridChildren);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(gridCompound),
SpeculativeMargin = 0.1f,
},
LocalInertia = gridInertia,
Pose = new RigidPose {
Orientation = BepuUtilities.Quaternion.Identity
}
};
for (int i = 0; i < 4; ++i)
{
bodyDescription.Pose.Position = new Vector3(0, 2 + i * 3, 0);
//if (i == 0)
// gridDescription.LocalInertia = new BodyInertia();
//else
// gridDescription.LocalInertia = gridInertia;
Simulation.Bodies.Add(bodyDescription);
}
}
//Build a table and use it for a couple of different tests.
{
var legShape = new Box(0.2f, 1, 0.2f);
legShape.ComputeInertia(1f, out var legInverseInertia);
var legShapeIndex = Simulation.Shapes.Add(legShape);
var legPose0 = new RigidPose {
Position = new Vector3(-1.5f, 0, -1.5f), Orientation = BepuUtilities.Quaternion.Identity
};
var legPose1 = new RigidPose {
Position = new Vector3(-1.5f, 0, 1.5f), Orientation = BepuUtilities.Quaternion.Identity
};
var legPose2 = new RigidPose {
Position = new Vector3(1.5f, 0, -1.5f), Orientation = BepuUtilities.Quaternion.Identity
};
var legPose3 = new RigidPose {
Position = new Vector3(1.5f, 0, 1.5f), Orientation = BepuUtilities.Quaternion.Identity
};
compoundBuilder.Add(legShapeIndex, legPose0, legInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(legShapeIndex, legPose1, legInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(legShapeIndex, legPose2, legInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(legShapeIndex, legPose3, legInverseInertia.InverseInertiaTensor, 1);
var tableTopPose = new RigidPose {
Position = new Vector3(0, 0.6f, 0), Orientation = BepuUtilities.Quaternion.Identity
};
var tableTopShape = new Box(3.2f, 0.2f, 3.2f);
compoundBuilder.Add(tableTopShape, tableTopPose, 3);
compoundBuilder.BuildDynamicCompound(out var tableChildren, out var tableInertia, out var tableCenter);
compoundBuilder.Reset();
var table = new Compound(tableChildren);
var tableDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(table),
SpeculativeMargin = 0.1f,
},
LocalInertia = tableInertia,
Pose = new RigidPose {
Orientation = BepuUtilities.Quaternion.Identity
}
};
//Stack some tables.
{
for (int i = 0; i < 10; ++i)
{
tableDescription.Pose.Position = new Vector3(10, 3 + i * 1.4f, 10);
Simulation.Bodies.Add(tableDescription);
}
}
//Put a table on top of a sphere to stress out nonconvex reduction for divergent normals.
{
tableDescription.Pose.Position = new Vector3(10, 6, 0);
Simulation.Bodies.Add(tableDescription);
var sphereShape = new Sphere(3);
var sphereIndex = Simulation.Shapes.Add(sphereShape);
var sphereDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Shape = sphereIndex,
SpeculativeMargin = 0.1f,
},
Pose = new RigidPose {
Position = new Vector3(10, 2, 0), Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(sphereDescription);
}
//Put another table on the ground, but with a clamp-ish thing on it that generates opposing normals.
{
tableDescription.Pose.Position = new Vector3(10, 3, -10);
Simulation.Bodies.Add(tableDescription);
var clampPieceShape = new Box(2f, 0.1f, 0.3f);
clampPieceShape.ComputeInertia(1f, out var clampPieceInverseInertia);
var clampPieceShapeIndex = Simulation.Shapes.Add(clampPieceShape);
var clamp0 = new RigidPose {
Position = new Vector3(0, -0.2f, -1.1f), Orientation = BepuUtilities.Quaternion.Identity
};
var clamp1 = new RigidPose {
Position = new Vector3(0, 0.2f, -1.1f), Orientation = BepuUtilities.Quaternion.Identity
};
var clamp2 = new RigidPose {
Position = new Vector3(0, -0.2f, 0), Orientation = BepuUtilities.Quaternion.Identity
};
var clamp3 = new RigidPose {
Position = new Vector3(0, 0.2f, 0), Orientation = BepuUtilities.Quaternion.Identity
};
var clamp4 = new RigidPose {
Position = new Vector3(0, -0.2f, 1.1f), Orientation = BepuUtilities.Quaternion.Identity
};
var clamp5 = new RigidPose {
Position = new Vector3(0, 0.2f, 1.1f), Orientation = BepuUtilities.Quaternion.Identity
};
compoundBuilder.Add(clampPieceShapeIndex, clamp0, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp1, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp2, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp3, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp4, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp5, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.BuildDynamicCompound(out var clampChildren, out var clampInertia, out var clampCenter);
compoundBuilder.Reset();
var clamp = new Compound(clampChildren);
var clampDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(clamp),
SpeculativeMargin = 0.1f,
},
LocalInertia = clampInertia,
Pose = new RigidPose {
Position = tableDescription.Pose.Position + new Vector3(2f, 0.3f, 0), Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Bodies.Add(clampDescription);
}
}
}
//Prevent stuff from falling into the infinite void.
{
var boxShape = new Box(100, 1, 100);
var groundShapeIndex = Simulation.Shapes.Add(boxShape);
var groundDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Shape = groundShapeIndex,
SpeculativeMargin = 0.1f,
},
Pose = new RigidPose {
Position = new Vector3(0, 0, 0), Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(groundDescription);
}
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 10, -30);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
var box = new Box(1f, 3f, 2f);
var capsule = new Capsule(1f, 1f);
var sphere = new Sphere(1.5f);
box.ComputeInertia(1, out var boxInertia);
capsule.ComputeInertia(1, out var capsuleInertia);
sphere.ComputeInertia(1, out var sphereInertia);
var boxIndex = Simulation.Shapes.Add(box);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var sphereIndex = Simulation.Shapes.Add(sphere);
const int width = 8;
const int height = 16;
const int length = 8;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var location = new Vector3(3, 3, 3) * new Vector3(i, j, k) + new Vector3(-width * 1.5f, 2.5f, -length * 1.5f);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription(0.01f),
Pose = new RigidPose
{
Orientation = BepuUtilities.Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
}
};
switch (j % 3)
{
case 0:
bodyDescription.Collidable.Shape = boxIndex;
bodyDescription.LocalInertia = boxInertia;
break;
case 1:
bodyDescription.Collidable.Shape = capsuleIndex;
bodyDescription.LocalInertia = capsuleInertia;
break;
case 2:
bodyDescription.Collidable.Shape = sphereIndex;
bodyDescription.LocalInertia = sphereInertia;
break;
}
Simulation.Bodies.Add(bodyDescription);
}
}
}
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var staticShape = new Box(1, 1, 1);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
const int staticGridWidth = 100;
const float staticSpacing = 1.2f;
var gridOffset = -0.5f * staticGridWidth * staticSpacing;
for (int i = 0; i < staticGridWidth; ++i)
{
for (int j = 0; j < staticGridWidth; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
1 + gridOffset + i * staticSpacing,
-0.707f,
0.5f + gridOffset + j * staticSpacing),
//Orientation = BepuUtilities.Quaternion.Identity
Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1 + i, i * j % 10, -10 + -j)), (i ^ j) * 0.5f * (MathHelper.PiOver4))
//Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0, 0, 1)), MathHelper.Pi)
}
};
Simulation.Statics.Add(staticDescription);
}
}
}
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(0, 10, 40);
camera.Yaw = 0;
camera.Pitch = 0;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var box = new Box(2f, 2f, 2f);
var capsule = new Capsule(1f, 1f);
var sphere = new Sphere(1.5f);
box.ComputeInertia(1, out var boxInertia);
capsule.ComputeInertia(1, out var capsuleInertia);
sphere.ComputeInertia(1, out var sphereInertia);
var boxIndex = Simulation.Shapes.Add(box);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var sphereIndex = Simulation.Shapes.Add(sphere);
const int width = 8;
const int height = 16;
const int length = 8;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var location = new Vector3(3, 3, 3) * new Vector3(i, j, k) + new Vector3(-width * 1.5f, 1.5f, -length * 1.5f);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = 0.3f
},
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
}
};
switch (j % 3)
{
case 0:
bodyDescription.Collidable.Shape = boxIndex;
bodyDescription.LocalInertia = boxInertia;
break;
case 1:
bodyDescription.Collidable.Shape = capsuleIndex;
bodyDescription.LocalInertia = capsuleInertia;
break;
case 2:
bodyDescription.Collidable.Shape = sphereIndex;
bodyDescription.LocalInertia = sphereInertia;
break;
}
Simulation.Bodies.Add(bodyDescription);
}
}
}
var staticShapeIndex = Simulation.Shapes.Add(new Box(100, 1, 100));
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = Simulation.Shapes.Add(new Box(100, 1, 100)),
SpeculativeMargin = 0.1f
},
Pose = new RigidPose {
Position = new Vector3(0, -1, 0), Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
var shape = new Sphere(0.5f);
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 16;
const int height = 16;
const int length = 16;
var latticeSpacing = 1.1f;
var latticeOffset = -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 1.0f, latticeSpacing), new Vector3(latticeOffset, 100, latticeOffset), 1f / (shape.Radius * shape.Radius * 2 / 3), shapeIndex),
new BallSocketConstraintBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = true;
var staticShape = new Sphere(4);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidthInSpheres = 16;
const float staticSpacing = 6;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4,
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
//ref var velocity = ref Simulation.Bodies.Velocities[Simulation.Bodies.HandleToIndex[bodyHandles[width]]];
//velocity.Linear = new Vector3(0.1f, 0, 0.1f);
//velocity.Angular = new Vector3();
//Simulation.Solver.IterationCount = 100;
Console.WriteLine(Simulation.Solver.CountConstraints());
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-120, 30, -120);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
//Build a grid of shapes to be connected.
var clothNodeShape = new Sphere(0.5f);
clothNodeShape.ComputeInertia(1, out var clothNodeInertia);
var clothNodeShapeIndex = Simulation.Shapes.Add(clothNodeShape);
const int width = 128;
const int length = 128;
const float spacing = 1.75f;
int[][] nodeHandles = new int[width][];
for (int i = 0; i < width; ++i)
{
nodeHandles[i] = new int[length];
for (int j = 0; j < length; ++j)
{
var location = new Vector3(0, 30, 0) + new Vector3(spacing, 0, spacing) * (new Vector3(i, 0, j) + new Vector3(-width * 0.5f, 0, -length * 0.5f));
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = 0.01f
},
Pose = new RigidPose
{
Orientation = BepuUtilities.Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Shape = clothNodeShapeIndex,
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
},
LocalInertia = clothNodeInertia
};
nodeHandles[i][j] = Simulation.Bodies.Add(bodyDescription);
}
}
//Construct some joints between the nodes.
var left = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, 0),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, 0),
SpringSettings = new SpringSettings(10, 1)
};
var up = new BallSocket
{
LocalOffsetA = new Vector3(0, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(0, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var leftUp = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var rightUp = new BallSocket
{
LocalOffsetA = new Vector3(spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(-spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < length; ++j)
{
if (i >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j], ref left);
}
if (j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i][j - 1], ref up);
}
if (i >= 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j - 1], ref leftUp);
}
if (i < width - 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i + 1][j - 1], ref rightUp);
}
}
}
var bigBallShape = new Sphere(25);
var bigBallShapeIndex = Simulation.Shapes.Add(bigBallShape);
var bigBallDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = bigBallShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(-10, -15, 0),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(bigBallDescription);
var groundShape = new Box(200, 1, 200);
var groundShapeIndex = Simulation.Shapes.Add(groundShape);
var groundDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = groundShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(0, -10, 0),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(groundDescription);
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks(),
new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
var staticShape = new Sphere(6);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidthInSpheres = 128;
const float staticSpacing = 8;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4 + 4 * (float)Math.Cos(i * 0.3) + 4 * (float)Math.Cos(j * 0.3),
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
//A bunch of kinematic balls do acrobatics as an extra stressor.
var kinematicShape = new Sphere(8);
var kinematicShapeIndex = Simulation.Shapes.Add(ref staticShape);
var kinematicCount = 64;
var anglePerKinematic = MathHelper.TwoPi / kinematicCount;
var startingRadius = 256;
kinematicHandles = new int[kinematicCount];
for (int i = 0; i < kinematicCount; ++i)
{
var angle = anglePerKinematic * i;
var description = new BodyDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = kinematicShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
startingRadius * (float)Math.Cos(angle),
0,
startingRadius * (float)Math.Sin(angle)),
Orientation = BepuUtilities.Quaternion.Identity
},
Activity = new BodyActivityDescription {
DeactivationThreshold = 0, MinimumTimestepCountUnderThreshold = 4
},
};
kinematicHandles[i] = Simulation.Bodies.Add(ref description);
}
QuickQueue <int, Buffer <int> > .Create(BufferPool.SpecializeFor <int>(), 65536, out dynamicHandles);
random = new Random(5);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-10, 0, -10);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
//Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var box = new Box(1f, 3f, 2f);
var capsule = new Capsule(1f, 1f);
var sphere = new Sphere(.5f);
box.ComputeInertia(1, out var boxInertia);
capsule.ComputeInertia(1, out var capsuleInertia);
sphere.ComputeInertia(1, out var sphereInertia);
var boxIndex = Simulation.Shapes.Add(box);
var capsuleIndex = Simulation.Shapes.Add(capsule);
var sphereIndex = Simulation.Shapes.Add(sphere);
const int width = 1;
const int height = 3;
const int length = 1;
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < height; ++j)
{
for (int k = 0; k < length; ++k)
{
var location = new Vector3(3, 3, 3) * new Vector3(i, j, k);// + new Vector3(-width * 1.5f, 1.5f, -length * 1.5f);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = -0.01f
},
Pose = new RigidPose
{
Orientation = BepuUtilities.Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
}
};
switch (j % 3)
{
case 0:
bodyDescription.Collidable.Shape = boxIndex;
bodyDescription.LocalInertia = boxInertia;
break;
case 1:
bodyDescription.Collidable.Shape = capsuleIndex;
bodyDescription.LocalInertia = capsuleInertia;
break;
case 2:
bodyDescription.Collidable.Shape = sphereIndex;
bodyDescription.LocalInertia = sphereInertia;
break;
}
//Simulation.Bodies.Add(bodyDescription);
}
}
}
//Simulation.Bodies.Add(new BodyDescription
//{
// Activity = new BodyActivityDescription(-1),
// Pose = new RigidPose(new Vector3(1, 2.999f, 0), BepuUtilities.Quaternion.CreateFromYawPitchRoll(0, 0, -0.00001f)),
// Collidable = new CollidableDescription(capsuleIndex, 1),
// LocalInertia = capsuleInertia
//});
Simulation.Bodies.Add(new BodyDescription
{
Activity = new BodyActivityDescription(-1),
Pose = new RigidPose(new Vector3(0, 0, 0), BepuUtilities.Quaternion.Identity),
Collidable = new CollidableDescription(boxIndex, .1f),
LocalInertia = boxInertia
});
Simulation.Bodies.Add(new BodyDescription
{
Activity = new BodyActivityDescription(-1),
Pose = new RigidPose(new Vector3(1, 3, 0), BepuUtilities.Quaternion.Identity),
Collidable = new CollidableDescription(boxIndex, .1f),
LocalInertia = new BodyInertia()
});
var meshContent = content.Load <MeshContent>(@"Content\box.obj");
//BufferPool.Take<Triangle>(meshContent.Triangles.Length, out var triangles);
//for (int i = 0; i < meshContent.Triangles.Length; ++i)
//{
// triangles[i] = new Triangle(meshContent.Triangles[i].A, meshContent.Triangles[i].B, meshContent.Triangles[i].C);
//}
//var meshShape = new Mesh(triangles.Slice(0, meshContent.Triangles.Length), new Vector3(5, 1, 5), BufferPool);
BufferPool.Take <Triangle>(2, out var triangles);
for (int i = 2; i < 4; ++i)
{
triangles[i - 2] = new Triangle(meshContent.Triangles[i].A, meshContent.Triangles[i].B, meshContent.Triangles[i].C);
}
var meshShape = new Mesh(triangles.Slice(0, 2), new Vector3(5, 1, 5), BufferPool);
var staticShapeIndex = Simulation.Shapes.Add(meshShape);
for (int i = 0; i < 1; ++i)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription(staticShapeIndex, 0.1f),
Pose = new RigidPose
{
Position = new Vector3(i * 10, -10, 0),
Orientation = BepuUtilities.Quaternion.Identity
//Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1 + i, i * j % 10, -10 + -j)), (i ^ j) * 0.5f * (MathHelper.PiOver4))
//Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0, 0, 1)), MathHelper.Pi)
}
};
Simulation.Statics.Add(staticDescription);
}
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-3f, 3, -3f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks(),
new SimulationAllocationSizes
{
Bodies = 1,
ConstraintCountPerBodyEstimate = 1,
Constraints = 1,
ConstraintsPerTypeBatch = 1,
Islands = 1,
ShapesPerType = 1,
Statics = 1
});
var shape = new Sphere(0.5f);
BodyInertia sphereInertia;
sphereInertia.InverseMass = 1;
shape.ComputeLocalInverseInertia(sphereInertia.InverseMass, out sphereInertia.InverseInertiaTensor);
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 16;
const int height = 16;
const int length = 16;
var latticeSpacing = 1.1f;
var latticeOffset = -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 1.1f, latticeSpacing), new Vector3(latticeOffset, 10, latticeOffset), sphereInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -1, 0);
Simulation.Deterministic = false;
var staticShape = new Sphere(4);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidthInSpheres = 100;
const float staticSpacing = 6;
for (int i = 0; i < staticGridWidthInSpheres; ++i)
{
for (int j = 0; j < staticGridWidthInSpheres; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
-staticGridWidthInSpheres * staticSpacing * 0.5f + i * staticSpacing,
-4,
-staticGridWidthInSpheres * staticSpacing * 0.5f + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
//ref var velocity = ref Simulation.Bodies.Velocities[Simulation.Bodies.HandleToIndex[bodyHandles[width]]];
//velocity.Linear = new Vector3(0.1f, 0, 0.1f);
//velocity.Angular = new Vector3();
//Simulation.Solver.IterationCount = 100;
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-10, 5, -10);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.Pi * 0.1f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
var shape = new Capsule(.5f, 3.5f);
BodyInertia localInertia;
localInertia.InverseMass = 1f;
shape.ComputeLocalInverseInertia(localInertia.InverseMass, out localInertia.InverseInertiaTensor);
//capsuleInertia.InverseInertiaTensor = new Triangular3x3();
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 4;
const int height = 4;
const int length = 4;
var latticeSpacing = 1.1f;
var latticeOffset = 0;// -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(latticeSpacing, 2.1f, latticeSpacing), new Vector3(latticeOffset, 7, latticeOffset), localInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -1, 0);
Simulation.Deterministic = false;
//var bodyDescription = new BodyDescription
//{
// Pose = new RigidPose
// {
// Position = new Vector3(0, 5, -0.5f),
// //Orientation = BepuUtilities.Quaternion.Identity
// Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathHelper.PiOver2)
// },
// LocalInertia = new BodyInertia(),
// Collidable = new CollidableDescription
// {
// Continuity = new ContinuousDetectionSettings(),
// SpeculativeMargin = 0.1f,
// Shape = shapeIndex
// },
// Activity = new BodyActivityDescription
// {
// SleepThreshold = -.1f,
// MinimumTimestepCountUnderThreshold = 32
// },
// //Velocity = new BodyVelocity { Angular = new Vector3(0, (rowIndex % 2 - 0.5f) * 20, 0) }
//};
//Simulation.Bodies.Add(ref bodyDescription);
var staticShape = new Sphere(4f);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidth = 64;
const float staticSpacing = 6;
var gridOffset = -0.5f * staticGridWidth * staticSpacing;
for (int i = 0; i < staticGridWidth; ++i)
{
for (int j = 0; j < staticGridWidth; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
gridOffset + i * staticSpacing,
-4,
gridOffset + j * staticSpacing),
Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1, 0, 1)), MathHelper.PiOver4)
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-20, 10, -20);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
var a = AddBody(new Box(3, 1, 1), 1, new RigidPose {
Position = new Vector3(0, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
var b = AddBody(new Box(3, 1, 1), 0, new RigidPose {
Position = new Vector3(5, 10, 0), Orientation = BepuUtilities.Quaternion.Identity
}, Simulation);
a.Velocity.Angular = new Vector3(1f, 5f, 1f);
//a.Pose.Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1, 1, 1)), MathHelper.PiOver4);
var springSettings = new SpringSettings(15, 1);
var ballSocket = new BallSocket
{
LocalOffsetA = new Vector3(2.5f, 0, 0),
LocalOffsetB = new Vector3(-2.5f, 0, 0),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref ballSocket);
//springSettings = new BepuPhysics.CollisionDetection.SpringSettings { DampingRatio = 0f, NaturalFrequency = MathHelper.Pi * 1 };
var angularHinge = new AngularHinge
{
HingeAxisLocalA = Vector3.Normalize(new Vector3(0, 1, 0)),
HingeAxisLocalB = Vector3.Normalize(new Vector3(0, 1, 0)),
SpringSettings = springSettings
};
Simulation.Solver.Add(a.Handle, b.Handle, ref angularHinge);
//var swivelHinge = new AngularSwivelHinge
//{
// SwivelAxisLocalA = new Vector3(1, 0, 0),
// HingeAxisLocalB = new Vector3(0, 1, 0),
// SpringSettings = springSettings
//};
//Simulation.Solver.Add(a.Handle, b.Handle, ref swivelHinge);
var swingLimit = new SwingLimit
{
AxisLocalA = new Vector3(1, 0, 0),
AxisLocalB = new Vector3(1, 0, 0),
MinimumDot = -0.5f,
SpringSettings = new SpringSettings(15, 1)
};
Simulation.Solver.Add(a.Handle, b.Handle, ref swingLimit);
var staticShape = new Box(100, 1, 100);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(1, -0.5f, 1),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
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 DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var shape = new Sphere(0.5f);
shape.ComputeInertia(1, out var sphereInertia);
var shapeIndex = Simulation.Shapes.Add(shape);
const int width = 64;
const int height = 64;
const int length = 64;
var spacing = new Vector3(1.01f);
var halfSpacing = spacing / 2;
float randomization = 0.9f;
var randomizationSpan = (spacing - new Vector3(1)) * randomization;
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, 1, -length)) + randomizationBase + r * randomizationSpan;
if ((i + j + k) % 2 == 1)
{
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = -0.1f
},
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f,
Shape = shapeIndex
},
LocalInertia = sphereInertia
};
Simulation.Bodies.Add(bodyDescription);
}
else
{
var staticDescription = new StaticDescription
{
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f,
Shape = shapeIndex
}
};
Simulation.Statics.Add(staticDescription);
}
}
}
}
refineTimes = new TimingsRingBuffer(sampleCount, BufferPool);
testTimes = new TimingsRingBuffer(sampleCount, BufferPool);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 8, -60);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 0;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var boxShape = new Box(1, 1, 1);
boxShape.ComputeInertia(1, out var boxInertia);
var boxIndex = Simulation.Shapes.Add(boxShape);
const int forkCount = 20;
const int blocksPerChain = 20;
int[] blockHandles = new int[blocksPerChain];
for (int forkIndex = 0; forkIndex < forkCount; ++forkIndex)
{
//Build the blocks.
for (int blockIndex = 0; blockIndex < blocksPerChain; ++blockIndex)
{
var bodyDescription = new BodyDescription
{
//Make the uppermost block kinematic to hold up the rest of the chain.
LocalInertia = blockIndex == blocksPerChain - 1 ? new BodyInertia() : boxInertia,
Pose = new RigidPose
{
Position = new Vector3(0,
5 + blockIndex * (boxShape.Height + 1),
(forkIndex - forkCount * 0.5f) * (boxShape.Length + 4)),
Orientation = Quaternion.Identity
},
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = .01f
},
Collidable = new CollidableDescription {
Shape = boxIndex, SpeculativeMargin = .1f
},
};
blockHandles[blockIndex] = Simulation.Bodies.Add(bodyDescription);
}
//Build the chains.
for (int i = 1; i < blocksPerChain; ++i)
{
var ballSocket = new BallSocket
{
LocalOffsetA = new Vector3(0, 1f, 0),
LocalOffsetB = new Vector3(0, -1f, 0),
SpringSettings = new SpringSettings(30, 5)
};
Simulation.Solver.AddRef(blockHandles[i - 1], blockHandles[i], ref ballSocket);
}
}
var staticShape = new Box(200, 1, 200);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(1, -0.5f, 1),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
//Build the coin description for the ponz-I mean ICO.
var coinShape = new Cylinder(1.5f, 0.2f);
coinShape.ComputeInertia(1, out var coinInertia);
coinDescription = BodyDescription.CreateDynamic(RigidPose.Identity, coinInertia, new CollidableDescription(Simulation.Shapes.Add(coinShape), 0.1f), new BodyActivityDescription(0.01f));
}
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 PositionFirstTimestepper());
var sphere = new Sphere(0.5f);
var shapeIndex = 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;
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);
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);
}
}
}
}
int boxCount = 16384;
var randomMin = new Vector3(width, height, length) * spacing * -0.5f;
var randomSpan = randomMin * -2;
queryBoxes = new QuickList <BoundingBox>(boxCount, BufferPool);
for (int i = 0; i < boxCount; ++i)
{
ref var box = ref queryBoxes.AllocateUnsafely();
var r = new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
var boxOrigin = randomMin + r * randomSpan;
var boxHalfSize = new Vector3(0.25f + 0.75f * (float)random.NextDouble());
box.Min = boxOrigin - boxHalfSize;
box.Max = boxOrigin + boxHalfSize;
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-30, 8, -110);
camera.Yaw = MathHelper.Pi * 3f / 4;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
var boxShape = new Box(1, 1, 1);
boxShape.ComputeInertia(1, out var boxInertia);
var boxIndex = Simulation.Shapes.Add(boxShape);
const int pyramidCount = 40;
for (int pyramidIndex = 0; pyramidIndex < pyramidCount; ++pyramidIndex)
{
const int rowCount = 20;
for (int rowIndex = 0; rowIndex < rowCount; ++rowIndex)
{
int columnCount = rowCount - rowIndex;
for (int columnIndex = 0; columnIndex < columnCount; ++columnIndex)
{
var bodyDescription = new BodyDescription
{
LocalInertia = boxInertia,
Pose = new RigidPose
{
Position = new Vector3(
(-columnCount * 0.5f + columnIndex) * boxShape.Width,
(rowIndex + 0.5f) * boxShape.Height,
(pyramidIndex - pyramidCount * 0.5f) * (boxShape.Length + 4)),
Orientation = BepuUtilities.Quaternion.Identity
},
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = .01f
},
Collidable = new CollidableDescription {
Shape = boxIndex, SpeculativeMargin = .1f
}
};
Simulation.Bodies.Add(bodyDescription);
}
}
}
var staticShape = new Box(1500, 1, 1500);
var staticShapeIndex = Simulation.Shapes.Add(staticShape);
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(1, -0.5f, 1),
Orientation = BepuUtilities.Quaternion.Identity
}
};
Simulation.Statics.Add(staticDescription);
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-13f, 6, -13f);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = MathHelper.Pi * 0.05f;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10f, 0)));
using (var compoundBuilder = new CompoundBuilder(BufferPool, Simulation.Shapes, 8))
{
{
//Note that, in bepuphysics v2, there is no 'recentering' when constructing a shape. The pose you pass in for a child is exactly the pose that the compound will use,
//even if the 'true' center of mass isn't at the local origin.
//Instead, if recentering is desired, it should performed ahead of time. The CompoundBuilder can help with this.
//We'll construct this compound using shapes far from the origin, and then use the CompoundBuilder overload that recenters the children and outputs the computed center.
var capsuleChildShape = new Capsule(0.5f, 0.5f);
var capsuleLocalPose = new RigidPose {
Position = new Vector3(-0.5f, 4, 4), Orientation = Quaternion.Identity
};
var boxChildShape = new Box(0.5f, 1f, 1.5f);
var boxLocalPose = new RigidPose {
Position = new Vector3(0.5f, 4, 4), Orientation = Quaternion.Identity
};
//All allocations from the buffer pool used for the final compound shape will be disposed when the demo is disposed. Don't have to worry about leaks in these demos.
compoundBuilder.Add(capsuleChildShape, capsuleLocalPose, 1);
compoundBuilder.Add(boxChildShape, boxLocalPose, 1);
compoundBuilder.BuildDynamicCompound(out var compoundChildren, out var compoundInertia, out var compoundCenter);
compoundBuilder.Reset();
var compound = new Compound(compoundChildren);
var compoundDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(compound),
SpeculativeMargin = 0.1f,
},
LocalInertia = compoundInertia,
Pose = new RigidPose {
Position = compoundCenter, Orientation = Quaternion.Identity
},
};
Simulation.Bodies.Add(compoundDescription);
}
//Build a stack of sphere grids to stress manifold reduction heuristics in a convex-ish situation.
{
var gridShape = new Sphere(0.5f);
const float gridSpacing = 1.5f;
const int gridWidth = 3;
var gridShapeIndex = Simulation.Shapes.Add(gridShape);
gridShape.ComputeInertia(1, out var gridBoxInertia);
float localPoseOffset = -0.5f * gridSpacing * (gridWidth - 1);
for (int i = 0; i < gridWidth; ++i)
{
for (int j = 0; j < gridWidth; ++j)
{
var localPose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = new Vector3(localPoseOffset, 0, localPoseOffset) + new Vector3(gridSpacing) * new Vector3(i, 0, j)
};
compoundBuilder.Add(gridShapeIndex, localPose, gridBoxInertia.InverseInertiaTensor, 1);
}
}
compoundBuilder.BuildDynamicCompound(out var gridChildren, out var gridInertia, out var center);
compoundBuilder.Reset();
var gridCompound = new Compound(gridChildren);
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(gridCompound),
SpeculativeMargin = 0.1f,
},
LocalInertia = gridInertia,
Pose = new RigidPose {
Orientation = Quaternion.Identity
}
};
for (int i = 0; i < 4; ++i)
{
bodyDescription.Pose.Position = new Vector3(0, 2 + i * 3, 0);
//if (i == 0)
// gridDescription.LocalInertia = new BodyInertia();
//else
// gridDescription.LocalInertia = gridInertia;
Simulation.Bodies.Add(bodyDescription);
}
}
//Build a table and use it for a couple of different tests.
{
var legShape = new Box(0.2f, 1, 0.2f);
legShape.ComputeInertia(1f, out var legInverseInertia);
var legShapeIndex = Simulation.Shapes.Add(legShape);
var legPose0 = new RigidPose {
Position = new Vector3(-1.5f, 0, -1.5f), Orientation = Quaternion.Identity
};
var legPose1 = new RigidPose {
Position = new Vector3(-1.5f, 0, 1.5f), Orientation = Quaternion.Identity
};
var legPose2 = new RigidPose {
Position = new Vector3(1.5f, 0, -1.5f), Orientation = Quaternion.Identity
};
var legPose3 = new RigidPose {
Position = new Vector3(1.5f, 0, 1.5f), Orientation = Quaternion.Identity
};
compoundBuilder.Add(legShapeIndex, legPose0, legInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(legShapeIndex, legPose1, legInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(legShapeIndex, legPose2, legInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(legShapeIndex, legPose3, legInverseInertia.InverseInertiaTensor, 1);
var tableTopPose = new RigidPose {
Position = new Vector3(0, 0.6f, 0), Orientation = Quaternion.Identity
};
var tableTopShape = new Box(3.2f, 0.2f, 3.2f);
compoundBuilder.Add(tableTopShape, tableTopPose, 3);
compoundBuilder.BuildDynamicCompound(out var tableChildren, out var tableInertia, out var tableCenter);
compoundBuilder.Reset();
var table = new Compound(tableChildren);
var tableDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(table),
SpeculativeMargin = 0.1f,
},
LocalInertia = tableInertia,
Pose = new RigidPose {
Orientation = Quaternion.Identity
}
};
//Stack some tables.
{
for (int i = 0; i < 10; ++i)
{
tableDescription.Pose.Position = new Vector3(10, 3 + i * 1.4f, 10);
Simulation.Bodies.Add(tableDescription);
}
}
{
for (int k = 0; k < 5; ++k)
{
tableDescription.Pose.Position = new Vector3(64 + k * 3, 6 + k * 1.4f, 32);
Simulation.Bodies.Add(tableDescription);
}
//for (int i = 0; i < 10; ++i)
//{
// for (int j = 0; j < 20; ++j)
// {
// for (int k = 0; k < 10; ++k)
// {
// tableDescription.Pose.Position = new Vector3(32 + i * 6, 6 + j * 1.4f, 16 + k * 6);
// Simulation.Bodies.Add(tableDescription);
// }
// }
//}
}
//Put a table on top of a sphere to stress out nonconvex reduction for divergent normals.
{
tableDescription.Pose.Position = new Vector3(10, 6, 0);
Simulation.Bodies.Add(tableDescription);
var sphereShape = new Sphere(3);
var sphereIndex = Simulation.Shapes.Add(sphereShape);
var sphereDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Shape = sphereIndex,
SpeculativeMargin = 0.1f,
},
Pose = new RigidPose {
Position = new Vector3(10, 2, 0), Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(sphereDescription);
}
//Put another table on the ground, but with a clamp-ish thing on it that generates opposing normals.
{
tableDescription.Pose.Position = new Vector3(10, 3, -10);
Simulation.Bodies.Add(tableDescription);
var clampPieceShape = new Box(2f, 0.1f, 0.3f);
clampPieceShape.ComputeInertia(1f, out var clampPieceInverseInertia);
var clampPieceShapeIndex = Simulation.Shapes.Add(clampPieceShape);
var clamp0 = new RigidPose {
Position = new Vector3(0, -0.2f, -1.1f), Orientation = Quaternion.Identity
};
var clamp1 = new RigidPose {
Position = new Vector3(0, 0.2f, -1.1f), Orientation = Quaternion.Identity
};
var clamp2 = new RigidPose {
Position = new Vector3(0, -0.2f, 0), Orientation = Quaternion.Identity
};
var clamp3 = new RigidPose {
Position = new Vector3(0, 0.2f, 0), Orientation = Quaternion.Identity
};
var clamp4 = new RigidPose {
Position = new Vector3(0, -0.2f, 1.1f), Orientation = Quaternion.Identity
};
var clamp5 = new RigidPose {
Position = new Vector3(0, 0.2f, 1.1f), Orientation = Quaternion.Identity
};
compoundBuilder.Add(clampPieceShapeIndex, clamp0, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp1, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp2, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp3, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp4, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.Add(clampPieceShapeIndex, clamp5, clampPieceInverseInertia.InverseInertiaTensor, 1);
compoundBuilder.BuildDynamicCompound(out var clampChildren, out var clampInertia, out var clampCenter);
compoundBuilder.Reset();
var clamp = new Compound(clampChildren);
var clampDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
SleepThreshold = 0.01f, MinimumTimestepCountUnderThreshold = 32
},
Collidable = new CollidableDescription
{
Shape = Simulation.Shapes.Add(clamp),
SpeculativeMargin = 0.1f,
},
LocalInertia = clampInertia,
Pose = new RigidPose {
Position = tableDescription.Pose.Position + new Vector3(2f, 0.3f, 0), Orientation = Quaternion.Identity
}
};
Simulation.Bodies.Add(clampDescription);
}
}
//Create a tree-accelerated big compound.
{
var random = new Random(5);
var treeCompoundBoxShape = new Box(0.5f, 1.5f, 1f);
var treeCompoundBoxShapeIndex = Simulation.Shapes.Add(treeCompoundBoxShape);
treeCompoundBoxShape.ComputeInertia(1, out var childInertia);
for (int i = 0; i < 128; ++i)
{
RigidPose localPose;
localPose.Position = new Vector3(12, 6, 12) * (0.5f * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()) - Vector3.One);
float orientationLengthSquared;
do
{
localPose.Orientation = new Quaternion((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
orientationLengthSquared = QuaternionEx.LengthSquared(ref localPose.Orientation);
}while (orientationLengthSquared < 1e-9f);
QuaternionEx.Scale(localPose.Orientation, 1f / MathF.Sqrt(orientationLengthSquared), out localPose.Orientation);
//Quaternion.CreateFromAxisAngle(new Vector3(1, 0, 0), MathF.PI, out localPose.Orientation);
compoundBuilder.Add(treeCompoundBoxShapeIndex, localPose, childInertia.InverseInertiaTensor, 1);
}
compoundBuilder.BuildDynamicCompound(out var children, out var inertia, out var center);
compoundBuilder.Reset();
var compound = new BigCompound(children, Simulation.Shapes, BufferPool);
//var compound = new Compound(children);
var compoundIndex = Simulation.Shapes.Add(compound);
for (int i = 0; i < 8; ++i)
{
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(0, 4 + 5 * i, 32), inertia, new CollidableDescription(compoundIndex, 0.1f), new BodyActivityDescription(0.01f)));
}
}
}
//Prevent stuff from falling into the infinite void.
{
var boxShape = new Box(256, 1, 256);
var groundShapeIndex = Simulation.Shapes.Add(boxShape);
var groundDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Shape = groundShapeIndex,
SpeculativeMargin = 0.1f,
},
Pose = new RigidPose {
Position = new Vector3(0, 0, 0), Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(groundDescription);
}
const int planeWidth = 48;
const int planeHeight = 48;
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
Vector2 offsetFromCenter = new Vector2(x - planeWidth / 2, y - planeHeight / 2);
return(new Vector3(offsetFromCenter.X, MathF.Cos(x / 4f) * MathF.Sin(y / 4f) - 0.01f * offsetFromCenter.LengthSquared(), offsetFromCenter.Y));
}, new Vector3(2, 1, 2), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(64, 4, 32), QuaternionEx.CreateFromAxisAngle(new Vector3(0, 1, 0), MathF.PI / 2),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
}
public unsafe override void Initialize(Camera camera)
{
camera.Position = new Vector3(-20, 10, -20);
//camera.Yaw = MathHelper.Pi ;
camera.Yaw = MathHelper.Pi * 3f / 4;
//camera.Pitch = MathHelper.PiOver2 * 0.999f;
Simulation = Simulation.Create(BufferPool, new TestCallbacks());
var shape = new Box(1f, 3f, 2f);
BodyInertia localInertia;
localInertia.InverseMass = 1f;
shape.ComputeLocalInverseInertia(localInertia.InverseMass, out localInertia.InverseInertiaTensor);
//capsuleInertia.InverseInertiaTensor = new Triangular3x3();
var shapeIndex = Simulation.Shapes.Add(ref shape);
const int width = 8;
const int height = 16;
const int length = 8;
var latticeSpacing = 1.0f;
var latticeOffset = 0;// -0.5f * width * latticeSpacing;
SimulationSetup.BuildLattice(
new RegularGridBuilder(new Vector3(1, 3, 2), new Vector3(latticeOffset, 1.5f, latticeOffset), localInertia, shapeIndex),
new ConstraintlessLatticeBuilder(),
width, height, length, Simulation, out var bodyHandles, out var constraintHandles);
Simulation.PoseIntegrator.Gravity = new Vector3(0, -10, 0);
Simulation.Deterministic = false;
//Simulation.Bodies.ActiveSet.Velocities[0].Linear = new Vector3(-2, 0, 0);
//Simulation.Solver.IterationCount = 100;
//var sphere = new Sphere(0.5f);
//var sphereShapeIndex = Simulation.Shapes.Add(ref sphere);
//BodyInertia sphereLocalInertia;
//sphereLocalInertia.InverseMass = 1;
//sphere.ComputeLocalInverseInertia(sphereLocalInertia.InverseMass, out sphereLocalInertia.InverseInertiaTensor);
//for (int j = 0; j < 16; ++j)
//{
// var bodyDescription = new BodyDescription
// {
// Pose = new RigidPose
// {
// Position = new Vector3(-16, 0.5f + j, 0),
// Orientation = BepuUtilities.Quaternion.Identity
// },
// LocalInertia = sphereLocalInertia,
// Collidable = new CollidableDescription
// {
// Continuity = new ContinuousDetectionSettings(),
// SpeculativeMargin = 0.04f,
// Shape = sphereShapeIndex
// },
// Activity = new BodyActivityDescription
// {
// SleepThreshold = -.1f,
// MinimumTimestepCountUnderThreshold = 32
// }
// };
// Simulation.Bodies.Add(ref bodyDescription);
//}
var staticShape = new Box(1, 1, 1);
var staticShapeIndex = Simulation.Shapes.Add(ref staticShape);
const int staticGridWidth = 100;
const float staticSpacing = 1.2f;
var gridOffset = -0.5f * staticGridWidth * staticSpacing;
for (int i = 0; i < staticGridWidth; ++i)
{
for (int j = 0; j < staticGridWidth; ++j)
{
var staticDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = staticShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(
1 + gridOffset + i * staticSpacing,
-0.5f,
0.5f + gridOffset + j * staticSpacing),
//Orientation = BepuUtilities.Quaternion.Identity
Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(1 + i, i * j % 10, -10 + -j)), (i ^ j) * 0.5f * (MathHelper.PiOver4))
//Orientation = BepuUtilities.Quaternion.CreateFromAxisAngle(Vector3.Normalize(new Vector3(0, 0, 1)), MathHelper.Pi)
}
};
Simulation.Statics.Add(ref staticDescription);
}
}
}
public unsafe override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(-120, 30, -120);
camera.Yaw = MathHelper.Pi * 3f / 4;
camera.Pitch = 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 DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionFirstTimestepper());
//Build a grid of shapes to be connected.
var clothNodeShape = new Sphere(0.5f);
clothNodeShape.ComputeInertia(1, out var clothNodeInertia);
var clothNodeShapeIndex = Simulation.Shapes.Add(clothNodeShape);
const int width = 128;
const int length = 128;
const float spacing = 1.75f;
BodyHandle[][] nodeHandles = new BodyHandle[width][];
for (int i = 0; i < width; ++i)
{
nodeHandles[i] = new BodyHandle[length];
for (int j = 0; j < length; ++j)
{
var location = new Vector3(0, 30, 0) + new Vector3(spacing, 0, spacing) * (new Vector3(i, 0, j) + new Vector3(-width * 0.5f, 0, -length * 0.5f));
var bodyDescription = new BodyDescription
{
Activity = new BodyActivityDescription {
MinimumTimestepCountUnderThreshold = 32, SleepThreshold = 0.01f
},
Pose = new RigidPose
{
Orientation = Quaternion.Identity,
Position = location
},
Collidable = new CollidableDescription
{
Shape = clothNodeShapeIndex,
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
SpeculativeMargin = 0.1f
},
LocalInertia = clothNodeInertia
};
nodeHandles[i][j] = Simulation.Bodies.Add(bodyDescription);
}
}
//Construct some joints between the nodes.
var left = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, 0),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, 0),
SpringSettings = new SpringSettings(10, 1)
};
var up = new BallSocket
{
LocalOffsetA = new Vector3(0, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(0, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var leftUp = new BallSocket
{
LocalOffsetA = new Vector3(-spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
var rightUp = new BallSocket
{
LocalOffsetA = new Vector3(spacing * 0.5f, 0, -spacing * 0.5f),
LocalOffsetB = new Vector3(-spacing * 0.5f, 0, spacing * 0.5f),
SpringSettings = new SpringSettings(10, 1)
};
for (int i = 0; i < width; ++i)
{
for (int j = 0; j < length; ++j)
{
if (i >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j], ref left);
}
if (j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i][j - 1], ref up);
}
if (i >= 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i - 1][j - 1], ref leftUp);
}
if (i < width - 1 && j >= 1)
{
Simulation.Solver.Add(nodeHandles[i][j], nodeHandles[i + 1][j - 1], ref rightUp);
}
}
}
var bigBallShape = new Sphere(25);
var bigBallShapeIndex = Simulation.Shapes.Add(bigBallShape);
var bigBallDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = bigBallShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(-10, -15, 0),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(bigBallDescription);
var groundShape = new Box(200, 1, 200);
var groundShapeIndex = Simulation.Shapes.Add(groundShape);
var groundDescription = new StaticDescription
{
Collidable = new CollidableDescription
{
Continuity = new ContinuousDetectionSettings {
Mode = ContinuousDetectionMode.Discrete
},
Shape = groundShapeIndex,
SpeculativeMargin = 0.1f
},
Pose = new RigidPose
{
Position = new Vector3(0, -10, 0),
Orientation = Quaternion.Identity
}
};
Simulation.Statics.Add(groundDescription);
}
