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)), new PositionFirstTimestepper());
DemoMeshHelper.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 override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 5, 10);
camera.Yaw = 0;
camera.Pitch = 0;
bodyProperties = new CollidableProperty <TankDemoBodyProperties>();
//We assign velocities outside of the timestep to fire bullets, so using the PositionLastTimestepper avoids integrating those velocities into positions before the solver has a chance to intervene.
//We could have also modified velocities in the PositionFirstTimestepper's BeforeCollisionDetection callback, but it's just a little simpler to do this with very little cost.
Simulation = Simulation.Create(BufferPool, new TankCallbacks()
{
Properties = bodyProperties
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)), new PositionLastTimestepper());
var builder = new CompoundBuilder(BufferPool, Simulation.Shapes, 2);
builder.Add(new Box(1.85f, 0.7f, 4.73f), RigidPose.Identity, 10);
builder.Add(new Box(1.85f, 0.6f, 2.5f), new RigidPose(new Vector3(0, 0.65f, -0.35f)), 0.5f);
builder.BuildDynamicCompound(out var children, out var bodyInertia, out _);
builder.Dispose();
var bodyShape = new Compound(children);
var bodyShapeIndex = Simulation.Shapes.Add(bodyShape);
var wheelShape = new Cylinder(0.4f, .18f);
wheelShape.ComputeInertia(0.25f, out var wheelInertia);
var wheelShapeIndex = Simulation.Shapes.Add(wheelShape);
var projectileShape = new Sphere(0.1f);
projectileShape.ComputeInertia(0.2f, out var projectileInertia);
var tankDescription = new TankDescription
{
Body = TankPartDescription.Create(10, new Box(4f, 1, 5), RigidPose.Identity, 0.5f, Simulation.Shapes),
Turret = TankPartDescription.Create(1, new Box(1.5f, 0.7f, 2f), new RigidPose(new Vector3(0, 0.85f, 0.4f)), 0.5f, Simulation.Shapes),
Barrel = TankPartDescription.Create(0.5f, new Box(0.2f, 0.2f, 3f), new RigidPose(new Vector3(0, 0.85f, 0.4f - 1f - 1.5f)), 0.5f, Simulation.Shapes),
TurretAnchor = new Vector3(0f, 0.5f, 0.4f),
BarrelAnchor = new Vector3(0, 0.5f + 0.35f, 0.4f - 1f),
TurretBasis = Quaternion.Identity,
TurretServo = new ServoSettings(1f, 0f, 40f),
TurretSpring = new SpringSettings(10f, 1f),
BarrelServo = new ServoSettings(1f, 0f, 40f),
BarrelSpring = new SpringSettings(10f, 1f),
ProjectileShape = Simulation.Shapes.Add(projectileShape),
ProjectileSpeed = 100f,
BarrelLocalProjectileSpawn = new Vector3(0, 0, -1.5f),
ProjectileInertia = projectileInertia,
LeftTreadOffset = new Vector3(-1.9f, 0f, 0),
RightTreadOffset = new Vector3(1.9f, 0f, 0),
SuspensionLength = 1f,
SuspensionSettings = new SpringSettings(2.5f, 1.5f),
WheelShape = wheelShapeIndex,
WheelInertia = wheelInertia,
WheelFriction = 2f,
TreadSpacing = 1f,
WheelCountPerTread = 5,
WheelOrientation = QuaternionEx.CreateFromAxisAngle(Vector3.UnitZ, MathF.PI * -0.5f),
};
playerController = new TankController(Tank.Create(Simulation, bodyProperties, BufferPool, new RigidPose(new Vector3(0, 10, 0), Quaternion.Identity), tankDescription), 20, 5, 2, 1, 3.5f);
const int planeWidth = 257;
const float terrainScale = 3;
const float inverseTerrainScale = 1f / terrainScale;
var terrainPosition = new Vector2(1 - planeWidth, 1 - planeWidth) * terrainScale * 0.5f;
random = new Random(5);
//Add some building-ish landmarks.
var landmarkMin = new Vector3(planeWidth * terrainScale * -0.45f, 0, planeWidth * terrainScale * -0.45f);
var landmarkMax = new Vector3(planeWidth * terrainScale * 0.45f, 0, planeWidth * terrainScale * 0.45f);
var landmarkSpan = landmarkMax - landmarkMin;
for (int j = 0; j < 25; ++j)
{
var buildingShape = new Box(10 + (float)random.NextDouble() * 10, 20 + (float)random.NextDouble() * 20, 10 + (float)random.NextDouble() * 10);
var position = landmarkMin + landmarkSpan * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
Simulation.Statics.Add(new StaticDescription(
new Vector3(0, buildingShape.HalfHeight - 4f + GetHeightForPosition(position.X, position.Z, planeWidth, inverseTerrainScale, terrainPosition), 0) + position,
QuaternionEx.CreateFromAxisAngle(Vector3.UnitY, (float)random.NextDouble() * MathF.PI),
new CollidableDescription(Simulation.Shapes.Add(buildingShape), 0.1f)));
}
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeWidth,
(int vX, int vY) =>
{
var position2D = new Vector2(vX, vY) * terrainScale + terrainPosition;
return(new Vector3(position2D.X, GetHeightForPosition(position2D.X, position2D.Y, planeWidth, inverseTerrainScale, terrainPosition), position2D.Y));
}, new Vector3(1, 1, 1), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, 0, 0),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
explosions = new QuickList <Explosion>(32, BufferPool);
//Create the AI tanks.
const int aiTankCount = 100;
aiTanks = new QuickList <AITank>(aiTankCount, BufferPool);
playAreaMin = new Vector2(landmarkMin.X, landmarkMin.Z);
playAreaMax = new Vector2(landmarkMax.X, landmarkMax.Z);
var playAreaSpan = playAreaMax - playAreaMin;
for (int i = 0; i < aiTankCount; ++i)
{
var horizontalPosition = playAreaMin + new Vector2((float)random.NextDouble(), (float)random.NextDouble()) * playAreaSpan;
aiTanks.AllocateUnsafely() = new AITank
{
Controller = new TankController(
Tank.Create(Simulation, bodyProperties, BufferPool, new RigidPose(
new Vector3(horizontalPosition.X, 10, horizontalPosition.Y),
QuaternionEx.CreateFromAxisAngle(new Vector3(0, 1, 0), (float)random.NextDouble() * 0.1f)),
tankDescription), 20, 5, 2, 1, 3.5f),
HitPoints = 5
};
}
}
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, 5, 10);
camera.Yaw = 0;
camera.Pitch = 0;
var properties = new BodyProperty <CarBodyProperties>();
Simulation = Simulation.Create(BufferPool, new CarCallbacks()
{
Properties = properties
}, new DemoPoseIntegratorCallbacks(new Vector3(0, -10, 0)));
var builder = new CompoundBuilder(BufferPool, Simulation.Shapes, 2);
builder.Add(new Box(1.85f, 0.7f, 4.73f), RigidPose.Identity, 10);
builder.Add(new Box(1.85f, 0.6f, 2.5f), new RigidPose(new Vector3(0, 0.65f, -0.35f)), 0.5f);
builder.BuildDynamicCompound(out var children, out var bodyInertia, out _);
builder.Dispose();
var bodyShape = new Compound(children);
var bodyShapeIndex = Simulation.Shapes.Add(bodyShape);
var wheelShape = new Cylinder(0.4f, .18f);
wheelShape.ComputeInertia(0.25f, out var wheelInertia);
var wheelShapeIndex = Simulation.Shapes.Add(wheelShape);
const float x = 0.9f;
const float y = -0.1f;
const float frontZ = 1.7f;
const float backZ = -1.7f;
playerController = new SimpleCarController(SimpleCar.Create(Simulation, properties, new RigidPose(new Vector3(0, 10, 0), Quaternion.Identity), bodyShapeIndex, bodyInertia, 0.5f, wheelShapeIndex, wheelInertia, 2f,
new Vector3(-x, y, frontZ), new Vector3(x, y, frontZ), new Vector3(-x, y, backZ), new Vector3(x, y, backZ), new Vector3(0, -1, 0), 0.25f,
new SpringSettings(5f, 0.7f), Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathF.PI * 0.5f)),
forwardSpeed: 75, forwardForce: 6, zoomMultiplier: 2, backwardSpeed: 30, backwardForce: 4, idleForce: 0.25f, brakeForce: 7, steeringSpeed: 1.5f, maximumSteeringAngle: MathF.PI * 0.23f);
//Create a bunch of AI cars to race against.
const int aiCount = 384;
BufferPool.Take(aiCount, out aiControllers);
const int planeWidth = 257;
const float scale = 3;
Vector2 terrainPosition = new Vector2(1 - planeWidth, 1 - planeWidth) * scale * 0.5f;
raceTrack = new RaceTrack {
QuadrantRadius = (planeWidth - 32) * scale * 0.25f, Center = default
};
var random = new Random(5);
//Add some building-ish landmarks in the middle of each of the four racetrack quadrants.
for (int i = 0; i < 4; ++i)
{
var landmarkCenter = new Vector3((i & 1) * raceTrack.QuadrantRadius * 2 - raceTrack.QuadrantRadius, -20, (i & 2) * raceTrack.QuadrantRadius - raceTrack.QuadrantRadius);
var landmarkMin = landmarkCenter - new Vector3(raceTrack.QuadrantRadius * 0.5f, 0, raceTrack.QuadrantRadius * 0.5f);
var landmarkSpan = new Vector3(raceTrack.QuadrantRadius, 0, raceTrack.QuadrantRadius);
for (int j = 0; j < 25; ++j)
{
var buildingShape = new Box(10 + (float)random.NextDouble() * 10, 20 + (float)random.NextDouble() * 20, 10 + (float)random.NextDouble() * 10);
Simulation.Statics.Add(new StaticDescription(
new Vector3(0, buildingShape.HalfHeight, 0) + landmarkMin + landmarkSpan * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble()),
Quaternion.CreateFromAxisAngle(Vector3.UnitY, (float)random.NextDouble() * MathF.PI),
new CollidableDescription(Simulation.Shapes.Add(buildingShape), 0.1f)));
}
}
Vector3 min = new Vector3(-planeWidth * scale * 0.45f, 10, -planeWidth * scale * 0.45f);
Vector3 span = new Vector3(planeWidth * scale * 0.9f, 15, planeWidth * scale * 0.9f);
for (int i = 0; i < aiCount; ++i)
{
//The AI cars are very similar, except... we handicap them a little to make the player good about themselves.
var position = min + span * new Vector3((float)random.NextDouble(), (float)random.NextDouble(), (float)random.NextDouble());
var orientation = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), (float)random.NextDouble() * MathF.PI * 2);
aiControllers[i].Controller = new SimpleCarController(SimpleCar.Create(Simulation, properties, new RigidPose(position, orientation), bodyShapeIndex, bodyInertia, 0.5f, wheelShapeIndex, wheelInertia, 2f,
new Vector3(-x, y, frontZ), new Vector3(x, y, frontZ), new Vector3(-x, y, backZ), new Vector3(x, y, backZ), new Vector3(0, -1, 0), 0.25f,
new SpringSettings(5, 0.7f), Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathF.PI * 0.5f)),
forwardSpeed: 50, forwardForce: 5, zoomMultiplier: 2, backwardSpeed: 10, backwardForce: 4, idleForce: 0.25f, brakeForce: 7, steeringSpeed: 1.5f, maximumSteeringAngle: MathF.PI * 0.23f);
aiControllers[i].LaneOffset = (float)random.NextDouble() * 20 - 10;
}
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeWidth,
(int vX, int vY) =>
{
var octave0 = (MathF.Sin((vX + 5f) * 0.05f) + MathF.Sin((vY + 11) * 0.05f)) * 1.8f;
var octave1 = (MathF.Sin((vX + 17) * 0.15f) + MathF.Sin((vY + 19) * 0.15f)) * 0.9f;
var octave2 = (MathF.Sin((vX + 37) * 0.35f) + MathF.Sin((vY + 93) * 0.35f)) * 0.4f;
var octave3 = (MathF.Sin((vX + 53) * 0.65f) + MathF.Sin((vY + 47) * 0.65f)) * 0.2f;
var octave4 = (MathF.Sin((vX + 67) * 1.50f) + MathF.Sin((vY + 13) * 1.5f)) * 0.125f;
var distanceToEdge = planeWidth / 2 - Math.Max(Math.Abs(vX - planeWidth / 2), Math.Abs(vY - planeWidth / 2));
var edgeRamp = 25f / (distanceToEdge + 1);
var terrainHeight = octave0 + octave1 + octave2 + octave3 + octave4;
var vertexPosition = new Vector2(vX * scale, vY * scale) + terrainPosition;
var distanceToTrack = raceTrack.GetDistance(vertexPosition);
var trackWeight = MathF.Min(1f, 3f / (distanceToTrack * 0.1f + 1f));
var height = trackWeight * -10f + terrainHeight * (1 - trackWeight);
return(new Vector3(vertexPosition.X, height + edgeRamp, vertexPosition.Y));
}, new Vector3(1, 1, 1), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -15, 0), Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), MathF.PI / 2),
new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
}