//List<DebugStep> debugSteps;
public override void Initialize(ContentArchive content, Camera camera)
{
camera.Position = new Vector3(0, -2.5f, 10);
camera.Yaw = 0;
camera.Pitch = 0;
Simulation = Simulation.Create(BufferPool, new DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(new Vector3(0, 0, 0)));
const int pointCount = 128;
points = new QuickList <Vector3>(pointCount * 2, BufferPool);
//points.Allocate(BufferPool) = new Vector3(0, 0, 0);
//points.Allocate(BufferPool) = new Vector3(0, 0, 1);
//points.Allocate(BufferPool) = new Vector3(0, 1, 0);
//points.Allocate(BufferPool) = new Vector3(0, 1, 1);
//points.Allocate(BufferPool) = new Vector3(1, 0, 0);
//points.Allocate(BufferPool) = new Vector3(1, 0, 1);
//points.Allocate(BufferPool) = new Vector3(1, 1, 0);
//points.Allocate(BufferPool) = new Vector3(1, 1, 1);
var random = new Random(5);
for (int i = 0; i < pointCount; ++i)
{
points.AllocateUnsafely() = new Vector3(3 * (float)random.NextDouble(), 1 * (float)random.NextDouble(), 3 * (float)random.NextDouble());
//points.AllocateUnsafely() = new Vector3(0, 1, 0) + Vector3.Normalize(new Vector3((float)random.NextDouble() * 2 - 1, (float)random.NextDouble() * 2 - 1, (float)random.NextDouble() * 2 - 1)) * (float)random.NextDouble();
}
var pointsBuffer = points.Span.Slice(0, points.Count);
ConvexHullHelper.CreateShape(pointsBuffer, BufferPool, out _, out var hullShape);
const int iterationCount = 100;
var start = Stopwatch.GetTimestamp();
for (int i = 0; i < iterationCount; ++i)
{
ConvexHullHelper.CreateShape(pointsBuffer, BufferPool, out _, out var perfTestShape);
perfTestShape.Dispose(BufferPool);
}
var end = Stopwatch.GetTimestamp();
Console.WriteLine($"Hull computation time (us): {(end - start) * 1e6 / (iterationCount * Stopwatch.Frequency)}");
hullShape.ComputeInertia(1, out var inertia);
Simulation.Bodies.Add(BodyDescription.CreateDynamic(new Vector3(0, 0, 0), inertia, new CollidableDescription(Simulation.Shapes.Add(hullShape), 10.1f), new BodyActivityDescription(0.01f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(-25, -5, 0), new CollidableDescription(Simulation.Shapes.Add(new Sphere(2)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(-20, -5, 0), new CollidableDescription(Simulation.Shapes.Add(new Capsule(0.5f, 2)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(-15, -5, 0), new CollidableDescription(Simulation.Shapes.Add(new Box(2f, 2f, 2f)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(-10, -5, 5), new CollidableDescription(Simulation.Shapes.Add(new Triangle {
A = new Vector3(0, 0, -10), B = new Vector3(5, 0, -10), C = new Vector3(0, 0, -5)
}), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(-5, -5, 0), new CollidableDescription(Simulation.Shapes.Add(new Cylinder(1, 1)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(-5, -5, 5), new CollidableDescription(Simulation.Shapes.Add(new Cylinder(1, 1)), 0.1f)));
Simulation.Statics.Add(new StaticDescription(new Vector3(0, -5, 0), new CollidableDescription(Simulation.Shapes.Add(hullShape), 0.1f)));
}
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 DemoNarrowPhaseCallbacks(), new DemoPoseIntegratorCallbacks(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 = 12;
const int height = 3;
const int length = 12;
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(5, 5, 5) * new Vector3(i, j, k) + new Vector3(-width * 2.5f, 2.5f, -length * 2.5f);
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
}
};
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);
}
}
}
//Don't really want to regenerate a convex hull every frame; just cache one out.
const int pointCount = 32;
var points = new QuickList <Vector3>(pointCount, BufferPool);
var random = new Random(5);
for (int i = 0; i < pointCount; ++i)
{
points.AllocateUnsafely() = new Vector3((float)random.NextDouble() - 0.5f, (float)random.NextDouble() - 0.5f, (float)random.NextDouble() - 0.5f);
}
ConvexHullHelper.CreateShape(points.Span.Slice(0, points.Count), BufferPool, out _, out hull);
points.Dispose(BufferPool);
//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);
const int planeWidth = 64;
const int planeHeight = 64;
DemoMeshHelper.CreateDeformedPlane(planeWidth, planeHeight,
(int x, int y) =>
{
return(new Vector3(x, 1 * (float)Math.Cos(x / 4f) * (float)Math.Sin(y / 4f), y));
}, new Vector3(2, 3, 2), BufferPool, out var planeMesh);
Simulation.Statics.Add(new StaticDescription(new Vector3(-64, -10, -64), new CollidableDescription(Simulation.Shapes.Add(planeMesh), 0.1f)));
}
