Merge pull request #116 from VaclavElias/main

refactor: Bepu references corrected and other updates

Stride.CommunityToolkit.sln

@@ -52,8 +52,6 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Example.Common", "examples\
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.CommunityToolkit.Skyboxes", "src\Stride.CommunityToolkit.Skyboxes\Stride.CommunityToolkit.Skyboxes.csproj", "{423A1266-4A6D-425F-96CE-945A1802F711}"
 EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics._2D", "src\Stride.BepuPhysics._2D\Stride.BepuPhysics._2D.csproj", "{EAD3CB11-EE8E-4C66-9A7B-CE0EC230CC25}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -135,10 +133,6 @@ Global
 		{423A1266-4A6D-425F-96CE-945A1802F711}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{423A1266-4A6D-425F-96CE-945A1802F711}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{423A1266-4A6D-425F-96CE-945A1802F711}.Release|Any CPU.Build.0 = Release|Any CPU
-		{EAD3CB11-EE8E-4C66-9A7B-CE0EC230CC25}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{EAD3CB11-EE8E-4C66-9A7B-CE0EC230CC25}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{EAD3CB11-EE8E-4C66-9A7B-CE0EC230CC25}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{EAD3CB11-EE8E-4C66-9A7B-CE0EC230CC25}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

examples/code-only/Example01_Basic3DScene/Program.cs

@@ -3,39 +3,17 @@
 using Stride.CommunityToolkit.Skyboxes;
 using Stride.Core.Mathematics;
 using Stride.Engine;
-using Stride.Games;
-using Stride.Graphics;
 
 using var game = new Game();
 
-SpriteBatch? spriteBatch = null;
-
-SpriteFont? font = null;
-
 game.Run(start: (Scene rootScene) =>
 {
     game.SetupBase3DScene();
     game.AddSkybox();
 
-    font = game.Content.Load<SpriteFont>("StrideDefaultFont");
-    spriteBatch = new SpriteBatch(game.GraphicsDevice);
-
     var entity = game.Create3DPrimitive(PrimitiveModelType.Capsule);
 
     entity.Transform.Position = new Vector3(0, 8, 0);
 
     entity.Scene = rootScene;
-}, update: Update);
-
-void Update(Scene scene, GameTime time)
-{
-
-    // don't forget the begin
-    spriteBatch.Begin(game.GraphicsContext);
-
-    // draw the text "Helloworld!" in red from the center of the screen
-    spriteBatch.DrawString(font, "Helloworld!", new Vector2(0.5f, 0.5f), Color.Red);
-
-    // don't forget the end
-    spriteBatch.End();
-}
+});

examples/code-only/Example_Bepu_Playground/Program.cs

@@ -1,6 +1,6 @@
 using Example.Common;
 using Stride.BepuPhysics;
-using Stride.BepuPhysics._2D;
+using Stride.CommunityToolkit.Bepu;
 using Stride.CommunityToolkit.Engine;
 using Stride.CommunityToolkit.Rendering.ProceduralModels;
 using Stride.CommunityToolkit.Skyboxes;

src/Stride.CommunityToolkit/Bepu/Body2DComponent.cs

@@ -0,0 +1,69 @@
+using BepuPhysics;
+using BepuPhysics.Collidables;
+using Stride.BepuPhysics;
+using Stride.Engine;
+using System.Reflection;
+
+namespace Stride.CommunityToolkit.Bepu;
+
+// ToDo Remove this class once it is implemented in Stride
+[ComponentCategory("Bepu")]
+public class Body2DComponent : BodyComponent
+{
+    Vector3 _rotationLock = new Vector3(0, 0, 0);
+
+    [DataMemberIgnore]
+    internal Vector3 RotationLock
+    {
+        get
+        {
+            return _rotationLock;
+        }
+        set
+        {
+            _rotationLock = value;
+            AccessBodyReference(value);
+            //if (BodyReference is { } bRef)
+            //{
+            //    bRef.LocalInertia.InverseInertiaTensor.XX *= value.X;
+            //    bRef.LocalInertia.InverseInertiaTensor.YX *= value.X * value.Y;
+            //    bRef.LocalInertia.InverseInertiaTensor.ZX *= value.Z * value.X;
+            //    bRef.LocalInertia.InverseInertiaTensor.YY *= value.Y;
+            //    bRef.LocalInertia.InverseInertiaTensor.ZY *= value.Z * value.Y;
+            //    bRef.LocalInertia.InverseInertiaTensor.ZZ *= value.Z;
+            //}
+        }
+    }
+
+    protected override void AttachInner(RigidPose containerPose, BodyInertia shapeInertia, TypedIndex shapeIndex)
+    {
+        base.AttachInner(containerPose, shapeInertia, shapeIndex);
+#warning what about a body that become kinematic after some time ?
+        if (!Kinematic)
+            RotationLock = new Vector3(0, 0, 1);
+    }
+
+    public void AccessBodyReference(Vector3 value)
+    {
+        // Get the type of the BodyComponent to access its members
+        var bodyComponentType = typeof(BodyComponent);
+
+        var bodyReferenceProperty = bodyComponentType.GetProperty("BodyReference", BindingFlags.NonPublic | BindingFlags.Instance);
+
+        if (bodyReferenceProperty != null)
+        {
+            // Get the value of 'BodyReference' property for 'this' instance
+            var bodyReferenceValue = bodyReferenceProperty.GetValue(this);
+
+            if (bodyReferenceValue is BodyReference bRef)
+            {
+                bRef.LocalInertia.InverseInertiaTensor.XX *= value.X;
+                bRef.LocalInertia.InverseInertiaTensor.YX *= value.X * value.Y;
+                bRef.LocalInertia.InverseInertiaTensor.ZX *= value.Z * value.X;
+                bRef.LocalInertia.InverseInertiaTensor.YY *= value.Y;
+                bRef.LocalInertia.InverseInertiaTensor.ZY *= value.Z * value.Y;
+                bRef.LocalInertia.InverseInertiaTensor.ZZ *= value.Z;
+            }
+        }
+    }
+}

src/Stride.CommunityToolkit/Bepu/Simulation2DComponent.cs

@@ -0,0 +1,52 @@
+using Stride.BepuPhysics;
+using Stride.BepuPhysics.Components;
+using Stride.Engine;
+
+namespace Stride.CommunityToolkit.Bepu;
+
+// ToDo Remove this class once it is implemented in Stride
+[ComponentCategory("Bepu")]
+public class Simulation2DComponent : SimulationUpdateComponent
+{
+    //public float MaxZLiberty { get; set; } = 0.05f;
+
+    public override void SimulationUpdate(float simTimeStep)
+    {
+
+    }
+
+    public override void AfterSimulationUpdate(float simTimeStep)
+    {
+        if (BepuSimulation == null)
+            return;
+
+        for (int i = 0; i < BepuSimulation.Simulation.Bodies.ActiveSet.Count; i++)
+        {
+            var handle = BepuSimulation.Simulation.Bodies.ActiveSet.IndexToHandle[i];
+            var body = BepuSimulation.GetContainer(handle);
+
+            if (body is not Body2DComponent)
+                continue;
+
+            //if (body.Position.Z > MaxZLiberty || body.Position.Z < -MaxZLiberty)
+            if (body.Position.Z != 0)
+                body.Position *= new Vector3(1, 1, 0);//Fix Z = 0
+            //if (body.LinearVelocity.Z > MaxZLiberty || body.LinearVelocity.Z < -MaxZLiberty)
+            if (body.LinearVelocity.Z != 0)
+                body.LinearVelocity *= new Vector3(1, 1, 0);
+
+            var bodyRot = body.Orientation;
+            Quaternion.RotationYawPitchRoll(ref bodyRot, out var yaw, out var pitch, out var roll);
+            //if (yaw > MaxZLiberty || pitch > MaxZLiberty || yaw < -MaxZLiberty || pitch < -MaxZLiberty)
+            if (yaw != 0 || pitch != 0)
+                body.Orientation = Quaternion.RotationYawPitchRoll(0, 0, roll);
+            //if (body.AngularVelocity.X > MaxZLiberty || body.AngularVelocity.Y > MaxZLiberty || body.AngularVelocity.X < -MaxZLiberty || body.AngularVelocity.Y < -MaxZLiberty)
+            if (body.AngularVelocity.X != 0 || body.AngularVelocity.Y != 0)
+                body.AngularVelocity *= new Vector3(0, 0, 1);
+        }
+    }
+
+    public override void Update()
+    {
+    }
+}

src/Stride.CommunityToolkit/Engine/GameExtensions.cs

@@ -620,7 +620,7 @@ public static Entity Create3DPrimitive(this IGame game, PrimitiveModelType type,
 
         if (!options.IncludeCollider || options.PhysicsComponent is null) return entity;
 
-        var colliderShape = Get3DColliderShape(type, options.Size, options.Is2D);
+        var colliderShape = Get3DColliderShape(type, options.Size);
 
         if (colliderShape is null) return entity;
 
@@ -829,21 +829,22 @@ public static void SetMaxFPS(this IGame game, int targetFPS)
             Primitive2DModelType.Rectangle => size is null ? new BoxColliderShapeDesc() { Is2D = true } : new() { Size = new(size.Value.X, size.Value.Y, 0), Is2D = true },
             Primitive2DModelType.Square => size is null ? new BoxColliderShapeDesc() { Is2D = true } : new() { Size = new(size.Value.X, size.Value.Y, 0), Is2D = true },
             Primitive2DModelType.Circle => size is null ? new SphereColliderShapeDesc() : new() { Radius = size.Value.X, Is2D = true },
+            Primitive2DModelType.Capsule => size is null ? new CapsuleColliderShapeDesc() : new() { Radius = size.Value.X, Is2D = true },
             _ => throw new InvalidOperationException(),
         };
 
-    private static IInlineColliderShapeDesc? Get3DColliderShape(PrimitiveModelType type, Vector3? size = null, bool is2D = false)
+    private static IInlineColliderShapeDesc? Get3DColliderShape(PrimitiveModelType type, Vector3? size = null)
         => type switch
         {
             PrimitiveModelType.Plane => size is null ? new BoxColliderShapeDesc() : new() { Size = new Vector3(size.Value.X, 0, size.Value.Y) },
             PrimitiveModelType.InfinitePlane => new StaticPlaneColliderShapeDesc(),
-            PrimitiveModelType.Sphere => size is null ? new SphereColliderShapeDesc() : new() { Radius = size.Value.X, Is2D = is2D },
-            PrimitiveModelType.Cube => size is null ? new BoxColliderShapeDesc() : new() { Size = size ?? Vector3.One, Is2D = is2D },
+            PrimitiveModelType.Sphere => size is null ? new SphereColliderShapeDesc() : new() { Radius = size.Value.X },
+            PrimitiveModelType.Cube => size is null ? new BoxColliderShapeDesc() : new() { Size = size ?? Vector3.One },
             PrimitiveModelType.Cylinder => size is null ? new CylinderColliderShapeDesc() : new() { Radius = size.Value.X, Height = size.Value.Y },
             PrimitiveModelType.Torus => null,
             PrimitiveModelType.Teapot => null,
             PrimitiveModelType.Cone => size is null ? new ConeColliderShapeDesc() : new() { Radius = size.Value.X, Height = size.Value.Y },
-            PrimitiveModelType.Capsule => size is null ? new CapsuleColliderShapeDesc() { Radius = 0.35f } : new() { Radius = size.Value.X, Length = size.Value.Y, Is2D = is2D },
+            PrimitiveModelType.Capsule => size is null ? new CapsuleColliderShapeDesc() { Radius = 0.35f } : new() { Radius = size.Value.X, Length = size.Value.Y },
             _ => throw new InvalidOperationException(),
         };
 }

src/Stride.CommunityToolkit/Engine/Primitive2DCreationOptions.cs

@@ -1,40 +1,19 @@
-using Stride.Engine;
+using Stride.Engine;
 using Stride.Physics;
-using Stride.Rendering;
 
 namespace Stride.CommunityToolkit.Engine;
 
-public class Primitive2DCreationOptions
+public class Primitive2DCreationOptions : PrimitiveCreationOptions
 {
-    /// <summary>
-    /// Gets or sets the name of the entity.
-    /// </summary>
-    public string? EntityName { get; set; }
-
-    /// <summary>
-    /// Gets or sets the material to be applied to the primitive model.
-    /// </summary>
-    public Material? Material { get; set; }
-
-    /// <summary>
-    /// Determines whether to include a collider component in the entity. Defaults to true.
-    /// </summary>
-    public bool IncludeCollider { get; set; } = true;
-
     /// <summary>
     /// Gets or sets the size of the primitive model. If null, default dimensions are used.
     /// </summary>
     public Vector2? Size { get; set; }
 
-    /// <summary>
-    /// Gets or sets the render group for the entity. Defaults to RenderGroup.Group0.
-    /// </summary>
-    public RenderGroup RenderGroup { get; set; } = RenderGroup.Group0;
+    public float Depth { get; set; } = 0.04f;
 
     /// <summary>
     /// Gets or sets the physics component to be added to the entity. Defaults to a new instance of RigidbodyComponent.
     /// </summary>
     public PhysicsComponent? PhysicsComponent { get; set; } = new RigidbodyComponent();
-
-    public float Depth { get; set; } = 0.04f;
 }

src/Stride.CommunityToolkit/Engine/Primitive2DCreationOptionsWithBepu.cs

@@ -0,0 +1,20 @@
+using Stride.BepuPhysics;
+using Stride.BepuPhysics.Definitions.Colliders;
+using Stride.CommunityToolkit.Bepu;
+
+namespace Stride.CommunityToolkit.Engine;
+
+public class Primitive2DCreationOptionsWithBepu : PrimitiveCreationOptions
+{
+    /// <summary>
+    /// Gets or sets the size of the primitive model. If null, default dimensions are used.
+    /// </summary>
+    public Vector2? Size { get; set; }
+
+    public float Depth { get; set; } = 1;
+
+    /// <summary>
+    /// Gets or sets the physics component to be added to the entity.
+    /// </summary>
+    public ContainerComponent Component { get; set; } = new Body2DComponent() { Collider = new CompoundCollider() };
+}