You will need visual studio with XNA installed
link to the dynamic code library "physics engine.dll"
once you have done this you can import the physics engine
To create a new environment
PhysicsEngine.Environment world = new PhysicsEngine.Environment();
Loading the hull
System.IO.StreamReader streamReader = new System.IO.StreamReader("..//..//..//Content//Hulls//box.hull");
ConvexSegment segment = CommonFunctions.LoadConvexHull(streamReader);
Matrix rotation = Matrix.CreateFromYawPitchRoll(0, 0, 0);
ConvexHull hull = new ConvexHull(segment, Vector3.Zero, rotation);
ConvexHull[] hulls = new ConvexHull[] { hull };
wholeHull = new Hull(hulls);
Creating new world entities
firstBox = new DefaultEntity (Vector3.Zero, Vector3.Up, 1.0f, 2.0f, wholeHull, new ElasticCollision(1), parameters, 0 );
Vector3 orientation = Vector3.One;
orientation.Normalize();
secondBox = new DefaultEntity (new Vector3(0.5f, 2, 0), orientation, 1.0f, 2.0f, wholeHull, new ElasticCollision(1), parameters, 0);
Adding the entities to the environment
world.Add(firstBox); world.Add(secondBox);
Update the physics engine (nothing will move if this is not called while the game runs)
world.Update((float)gameTime.ElapsedGameTime.TotalSeconds);
The full code is below
using System;
using System.Collections.Generic;
using System.Linq;
using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Audio;
using Microsoft.Xna.Framework.Content;
using Microsoft.Xna.Framework.GamerServices;
using Microsoft.Xna.Framework.Graphics;
using Microsoft.Xna.Framework.Input;
using Microsoft.Xna.Framework.Media;
using Microsoft.Xna.Framework.Net;
using Microsoft.Xna.Framework.Storage;
using PhysicsEngine;
namespace WindowsGame1
{
/// <summary>
/// This is the main type for your game
/// </summary>
public class Game1 : Microsoft.Xna.Framework.Game
{
Camera camera;
GraphicsDeviceManager graphics;
SpriteBatch spriteBatch;
PhysicsEngine.Environment world = new PhysicsEngine.Environment();
Model boxModel;
Hull wholeHull;
PhysicsEngine.DefaultEntity firstBox;
PhysicsEngine.DefaultEntity secondBox;
PhysicsParameters parameters = new PhysicsParameters();
public Game1()
{
graphics = new GraphicsDeviceManager(this);
Content.RootDirectory = "Content";
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
this.camera = new Camera
(
new Vector3(1, 1, 20),
new Vector3(0, 1, 0),
Vector3.Up,
MathHelper.PiOver4,
(float)graphics.GraphicsDevice.Viewport.Width / (float)graphics.GraphicsDevice.Viewport.Height,
1f,
1000
);
parameters.Gravity = Vector3.Zero;
parameters.WindSpeed = Vector3.Zero;
base.Initialize();
}
/// <summary>
/// LoadContent will be called once per game and is the place to load
/// all of your content.
/// </summary>
protected override void LoadContent()
{
// Create a new SpriteBatch, which can be used to draw textures.
spriteBatch = new SpriteBatch(GraphicsDevice);
boxModel = Content.Load<Model>("Models\\box");
System.IO.StreamReader streamReader = new System.IO.StreamReader("..//..//..//Content//Hulls//box.hull");
ConvexSegment segment = CommonFunctions.LoadConvexHull(streamReader);
Matrix rotation = Matrix.CreateFromYawPitchRoll(0, 0, 0);
ConvexHull hull = new ConvexHull(segment, Vector3.Zero, rotation);
ConvexHull[] hulls = new ConvexHull[] { hull };
wholeHull = new Hull(hulls);
firstBox = new DefaultEntity
(
Vector3.Zero,
Vector3.Up,
1.0f,
2.0f,
wholeHull,
new ElasticCollision(1),
parameters,
0
);
Vector3 orientation = Vector3.One;
orientation.Normalize();
secondBox = new DefaultEntity
(
new Vector3(0.5f, 2, 0),
orientation,
1.0f,
2.0f,
wholeHull,
new ElasticCollision(1),
parameters,
0
);
world.Add(firstBox);
world.Add(secondBox);
}
/// <summary>
/// UnloadContent will be called once per game and is the place to unload
/// all content.
/// </summary>
protected override void UnloadContent()
{
// TODO: Unload any non ContentManager content here
}
/// <summary>
/// Allows the game to run logic such as updating the world,
/// checking for collisions, gathering input, and playing audio.
/// </summary>
/// <param name="gameTime">Provides a snapshot of timing values.</param>
protected override void Update(GameTime gameTime)
{
if (Keyboard.GetState().IsKeyDown(Keys.Escape))
this.Exit();
if (Keyboard.GetState().IsKeyDown(Keys.Enter))
{
Vector3 v = (secondBox.Position - firstBox.Position);
v.Normalize();
firstBox.Velocity = 2 * v;
}
if (Keyboard.GetState().IsKeyDown(Keys.PageUp))
{
Vector3 shift = camera.cameraUpVector;
camera.cameraPosition += shift;
camera.cameraTarget += shift;
}
if (Keyboard.GetState().IsKeyDown(Keys.PageDown))
{
Vector3 shift = -1 * camera.cameraUpVector;
camera.cameraPosition += shift;
camera.cameraTarget += shift;
}
if (Keyboard.GetState().IsKeyDown(Keys.D))
{
Vector3 to = camera.cameraTarget - camera.cameraPosition;
to.Normalize();
Vector3 shift = Vector3.Cross(to, camera.cameraUpVector);
camera.cameraPosition += shift;
camera.cameraTarget += shift;
}
if (Keyboard.GetState().IsKeyDown(Keys.A))
{
Vector3 to = camera.cameraTarget - camera.cameraPosition;
to.Normalize();
Vector3 shift = Vector3.Cross(camera.cameraUpVector, to);
camera.cameraPosition += shift;
camera.cameraTarget += shift;
}
//boom
if (Keyboard.GetState().IsKeyDown(Keys.W))
{
Vector3 shift = camera.cameraTarget - camera.cameraPosition;
shift.Normalize();
camera.cameraPosition += shift;
camera.cameraTarget += shift;
}
if (Keyboard.GetState().IsKeyDown(Keys.S))
{
Vector3 shift = camera.cameraPosition - camera.cameraTarget;
shift.Normalize();
camera.cameraPosition += shift;
camera.cameraTarget += shift;
}
//Rotate
if (Keyboard.GetState().IsKeyDown(Keys.Left))
{
Vector3 toVector = camera.cameraTarget - camera.cameraPosition;
Matrix rotate = Matrix.CreateFromAxisAngle(camera.cameraUpVector, 3.141592653589f / 500);
Quaternion q = Quaternion.CreateFromRotationMatrix(rotate);
Vector3 newTo = Vector3.Transform(toVector, q);
camera.cameraTarget = camera.cameraPosition + newTo;
}
if (Keyboard.GetState().IsKeyDown(Keys.Right))
{
Vector3 toVector = camera.cameraTarget - camera.cameraPosition;
Matrix rotate = Matrix.CreateFromAxisAngle(camera.cameraUpVector * -1, 3.141592653589f / 500);
Quaternion q = Quaternion.CreateFromRotationMatrix(rotate);
Vector3 newTo = Vector3.Transform(toVector, q);
camera.cameraTarget = camera.cameraPosition + newTo;
}
//Roll
if (Keyboard.GetState().IsKeyDown(Keys.RightShift))
{
Vector3 toVector = camera.cameraTarget - camera.cameraPosition;
Matrix rotate = Matrix.CreateFromAxisAngle(toVector, 3.141592653589f / 10000);
Quaternion q = Quaternion.CreateFromRotationMatrix(rotate);
Vector3 newUp = Vector3.Transform(camera.cameraUpVector, q);
camera.cameraUpVector = newUp;
}
if (Keyboard.GetState().IsKeyDown(Keys.LeftShift))
{
Vector3 toVector = camera.cameraTarget - camera.cameraPosition;
Matrix rotate = Matrix.CreateFromAxisAngle(toVector * -1, 3.141592653589f / 10000);
Quaternion q = Quaternion.CreateFromRotationMatrix(rotate);
Vector3 newUp = Vector3.Transform(camera.cameraUpVector, q);
camera.cameraUpVector = newUp;
}
//pitch
if (Keyboard.GetState().IsKeyDown(Keys.Up))
{
Vector3 toVector = camera.cameraTarget - camera.cameraPosition;
Vector3 right = Vector3.Cross(toVector, camera.cameraUpVector);
right.Normalize();
Matrix rotate = Matrix.CreateFromAxisAngle(right, 3.141592653589f / 500);
Quaternion q = Quaternion.CreateFromRotationMatrix(rotate);
Vector3 newUp = Vector3.Transform(camera.cameraUpVector, q);
Vector3 newTo = Vector3.Transform(toVector, q);
camera.cameraUpVector = newUp;
camera.cameraTarget = camera.cameraPosition + newTo;
}
//pitch
if (Keyboard.GetState().IsKeyDown(Keys.Down))
{
Vector3 toVector = camera.cameraTarget - camera.cameraPosition;
Vector3 left = Vector3.Cross(camera.cameraUpVector, toVector);
left.Normalize();
Matrix rotate = Matrix.CreateFromAxisAngle(left, 3.141592653589f / 500);
Quaternion q = Quaternion.CreateFromRotationMatrix(rotate);
Vector3 newUp = Vector3.Transform(camera.cameraUpVector, q);
Vector3 newTo = Vector3.Transform(toVector, q);
camera.cameraUpVector = newUp;
camera.cameraTarget = camera.cameraPosition + newTo;
}
world.Update((float)gameTime.ElapsedGameTime.TotalSeconds);
base.Update(gameTime);
}
/// <summary>
/// This is called when the game should draw itself.
/// </summary>
/// <param name="gameTime">Provides a snapshot of timing values.</param>
protected override void Draw(GameTime gameTime)
{
GraphicsDevice.Clear(Color.CornflowerBlue);
camera.Draw(firstBox, boxModel);
camera.Draw(secondBox, boxModel);
base.Draw(gameTime);
}
}
}