stride3d · VaclavElias · Oct 28, 2024 · Oct 28, 2024 · Oct 28, 2024 · Oct 28, 2024
diff --git a/Stride.CommunityToolkit.sln b/Stride.CommunityToolkit.sln
@@ -71,9 +71,11 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Example09_Renderer", "examp
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Example10_StrideUI_DragAndDrop", "examples\code-only\Example10_StrideUI_DragAndDrop\Example10_StrideUI_DragAndDrop.csproj", "{2D37B4BA-50F7-4347-8DC0-FA58C2AC2803}"
 EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.CommunityToolkit.ImGuiDebug", "src\Stride.CommunityToolkit.ImGui\Stride.CommunityToolkit.ImGuiDebug.csproj", "{4F653FF3-F4E5-496F-A603-85355771F359}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.CommunityToolkit.ImGuiDebug", "src\Stride.CommunityToolkit.ImGui\Stride.CommunityToolkit.ImGuiDebug.csproj", "{43BB82C0-78B8-4DE9-8F14-0664973CCB7B}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Example11_ImGui", "examples\code-only\Example11_ImGui\Example11_ImGui\Example11_ImGui.csproj", "{1E4489E6-128D-45B0-86E2-3F5707A389BA}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Example11_ImGui", "examples\code-only\Example11_ImGui\Example11_ImGui\Example11_ImGui.csproj", "{EE31DB88-2FE2-45ED-B80F-76F0C1CB2008}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.CommunityToolkit.Bepu", "src\Stride.CommunityToolkit.Bepu\Stride.CommunityToolkit.Bepu.csproj", "{60A78B61-DCCC-4EBC-A617-234C54DFB9D4}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -184,14 +186,18 @@ Global
 		{2D37B4BA-50F7-4347-8DC0-FA58C2AC2803}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{2D37B4BA-50F7-4347-8DC0-FA58C2AC2803}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{2D37B4BA-50F7-4347-8DC0-FA58C2AC2803}.Release|Any CPU.Build.0 = Release|Any CPU
-		{4F653FF3-F4E5-496F-A603-85355771F359}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{4F653FF3-F4E5-496F-A603-85355771F359}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{4F653FF3-F4E5-496F-A603-85355771F359}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{4F653FF3-F4E5-496F-A603-85355771F359}.Release|Any CPU.Build.0 = Release|Any CPU
-		{1E4489E6-128D-45B0-86E2-3F5707A389BA}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{1E4489E6-128D-45B0-86E2-3F5707A389BA}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{1E4489E6-128D-45B0-86E2-3F5707A389BA}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{1E4489E6-128D-45B0-86E2-3F5707A389BA}.Release|Any CPU.Build.0 = Release|Any CPU
+		{43BB82C0-78B8-4DE9-8F14-0664973CCB7B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{43BB82C0-78B8-4DE9-8F14-0664973CCB7B}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{43BB82C0-78B8-4DE9-8F14-0664973CCB7B}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{43BB82C0-78B8-4DE9-8F14-0664973CCB7B}.Release|Any CPU.Build.0 = Release|Any CPU
+		{EE31DB88-2FE2-45ED-B80F-76F0C1CB2008}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{EE31DB88-2FE2-45ED-B80F-76F0C1CB2008}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{EE31DB88-2FE2-45ED-B80F-76F0C1CB2008}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{EE31DB88-2FE2-45ED-B80F-76F0C1CB2008}.Release|Any CPU.Build.0 = Release|Any CPU
+		{60A78B61-DCCC-4EBC-A617-234C54DFB9D4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{60A78B61-DCCC-4EBC-A617-234C54DFB9D4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{60A78B61-DCCC-4EBC-A617-234C54DFB9D4}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{60A78B61-DCCC-4EBC-A617-234C54DFB9D4}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -217,7 +223,7 @@ Global
 		{DE8458AC-2F74-428E-808F-C39EA986D110} = {A9C673A6-1426-40DD-A060-B0749261DB7C}
 		{5996C17E-629C-4F58-88F9-494559EB4FBF} = {30457B66-9E10-4290-9744-D0079DE0448B}
 		{2D37B4BA-50F7-4347-8DC0-FA58C2AC2803} = {30457B66-9E10-4290-9744-D0079DE0448B}
-		{1E4489E6-128D-45B0-86E2-3F5707A389BA} = {30457B66-9E10-4290-9744-D0079DE0448B}
+		{EE31DB88-2FE2-45ED-B80F-76F0C1CB2008} = {30457B66-9E10-4290-9744-D0079DE0448B}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {C7A8C18E-C1F5-492F-8173-51EC9495B78C}

diff --git a/examples/code-only/Example_Bepu_Playground/Example_Bepu_Playground.csproj b/examples/code-only/Example_Bepu_Playground/Example_Bepu_Playground.csproj
@@ -12,6 +12,7 @@
   </ItemGroup>-->
 
     <ItemGroup>
+        <ProjectReference Include="..\..\..\src\Stride.CommunityToolkit.Bepu\Stride.CommunityToolkit.Bepu.csproj" />
         <ProjectReference Include="..\..\..\src\Stride.CommunityToolkit.Skyboxes\Stride.CommunityToolkit.Skyboxes.csproj" />
         <ProjectReference Include="..\..\..\src\Stride.CommunityToolkit.Windows\Stride.CommunityToolkit.Windows.csproj" />
         <ProjectReference Include="..\Example.Common\Example.Common.csproj" />

diff --git a/examples/code-only/Example_Bepu_Playground/Program.cs b/examples/code-only/Example_Bepu_Playground/Program.cs
@@ -1,6 +1,7 @@
 using Example.Common;
 using Stride.BepuPhysics;
 using Stride.CommunityToolkit.Bepu;
+using Stride.CommunityToolkit.Bepu.Engine;
 using Stride.CommunityToolkit.Engine;
 using Stride.CommunityToolkit.Rendering.ProceduralModels;
 using Stride.CommunityToolkit.Skyboxes;

diff --git a/....CommunityToolkit/Bepu/Body2DComponent.cs → ....CommunityToolkit.Bepu/Body2DComponent.cs b/....CommunityToolkit/Bepu/Body2DComponent.cs → ....CommunityToolkit.Bepu/Body2DComponent.cs
@@ -1,6 +1,8 @@
 using BepuPhysics;
 using BepuPhysics.Collidables;
 using Stride.BepuPhysics;
+using Stride.Core;
+using Stride.Core.Mathematics;
 using Stride.Engine;
 using System.Reflection;
 

diff --git a/src/Stride.CommunityToolkit.Bepu/Engine/BepuGameExtensions.cs b/src/Stride.CommunityToolkit.Bepu/Engine/BepuGameExtensions.cs
@@ -0,0 +1,231 @@
+using Stride.BepuPhysics.Definitions.Colliders;
+using Stride.BepuPhysics;
+using Stride.CommunityToolkit.Engine;
+using Stride.CommunityToolkit.Rendering.ProceduralModels;
+using Stride.Engine;
+using Stride.CommunityToolkit.Rendering.Compositing;
+using Stride.Games;
+using Stride.Core.Mathematics;
+
+namespace Stride.CommunityToolkit.Bepu.Engine;
+public static class BepuGameExtensions
+{
+    private const string DefaultGroundName = "Ground";
+    private const string GraphicsCompositorNotSet = "GraphicsCompositor is not set.";
+
+    private static readonly Vector2 _default3DGroundSize = new(15f);
+    private static readonly Vector3 _default2DGroundSize = new(15, 0.1f, 0);
+    private static readonly Color _defaultMaterialColor = Color.FromBgra(0xFF8C8C8C);
+    private static readonly Color _defaultGroundMaterialColor = Color.FromBgra(0xFF242424);
+
+    public static void SetupBase2DSceneWithBepu(this Game game)
+    {
+        game.AddGraphicsCompositor().AddCleanUIStage();
+        game.Add2DCamera().Add2DCameraController();
+        game.Add3DGroundWithBepu();
+    }
+
+    public static void SetupBase3DSceneWithBepu(this Game game)
+    {
+        game.AddGraphicsCompositor().AddCleanUIStage();
+        game.Add3DCamera().Add3DCameraController();
+        game.AddDirectionalLight();
+        game.Add3DGroundWithBepu();
+    }
+    public static Entity Add3DGroundWithBepu(this Game game, string? entityName = DefaultGroundName, Vector2? size = null, bool includeCollider = true)
+        => CreateGroundWithBepu(game, entityName, size, includeCollider, PrimitiveModelType.Plane);
+
+
+    private static Entity CreateGroundWithBepu(Game game, string? entityName, Vector2? size, bool includeCollider, PrimitiveModelType type)
+    {
+        var validSize = size ?? _default3DGroundSize;
+
+        var material = game.CreateMaterial(_defaultGroundMaterialColor, 0.0f, 0.1f);
+
+        var entity = game.Create3DPrimitiveWithBepu(type, new Primitive3DCreationOptionsWithBepu()
+        {
+            EntityName = entityName,
+            Material = material,
+            IncludeCollider = includeCollider,
+            Size = (Vector3)validSize,
+            Component = new StaticComponent() { Collider = new CompoundCollider() }
+        });
+
+        entity.Scene = game.SceneSystem.SceneInstance.RootScene;
+
+        return entity;
+    }
+
+    public static Entity Create2DPrimitiveWithBepu(this IGame game, Primitive2DModelType type, Primitive2DCreationOptionsWithBepu? options = null)
+    {
+        options ??= new();
+
+        var modelBase = Procedural2DModelBuilder.Build(type, options.Size, options.Depth);
+
+        var model = modelBase.Generate(game.Services);
+
+        if (options.Material != null)
+        {
+            model.Materials.Add(options.Material);
+        }
+
+        var entity = new Entity(options.EntityName);
+
+        if (type == Primitive2DModelType.Circle)
+        {
+            var childEntity = new Entity("Child") { new ModelComponent(model) { RenderGroup = options.RenderGroup } };
+            childEntity.Transform.Rotation = Quaternion.RotationAxis(Vector3.UnitX, MathUtil.DegreesToRadians(90));
+            entity.AddChild(childEntity);
+        }
+        else
+        {
+            entity.Add(new ModelComponent(model) { RenderGroup = options.RenderGroup });
+        }
+
+        if (!options.IncludeCollider) return entity;
+
+        if (type == Primitive2DModelType.Triangle)
+        {
+            // This is needed when using ConvexHullCollider
+            //var meshData = TriangularPrismProceduralModel.New(options.Size is null ? new(1, 1, options.Depth) : new(options.Size.Value.X, options.Size.Value.Y, options.Depth));
+
+            //var points = meshData.Vertices.Select(w => w.Position).ToList();
+            //var uintIndices = meshData.Indices.Select(w => (uint)w).ToList();
+            //var collider = new ConvexHullColliderShapeDesc()
+            //{
+            //    Model = model, // seems doing nothing
+            //    ConvexHulls = [],
+            //    ConvexHullsIndices = []
+            //};
+
+            //collider.ConvexHulls.Add([points]);
+            //collider.ConvexHullsIndices.Add([uintIndices]);
+
+            //List<IAssetColliderShapeDesc> descriptions = [];
+
+            //descriptions.Add(collider);
+
+            //var collider2 = new ConvexHullCollider() { Hull = new PhysicsColliderShape(descriptions) };
+
+            //var compoundCollier = options.Component.Collider as CompoundCollider;
+
+            //compoundCollier.Colliders.Add(collider2);
+
+            // Or you can use just his
+            options.Component.Collider = new MeshCollider() { Model = model, Closed = true };
+
+            entity.Add(options.Component);
+        }
+        else
+        {
+            var colliderShape = Get2DColliderShapeWithBepu(type, options.Size, options.Depth);
+
+            if (colliderShape is null) return entity;
+
+            var compoundCollier = options.Component.Collider as CompoundCollider;
+
+            compoundCollier.Colliders.Add(colliderShape);
+
+            entity.Add(options.Component);
+        }
+
+        return entity;
+    }
+
+    public static Entity Create3DPrimitiveWithBepu(this IGame game, PrimitiveModelType type, Primitive3DCreationOptionsWithBepu? options = null)
+    {
+        options ??= new();
+
+        var modelBase = Procedural3DModelBuilder.Build(type, options.Size);
+
+        var model = modelBase.Generate(game.Services);
+
+        if (options.Material != null)
+        {
+            model.Materials.Add(options.Material);
+        }
+
+        var entity = new Entity(options.EntityName) { new ModelComponent(model) { RenderGroup = options.RenderGroup } };
+
+        if (!options.IncludeCollider) return entity;
+
+        if (type == PrimitiveModelType.TriangularPrism)
+        {
+            // This is needed when using ConvexHullCollider
+            //var meshData = TriangularPrismProceduralModel.New(options.Size is null ? new(1, 1, options.Depth) : new(options.Size.Value.X, options.Size.Value.Y, options.Depth));
+
+            //var points = meshData.Vertices.Select(w => w.Position).ToList();
+            //var uintIndices = meshData.Indices.Select(w => (uint)w).ToList();
+            //var collider = new ConvexHullColliderShapeDesc()
+            //{
+            //    Model = model, // seems doing nothing
+            //    ConvexHulls = [],
+            //    ConvexHullsIndices = []
+            //};
+
+            //collider.ConvexHulls.Add([points]);
+            //collider.ConvexHullsIndices.Add([uintIndices]);
+
+            //List<IAssetColliderShapeDesc> descriptions = [];
+
+            //descriptions.Add(collider);
+
+            //var collider2 = new ConvexHullCollider() { Hull = new PhysicsColliderShape(descriptions) };
+
+            //var compoundCollier = options.Component.Collider as CompoundCollider;
+
+            //compoundCollier.Colliders.Add(collider2);
+
+            // Or you can use just his
+            options.Component.Collider = new MeshCollider() { Model = model, Closed = true };
+
+            entity.Add(options.Component);
+        }
+        else
+        {
+            var colliderShape = Get3DColliderShapeWithBepu(type, options.Size);
+
+            if (colliderShape is null) return entity;
+
+            var compoundCollier = options.Component.Collider as CompoundCollider;
+
+            compoundCollier.Colliders.Add(colliderShape);
+
+            entity.Add(options.Component);
+        }
+
+        return entity;
+    }
+
+    private static ColliderBase? Get2DColliderShapeWithBepu(Primitive2DModelType type, Vector2? size = null, float depth = 0)
+    {
+        return type switch
+        {
+            Primitive2DModelType.Rectangle => size is null ? new BoxCollider() : new() { Size = new(size.Value.X, size.Value.Y, depth) },
+            Primitive2DModelType.Square => size is null ? new BoxCollider() : new() { Size = new(size.Value.X, size.Value.Y, depth) },
+            Primitive2DModelType.Circle => size is null ? new CylinderCollider() : new()
+            {
+                Radius = size.Value.X,
+                Length = depth,
+                RotationLocal = Quaternion.RotationAxis(Vector3.UnitX, MathUtil.DegreesToRadians(90))
+            },
+            //Primitive2DModelType.Triangle => triangleCollider ?? new TriangleCollider(),
+            _ => throw new InvalidOperationException(),
+        };
+    }
+
+    private static ColliderBase? Get3DColliderShapeWithBepu(PrimitiveModelType type, Vector3? size = null)
+    => type switch
+    {
+        PrimitiveModelType.Plane => size is null ? new BoxCollider() : new() { Size = new Vector3(size.Value.X, 0, size.Value.Y) },
+        PrimitiveModelType.Cube => size is null ? new BoxCollider() : new() { Size = size ?? Vector3.One },
+        PrimitiveModelType.RectangularPrism => size is null ? new BoxCollider() : new() { Size = size ?? Vector3.One },
+        PrimitiveModelType.Cylinder => size is null ? new CylinderCollider() : new()
+        {
+            Radius = size.Value.X,
+            Length = size.Value.Z,
+            //RotationLocal = Quaternion.RotationAxis(Vector3.UnitX, MathUtil.DegreesToRadians(90))
+        },
+        _ => throw new InvalidOperationException(),
+    };
+}
diff --git a/...ine/Primitive2DCreationOptionsWithBepu.cs → ...ine/Primitive2DCreationOptionsWithBepu.cs b/...ine/Primitive2DCreationOptionsWithBepu.cs → ...ine/Primitive2DCreationOptionsWithBepu.cs
@@ -1,9 +1,9 @@
-using Stride.BepuPhysics;
 using Stride.BepuPhysics.Definitions.Colliders;
-using Stride.CommunityToolkit.Bepu;
-
-namespace Stride.CommunityToolkit.Engine;
+using Stride.BepuPhysics;
+using Stride.CommunityToolkit.Engine;
+using Stride.Core.Mathematics;
 
+namespace Stride.CommunityToolkit.Bepu.Engine;
 public class Primitive2DCreationOptionsWithBepu : PrimitiveCreationOptions
 {
     /// <summary>
@@ -17,4 +17,4 @@ public class Primitive2DCreationOptionsWithBepu : PrimitiveCreationOptions
     /// Gets or sets the physics component to be added to the entity.
     /// </summary>
     public ContainerComponent Component { get; set; } = new Body2DComponent() { Collider = new CompoundCollider() };
-}
+}
diff --git a/...ine/Primitive3DCreationOptionsWithBepu.cs → ...ine/Primitive3DCreationOptionsWithBepu.cs b/...ine/Primitive3DCreationOptionsWithBepu.cs → ...ine/Primitive3DCreationOptionsWithBepu.cs
@@ -1,8 +1,9 @@
-using Stride.BepuPhysics;
 using Stride.BepuPhysics.Definitions.Colliders;
+using Stride.BepuPhysics;
+using Stride.CommunityToolkit.Engine;
+using Stride.Core.Mathematics;
 
-namespace Stride.CommunityToolkit.Engine;
-
+namespace Stride.CommunityToolkit.Bepu.Engine;
 /// <summary>
 /// Provides options for creating a primitive entity in a 3D scene.
 /// </summary>

diff --git a/...nityToolkit/Bepu/Simulation2DComponent.cs → ...nityToolkit.Bepu/Simulation2DComponent.cs b/...nityToolkit/Bepu/Simulation2DComponent.cs → ...nityToolkit.Bepu/Simulation2DComponent.cs
@@ -1,5 +1,6 @@
 using Stride.BepuPhysics;
 using Stride.BepuPhysics.Components;
+using Stride.Core.Mathematics;
 using Stride.Engine;
 
 namespace Stride.CommunityToolkit.Bepu;

diff --git a/src/Stride.CommunityToolkit.Bepu/Stride.CommunityToolkit.Bepu.csproj b/src/Stride.CommunityToolkit.Bepu/Stride.CommunityToolkit.Bepu.csproj
@@ -0,0 +1,17 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Stride.BepuPhysics" Version="0.9.2" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\Stride.CommunityToolkit\Stride.CommunityToolkit.csproj" />
+  </ItemGroup>
+
+</Project>