Simulation Class

    Namespace: Stride.Physics
    Assembly: Stride.Physics.dll
    System.Object → Simulation
    Derived from Simulation: 

    public class Simulation : IDisposable
    Name Description
    Fields
    DisableSimulation

    Totally disable the simulation if set to true
    OnSimulationCreation

    Temporary solution to inject engine flags
    Properties
    ColliderShapesRenderGroup
    ColliderShapesRendering

    Enables or disables the rendering of collider shapes
    ContinuousCollisionDetection
    FixedTimeStep

    By decreasing the size of fixedTimeStep, you are increasing the “resolution” of the simulation. Default is 1.0f / 60.0f or 60fps
    Gravity

    Gets or sets the gravity.
    MaxSubSteps

    The maximum number of steps that the Simulation is allowed to take each tick. If the engine is running slow (large deltaTime), then you must increase the number of maxSubSteps to compensate for this, otherwise your simulation is “losing” time. It's important that frame DeltaTime is always less than MaxSubSteps*FixedTimeStep, otherwise you are losing time.
    SpeculativeContactRestitution
    Methods
    AddConstraint(Constraint)

    Adds the constraint to the engine processing pipeline.
    AddConstraint(Constraint, Boolean)

    Adds the constraint to the engine processing pipeline.
    ClearForces()
    CreateConstraint(ConstraintTypes, RigidbodyComponent, Matrix, Boolean)

    Creates the constraint.
    CreateConstraint(ConstraintTypes, RigidbodyComponent, RigidbodyComponent, Matrix, Matrix, Boolean)

    Creates the constraint.
    Dispose()

    Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
    OnSimulationBegin(Simulation.SimulationArgs)
    OnSimulationEnd(Simulation.SimulationArgs)
    Raycast(Vector3, Vector3, CollisionFilterGroups, CollisionFilterGroupFlags)

    Raycasts and returns the closest hit
    Raycast(Vector3, Vector3, out HitResult, CollisionFilterGroups, CollisionFilterGroupFlags)

    Raycasts, returns true when it hit something
    RaycastPenetrating(Vector3, Vector3, IList<HitResult>, CollisionFilterGroups, CollisionFilterGroupFlags)

    Raycasts penetrating any shape the ray encounters. Filtering by CollisionGroup
    RemoveConstraint(Constraint)

    Removes the constraint from the engine processing pipeline.
    ShapeSweep(ColliderShape, Matrix, Matrix, CollisionFilterGroups, CollisionFilterGroupFlags)

    Performs a sweep test using a collider shape and returns the closest hit
    ShapeSweepPenetrating(ColliderShape, Matrix, Matrix, IList<HitResult>, CollisionFilterGroups, CollisionFilterGroupFlags)

    Performs a sweep test using a collider shape and never stops until "to"
    Events
    SimulationBegin

    Called right before the physics simulation. This event might not be fired by the main thread.
    SimulationEnd

    Called right after the physics simulation. This event might not be fired by the main thread.
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    Fields

    DisableSimulation

    Totally disable the simulation if set to true

    public static bool DisableSimulation
    Field Value
    Type Description
    System.Boolean

    OnSimulationCreation

    Temporary solution to inject engine flags

    public static Simulation.OnSimulationCreationDelegate OnSimulationCreation
    Field Value
    Type Description
    Simulation.OnSimulationCreationDelegate
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    Properties

    ColliderShapesRenderGroup

    public RenderGroup ColliderShapesRenderGroup { get; set; }
    Property Value
    Type Description
    RenderGroup

    ColliderShapesRendering

    Enables or disables the rendering of collider shapes

    public bool ColliderShapesRendering { set; }
    Property Value
    Type Description
    System.Boolean

    ContinuousCollisionDetection

    public bool ContinuousCollisionDetection { get; set; }
    Property Value
    Type Description
    System.Boolean

    FixedTimeStep

    By decreasing the size of fixedTimeStep, you are increasing the “resolution” of the simulation. Default is 1.0f / 60.0f or 60fps

    public float FixedTimeStep { get; set; }
    Property Value
    Type Description
    System.Single

    Gravity

    Gets or sets the gravity.

    public Vector3 Gravity { get; set; }
    Property Value
    Type Description
    Vector3

    The gravity.
    Exceptions
    Type Condition
    System.Exception

    Cannot perform this action when the physics engine is set to CollisionsOnly or Cannot perform this action when the physics engine is set to CollisionsOnly

    MaxSubSteps

    The maximum number of steps that the Simulation is allowed to take each tick. If the engine is running slow (large deltaTime), then you must increase the number of maxSubSteps to compensate for this, otherwise your simulation is “losing” time. It's important that frame DeltaTime is always less than MaxSubSteps*FixedTimeStep, otherwise you are losing time.

    public int MaxSubSteps { get; set; }
    Property Value
    Type Description
    System.Int32

    SpeculativeContactRestitution

    public bool SpeculativeContactRestitution { get; set; }
    Property Value
    Type Description
    System.Boolean
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    Methods

    AddConstraint(Constraint)

    Adds the constraint to the engine processing pipeline.

    public void AddConstraint(Constraint constraint)
    Parameters
    Type Name Description
    Constraint constraint

    The constraint.
    Exceptions
    Type Condition
    System.Exception

    Cannot perform this action when the physics engine is set to CollisionsOnly

    AddConstraint(Constraint, Boolean)

    Adds the constraint to the engine processing pipeline.

    public void AddConstraint(Constraint constraint, bool disableCollisionsBetweenLinkedBodies)
    Parameters
    Type Name Description
    Constraint constraint

    The constraint.
    System.Boolean disableCollisionsBetweenLinkedBodies

    if set to true [disable collisions between linked bodies].
    Exceptions
    Type Condition
    System.Exception

    Cannot perform this action when the physics engine is set to CollisionsOnly

    ClearForces()

    public void ClearForces()

    CreateConstraint(ConstraintTypes, RigidbodyComponent, Matrix, Boolean)

    Creates the constraint.

    public static Constraint CreateConstraint(ConstraintTypes type, RigidbodyComponent rigidBodyA, Matrix frameA, bool useReferenceFrameA = false)
    Parameters
    Type Name Description
    ConstraintTypes type

    The type.
    RigidbodyComponent rigidBodyA

    The rigid body a.
    Matrix frameA

    The frame a.
    System.Boolean useReferenceFrameA

    if set to true [use reference frame a].
    Returns
    Type Description
    Constraint
    Exceptions
    Type Condition
    System.Exception

    Cannot perform this action when the physics engine is set to CollisionsOnly or Both RigidBodies must be valid or A Gear constraint always needs two rigidbodies to be created.

    CreateConstraint(ConstraintTypes, RigidbodyComponent, RigidbodyComponent, Matrix, Matrix, Boolean)

    Creates the constraint.

    public static Constraint CreateConstraint(ConstraintTypes type, RigidbodyComponent rigidBodyA, RigidbodyComponent rigidBodyB, Matrix frameA, Matrix frameB, bool useReferenceFrameA = false)
    Parameters
    Type Name Description
    ConstraintTypes type

    The type.
    RigidbodyComponent rigidBodyA

    The rigid body a.
    RigidbodyComponent rigidBodyB

    The rigid body b.
    Matrix frameA

    The frame a.
    Matrix frameB

    The frame b.
    System.Boolean useReferenceFrameA

    if set to true [use reference frame a].
    Returns
    Type Description
    Constraint
    Exceptions
    Type Condition
    System.Exception

    Cannot perform this action when the physics engine is set to CollisionsOnly or Both RigidBodies must be valid

    Dispose()

    Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.

    public void Dispose()

    OnSimulationBegin(Simulation.SimulationArgs)

    protected virtual void OnSimulationBegin(Simulation.SimulationArgs e)
    Parameters
    Type Name Description
    Simulation.SimulationArgs e

    OnSimulationEnd(Simulation.SimulationArgs)

    protected virtual void OnSimulationEnd(Simulation.SimulationArgs e)
    Parameters
    Type Name Description
    Simulation.SimulationArgs e

    Raycast(Vector3, Vector3, CollisionFilterGroups, CollisionFilterGroupFlags)

    Raycasts and returns the closest hit

    public HitResult Raycast(Vector3 from, Vector3 to, CollisionFilterGroups filterGroup = CollisionFilterGroups.DefaultFilter, CollisionFilterGroupFlags filterFlags = CollisionFilterGroupFlags.AllFilter | (CollisionFilterGroupFlags)-65536)
    Parameters
    Type Name Description
    Vector3 from

    From.
    Vector3 to

    To.
    CollisionFilterGroups filterGroup

    The collision group of this raycast
    CollisionFilterGroupFlags filterFlags

    The collision group that this raycast can collide with
    Returns
    Type Description
    HitResult

    The list with hit results.

    Raycast(Vector3, Vector3, out HitResult, CollisionFilterGroups, CollisionFilterGroupFlags)

    Raycasts, returns true when it hit something

    public bool Raycast(Vector3 from, Vector3 to, out HitResult result, CollisionFilterGroups filterGroup = CollisionFilterGroups.DefaultFilter, CollisionFilterGroupFlags filterFlags = CollisionFilterGroupFlags.AllFilter | (CollisionFilterGroupFlags)-65536)
    Parameters
    Type Name Description
    Vector3 from

    From.
    Vector3 to

    To.
    HitResult result

    Raycast info
    CollisionFilterGroups filterGroup

    The collision group of this raycast
    CollisionFilterGroupFlags filterFlags

    The collision group that this raycast can collide with
    Returns
    Type Description
    System.Boolean

    The list with hit results.

    RaycastPenetrating(Vector3, Vector3, IList<HitResult>, CollisionFilterGroups, CollisionFilterGroupFlags)

    Raycasts penetrating any shape the ray encounters. Filtering by CollisionGroup

    public void RaycastPenetrating(Vector3 from, Vector3 to, IList<HitResult> resultsOutput, CollisionFilterGroups filterGroup = CollisionFilterGroups.DefaultFilter, CollisionFilterGroupFlags filterFlags = CollisionFilterGroupFlags.AllFilter | (CollisionFilterGroupFlags)-65536)
    Parameters
    Type Name Description
    Vector3 from

    From.
    Vector3 to

    To.
    System.Collections.Generic.IList<HitResult> resultsOutput

    The list to fill with results.
    CollisionFilterGroups filterGroup

    The collision group of this raycast
    CollisionFilterGroupFlags filterFlags

    The collision group that this raycast can collide with

    RemoveConstraint(Constraint)

    Removes the constraint from the engine processing pipeline.

    public void RemoveConstraint(Constraint constraint)
    Parameters
    Type Name Description
    Constraint constraint

    The constraint.
    Exceptions
    Type Condition
    System.Exception

    Cannot perform this action when the physics engine is set to CollisionsOnly

    ShapeSweep(ColliderShape, Matrix, Matrix, CollisionFilterGroups, CollisionFilterGroupFlags)

    Performs a sweep test using a collider shape and returns the closest hit

    public HitResult ShapeSweep(ColliderShape shape, Matrix from, Matrix to, CollisionFilterGroups filterGroup = CollisionFilterGroups.DefaultFilter, CollisionFilterGroupFlags filterFlags = CollisionFilterGroupFlags.AllFilter | (CollisionFilterGroupFlags)-65536)
    Parameters
    Type Name Description
    ColliderShape shape

    The shape.
    Matrix from

    From.
    Matrix to

    To.
    CollisionFilterGroups filterGroup

    The collision group of this shape sweep
    CollisionFilterGroupFlags filterFlags

    The collision group that this shape sweep can collide with
    Returns
    Type Description
    HitResult
    Exceptions
    Type Condition
    System.Exception

    This kind of shape cannot be used for a ShapeSweep.

    ShapeSweepPenetrating(ColliderShape, Matrix, Matrix, IList<HitResult>, CollisionFilterGroups, CollisionFilterGroupFlags)

    Performs a sweep test using a collider shape and never stops until "to"

    public void ShapeSweepPenetrating(ColliderShape shape, Matrix from, Matrix to, IList<HitResult> resultsOutput, CollisionFilterGroups filterGroup = CollisionFilterGroups.DefaultFilter, CollisionFilterGroupFlags filterFlags = CollisionFilterGroupFlags.AllFilter | (CollisionFilterGroupFlags)-65536)
    Parameters
    Type Name Description
    ColliderShape shape

    The shape.
    Matrix from

    From.
    Matrix to

    To.
    System.Collections.Generic.IList<HitResult> resultsOutput

    The list to fill with results.
    CollisionFilterGroups filterGroup

    The collision group of this shape sweep
    CollisionFilterGroupFlags filterFlags

    The collision group that this shape sweep can collide with
    Exceptions
    Type Condition
    System.Exception

    This kind of shape cannot be used for a ShapeSweep.
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    Events

    SimulationBegin

    Called right before the physics simulation. This event might not be fired by the main thread.

    public event EventHandler<Simulation.SimulationArgs> SimulationBegin
    Event Type
    Type Description
    System.EventHandler<Simulation.SimulationArgs>

    SimulationEnd

    Called right after the physics simulation. This event might not be fired by the main thread.

    public event EventHandler<Simulation.SimulationArgs> SimulationEnd
    Event Type
    Type Description
    System.EventHandler<Simulation.SimulationArgs>

    Extension Methods