Game1.cpp

using BEPUphysics;
using BEPUphysics.Entities.Prefabs;
using Microsoft.Xna.Framework;
using Microsoft.Xna.Framework.Graphics;
using Microsoft.Xna.Framework.Input;

namespace Physics
{
	public class Game1 : Game
	{
		GraphicsDeviceManager graphics;
		SpriteBatch spriteBatch;

		Space world;
		Model floor, wall, player;
		Box floorBox, wallBox, playerBox;

		Matrix viewMatrix, projectionMatrix;

		public Game1()
		{
			graphics = new GraphicsDeviceManager(this);
			Content.RootDirectory = "Content";

			this.graphics.SynchronizeWithVerticalRetrace = true;

			this.IsMouseVisible = true;
			this.graphics.PreferredBackBufferWidth = 1280;
			this.graphics.PreferredBackBufferHeight = 720;
		}

		protected override void Initialize()
		{
			world = new Space();

			viewMatrix = Matrix.CreateLookAt(new Vector3(0f, 4f, -10f), new Vector3(0f, 0f, 0f), Vector3.Up);
			projectionMatrix = Matrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(65f), GraphicsDevice.DisplayMode.AspectRatio, 0.5f, 1000f);

			base.Initialize();
		}

		protected override void LoadContent()
		{
			// Create a new SpriteBatch, which can be used to draw textures.
			spriteBatch = new SpriteBatch(GraphicsDevice);

			// Load models
			floor = this.Content.Load<Model>("Cube");
			wall = this.Content.Load<Model>("Cube2");
			player = this.Content.Load<Model>("Player");

			// Kinematic Boxes
			floorBox = new Box(BEPUutilities.Vector3.Zero, 2f, 2f, 2f);
			wallBox = new Box(new BEPUutilities.Vector3(0f, 0f, 5f), 2f, 2f, 2f);

			// Dynamic Boxes
			playerBox = new Box(new BEPUutilities.Vector3(0f, 4f, 0f), 2f, 2f, 2f, 10f);

			// Add to world so collision system can do its work
			world.Add(floorBox);
			world.Add(playerBox);
			world.Add(wallBox);

			// Resize Box if scaling in draw
			playerBox.Width *= 0.5f;
			playerBox.Height *= 0.5f;
			playerBox.Length *= 0.5f;

			wallBox.Width *= 8f;
			wallBox.Height *= 3f;
			wallBox.Length *= 1.5f;

			// Set a rotation (no need to multiply by worldTransform, done automatically)
			playerBox.Orientation = BEPUutilities.Quaternion.CreateFromAxisAngle(BEPUutilities.Vector3.Up, MathHelper.ToRadians(45f));

			// Set the gravity
			world.ForceUpdater.Gravity = new BEPUutilities.Vector3(0f, -20f, 0f);
		}

		protected override void UnloadContent()
		{
			// TODO: Unload any non ContentManager content here
			spriteBatch.Dispose();
			Content.Dispose();
		}

		protected override void Update(GameTime gameTime)
		{
			float deltaTime = (float) gameTime.ElapsedGameTime.TotalSeconds;

			if (Keyboard.GetState().IsKeyDown(Keys.Escape))
				Exit();

			if (Keyboard.GetState().IsKeyDown(Keys.Up))
				playerBox.LinearVelocity += new BEPUutilities.Vector3(0f, 0f, 1f);

			if (Keyboard.GetState().IsKeyDown(Keys.Down))
				playerBox.LinearVelocity -= new BEPUutilities.Vector3(0f, 0f, 1f);

			if (Keyboard.GetState().IsKeyDown(Keys.Left))
				playerBox.LinearVelocity += new BEPUutilities.Vector3(1f, 0f, 0f);

			if (Keyboard.GetState().IsKeyDown(Keys.Right))
				playerBox.LinearVelocity -= new BEPUutilities.Vector3(1f, 0f, 0f);

			if (Keyboard.GetState().IsKeyDown(Keys.Space))
				playerBox.LinearVelocity += new BEPUutilities.Vector3(0f, 1.5f, 0f);

			if (playerBox.Position.Y <= -30f)
				playerBox.Position = new BEPUutilities.Vector3(0f, 4f, 0f);

			// Update the world
			world.Update();

			base.Update(gameTime);
		}

		protected override void Draw(GameTime gameTime)
		{
			GraphicsDevice.Clear(Color.CornflowerBlue);

			foreach(ModelMesh mesh in floor.Meshes)
			{
				foreach(BasicEffect effect in mesh.Effects)
				{
					effect.View = viewMatrix;

					// box.WorldTransform has translation inside of it already
					effect.World = ConvertTo.XNAMatrix(floorBox.WorldTransform);
					effect.Projection = projectionMatrix;

					effect.EnableDefaultLighting();
				}

				mesh.Draw();
			}

			foreach (ModelMesh mesh in wall.Meshes)
			{
				foreach (BasicEffect effect in mesh.Effects)
				{
					effect.View = viewMatrix;

					// box.WorldTransform has translation inside of it already
					effect.World = ConvertTo.XNAMatrix(BEPUutilities.Matrix.CreateScale(8f, 3f, 1.5f) * wallBox.WorldTransform);
					effect.Projection = projectionMatrix;

					effect.EnableDefaultLighting();
				}

				mesh.Draw();
			}

			foreach (ModelMesh mesh in player.Meshes)
			{
				foreach (BasicEffect effect in mesh.Effects)
				{
					effect.View = viewMatrix;

					// box.WorldTransform has translation inside of it already
					effect.World = ConvertTo.XNAMatrix(BEPUutilities.Matrix.CreateScale(0.5f, 0.5f, 0.5f) * playerBox.WorldTransform);
					effect.Projection = projectionMatrix;

					effect.EnableDefaultLighting();
				}

				mesh.Draw();
			}

			base.Draw(gameTime);
		}
	}
}