Ff

DemoUtilities/Window.cs

@@ -1,9 +1,9 @@
-using System;
-using System.Diagnostics;
+using BepuUtilities;
 using OpenTK;
-using BepuUtilities;
 using OpenTK.Graphics;
 using OpenTK.Platform;
+using System;
+using System.Diagnostics;
 using System.Threading;
 using Vector2 = System.Numerics.Vector2;
 
@@ -182,6 +182,39 @@ public void Run(Action<float> updateHandler, Action<Int2> onResize)
             windowUpdateLoopRunning = false;
         }
 
+        public void SingleFrame(Action<float> updateHandler, Action<Int2> onResize, float dt)
+        {
+
+            if (disposed)
+                return;
+            if (resized)
+            {
+                //Note that minimizing or resizing the window to invalid sizes don't result in actual resize attempts. Zero width rendering surfaces aren't allowed.
+                if (window.Width > 0 && window.Height > 0)
+                {
+                    onResize(new Int2(window.Width, window.Height));
+                }
+                resized = false;
+            }
+            window.ProcessEvents();
+            if (tryToClose)
+            {
+                window.Close();
+                return;
+            }
+            long time = Stopwatch.GetTimestamp();
+
+            if (window.WindowState != WindowState.Minimized)
+            {
+                updateHandler(dt);
+            }
+            else
+            {
+                //If the window is minimized, take a breather.
+                Thread.Sleep(1);
+            }
+        }
+
         private bool disposed;
         public void Dispose()
         {

Demos.GL.sln

@@ -1,7 +1,7 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
-VisualStudioVersion = 17.0.31423.177
+# Visual Studio Version 18
+VisualStudioVersion = 18.0.11123.170 d18.0
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "DemoContentLoader", "DemoContentLoader\DemoContentLoader.csproj", "{FABD2BE3-697B-4B57-85D0-1077A3198C5C}"
 EndProject
@@ -17,6 +17,10 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Demos", "Demos.GL\Demos.csp
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "DemoRenderer", "DemoRenderer.GL\DemoRenderer.csproj", "{85C39598-1A63-4944-B619-25F3CD76C7A2}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Fulfil.Libs", "..\Fulfil.NET\Fulfil.Libs\Fulfil.Libs.csproj", "{6920EBDC-AA79-7F88-C070-0FC01286F971}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Fulfil.Tests", "..\Fulfil.NET\Fulfil.Tests\Fulfil.Tests.csproj", "{D4002212-2B11-42C5-9C1A-4539915EAB0C}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -201,6 +205,54 @@ Global
 		{85C39598-1A63-4944-B619-25F3CD76C7A2}.ReleaseNoProfiling|x64.Build.0 = Release|Any CPU
 		{85C39598-1A63-4944-B619-25F3CD76C7A2}.ReleaseNoProfiling|x86.ActiveCfg = Release|Any CPU
 		{85C39598-1A63-4944-B619-25F3CD76C7A2}.ReleaseNoProfiling|x86.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|ARM.Build.0 = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|x64.Build.0 = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Debug|x86.Build.0 = Debug|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|Any CPU.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|ARM.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|ARM.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|x64.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|x64.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|x86.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.Release|x86.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|Any CPU.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|Any CPU.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|ARM.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|ARM.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|x64.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|x64.Build.0 = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|x86.ActiveCfg = Release|Any CPU
+		{6920EBDC-AA79-7F88-C070-0FC01286F971}.ReleaseNoProfiling|x86.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|ARM.Build.0 = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|x64.Build.0 = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Debug|x86.Build.0 = Debug|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|Any CPU.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|ARM.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|ARM.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|x64.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|x64.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|x86.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.Release|x86.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|Any CPU.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|Any CPU.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|ARM.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|ARM.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|x64.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|x64.Build.0 = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|x86.ActiveCfg = Release|Any CPU
+		{D4002212-2B11-42C5-9C1A-4539915EAB0C}.ReleaseNoProfiling|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

Demos.GL/Broken/CompoundFallsThroughFloor.cs

@@ -0,0 +1,71 @@
+
+using BepuPhysics;
+using BepuPhysics.Collidables;
+using BepuUtilities;
+using DemoContentLoader;
+using DemoRenderer;
+using DemoUtilities;
+using System.Numerics;
+
+namespace Demos.Broken;
+
+internal class CompoundFallsThroughFloor : Demo
+{
+    private BodyActivityDescription NeverSleep() => new BodyActivityDescription(sleepThreshold: float.MinValue, minimumTimestepCountUnderThreshold: byte.MaxValue);
+
+    public override void Initialize(ContentArchive content, Camera camera)
+    {
+        camera.Position = new Vector3(-1000f, 400, -1000f);
+        camera.Yaw = MathHelper.Pi * 3f / 4;
+        camera.Pitch = MathHelper.Pi * 0.1f;
+
+        var narrowPhaseCallbacks = new SimpleNarrowPhaseCallbacks(
+            frictionCoefficient: 0.3f,
+            maximumRecoveryVelocity: 500,
+            impactFrequency: 20,
+            impactDampingRatio: 0.5f
+            );
+
+        var gravity = new Vector3(0, -9807f, 0); // mm/s
+        var timeStepSeconds = .12f;
+
+        Simulation = Simulation.Create(BufferPool, narrowPhaseCallbacks, new PoseIntegratorCallbacks(gravity: gravity, timeStepSeconds: timeStepSeconds), new SolveDescription(8, 1));
+        var floor = new Box(1000, 1, 1000);
+
+        Simulation.Statics.Add(new StaticDescription(RigidPose.Identity, Simulation.Shapes.Add(floor)));
+
+
+        // shared constants
+        const float itemMass = 1;
+        const float startingHeight = 18;
+
+        // Item as a standalone (not compound)
+        {
+            var rawCollidableBox = new Box(100, 130, 100);
+            var boxPose = new RigidPose(new Vector3(-300, rawCollidableBox.HalfHeight + floor.HalfHeight + startingHeight, 300), Quaternion.Identity);
+            var boxInertia = rawCollidableBox.ComputeInertia(itemMass);
+            var boxIndex = Simulation.Shapes.Add(rawCollidableBox);
+            var collisionDetection = new ContinuousDetection();
+            var boxCollidable = new CollidableDescription(boxIndex, collisionDetection);
+            var boxDescription = BodyDescription.CreateDynamic(boxPose, boxInertia, boxCollidable, NeverSleep());
+            Simulation.Bodies.Add(boxDescription);
+        }
+
+        // Item as compound
+        {
+            var childShape = new Box(100, 130, 100);
+            var compoundPose = new RigidPose(new Vector3(300, childShape.HalfHeight + floor.HalfHeight + startingHeight, -300), Quaternion.Identity);
+            var builder = new CompoundBuilder(BufferPool, Simulation.Shapes, 1);
+
+            builder.Add(childShape, RigidPose.Identity, itemMass);
+            builder.BuildDynamicCompound(out var children, out var inertia);
+            Simulation.Bodies.Add(BodyDescription.CreateDynamic(compoundPose, inertia, Simulation.Shapes.Add(new Compound(children)), NeverSleep()));
+        }
+
+    }
+
+    public override void Update(Window window, Camera camera, Input input, float dt)
+    {
+        base.Update(window, camera, input, dt);
+    }
+}

Demos.GL/Broken/PoseIntegratorCallbacks.cs

@@ -0,0 +1,33 @@
+using BepuPhysics;
+using BepuUtilities;
+using System.Numerics;
+
+namespace Demos.Broken;
+
+/// <summary>
+/// An implementation of INarrowPhaseCallbacks (a BePu interface) needed to get simulation running with BePu.
+/// </summary>
+/// <remarks> Basically a verbatim copy from the example given here: https://github.com/bepu/bepuphysics2/blob/master/Demos/Demos/SimpleSelfContainedDemo.cs </remarks>
+public struct PoseIntegratorCallbacks : IPoseIntegratorCallbacks
+{
+    public void Initialize(Simulation simulation) { }
+
+    public readonly AngularIntegrationMode AngularIntegrationMode => AngularIntegrationMode.Nonconserving;
+
+    public readonly bool AllowSubstepsForUnconstrainedBodies => false;
+
+    public readonly bool IntegrateVelocityForKinematics => false;
+
+    private readonly Vector3Wide _gravityWideDt;
+    public PoseIntegratorCallbacks(Vector3 gravity, float timeStepSeconds) : this()
+    {
+        _gravityWideDt = Vector3Wide.Broadcast(gravity * timeStepSeconds);
+    }
+
+    public void IntegrateVelocity(Vector<int> bodyIndices, Vector3Wide position, QuaternionWide orientation, BodyInertiaWide localInertia, Vector<int> integrationMask, int workerIndex, Vector<float> dt, ref BodyVelocityWide velocity)
+    {
+        velocity.Linear += _gravityWideDt;
+    }
+
+    public void PrepareForIntegration(float dt) { }
+}

Demos.GL/Broken/SimpleNarrowPhaseCallbacks.cs

@@ -0,0 +1,52 @@
+using BepuPhysics;
+using BepuPhysics.Collidables;
+using BepuPhysics.CollisionDetection;
+using BepuPhysics.Constraints;
+
+namespace Demos.Broken;
+
+/// <summary>
+/// An implementation of INarrowPhaseCallbacks (a BePu interface) needed to get simulation running with BePu.
+/// </summary>
+/// <remarks>Roughly a verbatim copy of the example given here: https://github.com/bepu/bepuphysics2/blob/master/Demos/Demos/SimpleSelfContainedDemo.cs</remarks>
+public struct SimpleNarrowPhaseCallbacks : INarrowPhaseCallbacks
+{
+    private readonly float _frictionCoefficient;
+    private readonly float _maximumRecoveryVelocity;
+    private readonly float _impactFrequency;
+    private readonly float _impactDampingRatio;
+
+    //TODO (Nigel): verify that these populate in the online docs without the summary tag
+
+    /// <param name="frictionCoefficient"> Coefficient of friction to apply for the constraint. Maximum friction force will be equal to the normal force times the friction coefficient.</param>
+    /// <param name="maximumRecoveryVelocity">Maximum relative velocity along the contact normal at which the collision constraint will recover from penetration. Clamps the velocity goal created from the spring settings.</param>
+    /// <param name="impactFrequency">Target number of undamped oscillations per unit of time.</param>
+    /// <param name="impactDampingRatio"> Ratio of the spring's actual damping to its critical damping. 0 is undamped, 1 is critically damped, and higher values are overdamped.</param>
+    public SimpleNarrowPhaseCallbacks(float frictionCoefficient, float maximumRecoveryVelocity, float impactFrequency, float impactDampingRatio)
+    {
+        _frictionCoefficient = frictionCoefficient;
+        _maximumRecoveryVelocity = maximumRecoveryVelocity;
+        _impactFrequency = impactFrequency;
+        _impactDampingRatio = impactDampingRatio;
+    }
+    public void Initialize(Simulation simulation) { }
+
+    public void Dispose() { }
+
+    public bool AllowContactGeneration(int workerIndex, CollidablePair pair, int childIndexA, int childIndexB) => true;
+    public bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair, ref TManifold manifold, out PairMaterialProperties pairMaterial) where TManifold : unmanaged, IContactManifold<TManifold>
+    {
+        pairMaterial.FrictionCoefficient = _frictionCoefficient;
+        pairMaterial.MaximumRecoveryVelocity = _maximumRecoveryVelocity;
+        pairMaterial.SpringSettings = new SpringSettings(_impactFrequency, _impactDampingRatio);
+        //For the purposes of the demo, contact constraints are always generated.
+        return true;
+    }
+    public bool ConfigureContactManifold(int workerIndex, CollidablePair pair, int childIndexA, int childIndexB, ref ConvexContactManifold manifold) => true;
+
+    public bool AllowContactGeneration(int workerIndex, CollidableReference a, CollidableReference b, ref float speculativeMargin)
+    {
+
+        return a.Mobility == CollidableMobility.Dynamic || b.Mobility == CollidableMobility.Dynamic;
+    }
+}

Demos.GL/Demos.csproj

@@ -33,6 +33,8 @@
     <ProjectReference Include="../BepuUtilities/BepuUtilities.csproj" />
     <ProjectReference Include="../DemoContentLoader/DemoContentLoader.csproj" />
     <ProjectReference Include="../DemoRenderer.GL/DemoRenderer.csproj" />
+    <ProjectReference Include="..\..\Fulfil.NET\Fulfil.Libs\Fulfil.Libs.csproj" />
+    <ProjectReference Include="..\..\Fulfil.NET\Fulfil.Tests\Fulfil.Tests.csproj" />
   </ItemGroup>
 
   <ItemGroup>

Demos.GL/FC/FcDemo.cs

@@ -0,0 +1,46 @@
+using BepuUtilities;
+using DemoContentLoader;
+using DemoRenderer;
+using Fulfil.Libs.Machines.Mars.Dispense.SideDispenseDropTargeting.DTO;
+using Fulfil.Libs.Machines.Mars.Dispense.SideDispenseDropTargeting.Physics;
+using Fulfil.Tests.Libraries.Machines.Mars.Dispense.SideDispenseDropTargeting.Mocks;
+using Fulfil.Tests.TestObjects;
+using System.Numerics;
+
+namespace Demos.FC;
+
+internal class FcDemo : Demo
+{
+    public override void Initialize(ContentArchive content, Camera camera)
+    {
+        camera.Position = new Vector3(100, 150, 300);
+        camera.Yaw = 0;
+        camera.Pitch = MathHelper.Pi * 0.1f;
+
+        var startingHeight = 30;
+        const double foamThickness = 9.5;
+        var itemDims = new RectangularPrism(100, 130, 100);
+        var itemDrop = MockItemGenerator.Build(itemDimensions: itemDims);
+        var dropContext = MockDropContextBuilder.Build(item: itemDrop);
+        var bagDims = dropContext.PhysicalDropConditions.SystemPhysicalProperties.BagCavityDimensions;
+        var itemLocation = new Transform(Vector3Helpers.FromDoubles(x: bagDims.XLengthMm / 2, y: startingHeight + foamThickness, z: -bagDims.ZLengthMm / 2));
+        var physicsEvaluator = new BePuPhysicsSimulator(new IgnoreTheReleasePoint(itemLocation))
+        {
+            TimeStepMs = 120,
+            EvaluationTimeMs = 2500,
+            FrictionCoefficient = 0.3f,
+            MaximumRecoveryVelocity = 50,
+            ImpactFrequency = 20,
+            ImpactDampingRatio = 0.5f,
+            DispenseArmRetractionSpeedMmPerSecond = 500,
+            DispenseArmConveyorSpeedMMs = 0,
+            DispenseArmRemovalTimeMs = 2500,
+            StartingDistanceBehindTippingPointMm = 0,
+            StoppedDistanceMm = 0.5,
+            StoppedRotaionDegrees = 0.5,
+            StoppedFrames = 3,
+        };
+        var simSetup = physicsEvaluator.InitializeSimulation(new Vector3(0, 0, 0), dropContext, BufferPool);
+        Simulation = simSetup.Simulation;
+    }
+}

Demos/Demo.cs

@@ -1,11 +1,11 @@
-using BepuUtilities.Memory;
+using BepuPhysics;
+using BepuUtilities;
+using BepuUtilities.Memory;
+using DemoContentLoader;
 using DemoRenderer;
+using DemoRenderer.UI;
 using DemoUtilities;
-using BepuPhysics;
 using System;
-using DemoRenderer.UI;
-using DemoContentLoader;
-using BepuUtilities;
 
 namespace Demos;
 
@@ -62,7 +62,7 @@ public virtual void Update(Window window, Camera camera, Input input, float dt)
         //fully decouple simulation and rendering rates across different threads.
         //(In either case, you'd also want to interpolate or extrapolate simulation results during rendering for smoothness.)
         //Note that taking steps of variable length can reduce stability. Gradual or one-off changes can work reasonably well.
-        Simulation.Timestep(TimestepDuration, ThreadDispatcher);
+        Simulation.Timestep(dt, ThreadDispatcher);
 
         ////Here's an example of how it would look to use more frequent updates, but still with a fixed amount of time simulated per update call:
         //const float timeToSimulate = 1 / 60f;

Demos/DemoSet.cs

@@ -1,12 +1,13 @@
 using DemoContentLoader;
 using DemoRenderer;
+using Demos.Broken;
 using Demos.Demos;
 using Demos.Demos.Cars;
 using Demos.Demos.Characters;
 using Demos.Demos.Dancers;
 using Demos.Demos.Sponsors;
 using Demos.Demos.Tanks;
-using Demos.SpecializedTests;
+using Demos.FC;
 using System;
 using System.Collections.Generic;
 
@@ -44,6 +45,9 @@ struct Option
 
     public DemoSet()
     {
+
+        AddOption<CompoundFallsThroughFloor>();
+        AddOption<FcDemo>();
         AddOption<CarDemo>();
         AddOption<TankDemo>();
         AddOption<CharacterDemo>();