[Physics] Bepu integration

build/Stride.sln

@@ -332,7 +332,23 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.NuGetResolver", "..\
 EndProject
 Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "NuGetResolver", "NuGetResolver", "{158087CF-AF74-44E9-AA20-A6AEB1E398A9}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Stride.Core.Presentation", "..\sources\presentation\Stride.Core.Presentation\Stride.Core.Presentation.csproj", "{0C63EF8B-26F9-4511-9FC5-7431DE9657D6}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.Core.Presentation", "..\sources\presentation\Stride.Core.Presentation\Stride.Core.Presentation.csproj", "{0C63EF8B-26F9-4511-9FC5-7431DE9657D6}"
+EndProject
+Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Stride.Bepu", "Stride.Bepu", "{DE048114-9AE4-467E-A879-188DC0D88A59}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics\Stride.BepuPhysics.csproj", "{3E424688-EC44-4DFB-9FC0-4BB1F0683651}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics._2D", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics._2D\Stride.BepuPhysics._2D.csproj", "{A8B00252-A78E-43F2-8677-57A63CCF1ABA}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics.DebugRender", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics.DebugRender\Stride.BepuPhysics.DebugRender.csproj", "{7715D094-DF59-4D91-BC9A-9A5118039ECB}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics.Demo", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics.Demo\Stride.BepuPhysics.Demo.csproj", "{E56FFD91-590E-442A-910B-CC88C92AE553}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics.Demo.Windows", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics.Demo.Windows\Stride.BepuPhysics.Demo.Windows.csproj", "{B7F08BEE-39ED-4F1A-AA06-3BADE320288B}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics.Navigation", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics.Navigation\Stride.BepuPhysics.Navigation.csproj", "{0BC0E590-524E-4311-A3E9-371BE6AFF536}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Stride.BepuPhysics.Soft", "..\sources\engine\Stride.BepuPhysics\Stride.BepuPhysics.Soft\Stride.BepuPhysics.Soft.csproj", "{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -1493,6 +1509,90 @@ Global
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 		{0C63EF8B-26F9-4511-9FC5-7431DE9657D6}.Release|Win32.Build.0 = Release|Any CPU
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+		{3E424688-EC44-4DFB-9FC0-4BB1F0683651}.Debug|Any CPU.Build.0 = Debug|Any CPU
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+		{3E424688-EC44-4DFB-9FC0-4BB1F0683651}.Debug|Mixed Platforms.Build.0 = Debug|Any CPU
+		{3E424688-EC44-4DFB-9FC0-4BB1F0683651}.Debug|Win32.ActiveCfg = Debug|Any CPU
+		{3E424688-EC44-4DFB-9FC0-4BB1F0683651}.Debug|Win32.Build.0 = Debug|Any CPU
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+		{3E424688-EC44-4DFB-9FC0-4BB1F0683651}.Release|Win32.Build.0 = Release|Any CPU
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+		{A8B00252-A78E-43F2-8677-57A63CCF1ABA}.Debug|Win32.Build.0 = Debug|Any CPU
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+		{7715D094-DF59-4D91-BC9A-9A5118039ECB}.Release|Win32.Build.0 = Release|Any CPU
+		{E56FFD91-590E-442A-910B-CC88C92AE553}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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+		{E56FFD91-590E-442A-910B-CC88C92AE553}.Debug|Win32.ActiveCfg = Debug|Any CPU
+		{E56FFD91-590E-442A-910B-CC88C92AE553}.Debug|Win32.Build.0 = Debug|Any CPU
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+		{E56FFD91-590E-442A-910B-CC88C92AE553}.Release|Win32.ActiveCfg = Release|Any CPU
+		{E56FFD91-590E-442A-910B-CC88C92AE553}.Release|Win32.Build.0 = Release|Any CPU
+		{B7F08BEE-39ED-4F1A-AA06-3BADE320288B}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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+		{B7F08BEE-39ED-4F1A-AA06-3BADE320288B}.Debug|Win32.ActiveCfg = Debug|Any CPU
+		{B7F08BEE-39ED-4F1A-AA06-3BADE320288B}.Debug|Win32.Build.0 = Debug|Any CPU
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+		{0BC0E590-524E-4311-A3E9-371BE6AFF536}.Debug|Win32.Build.0 = Debug|Any CPU
+		{0BC0E590-524E-4311-A3E9-371BE6AFF536}.Release|Any CPU.ActiveCfg = Release|Any CPU
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+		{0BC0E590-524E-4311-A3E9-371BE6AFF536}.Release|Mixed Platforms.ActiveCfg = Release|Any CPU
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+		{0BC0E590-524E-4311-A3E9-371BE6AFF536}.Release|Win32.Build.0 = Release|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Debug|Mixed Platforms.ActiveCfg = Debug|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Debug|Mixed Platforms.Build.0 = Debug|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Debug|Win32.ActiveCfg = Debug|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Debug|Win32.Build.0 = Debug|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Release|Any CPU.Build.0 = Release|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Release|Mixed Platforms.ActiveCfg = Release|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Release|Mixed Platforms.Build.0 = Release|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Release|Win32.ActiveCfg = Release|Any CPU
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32}.Release|Win32.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -1619,6 +1719,14 @@ Global
 		{02FD0BDE-4293-414F-97E6-69FF71105420} = {158087CF-AF74-44E9-AA20-A6AEB1E398A9}
 		{158087CF-AF74-44E9-AA20-A6AEB1E398A9} = {1AE1AC60-5D2F-4CA7-AE20-888F44551185}
 		{0C63EF8B-26F9-4511-9FC5-7431DE9657D6} = {75A820AB-0F21-40F2-9448-5D7F495B97A0}
+		{DE048114-9AE4-467E-A879-188DC0D88A59} = {4C142567-C42B-40F5-B092-798882190209}
+		{3E424688-EC44-4DFB-9FC0-4BB1F0683651} = {DE048114-9AE4-467E-A879-188DC0D88A59}
+		{A8B00252-A78E-43F2-8677-57A63CCF1ABA} = {DE048114-9AE4-467E-A879-188DC0D88A59}
+		{7715D094-DF59-4D91-BC9A-9A5118039ECB} = {DE048114-9AE4-467E-A879-188DC0D88A59}
+		{E56FFD91-590E-442A-910B-CC88C92AE553} = {DE048114-9AE4-467E-A879-188DC0D88A59}
+		{B7F08BEE-39ED-4F1A-AA06-3BADE320288B} = {DE048114-9AE4-467E-A879-188DC0D88A59}
+		{0BC0E590-524E-4311-A3E9-371BE6AFF536} = {DE048114-9AE4-467E-A879-188DC0D88A59}
+		{8E5E44B3-92FD-4C79-AA06-7E8CBFDDBB32} = {DE048114-9AE4-467E-A879-188DC0D88A59}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {FF877973-604D-4EA7-B5F5-A129961F9EF2}

sources/Directory.Packages.props

@@ -4,6 +4,12 @@
   </PropertyGroup>
   <!-- Runtime dependencies -->
   <ItemGroup>
+    <PackageVersion Include="BepuPhysics" Version="2.5.0-beta.19" />
+    <PackageVersion Include="BepuUtilities" Version="2.5.0-beta.19" />
+    <PackageVersion Include="DotRecast.Core" Version="2024.1.1" />
+    <PackageVersion Include="DotRecast.Detour" Version="2024.1.1" />
+    <PackageVersion Include="DotRecast.Recast" Version="2024.1.1" />
+    <PackageVersion Include="DotRecast.Recast.Toolset" Version="2024.1.1" />
     <PackageVersion Include="FFmpeg.AutoGen" Version="3.4.0.2" />
     <PackageVersion Include="K4os.Compression.LZ4.Legacy" Version="1.3.6" />
     <PackageVersion Include="Microsoft.Management.Infrastructure" Version="3.0.0-preview.4" />

sources/assets/Stride.Core.Assets.CompilerApp/Stride.Core.Assets.CompilerApp.csproj

@@ -33,6 +33,7 @@
   </ItemGroup>
   <ItemGroup>
     <ProjectReference Include="..\..\engine\Stride.Assets.Models\Stride.Assets.Models.csproj" />
+    <ProjectReference Include="..\..\engine\Stride.BepuPhysics\Stride.BepuPhysics\Stride.BepuPhysics.csproj" />
     <ProjectReference Include="..\..\engine\Stride.Particles\Stride.Particles.csproj" />
     <ProjectReference Include="..\..\engine\Stride.Physics\Stride.Physics.csproj" />
     <ProjectReference Include="..\..\engine\Stride.SpriteStudio.Offline\Stride.SpriteStudio.Offline.csproj" />

sources/assets/Stride.Core.Assets/Compiler/AssetCompilerRegistry.cs

@@ -3,6 +3,7 @@
 
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.Linq;
 using System.Reflection;
 using Stride.Core;
@@ -181,7 +182,7 @@ private void RegisterAssembly(Assembly assembly)
         private void RegisterCompilersFromAssembly(Assembly assembly)
         {
             // Process Asset types.
-            foreach (var type in assembly.GetTypes())
+            foreach (var type in GetFullyLoadedTypes(assembly))
             {
                 // Only process Asset types
                 if (!typeof(IAssetCompiler).IsAssignableFrom(type) || !type.IsClass)
@@ -202,6 +203,21 @@ private void RegisterCompilersFromAssembly(Assembly assembly)
                     log.Error($"Unable to instantiate compiler [{compilerAttribute.TypeName}]", ex);
                 }
             }
+
+            // Taken from https://stackoverflow.com/questions/7889228/how-to-prevent-reflectiontypeloadexception-when-calling-assembly-gettypes
+            [DebuggerNonUserCode]
+            IEnumerable<Type> GetFullyLoadedTypes(Assembly assembly)
+            {
+                try
+                {
+                    return assembly.GetTypes();
+                }
+                catch (ReflectionTypeLoadException ex)
+                {
+                    log.Warning($"Could not load all types from assembly {assembly.FullName}", ex);
+                    return ex.Types.Where(t => t != null);
+                }
+            }
         }
 
         private void UnregisterAssembly(Assembly assembly)

sources/editor/Stride.Assets.Presentation/AssetEditors/EntityHierarchyEditor/Game/EditorGameComponentGizmoService.cs

@@ -20,6 +20,7 @@
 using Stride.Rendering;
 using Stride.Rendering.Compositing;
 using Stride.Rendering.Sprites;
+using Stride.Engine.Gizmos;
 
 namespace Stride.Assets.Presentation.AssetEditors.EntityHierarchyEditor.Game
 {
@@ -59,9 +60,13 @@ public EditorGameComponentGizmoService(IEditorGameController controller)
         public Entity GetContentEntityUnderMouse()
         {
             var pickResult = gizmoEntityPicker.Pick();
-            var pickedComponentId = pickResult.ComponentId;
-            var selectedGizmo = sceneGizmos.FirstOrDefault(x => x.IsUnderMouse(pickedComponentId));
-            return selectedGizmo?.ContentEntity;
+            var pickedComponentId = new OpaqueComponentId(pickResult.ComponentId);
+            foreach (var gizmo in sceneGizmos)
+            {
+                if (gizmo.HandlesComponentId(pickedComponentId, out Entity selection))
+                    return selection;
+            }
+            return null;
         }
 
         /// <summary>
@@ -314,8 +319,15 @@ private void CreateGizmoEntity(Entity entity, EntityComponent component, Type gi
                 return;
 
             // initialize the gizmo
-            var gizmo = (EntityGizmo)Activator.CreateInstance(gizmoType, component);
-            gizmo.InitializeContentEntity(entity);
+            IEntityGizmo gizmo;
+            try
+            {
+                gizmo = (IEntityGizmo)Activator.CreateInstance(gizmoType, component);
+            }
+            catch (MissingMethodException e)
+            {
+                throw new MissingMethodException($"{nameof(IEntityGizmo)} '{gizmoType}' must have a constructor with exactly one parameter of type '{component.GetType()}'", e);
+            }
             gizmo.Initialize(game.Services, editorScene);
 
             gizmo.SizeFactor = GizmoSize;

sources/editor/Stride.Assets.Presentation/AssetEditors/Gizmos/AudioEmitterGizmo.cs

@@ -1,6 +1,7 @@
 // Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net) and Silicon Studio Corp. (https://www.siliconstudio.co.jp)
 // Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
 using Stride.Engine;
+using Stride.Engine.Gizmos;
 
 namespace Stride.Assets.Presentation.AssetEditors.Gizmos
 {

sources/editor/Stride.Assets.Presentation/AssetEditors/Gizmos/AudioListenerGizmo.cs

@@ -1,6 +1,7 @@
 // Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net) and Silicon Studio Corp. (https://www.siliconstudio.co.jp)
 // Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
 using Stride.Engine;
+using Stride.Engine.Gizmos;
 
 namespace Stride.Assets.Presentation.AssetEditors.Gizmos
 {

sources/editor/Stride.Assets.Presentation/AssetEditors/Gizmos/BackgroundGizmo.cs

@@ -1,6 +1,7 @@
 // Copyright (c) .NET Foundation and Contributors (https://dotnetfoundation.org/ & https://stride3d.net) and Silicon Studio Corp. (https://www.siliconstudio.co.jp)
 // Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
 using Stride.Engine;
+using Stride.Engine.Gizmos;
 
 namespace Stride.Assets.Presentation.AssetEditors.Gizmos
 {

sources/editor/Stride.Assets.Presentation/AssetEditors/Gizmos/CameraGizmo.cs

@@ -6,6 +6,7 @@
 using Stride.Core.Mathematics;
 using Stride.Editor.EditorGame.Game;
 using Stride.Engine;
+using Stride.Engine.Gizmos;
 using Stride.Engine.Processors;
 using Stride.Graphics;
 using Stride.Rendering;

sources/editor/Stride.Assets.Presentation/AssetEditors/Gizmos/CameraOrientationGizmo.cs

@@ -120,9 +120,15 @@ private void UpdateCamera()
             cameraComponent.ViewMatrix = view;
         }
 
-        public override bool IsUnderMouse(int pickedComponentId)
+        public override bool HandlesComponentId(OpaqueComponentId pickedComponentId, out Entity selection)
         {
-            return IsUnderMouse();
+            if (IsUnderMouse())
+            {
+                selection = this.cameraComponent.Entity;
+                return true;
+            }
+            selection = null;
+            return false;
         }
 
         public bool IsUnderMouse()

sources/editor/Stride.Assets.Presentation/AssetEditors/Gizmos/DispatcherGizmo.cs

@@ -2,8 +2,10 @@
 // Distributed under the MIT license. See the LICENSE.md file in the project root for more information.
 
 using System;
+using System.Diagnostics.CodeAnalysis;
 using Stride.Core;
 using Stride.Engine;
+using Stride.Engine.Gizmos;
 
 namespace Stride.Assets.Presentation.AssetEditors.Gizmos
 {
@@ -63,9 +65,10 @@ public override float SizeFactor
             }
         }
 
-        public override bool IsUnderMouse(int pickedComponentId)
+        public override bool HandlesComponentId(OpaqueComponentId pickedComponentId, [MaybeNullWhen(false)] out Entity selection)
         {
-            return currentGizmo != null && currentGizmo.IsUnderMouse(pickedComponentId);
+            selection = null;
+            return currentGizmo != null && currentGizmo.HandlesComponentId(pickedComponentId, out selection);
         }
 
         public override void Update()
@@ -94,7 +97,6 @@ public override void Update()
                 }
 
                 // Initialize the new gizmo
-                currentGizmo?.InitializeContentEntity(ContentEntity);
                 currentGizmo?.Initialize(Services, EditorScene);
 
                 // Set the selected and enabled state of the gizmo

sources/editor/Stride.Assets.Presentation/AssetEditors/Gizmos/DispatcherLightGizmo.cs

@@ -3,6 +3,7 @@
 
 using System;
 using Stride.Engine;
+using Stride.Engine.Gizmos;
 using Stride.Rendering.Lights;
 
 namespace Stride.Assets.Presentation.AssetEditors.Gizmos