public void Clear()
{
_materials.Clear();
_collisionListeners.Clear();
Newton.NewtonMaterialDestroyAllGroupID(_world.Handle);
}
public bool GetNearestPoint_HullToHull(out Point3D?contactPointThis, out Point3D?contactPointOther, out Vector3D?normal, CollisionHull otherHull, int threadIndex, Transform3D thisTransform, Transform3D otherTransform)
{
float[] finalOffsetThis = thisTransform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(thisTransform.Value).Matrix; // not including the member's offset, because newton is already accounting for it.
float[] finalOffsetOther = thisTransform == null ? new NewtonMatrix(Matrix3D.Identity).Matrix : new NewtonMatrix(otherTransform.Value).Matrix;
NewtonVector3 contactANewt = new NewtonVector3();
NewtonVector3 contactBNewt = new NewtonVector3();
NewtonVector3 normalNewt = new NewtonVector3();
int retVal = Newton.NewtonCollisionClosestPoint(_world.Handle, _handle, finalOffsetThis, otherHull.Handle, finalOffsetOther, contactANewt.Vector, contactBNewt.Vector, normalNewt.Vector, threadIndex);
// Exit Function
if (retVal == 1)
{
contactPointThis = contactANewt.ToPointWPF();
contactPointOther = contactBNewt.ToPointWPF();
normal = normalNewt.ToVectorWPF();
return(true);
}
else
{
contactPointThis = null;
contactPointOther = null;
normal = null;
return(false);
}
}
public void NewtonAddNullTest()
{
double temp1 = 20;
var newton = new Newton(temp1);
Assert.AreEqual(newton.Value, (newton + null).Value);
}
/// <summary>
/// This is different than the other joints. It locks a body to a single axis of rotation (doesn't affect translation)
/// </summary>
/// <param name="pinDirection">Line of action of the hinge (world coords)</param>
public static JointUpVector CreateUpVector(World world, Vector3D pinDirection, Body body)
{
// Up vector joint functions
IntPtr handle = Newton.NewtonConstraintCreateUpVector(world.Handle, new NewtonVector3(pinDirection).Vector, body.Handle);
return(new JointUpVector(world, handle));
}
public void SetNextIndexesTest()
{
Newton newton = new Newton(this.Points);
int actualLeft, actualRight;
// left case
int expectedLeftIndex = -1;
int expectedRightIndex = 0;
newton.SetNextIndexes(out actualLeft, out actualRight, this.LeftX);
Assert.AreEqual(expectedLeftIndex, actualLeft);
Assert.AreEqual(expectedRightIndex, actualRight);
// right case
expectedLeftIndex = this.Points.Length - 1;
expectedRightIndex = -1;
newton.SetNextIndexes(out actualLeft, out actualRight, this.RightX);
Assert.AreEqual(expectedLeftIndex, actualLeft);
Assert.AreEqual(expectedRightIndex, actualRight);
// middle case
expectedLeftIndex = 20;
expectedRightIndex = 21;
newton.SetNextIndexes(out actualLeft, out actualRight, this.MiddleX);
Assert.AreEqual(expectedLeftIndex, actualLeft);
Assert.AreEqual(expectedRightIndex, actualRight);
}
public static double[] Calcular(int n, string fx, double e, string x_ini)
{
double[] xk = x_ini.SplitToDoubles();
double[] grad = Gradiente.CalculaGradiente(n, fx, x_ini.SplitToDoubles()).ToArray();
double[] gk = (double[])grad.Clone();
double[] gk_1;
double[] dk = gk.Negativo();
double beta;
while (Interpretadores.NormaVetor(grad) > e)
{
for (int i = 0; i < n; i++)
{
string xk_s = Interpretadores.GeraVetorY(xk, Interpretadores.LambdaVDirec(dk));
double lamb = Newton.Calcular(0, ((Interpretadores.GeraFy(fx, xk_s)).Replace(',', '.')).Replace("lamb", "x[1]"), 0.1);
xk = Interpretadores.SubsLambda(lamb, xk_s.Replace(',', '.'));
gk_1 = Gradiente.CalculaGradiente(n, fx, xk).ToArray();
if (i >= n - 1)
{
break;
}
beta = GradConjugado.MultEscalar(gk_1, gk_1) / GradConjugado.MultEscalar(gk, gk);
dk = Interpretadores.SomaVetor(gk_1.Negativo(), dk.MultConstante(beta));
gk = (double[])gk_1.Clone();
}
grad = Gradiente.CalculaGradiente(n, fx, xk).ToArray();
}
return(xk);
}
public void Respawn(IntPtr body)
{
Notifier.AddMessage("Respawned");
Matrix mat = Matrix.CreateTranslation(0, 0, -10);
Newton.NewtonBodySetMatrixRecursive(body, MatrixHelper.ToFloats(mat));
}
public void TorqueAndEnergy()
{
Assert.AreEqual(Joule.Sense, NewtonMeter.Sense, "Joule and NewtonMeter dimension are different");
Assert.AreNotEqual(Joule.Family, NewtonMeter.Family, "Joule and NewtonMeter families are the same");
Meter distance = (Meter)10.0;
Newton force = (Newton)100.0;
Joule energy = force * distance;
Assert.AreEqual((Joule)1000.0, energy, "Energy calculation failed");
NewtonMeter torque = force ^ distance;
Assert.AreEqual((NewtonMeter)1000.0, torque, "Torque calculation failed");
Meter distanceFromEnergy = energy / force;
Meter distanceFromTorque = torque / force;
Assert.AreEqual(distanceFromEnergy, distanceFromTorque, "Distances from Energy and Torque are different");
Newton forceFromEnergy = energy / distance;
Newton forceFromTorque = torque / distance;
Assert.AreEqual(forceFromEnergy, forceFromTorque, "Forces from Energy and Torque are different");
Assert.AreEqual(1, Catalog.Units <double>(Joule.Family).Count(), "Selection by Family failed");
Assert.AreEqual(2, Catalog.Units <double>(Joule.Sense).Count(), "Selection by Dimension failed");
}
public void AddBuoyancyForce(float pFluidDensity, float pFluidLinearViscosity, float pFluidAngularViscosity, Vector3D pGravityVector, EventHandler <CBuoyancyPlaneEventArgs> pBuoyancyPlane, int pContext)
{
m_GetBuoyancyPlane = pBuoyancyPlane;
m_NewtonGetBuoyancyPlane = new Newton.NewtonGetBuoyancyPlane(InvokeAddBuoyancyForce);
Newton.NewtonBodyAddBuoyancyForce(m_Handle, pFluidDensity, pFluidLinearViscosity, pFluidAngularViscosity, new NewtonVector3(pGravityVector).NWVector3, m_NewtonGetBuoyancyPlane, pContext);
}
public void CreateCollisionTree(IList <Point3D> points, int pointsPerFace, bool optimise)
{
m_Handle = Newton.NewtonCreateTreeCollision(m_World.Handle, null);
TreeBeginBuild();
TreeAddFaces(points, pointsPerFace);
TreeEndBuild(optimise);
}
public static void ShareHullsAcrossWorlds()
{
// Worlds
Newton.NewtonSetMemorySystem(null, null);
IntPtr world1 = Newton.NewtonCreate();
Newton.NewtonSetSolverModel(world1, 1); //adaptive
Newton.NewtonCollisionDestructor callback1 = new Newton.NewtonCollisionDestructor(HullDestroyed);
Newton.NewtonSetCollisionDestructor(world1, callback1);
IntPtr world2 = Newton.NewtonCreate();
Newton.NewtonSetSolverModel(world2, 1);
Newton.NewtonCollisionDestructor callback2 = new Newton.NewtonCollisionDestructor(HullDestroyed);
Newton.NewtonSetCollisionDestructor(world2, callback2);
// Hulls
IntPtr hull1a = Newton.NewtonCreateBox(world1, 1f, 1f, 1f, 0, null);
IntPtr hull1b = Newton.NewtonCreateBox(world1, 1f, 1f, 1f, 0, null); // handle is same as 1a
IntPtr hull2a = Newton.NewtonCreateBox(world2, 1f, 1f, 1f, 0, null);
IntPtr hull2b = Newton.NewtonCreateBox(world2, 1f, 2f, 1f, 0, null);
// Dispose
Newton.NewtonReleaseCollision(world1, hull1a);
Newton.NewtonReleaseCollision(world1, hull1b);
Newton.NewtonReleaseCollision(world1, hull1b); // this just silently does nothing
Newton.NewtonReleaseCollision(world2, hull2a);
Newton.NewtonReleaseCollision(world2, hull2b);
}
protected virtual void Dispose(bool disposing)
{
if (disposing)
{
//BUG: this will dispose ALL world's bodies.
CJoint[] joints = new CJoint[CHashTables.Joint.Count];
CHashTables.Joint.Values.CopyTo(joints, 0);
foreach (CJoint joint in joints)
{
joint.Dispose();
}
CBody[] bodies = new CBody[CHashTables.Body.Count];
CHashTables.Body.Values.CopyTo(bodies, 0);
foreach (CBody body in bodies)
{
body.Dispose();
}
if (m_Handle != IntPtr.Zero)
{
Newton.NewtonDestroy(m_Handle);
m_Handle = IntPtr.Zero;
}
// Stuff was left behind, so I'm clearing everything (there's likely only one world anyway)
CHashTables.Clear();
}
}
public void Update(float pTimeStep)
{
if (m_Handle != IntPtr.Zero)
{
Newton.NewtonUpdate(m_Handle, pTimeStep);
}
}
public void CalculateAABB(Matrix3D pMatrix, Vector3D p0, Vector3D p1)
{
Newton.NewtonCollisionCalculateAABB(m_Handle,
new NewtonMatrix(pMatrix).NWMatrix,
new NewtonVector3(p0).NWVector3,
new NewtonVector3(p1).NWVector3);
}
protected virtual void Dispose(bool disposing)
{
if (disposing)// && _handle != IntPtr.Zero)
{
if (_isDisposed)
{
System.Diagnostics.Debug.WriteLine($"Dispose already disposed: {_handle}");
}
else
{
System.Diagnostics.Debug.WriteLine($"Disposing: {_handle}");
_isDisposed = true;
if (Disposing != null)
{
Disposing(this, new EventArgs());
}
_world.BodyDisposed(this); //NOTE: This just gives the .net world object a chance to unhook event listeners
Newton.NewtonDestroyBody(_worldHandle, _handle);
ObjectStorage.Instance.RemoveBody(_handle);
//_handle = IntPtr.Zero;
}
}
}
public void GetPointsAround()
{
int MaxDotsInArea = 20;
List <Point> expectedPointsForLeft = new List <Point>();
for (int i = 0; i < MaxDotsInArea; i++)
{
expectedPointsForLeft.Add(this.Points[i]);
}
Newton newton = new Newton(this.Points);
List <Point> actualCollection = newton.GetPointsAround(this.LeftX, MaxDotsInArea);
this.AssertPoints(expectedPointsForLeft, actualCollection);
// right checking
List <Point> expectedPointsForRight = new List <Point>();
for (int i = 21; i < this.Points.Length; i++)
{
expectedPointsForRight.Add(this.Points[i]);
}
newton = new Newton(this.Points);
actualCollection = newton.GetPointsAround(this.RightX, MaxDotsInArea);
this.AssertPoints(expectedPointsForRight, actualCollection);
// middle checking
List <Point> expectedpointsForMiddle = new List <Point>();
for (int i = 11; i <= 30; i++)
{
expectedpointsForMiddle.Add(this.Points[i]);
}
newton = new Newton(this.Points);
actualCollection = newton.GetPointsAround(this.MiddleX, MaxDotsInArea);
this.AssertPoints(expectedpointsForMiddle, actualCollection);
// middle left checking
List <Point> expectedPointsForLeftMiddle = new List <Point>();
for (int i = 0; i < MaxDotsInArea; i++)
{
expectedPointsForLeftMiddle.Add(this.Points[i]);
}
actualCollection = newton.GetPointsAround(this.MiddleXLeft, MaxDotsInArea);
this.AssertPoints(expectedPointsForLeftMiddle, actualCollection);
List <Point> expectedpointsForRightMiddle = new List <Point>();
for (int i = 21; i < this.Points.Length; i++)
{
expectedpointsForRightMiddle.Add(this.Points[i]);
}
actualCollection = newton.GetPointsAround(this.MiddleXRight, MaxDotsInArea);
this.AssertPoints(expectedpointsForRightMiddle, actualCollection);
}
public void WorldRayCast(Vector3D origin, Vector3D endPoint, EventHandler <CWorldRayFilterEventArgs> pWorldRayFilter, object userData, EventHandler <CWorldRayPreFilterEventArgs> pWorldRayPrefilter)
{
if (pWorldRayFilter != null)
{
m_WorldRayFilter = new EventHandler <CWorldRayFilterEventArgs>(pWorldRayFilter);
m_NewtonWorldRayFilter = new Newton.NewtonWorldRayFilterCallback(InvokeWorldRayFilter);
}
else
{
m_NewtonWorldRayFilter = null;
}
if (pWorldRayPrefilter != null)
{
m_WorldRayPrefilter = new EventHandler <CWorldRayPreFilterEventArgs>(pWorldRayPrefilter);
m_NewtonWorldRayPrefilter = new Newton.NewtonWorldRayPrefilterCallback(InvokeWorldRayPrefilter);
}
else
{
m_NewtonWorldRayPrefilter = null;
}
Newton.NewtonWorldRayCast(m_Handle,
new NewtonVector3(origin).NWVector3,
new NewtonVector3(endPoint).NWVector3,
m_NewtonWorldRayFilter,
(IntPtr)(userData ?? IntPtr.Zero),
m_NewtonWorldRayPrefilter);
}
public Vector3D GetContactForce()
{
NewtonVector3 aForce = new NewtonVector3(new Vector3D());
Newton.NewtonMaterialGetContactForce(m_Handle, aForce.NWVector3);
return(aForce.ToDirectX());
}
public void GetPolynomCoefficients2()
{
double[] xx = { 1, 2, 3, 4 };
double[] yy = { 6, 9, 2, 5, };
double[] d = { 6, 3, -5, 10 / 3d };
var p = new Polynom(d[0]);
var p1 = new Polynom(-xx[0], 1);
var pp1 = d[1] * p1;
p += pp1;
var p2 = new Polynom(-xx[1], 1);
p += d[2] * p1 * p2;
var p3 = new Polynom(-xx[2], 1);
p += d[3] * p1 * p2 * p3;
var expected_coefficients = p.Coefficients;
var actual_coefficients = Newton.GetPolynomCoefficients(xx, yy);
var actual_coefficients2 = Lagrange.GetPolynomCoefficients(xx, yy);
const double accuracy = 7.106e-15;
Assert.That.Collection(actual_coefficients).IsEqualTo(expected_coefficients, accuracy);
}
/// <summary>
/// Vector is in world coords
/// </summary>
public Vector3D GetContactForceWorld(Body body)
{
NewtonVector3 retVal = new NewtonVector3();
Newton.NewtonMaterialGetContactForce(_handle, body.Handle, retVal.Vector);
return(retVal.ToVectorWPF());
}
public void CreateSphere(Vector3D pRadius, Matrix3D pOffsetMatrix)
{
NewtonMatrix aMatrix = new NewtonMatrix(pOffsetMatrix);
m_Handle = Newton.NewtonCreateSphere(m_World.Handle, (float)pRadius.X, (float)pRadius.Y, (float)pRadius.Z, aMatrix.NWMatrix);
CHashTables.Collision.Add(m_Handle, this);
}
public void Release()
{
if (m_Handle != IntPtr.Zero)
{
Newton.NewtonReleaseCollision(m_World.Handle, m_Handle);
CHashTables.Collision.Remove(m_Handle);
}
}
public float RayCast(Vector3D p0, Vector3D p1, Vector3D pNormals, int pAttribute)
{
return(Newton.NewtonCollisionRayCast(m_Handle,
new NewtonVector3(p0).NWVector3,
new NewtonVector3(p1).NWVector3,
new NewtonVector3(pNormals).NWVector3,
pAttribute));
}
public void InRangeEmptyConstructorTest()
{
var newton = new Newton {
Value = 500
};
Assert.AreEqual(500, newton.Value, double.Epsilon);
}
/// <summary>
/// Tells you how much force to apply to get the desired velocity (doesn't consider rotation)
/// </summary>
/// <remarks>
/// From newton.cpp:
///
/// Calculate the next force that needs to be applied to the body to archive the desired velocity in the current time step.
///
/// Parameters:
/// *const NewtonBody* *bodyPtr - pointer to the body.
/// *dFloat* timestep - time step that the force will be applyed.
/// *const dFloat* *desiredVeloc - pointer to an array of 3 floats containing the desired velocity.
/// *dFloat* *forceOut - pointer to an array of 3 floats to hold the calculated net force.
///
/// Remark: this function can be useful when creating object for game play.
///
/// remark: this treat the body as a point mass and is uses the solver to calculates the net force that need to be applied to the body
/// such that is reach the desired velocity in the next time step.
/// In general the force should be calculated by the expression f = M * (dsiredVeloc - bodyVeloc) / timestep
/// however due to algorithmic optimization and limitations if such equation is used then the solver will generate a different desired velocity.
/// </remarks>
public Vector3D GetForceForDesiredVelocity(Vector3D desiredVelocity, double timestep)
{
NewtonVector3 retVal = new NewtonVector3();
Newton.NewtonBodyCalculateInverseDynamicsForce(_handle, Convert.ToSingle(timestep), new NewtonVector3(desiredVelocity).Vector, retVal.Vector);
return(retVal.ToVectorWPF());
}
public void TestElectromagnetism()
{
var particleOne = new Sphere().SetCharge(new Coulomb(1));
var particleTwo = new Sphere().SetCharge(new Coulomb(1)).SetCoordinates(PhysicalCoordinate <Meter> .Create(0, 0, 1));
Newton forceBetween = Electromagnetism.ForceBetween(particleOne, particleTwo);
Assert.AreEqual(8987551787.3681755, forceBetween.Value);
}
static void Main(string[] args)
{
Console.WriteLine("Calculate by Newton");
Console.WriteLine(Newton.Calculate(2, 10, 0.000000001));
Console.WriteLine("Calculate by Math.Pow");
Console.WriteLine(Math.Pow(2, 1 / 10.0));
Console.ReadKey();
}
public static Vector3D MatrixToEulerAngle(Matrix3D pMatrix)
{
NewtonVector3 aNewtonVector3 = new NewtonVector3(new Vector3D());
Newton.NewtonGetEulerAngle(new NewtonMatrix(pMatrix).NWMatrix,
aNewtonVector3.NWVector3);
return(aNewtonVector3.ToDirectX());
}
public MatrixValue Function(ScalarValue x0, ScalarValue xn, ScalarValue y0, ScalarValue yn)
{
var m = new Newton();
var xsteps = (int)Math.Abs(Math.Ceiling((xn.Re - x0.Re) / 0.1));
var ysteps = (int)Math.Abs(Math.Ceiling((yn.Re - y0.Re) / 0.1));
return(m.CalculateMatrix(x0.Re, xn.Re, y0.Re, yn.Re, xsteps, ysteps));
}
public static Matrix3D EulerAngleToMatrix(Vector3D pEulersAngles)
{
NewtonMatrix aNewtonMatrix = new NewtonMatrix(Matrix3D.Identity);
Newton.NewtonSetEulerAngle(new NewtonVector3(pEulersAngles).NWVector3,
aNewtonMatrix.NWMatrix);
return(aNewtonMatrix.ToDirectX());
}
public object m_UserData; // user data passed to the collision geometry at creation time
internal UserMeshCollisionRayHitDesc(Newton.NewtonUserMeshCollisionRayHitDesc pRayHitDesc)
{
m_NormalOut = new NewtonVector4(pRayHitDesc.m_NormalOut).ToDirectX();
m_P0 = new NewtonVector4(pRayHitDesc.m_P0).ToDirectX();
m_P1 = new NewtonVector4(pRayHitDesc.m_P1).ToDirectX();
m_UserData = CHashTables.BodyUserData[pRayHitDesc.m_UserData];
m_UserIdOut = pRayHitDesc.m_UserIdOut;
}
public CBody m_PolySoupBody; // pointer to the rigid body owner of this collision tree
internal UserMeshCollisionCollideDesc(Newton.NewtonUserMeshCollisionCollideDesc pDesc)
{
m_BoxP0 = new NewtonVector4(pDesc.m_BoxP0).ToDirectX();
m_BoxP1 = new NewtonVector4(pDesc.m_BoxP1).ToDirectX();
m_UserData = pDesc.m_UserData;
m_FaceCount = pDesc.m_FaceCount;
m_Vertex = pDesc.m_Vertex;
m_VertexStrideInBytes = pDesc.m_VertexStrideInBytes;
m_UserAttribute = pDesc.m_UserAttribute;
m_FaceIndexCount = pDesc.m_FaceIndexCount;
m_FaceVertexIndex = pDesc.m_FaceVertexIndex;
m_ObjBody = (CBody)CHashTables.Body[pDesc.m_ObjBody];
m_PolySoupBody = (CBody)CHashTables.Body[pDesc.m_PolySoupBody];
}
private void InvokeUserMeshCollisionCollide(Newton.NewtonUserMeshCollisionCollideDesc pCollideDescData)
{
UserMeshCollisionCollideDesc aCollideDescData = new UserMeshCollisionCollideDesc(pCollideDescData);
//aCollideDescData.m_BoxP0 = new NewtonVector4(pCollideDescData.m_BoxP0).ToDirectX();
//aCollideDescData.m_BoxP1 = new NewtonVector4(pCollideDescData.m_BoxP1).ToDirectX();
//aCollideDescData.m_FaceCount = pCollideDescData.m_FaceCount;
//aCollideDescData.m_FaceIndexCount = pCollideDescData.m_FaceIndexCount;
//aCollideDescData.m_FaceVertexIndex = pCollideDescData.m_FaceVertexIndex;
//aCollideDescData.m_ObjBody = (CBody)CHashTables.Body[pCollideDescData.m_ObjBody];
//aCollideDescData.m_PolySoupBody = (CBody)CHashTables.Body[pCollideDescData.m_PolySoupBody];
//aCollideDescData.m_UserAttribute = pCollideDescData.m_UserAttribute;
//aCollideDescData.m_UserData = pCollideDescData.m_UserData;
//aCollideDescData.m_Vertex = pCollideDescData.m_Vertex;
//aCollideDescData.m_VertexStrideInBytes = pCollideDescData.m_VertexStrideInBytes;
OnUserMeshCollisionCollide(
new CUserMeshCollisionCollideEventArgs(aCollideDescData));
}
private uint InvokeHinge(IntPtr pNewtonJoint, Newton.NewtonHingeSliderUpdateDesc pDesc)
{
CHingeEventArgs e = new CHingeEventArgs(new HingeSliderUpdateDesc(pDesc));
OnHinge(e);
if (e.ApplyConstraint)
{
e.Desc.ToNewton(pDesc);
return 1;
}
else
return 0;
}
private void Button_Click_Calc(object sender, RoutedEventArgs e)
{
string inputNum_string = Input_TextBox.Text;
Number inputNum = new Number(inputNum_string, false, 0, 0);
string inputAccuracy_string = Accuracy_TextBox.Text;
int accuracy = Convert.ToInt32(inputAccuracy_string);
System.Diagnostics.Stopwatch stopwatch = new System.Diagnostics.Stopwatch();
//进行计算
RangeAssist rangeAssist = new RangeAssist(inputNum, accuracy);
//泰勒展开法进行计算
stopwatch.Start();
Taylor TaylorCal = new Taylor(rangeAssist.numConverted, accuracy);
Number resultTaylor = rangeAssist.NumRecover(TaylorCal.TaylorCalculate());
stopwatch.Stop();
float taylorTime = (float)stopwatch.ElapsedMilliseconds / 1000;
//外推加速法进行计算
stopwatch.Start();
Romberg RombergCal = new Romberg(rangeAssist.numConverted, accuracy);
Number resultRomberg = rangeAssist.NumRecover(RombergCal.RombergCalculate());
stopwatch.Stop();
float rombergTime = (float)stopwatch.ElapsedMilliseconds / 1000;
//牛顿法进行计算
stopwatch.Start();
Newton NewtonCal = new Newton(rangeAssist.numConverted, accuracy);
Number resultNewton = rangeAssist.NumRecover(NewtonCal.NewtonCalculate());
stopwatch.Stop();
float newtonTime = (float)stopwatch.ElapsedMilliseconds / 1000;
//显示字符串
//泰勒法
string resultTaylor_string = "";
if (resultTaylor.sign == -1)
{
resultTaylor_string += "-";
}
for (int i = 0; i < resultTaylor.intLength; i++)
{
resultTaylor_string += resultTaylor.intPart[i].ToString();
}
resultTaylor_string += ".";
for (int i = 0; i < resultTaylor.decLength; i++)
{
resultTaylor_string += resultTaylor.decPart[i].ToString();
}
Taylor_TextBox.Text = resultTaylor_string;
TaylorTime_TextBox.Text = taylorTime.ToString() + "秒";
//外推加速法
string resultRomberg_string = "";
if (resultRomberg.sign == -1)
{
resultRomberg_string += "-";
}
for (int i = 0; i < resultRomberg.intLength; i++)
{
resultRomberg_string += resultRomberg.intPart[i].ToString();
}
resultRomberg_string += ".";
for (int i = 0; i < resultRomberg.decLength; i++)
{
resultRomberg_string += resultRomberg.decPart[i].ToString();
}
Romberg_TextBox.Text = resultRomberg_string;
RombergTime_TextBox.Text = rombergTime.ToString() + "秒";
//牛顿法
string resultNewton_string = "";
if (resultNewton.sign == -1)
{
resultNewton_string += "-";
}
for (int i = 0; i < resultNewton.intLength; i++)
{
resultNewton_string += resultNewton.intPart[i].ToString();
}
resultNewton_string += ".";
for (int i = 0; i < resultNewton.decLength; i++)
{
resultNewton_string += resultNewton.decPart[i].ToString();
}
Newton_TextBox.Text = resultNewton_string;
NewtonTime_TextBox.Text = newtonTime.ToString() + "秒";
}
private uint InvokeUniversal(IntPtr pNewtonJoint,
Newton.NewtonHingeSliderUpdateDesc pDesc)
{
HingeSliderUpdateDesc aUpdateDesc = new HingeSliderUpdateDesc();
aUpdateDesc.m_Accel = pDesc.m_Accel;
aUpdateDesc.m_MaxFriction = pDesc.m_MaxFriction;
aUpdateDesc.m_MinFriction = pDesc.m_MinFriction;
aUpdateDesc.m_Timestep = pDesc.m_Timestep;
OnUniversal(new CUniversalEventArgs(aUpdateDesc));
return 1;
}
/// <summary>
/// Set a user defined NewtonSetTransform callback function to be used for this physics object.
/// If not specified, a default callback function will be used.
/// </summary>
/// <remarks>
/// This is an advanced functionality. We do not recommend using this method unless you know
/// what exactly to do with the returned transform from Newton physics.
/// </remarks>
/// <param name="physObj"></param>
/// <param name="callback"></param>
/// <see cref="GetPhysicsObject"/>
public void SetTransformCallback(IPhysicsObject physObj, Newton.NewtonSetTransform callback)
{
if (setTransformMap.ContainsKey(physObj))
setTransformMap.Remove(physObj);
setTransformMap.Add(physObj, callback);
}
void Start()
{
self = this;
NewtonSetup();
}
internal void ToNewton(Newton.NewtonHingeSliderUpdateDesc newton)
{
newton.m_Accel = this.m_Accel;
newton.m_MinFriction = this.m_MinFriction;
newton.m_MaxFriction = this.m_MaxFriction;
newton.m_Timestep = this.m_Timestep;
}
internal HingeSliderUpdateDesc(Newton.NewtonHingeSliderUpdateDesc pUpdateDesc)
{
m_Accel = pUpdateDesc.m_Accel;
m_MaxFriction = pUpdateDesc.m_MaxFriction;
m_MinFriction = pUpdateDesc.m_MinFriction;
m_Timestep = pUpdateDesc.m_Timestep;
}
private float InvokeUserMeshCollisionRayHit(Newton.NewtonUserMeshCollisionRayHitDesc pLineDescData)
{
UserMeshCollisionRayHitDesc aUserMeshCollisionRayHitDesc = new UserMeshCollisionRayHitDesc();
aUserMeshCollisionRayHitDesc.m_NormalOut = new NewtonVector4(pLineDescData.m_NormalOut).ToDirectX();
aUserMeshCollisionRayHitDesc.m_P0 = new NewtonVector4(pLineDescData.m_P0).ToDirectX();
aUserMeshCollisionRayHitDesc.m_P1 = new NewtonVector4(pLineDescData.m_P1).ToDirectX();
aUserMeshCollisionRayHitDesc.m_UserData = pLineDescData.m_UserData;
aUserMeshCollisionRayHitDesc.m_UserIdOut = pLineDescData.m_UserIdOut;
OnUserMeshCollisionRayHit(
new CUserMeshCollisionRayHitEventArgs(aUserMeshCollisionRayHitDesc));
return 1.2f;
}
public void Setup()
{
_rootFinder = new Newton();
}
/// <summary>
/// Set a user defined NewtonApplyForceAndTorque callback function to be used for this
/// physics object. If not specified, a default callback function will be used.
/// </summary>
/// <remarks>
/// This is an advanced functionality. We do not recommend using this method unless you know
/// how exactly you want to manipulate the force and torque calculation.
/// </remarks>
/// <param name="physObj"></param>
/// <param name="callback"></param>
/// <see cref="GetPhysicsObject"/>
public void SetApplyForceAndTorqueCallback(IPhysicsObject physObj,
Newton.NewtonApplyForceAndTorque callback)
{
if (applyForceMap.ContainsKey(physObj))
applyForceMap.Remove(physObj);
applyForceMap.Add(physObj, callback);
}
public static void Main()
{
Func<double, double> f = delegate(double x) { return x*x-5; };
Newton newton = new Newton(f,10e-7,100,10.2);
newton.Aproximate();
}
private uint InvokeCorkscrew(IntPtr pNewtonJoint,
Newton.NewtonHingeSliderUpdateDesc pDesc)
{
HingeSliderUpdateDesc aHingeSliderUpdateDesc = new HingeSliderUpdateDesc();
aHingeSliderUpdateDesc.m_Accel = pDesc.m_Accel;
aHingeSliderUpdateDesc.m_MaxFriction = pDesc.m_MaxFriction;
aHingeSliderUpdateDesc.m_MinFriction = pDesc.m_MinFriction;
aHingeSliderUpdateDesc.m_Timestep = pDesc.m_Timestep;
OnCorkscrew(new CCorkscrewEventArgs(aHingeSliderUpdateDesc));
return 1;
}
/// <summary>
/// Set a user defined NewtonTreeCollision callback function to be used for this
/// physics object. If not specified, null will be passed.
/// </summary>
/// <param name="?"></param>
/// <param name="callback"></param>
public void SetTreeCollisionCallback(IPhysicsObject physObj, Newton.NewtonTreeCollision callback)
{
if (treeCollisionMap.ContainsKey(physObj))
treeCollisionMap.Remove(physObj);
treeCollisionMap.Add(physObj, callback);
}
