private List <ICollisionShape> BuildJenga()
{
List <ICollisionShape> objects = new List <ICollisionShape>();
Vector3d position = new Vector3d(-8.0, 0.0, 0.0);
string objName = "jenga.obj";
GeometryProperties geom1 = GetObjectGeometry(objName, 1.0f);
ShapeGeometry shapeGeometry = new ShapeGeometry(geom1.VertexPoint, geom1.TriagleIdx);
ShapeFilename.Add(objName);
ShapeScale.Add(1.0f);
TextureFilename.Add("texture/woodbox.bmp");
//var objects1 = new ConcaveShape(shapeGeometry, position, 1.0, false);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
//position = position + shift;
objects.Add(objects1);
return(objects);
}
private List <ICollisionShape> BuildBridge()
{
List <ICollisionShape> objects = new List <ICollisionShape>();
Vector3d position = new Vector3d(0.0, 0.0, 12.5);
ShapeFilename.Add("cube.obj");
ShapeScale.Add(1.5f);
TextureFilename.Add("texture/woodbox.bmp");
GeometryProperties geom1 = GetObjectGeometry("cube.obj", 1.5f);
var objects_0 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 0.0, true);
objects_0.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects_0.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_0.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_0.SetRestitutionCoeff(0.1);
objects_0.SetDynamicFrictionCoeff(0.4);
objects_0.SetStaticFrictionCoeff(0.4);
objects_0.ExcludeFromCollisionDetection(false);
objects_0.SetErrorReductionParam(0.3);
objects.Add(objects_0);
position = new Vector3d(0.0, 1.2, 9.5);
for (int i = 0; i < 9; i++)
{
ShapeFilename.Add("cube1.obj");
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
var geom = GetObjectGeometry("cube1.obj", 1);
var objects_1 = new ConvexShape(geom.VertexPoint, geom.TriagleIdx, position, 1.0, false);
objects_1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
objects_1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_1.SetRestitutionCoeff(0.1);
objects_1.SetDynamicFrictionCoeff(0.8);
objects_1.SetStaticFrictionCoeff(0.9);
objects_1.ExcludeFromCollisionDetection(false);
objects_1.SetErrorReductionParam(0.3);
objects.Add(objects_1);
position = position - new Vector3d(0.0, 0.0, 2.5);
}
position = new Vector3d(0.0, 0.0, -13.5);
ShapeFilename.Add("cube.obj");
ShapeScale.Add(1.5f);
TextureFilename.Add("texture/woodbox.bmp");
geom1 = GetObjectGeometry("cube.obj", 1.5f);
objects_0 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 0.0, true);
objects_0.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects_0.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_0.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_0.SetRestitutionCoeff(0.1);
objects_0.SetDynamicFrictionCoeff(0.4);
objects_0.SetStaticFrictionCoeff(0.4);
objects_0.ExcludeFromCollisionDetection(false);
objects_0.SetErrorReductionParam(0.3);
objects.Add(objects_0);
return(objects);
}
private List <ICollisionShape> BuildBaseAndCarShapes()
{
List <ICollisionShape> objects = new List <ICollisionShape>();
#region Terrain Base
ShapeFilename.Add("cube1.obj");
ShapeScale.Add(60);
TextureFilename.Add("texture/woodbox.bmp");
GeometryProperties geom0 = GetObjectGeometry(ShapeFilename[0], ShapeScale[0]);
var objects0 = new ConvexShape(geom0.VertexPoint, geom0.TriagleIdx, new Vector3d(0.0, -4.0, 0.0), 0.0, true);
objects0.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects0.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects0.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects0.SetRestitutionCoeff(0.1);
objects0.SetDynamicFrictionCoeff(1.0);
objects0.SetStaticFrictionCoeff(1.0);
objects0.ExcludeFromCollisionDetection(false);
objects0.SetErrorReductionParam(0.7);
objects.Add(objects0);
#endregion
#region Dynamic Objects
Vector3d position = new Vector3d(0.0, 5.6, 0.0);
ShapeFilename.Add("cube2.obj");
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
GeometryProperties geom1 = GetObjectGeometry("cube2.obj", 1);
var objects_0 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 100.0, false);
objects_0.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
objects_0.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_0.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects_0.SetRestitutionCoeff(0.1);
objects_0.SetDynamicFrictionCoeff(0.4);
objects_0.SetStaticFrictionCoeff(0.3);
objects_0.ExcludeFromCollisionDetection(false);
objects_0.SetErrorReductionParam(0.5);
objects.Add(objects_0);
position = new Vector3d(-1.1, 5.1, -1.5);
ShapeFilename.Add("wheel.obj");
ShapeScale.Add(0.5f);
TextureFilename.Add("texture/woodbox.bmp");
geom1 = GetObjectGeometry("wheel.obj", 0.5f);
var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.8);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
objects.Add(objects1);
position = new Vector3d(1.1, 5.1, -1.5);
ShapeFilename.Add("wheel.obj");
ShapeScale.Add(0.5f);
TextureFilename.Add("texture/woodbox.bmp");
geom1 = GetObjectGeometry("wheel.obj", 0.5f);
objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.8);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
objects.Add(objects1);
position = new Vector3d(1.1, 5.1, 1.5);
ShapeFilename.Add("wheel.obj");
ShapeScale.Add(0.5f);
TextureFilename.Add("texture/woodbox.bmp");
geom1 = GetObjectGeometry("wheel.obj", 0.5f);
objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.8);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
objects.Add(objects1);
position = new Vector3d(-1.1, 5.1, 1.5);
ShapeFilename.Add("wheel.obj");
ShapeScale.Add(0.5f);
TextureFilename.Add("texture/woodbox.bmp");
geom1 = GetObjectGeometry("wheel.obj", 0.5f);
objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.8);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
objects.Add(objects1);
#endregion
return(objects);
}
private List <ICollisionShape> BuildStack()
{
List <ICollisionShape> objects = new List <ICollisionShape>();
Vector3d shift = new Vector3d(0.0, 2.3, 0.0);
Vector3d position = new Vector3d(8.0, 4.0, 0.0);
string objName = "cube.obj";
double[] mass = new double[] { 50, 20, 8, 3, 1 };
GeometryProperties geom1 = GetObjectGeometry(objName, 1.0f);
ShapeGeometry shapeGeometry = new ShapeGeometry(geom1.VertexPoint, geom1.TriagleIdx);
//ShapeGeometry shapeGeometry = new ShapeGeometry(geom1.VertexPoint);
for (int i = 0; i < 15; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1.0f);
TextureFilename.Add("texture/woodbox.bmp");
//var objects1 = new ConcaveShape(shapeGeometry, position, 1.0, false);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(11.0, 4.0, 0.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(5.0, 1.7, 0.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(5.0, 1.7, 3.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(5.0, 1.7, -5.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(5.0, 1.7, 8.0);
for (int i = 0; i < 5; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(8.0, 1.7, -3.0);
for (int i = 0; i < 10; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(8.0, 1.7, 3.0);
for (int i = 0; i < 10; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
return(objects);
}
private List <ICollisionShape> GetSimulationObjects()
{
List <ICollisionShape> objects = new List <ICollisionShape>();
#region Terrain Base
ShapeFilename.Add("cube1.obj");
ShapeScale.Add(60);
TextureFilename.Add("texture/woodbox.bmp");
GeometryProperties geom0 = GetObjectGeometry(ShapeFilename[0], ShapeScale[0], 0.0);
var objects0 = new ConvexShape(geom0.VertexPoint, geom0.TriagleIdx, new Vector3d(0.0, -2.0, 0.0), 0.0, true);
objects0.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects0.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects0.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects0.SetRestitutionCoeff(0.1);
objects0.SetDynamicFrictionCoeff(1.0);
objects0.SetStaticFrictionCoeff(1.0);
objects0.ExcludeFromCollisionDetection(false);
objects0.SetErrorReductionParam(0.3);
objects.Add(objects0);
#endregion
#region Dynamic Objects
Vector3d shift = new Vector3d(3.0, 0.0, 0.0);
Vector3d position = new Vector3d(0.0, 7.0, 0.0);
double[] mass = new double[] { 50, 20, 8, 3, 1 };
ShapeFilename.Add("cube1.obj");
ShapeScale.Add(10.0f);
TextureFilename.Add("texture/woodbox.bmp");
GeometryProperties geom1 = GetObjectGeometry("cube1.obj", 10.0f, 0.75);
//var objects1 = new ConcaveShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0, true);
var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 0.0, true);
//var objects1 = new ConvexShape(geom1.VertexPoint, position, 1.0);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.01);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(1.0);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
objects.Add(objects1);
double[] friction = new double[] { 0.8, 0.6, 0.4, 0.2 };
position = new Vector3d(-3.0, 13.50, -5.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add("cube.obj");
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
geom1 = GetObjectGeometry("cube.obj", 1, 0.75);
objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(friction[i]);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.5);
position = position + shift;
objects.Add(objects1);
}
#endregion
return(objects);
}
private List <ICollisionShape> GetSimulationObjects()
{
List <ICollisionShape> objects = new List <ICollisionShape>();
#region Terrain Base
ShapeFilename.Add("cube1.obj");
ShapeScale.Add(60);
TextureFilename.Add("texture/woodbox.bmp");
GeometryProperties geom0 = GetObjectGeometry(ShapeFilename[0], ShapeScale[0], 0.0);
var objects0 = new ConvexShape(geom0.VertexPoint, geom0.TriagleIdx, new Vector3d(0.0, -2.0, 0.0), 0.0, true);
objects0.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects0.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects0.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects0.SetRestitutionCoeff(0.1);
objects0.SetDynamicFrictionCoeff(1.0);
objects0.SetStaticFrictionCoeff(1.0);
objects0.ExcludeFromCollisionDetection(false);
objects0.SetErrorReductionParam(0.3);
objects.Add(objects0);
#endregion
#region Dynamic Objects
Vector3d shift = new Vector3d(0.0, 2.3, 0.0);
Vector3d position = new Vector3d(0.0, 4.0, 0.0);
string objName = "cube.obj";
double[] mass = new double[] { 50, 20, 8, 3, 1 };
GeometryProperties geom1 = GetObjectGeometry(objName, 1.0f, 0.0);
ShapeGeometry shapeGeometry = new ShapeGeometry(geom1.VertexPoint, geom1.TriagleIdx);
//ShapeGeometry shapeGeometry = new ShapeGeometry(geom1.VertexPoint);
for (int i = 0; i < 15; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1.0f);
TextureFilename.Add("texture/woodbox.bmp");
//var objects1 = new ConcaveShape(shapeGeometry, position, 1.0, false);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 1.0));
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(3.0, 4.0, 0.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(-3.0, 1.7, 0.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(-3.0, 1.7, 3.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(-3.0, 1.7, -5.0);
for (int i = 0; i < 4; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(-3.0, 1.7, 8.0);
for (int i = 0; i < 5; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(0.0, 1.7, -3.0);
for (int i = 0; i < 10; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
position = new Vector3d(0.0, 1.7, 3.0);
for (int i = 0; i < 10; i++)
{
ShapeFilename.Add(objName);
ShapeScale.Add(1);
TextureFilename.Add("texture/woodbox.bmp");
//GeometryProperties geom1 = GetObjectGeometry(objName, 1, 0.0);
//var objects1 = new ConvexShape(geom1.VertexPoint, geom1.TriagleIdx, position, 1.0);
var objects1 = new ConvexShape(shapeGeometry, position, 1.0, false);
objects1.SetRotationStatus(new Quaternion(new Vector3d(0.0, 0.0, 0.0), 0.0));
//objects1.SetGeometry(geom1.VertexPoint, geom1.TriagleIdx);
objects1.SetLinearVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetAngularVelocity(new Vector3d(0.0, 0.0, 0.0));
objects1.SetRestitutionCoeff(0.1);
objects1.SetDynamicFrictionCoeff(0.3);
objects1.SetStaticFrictionCoeff(0.9);
objects1.ExcludeFromCollisionDetection(false);
objects1.SetErrorReductionParam(0.3);
position = position + shift;
objects.Add(objects1);
}
//TextureFilename[3] = new string[1] { "texture/woodbox.bmp" };
//TODO rimuovere
//<ShapeFilename[3] = new string[1] { "torus.obj" };
//ShapeScale[3] = new float[1] { 1 };
//var objects3 = BuildSoftBody("torus.obj", 1, new Vector3(0.0, -1.5, 0.0));
// objects3.SetStaticFrictionCoeff(0.5);
// objects3.SetDynamicFrictionCoeff(0.5);
// objects3.SetRestitutionCoeff(0.5);
// objects3.SetRestoreCoeff(60.0);
// objects.Add(objects3);
#endregion
return(objects);
}