public static void SetSimpleScene(ISimulator simulator)
{
#region Create a box
//create a rigidBody
var boxRigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Dynamic, Matrices.Translate(0, 10, 0));
var boxRigidBody = simulator.ActorsFactory.CreateRigidBody(boxRigidBodyDescriptor);
//create a simple fixture for the rigidBody
var fixtureDescriptor = new FixtureDescriptor(Matrices.I);
var simpleFixture = boxRigidBody.FixtureFactory.CreateSimpleFixture(fixtureDescriptor);
//define the shape for the simple fixture
var boxShapeDescriptor = new BoxShapeDescriptor(3, 3, 3, _motionColor);
simpleFixture.ShapeFactory.CreateBox(boxShapeDescriptor);
//define the material for the simple fixture
var materialDescriptor = new MaterialDescriptor(friction: 0.5f, restitution: 0.6f);
simpleFixture.MaterialFactory.CreateMaterial(materialDescriptor);
boxRigidBody.MassFrame.UpdateFromShape();
#endregion
#region Create a plane for the ground
var groundRigidBody =
simulator.ActorsFactory.CreateRigidBody(new RigidBodyDescriptor(MotionType.Static, Matrices.I));
var groundSimpleFixture =
groundRigidBody.FixtureFactory.CreateSimpleFixture(new FixtureDescriptor(Matrices.I));
groundSimpleFixture.ShapeFactory.CreatePlane(new PlaneShapeDescriptor(Vectors.YAxis, 0, _groundColor));
groundSimpleFixture.MaterialFactory.CreateMaterial(materialDescriptor);
#endregion
}
IBoxShape IFactoryOf <IBoxShape, BoxShapeDescriptor> .Create(BoxShapeDescriptor descriptor)
{
var boxShape = new BoxShape(descriptor);
Store(boxShape.WrappedBoxShape);
return(boxShape);
}
private void CreateTower(UniformMaterial material, BoxShapeDescriptor descriptor, int xCount, int yCount, int zCount, float xSpace, float ySpace, float zSpace, float xOffset, float yOffset, float zOffset)
{
for (int x = 0; x < xCount; x++)
{
for (int y = 0; y < yCount; y++)
{
for (int z = 0; z < zCount; z++)
{
var box = new RigidBody
{
MotionType = DigitalRune.Physics.MotionType.Dynamic,
Pose = new Pose(new Vector3F(xOffset + x * xSpace - ((xCount - 1) * xSpace / 2),
yOffset + y * ySpace - ((yCount - 1) * ySpace / 2),
zOffset + z * zSpace - ((zCount - 1) * zSpace / 2))),
Shape = new BoxShape(descriptor.WidthX, descriptor.WidthY, descriptor.WidthZ),
Material = material,
UserData = _boxModel
};
_simulation.RigidBodies.Add(box);
}
}
}
}
public BoxShape(RigidBody rigidBody, Matrix4x4 realParentPose, Material material, BoxShapeDescriptor descriptor)
{
var boxShapeDescription = new BoxShapeDescription(descriptor.WidthX, descriptor.WidthY, descriptor.WidthZ)
{
Material = material._wrappedMaterial
};
_wrappedBoxShape =
(StillDesign.PhysX.BoxShape)
rigidBody.WrappedActor.CreateShape(boxShapeDescription);
SetRealParentPose(realParentPose);
UserData = descriptor.UserData;
if (rigidBody.HasDefaultShape)
{
rigidBody.WrappedActor.Shapes[0].Dispose();
rigidBody.HasDefaultShape = false;
}
}
IBoxShape IFactoryOf <IBoxShape, BoxShapeDescriptor> .Create(BoxShapeDescriptor descriptor)
{
return(new Shapes.BoxShape(_simpleFixture._rigidBody, _simpleFixture._realPose, (Material)_simpleFixture.MaterialFactory.Element, descriptor));
}
public static IBoxShape CreateBox(this IFactory <IShape> factory,
BoxShapeDescriptor descriptor)
{
return(factory.Create <IBoxShape, BoxShapeDescriptor>(descriptor));
}
public BoxShape(BoxShapeDescriptor descriptor)
{
WrappedBoxShape = new global::DigitalRune.Geometry.Shapes.BoxShape(descriptor.WidthX, descriptor.WidthY, descriptor.WidthZ);
UserData = descriptor.UserData;
}
public DefaultBoxShape(BoxShapeDescriptor descriptor)
{
Descriptor = descriptor;
}