Example #1
0
    // -- SpringheadのShapeオブジェクトを構築する
    public override CDShapeIf CreateShape(GameObject shapeObject)
    {
        BoxCollider bc = shapeObject.GetComponent <BoxCollider>();

        if (bc == null)
        {
            throw new ObjectNotFoundException("CDBoxBehaviour requires BoxCollider", shapeObject);
        }

        Vector3 size  = bc.size;
        Vector3 scale = shapeObject.transform.lossyScale;

        desc.boxsize = new Vec3f((float)(size.x * scale.x), (float)(size.y * scale.y), (float)(size.z * scale.z));

        return(phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), (CDBoxDesc)desc));
    }
Example #2
0
        static void test_simulation()
        {
            test_name("physical simulation");

            PHSceneDesc descScene = new PHSceneDesc();
            PHSolidDesc descSolid = new PHSolidDesc();
            CDBoxDesc   descBox   = new CDBoxDesc();
            PHSdkIf     phSdk     = PHSdkIf.CreateSdk();
            PHSceneIf   phScene   = phSdk.CreateScene(descScene);
            PHSolidIf   phSolid   = phScene.CreateSolid(descSolid);

            phSolid.AddShape(phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), descBox));
            phSolid.SetPose(new Posed(1, 0, 0, 0, 0, 2, 0));

            PHSolidIf phFloor = phScene.CreateSolid(descSolid);

            phFloor.SetDynamical(false);
            descBox.boxsize = new Vec3f(10, 10, 10);
            phFloor.AddShape(phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), descBox));
            phFloor.SetPose(new Posed(1, 0, 0, 0, 0, -5, 0));

            PHBallJointDesc descJoint = new PHBallJointDesc();
            PHBallJointIf   j         = phScene.CreateJoint(phFloor, phSolid, PHBallJointIf.GetIfInfoStatic(), descJoint).Cast();

            System.Console.WriteLine(j.GetName());

            PHIKBallActuatorDescStruct s = new PHIKBallActuatorDesc();

            put("bias", "something", s.bias);

            /**/
            for (int i = 0; i < 200; i++)
            {
                phScene.Step();
                //System.Console.WriteLine(i.ToString() + " : " + phSolid.GetPose());
                System.Console.WriteLine(String.Format("{0, 3}", i) + " : " + phSolid.GetPose());
            }
            /**/
        }
Example #3
0
        static void test_type_conv()
        {
            test_name("type conversion");

            string msg_f3 = "f2d: (1, 2, 3)";
            string msg_d3 = "d2f: (4, 5, 6)";

            Vec3f f3 = new Vec3f(1, 2, 3);
            Vec3d d3 = new Vec3d(4, 5, 6);

            put("type_conv", msg_f3, f3);
//            print_vec3f(d3, msg_f3);    // This cause CS1502 and CS1503 compile error. <- OK
            put("type_conv", msg_d3, (Vec3f)d3);

            Vec3fStruct f3s = f3;
            Vec3dStruct d3s = d3;

            put("type_conv", msg_f3, "(" + f3s.x + ", " + f3s.y + ", " + f3s.z + ")");
//            print_vec3fs(d3s, msg_d3);  // This cause CS1502 and CS1503 compile error. <- OK
            put("type_conv", msg_d3,
                "(" + ((Vec3fStruct)d3s).x + ", " + ((Vec3fStruct)d3s).y + ", " + ((Vec3fStruct)d3s).z + ")");

            // -----
            // 戻り値の自動型変換のテスト
            PHSdkIf   phSdk   = PHSdkIf.CreateSdk();
            CDBoxDesc descBox = new CDBoxDesc();

            descBox.boxsize = new Vec3f(1, 4, 9);
            CDShapeIf shape = phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), descBox);
            // ↑ CreateShapeはCDBoxIfオブジェクトを返す。それをCDShapeIfで受ける。

            // CDShapeIf型の変数に格納されているが中身はCDBoxIfなので型変換可能。
            CDBoxIf box = shape as CDBoxIf;

            put("type_conv", "(1, 4, 9)", box.GetBoxSize().ToString());

            // CDBoxIf is not a CDSphereIf なので nullになることが期待される。
            CDSphereIf sphere = shape as CDSphereIf;

            if (sphere == null)
            {
                put("type_conv", "null", "null");
            }
            else
            {
                put("type_conv", "null", sphere.ToString());
            }

            // CDBoxIf is a CDConvexIf なのでnullにはならず型変換される。
            CDConvexIf convex = shape as CDConvexIf;

            if (convex == null)
            {
                put("type_conv", "not null", "null");
            }
            else
            {
                put("type_conv", "not null", convex.ToString());
            }

            // -----
            PHSceneDesc descScn = new PHSceneDesc();
            PHSceneIf   scene   = phSdk.CreateObject(PHSceneIf.GetIfInfoStatic(), descScn) as PHSceneIf;

            System.Console.WriteLine((scene == null) ? "null" : scene.ToString());

            // constructor による初期値設定のテスト
            // ---- State を継承 ----
            // 暗黙の型変換による
            PHSceneDescStruct structScene1 = new PHSceneDesc();
            Vec3d             v3d1         = new Vec3d(0.0, -9.8, 0.0);
            Vec3d             v3d2         = new Vec3d(1.0, -8.8, 1.0);

            put("by typeconv:    gravity ", edit_vector(v3d1), edit_vector(structScene1.gravity));
            put("by typeconv:    timeStep", "0.005", structScene1.timeStep);
            // constructor による
            PHSceneDescStruct structScene2 = new PHSceneDescStruct();

            put("by constructor: gravity ", edit_vector(v3d1), edit_vector(structScene2.gravity));
            put("by constructor: timeStep", "0.005", structScene2.timeStep);
            // ApplyFrom による
            PHSceneDescStruct structScene3 = new PHSceneDescStruct();

            structScene3.gravity  = v3d2;
            structScene3.timeStep = 1.001;
            put("by Apply(): fm: gravity ", edit_vector(v3d2), edit_vector(structScene3.gravity));
            put("by Apply(): fm: timeStep", "1.001", structScene3.timeStep);
            structScene2.ApplyFrom((PHSceneDesc)structScene3);
            put("by Apply(): to: gravity ", edit_vector(v3d2), edit_vector(structScene2.gravity));
            put("by Apply(): to: timeStep", "0.005", structScene2.timeStep);
            //
            // ---- Desc を継承 ----
            CDSphereDescStruct structSphere1 = new CDSphereDescStruct();
            CDSphereDesc       descSphere1   = structSphere1;
            CDSphereDescStruct structSphere2 = new CDSphereDescStruct();
            CDSphereDesc       descSphere2   = structSphere2;

            descSphere2.radius           = 2;
            descSphere2.material.density = 2;
            //
            put("DescStruct: radius      ", "1", structSphere1.radius);
            put("DescStruct: base.density", "1", structSphere1.material.density);
            structSphere1.ApplyFrom(descSphere2);
            put("ApplyFrom:");
            put("DescStruct: radius      ", "2", structSphere1.radius);
            put("DescStruct: base.density", "1", structSphere1.material.density);
            structSphere1 = descSphere2;
            put("assignment:");
            put("DescStruct: radius      ", "2", structSphere1.radius);
            put("DescStruct: base.density", "2", structSphere1.material.density);
            //
            descSphere2.radius           = 3;
            descSphere2.material.density = 3;
            structSphere1.ApplyFrom(descSphere2);
            put("ApplyTo:");
            put("DescStruct: radius      ", "3", structSphere1.radius);
            put("DescStruct: base.density", "2", structSphere1.material.density);
            structSphere1.material.density = 3;
            descSphere1 = structSphere2;
            put("assignment:");
            put("DescStruct: radius      ", "3", structSphere1.radius);
            put("DescStruct: base.density", "3", structSphere1.material.density);

            //
            // ---- 比較 ----
            Vec3d v3d_c11 = new Vec3d(1, 2, 3);
            Vec3d v3d_c12 = new Vec3d(1, 2, 3);
            Vec3d v3d_c21 = new Vec3d(4, 5, 6);

            put("compare: ==, same", "True ", v3d_c11 == v3d_c12);
            put("compare: ==, diff", "False", v3d_c11 == v3d_c21);
            put("compare: ==, null", "False", v3d_c11 == null);
            put("compare: ==, null", "False", null == v3d_c11);
            put("compare: !=, same", "False", v3d_c11 != v3d_c12);
            put("compare: !=, diff", "True ", v3d_c11 != v3d_c21);
            put("compare: !=, null", "True ", v3d_c11 != null);
            put("compare: !=, null", "True ", null != v3d_c11);
            vectorwrapper_int vw11 = new vectorwrapper_int((IntPtr)0);
            vectorwrapper_int vw12 = new vectorwrapper_int((IntPtr)0);
            vectorwrapper_int vw21 = new vectorwrapper_int((IntPtr)1);

            put("compare: ==, wrap", "True ", vw11 == vw12);
            put("compare: ==, wrap", "False", vw11 == vw21);
            put("compare: ==, null", "False", vw11 == null);
            put("compare: ==, null", "False", null == vw21);
            put("compare: !=, wrap", "False", vw11 != vw12);
            put("compare: !=, wrap", "True ", vw11 != vw21);
            put("compare: !=, null", "True ", vw11 != null);
            put("compare: !=, null", "True ", null != vw21);
        }