static void test_tostring()
{
test_name("ToString");
Vec3d v3d = new Vec3d(0.1, 0.2, 0.3);
//string s = v3d.ToString();
/**/ put("ToString", "(0.1, 0.2, 0.3)", v3d.ToString());
/**/ System.Console.WriteLine("ToString: implicit ToString call : " + v3d);
PHSceneDesc descScene = new PHSceneDesc();
PHSolidDesc descSolid = new PHSolidDesc();
PHSdkIf phSdk = PHSdkIf.CreateSdk();
PHSceneIf phScene = phSdk.CreateScene(descScene);
PHSolidIf phSolid = phScene.CreateSolid(descSolid);
phSolid.SetPose(new Posed(1, 0, 0, 0, 0, 2, 0));
put_title("ToString: phSolid");
put_indent(2, phSolid.ToString());
FWWinBaseDesc descWinBase = new FWWinBaseDesc();
FWSdkIf fwSdk = FWSdkIf.CreateSdk();
put_title("ToString: fwSdk.ToString");
put_indent(2, fwSdk.ToString());
}
static void test_intrinsic()
{
test_name("intrinsic");
// intrinsic member
PHSceneDesc descScene = new PHSceneDesc();
PHRaycastHit raycastHit = new PHRaycastHit();
GRVertexElement vertexelm = new GRVertexElement();
// simple
vertexelm.offset = 123; put("short ", "123 ", vertexelm.offset);
descScene.numIteration = 123; put("int ", "123 ", descScene.numIteration);
descScene.bCCDEnabled = true; put("bool ", "True ", descScene.bCCDEnabled);
raycastHit.distance = 0.123F; put("float ", "0.123", raycastHit.distance);
descScene.airResistanceRate = 0.123; put("double", "0.123", descScene.airResistanceRate);
// nested
descScene.gravity.x = 0;
descScene.gravity.y = 0;
descScene.gravity.z = -4.5;
/**/ put("set by elm", "(0.0, 0.0, -4.5)", descScene.gravity);
descScene.gravity = new Vec3d(2.5, -5.2, 0.5);
/**/ put("set struct", "(2.5, -5.2, 0.5)", descScene.gravity);
// structure
Vec3d v3d = new Vec3d(0.1, 0.2, 0.3);
put("Vec new", "(0.1, 0.2, 0.3)", v3d);
put("Vec * c", "(0.2, 0.4, 0.6)", v3d * 2);
put("c * Vec", "(0.2, 0.4, 0.6)", 2 * v3d);
Posed pose = new Posed(new Vec3d(1, 2, 3), new Quaterniond(1, 0, 0, 0));
put2("pose", new Posed(1, 0, 0, 0, 1, 2, 3), pose);
}
// UnityのOnValidate : SprBehaviourのものをオーバーライド
public override void OnValidate()
{
if (GetDescStruct() == null)
{
ResetDescStruct();
}
if (sprObject != null)
{
// PHSceneの設定
{
PHSceneDesc d = new PHSceneDesc();
phScene.GetDesc(d);
desc.ApplyTo(d);
phScene.SetDesc(d);
}
// PHIKEngineの設定
{
PHIKEngineDesc d = new PHIKEngineDesc();
phScene.GetIKEngine().GetDesc(d);
descIK.ApplyTo(d);
phScene.GetIKEngine().SetDesc(d);
}
// DescではなくStateに含まれる変数。ApplyToで自動同期されないので手動で設定
phScene.SetTimeStep(desc.timeStep);
phScene.SetHapticTimeStep(desc.haptictimeStep);
// IKの有効・無効の切り替え
phScene.GetIKEngine().Enable(enableIK);
}
ApplyCollisionList();
}
static void Main(string[] args)
{
PHSceneDesc descScene = new PHSceneDesc();
descScene.airResistanceRate = 0.5;
descScene.gravity = new Vec3d(0, 0, -4.5);
System.Console.WriteLine(descScene.gravity);
}
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());
}
/**/
}
static void test_func_return()
{
test_name("function return");
int memoryLeakTest = 0;
PHSceneDesc descScene = new PHSceneDesc();
PHSolidDesc descSolid = new PHSolidDesc();
if (memoryLeakTest == 1)
{
return;
}
PHSdkIf phSdk = PHSdkIf.CreateSdk(); // ここでメモリリークする
if (memoryLeakTest == 2)
{
return;
}
PHSceneIf phScene = phSdk.CreateScene(descScene);
descSolid.mass = 2.0;
descSolid.inertia = new Matrix3d(2.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 2.0);
PHSolidIf phSolid = phScene.CreateSolid(descSolid);
descSolid.mass = 1e20f;
descSolid.inertia = new Matrix3d(1e20f, 0.0, 0.0, 0.0, 1e20f, 0.0, 0.0, 0.0, 1e20f);
PHSolidIf solid1 = phScene.CreateSolid(descSolid);
PHHapticPointerDesc descHaptic = new PHHapticPointerDesc();
PHHapticPointerIf phHaptic = phScene.CreateHapticPointer();
//HISdkDesc descHi = new HISdkDesc();
//HISdkIf hiSdk = HISdkIf.CreateSdk();
put("ret int ", "3 ", phScene.NSolids());
for (int i = 0; i < 20; i++)
{
phScene.Step();
}
put("ret Uint ", "20 ", phScene.GetCount());
phHaptic.SetLocalRange(2.345f);
put("ret float ", "2.345", phHaptic.GetLocalRange());
put("ret double", "0.005", phScene.GetTimeStep());
phScene.SetMaxVelocity(1.23);
put("ret double", "0.123", phScene.GetMaxVelocity());
phScene.EnableContactDetection(false);
put("ret bool ", "False", phScene.IsContactDetectionEnabled());
phScene.EnableContactDetection(true);
put("ret bool ", "True ", phScene.IsContactDetectionEnabled());
put("ret size_t", "152? ", phScene.GetDescSize());
put("ret Vec3d ", "(0.0, -9.8, 0.0)", phScene.GetGravity());
phScene.SetGravity(new Vec3d(0.1, -9.9, 0.2));
put("ret Vec3d ", "(0.1, -9.9, 0.2)", phScene.GetGravity());
// function returns array by using pointer
CDConvexMeshDesc descMesh = new CDConvexMeshDesc();
for (int x = 0; x < 10; x++)
{
for (int y = 0; y < 10; y++)
{
for (int z = 0; z < 10; z++)
{
Vec3f v3f = new Vec3f(x, y, z);
descMesh.vertices.push_back(new Vec3f(x, y, z));
}
}
}
//PHSdkIf phSdk = PHSdkIf.CreateSdk();
CDConvexMeshIf mesh = phSdk.CreateShape(CDConvexMeshIf.GetIfInfoStatic(), descMesh) as CDConvexMeshIf;
mesh.GetVertices();
arraywrapper_Vec3f vertices = mesh.GetVertices();
Vec3f[] v3fr = new Vec3f[8];
v3fr[0] = new Vec3f(0, 0, 0); v3fr[1] = new Vec3f(0, 0, 9);
v3fr[2] = new Vec3f(0, 9, 0); v3fr[3] = new Vec3f(0, 9, 9);
v3fr[4] = new Vec3f(9, 0, 0); v3fr[5] = new Vec3f(9, 0, 9);
v3fr[6] = new Vec3f(9, 9, 0); v3fr[7] = new Vec3f(9, 9, 9);
for (int i = 0; i < 8; i++)
{
put("ret_array", edit_vector(v3fr[i]), vertices[i]);
}
}
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);
}
// UnityのOnValidate : SprBehaviourのものをオーバーライド
public override void OnValidate()
{
if (GetDescStruct() == null)
{
ResetDescStruct();
}
if (sprObject != null)
{
// PHSceneの設定
{
PHSceneDesc d = new PHSceneDesc();
phScene.GetDesc(d);
desc.ApplyTo(d);
phScene.SetDesc(d);
}
// PHIKEngineの設定
{
PHIKEngineDesc d = new PHIKEngineDesc();
phScene.GetIKEngine().GetDesc(d);
descIK.ApplyTo(d);
phScene.GetIKEngine().SetDesc(d);
}
// DescではなくStateに含まれる変数。ApplyToで自動同期されないので手動で設定
phScene.SetTimeStep(desc.timeStep);
phScene.SetHapticTimeStep(desc.haptictimeStep);
// IKの有効・無効の切り替え
phScene.GetIKEngine().Enable(enableIK);
}
// <!!> PHJointBehaviourのdisableCollisionと衝突するので要検討
if (sprObject != null)
{
for (int i = 0; i < collision.Count; i++)
{
CollisionSetting c = collision[i];
if (c.solid1 == null && c.solid2 == null)
{
phScene.SetContactMode(c.mode);
}
else if (c.solid1 == null)
{
if (c.solid2.sprObject != null)
{
phScene.SetContactMode(c.solid2.phSolid, c.mode);
}
}
else if (c.solid2 == null)
{
if (c.solid1.sprObject != null)
{
phScene.SetContactMode(c.solid1.phSolid, c.mode);
}
}
else
{
if (c.solid1.sprObject != null && c.solid2.sprObject != null)
{
phScene.SetContactMode(c.solid1.phSolid, c.solid2.phSolid, c.mode);
}
}
}
}
}
