/// <summary>
/// Create a CONE marker, with the tip at posn
/// </summary>
/// <param name="color"></param>
/// <param name="posn"></param>
/// <param name="angle"></param>
/// <param name="height"></param>
/// <param name="orientation"></param>
private Marker(Color color, Vector3 posn, Orientation orientation, float angle, float height)
{
// Work out the width of the base from the angle
float radius = (float)Math.Tan(angle) * height;
// Create the mesh, centred at 0,0,0
mesh = Mesh.Cylinder(Engine.Device,0,radius,height,16,1);
// Shift the cone so that the tip is at 0,0,0
// and orient it to be aligned with the Y axis (which is how Truespace objects come out when at a YPR of 0,0,0)
Matrix mat = Matrix.Translation(0,0,height/2)
* Matrix.RotationYawPitchRoll(0,-(float)Math.PI/2,0);
VertexBuffer vb = mesh.VertexBuffer; // Retrieve the vertex buffer data
CustomVertex.PositionNormal[] vert;
// get the input vertices as an array (in case I want to modify them)
vert = (CustomVertex.PositionNormal[])vb.Lock(0,
typeof(CustomVertex.PositionNormal),
0,
mesh.NumberVertices);
for (int i=0; i<mesh.NumberVertices; i++)
{
//vert[i].Z = vert[i].Z + height / 2;
vert[i].Position = Vector3.TransformCoordinate(vert[i].Position,mat);
vert[i].Normal = Vector3.TransformNormal(vert[i].Normal, mat);
}
vb.Unlock();
// create the material
material.Ambient = color;
material.Diffuse = color;
material.Specular = color;
material.Emissive = color;
Goto(posn, orientation);
}
private float totalMass = 0; // sum of all cell masses
#endregion Fields
#region Constructors
/// <summary>
/// Construct a Creature instance from a genome
/// </summary>
/// <param name="genotype">The name of the xml file defining this creature, or "" if the creature is being created in the editor</param>
/// <param name="location">world location of creature (Y should be zero)</param>
/// <param name="orientation">world orientation of creature</param>
public Organism(string genotype, Vector3 location, Orientation orientation)
{
Debug.WriteLine("Creating new Creature from genome: "+genotype);
// Set relevant Renderable.FlagBits
Dynamic = true; // (Most) creatures respond to forces
// Set basic members
this.location = location;
this.orientation = Quaternion.RotationYawPitchRoll(orientation.Yaw,orientation.Pitch,orientation.Roll);
instance = instanceCount++; // get a unique instance number
name = genotype+instance.ToString("000"); // give the creature a unique name (valid filename)
// Set up other members
if (genotype == "")
this.genome = new Genome(); // if no genotype supplied, create a default genome (Core cell only, for putting on the clamp)
else
this.genome = new Genome(genotype); // otherwise, create our unique Genome object and store its ref
// Load all the Cells from disk or the Cell Library, using the recipe in the Creature's genome
// and establish their connection points
partList = new Cell[1024]; // Create an initial partlist (will scrunch later)
rootCell = GetCells(genome.Root, null); // read the parts from the genome to create both the tree and partlist
Cell[] shorter = new Cell[numParts]; // scrunch the partlist to the right size
Array.Copy(partList,shorter,numParts);
partList = shorter;
// Now that the whole cell tree exists, allow the cells to connect up their channels
rootCell.ClearAllChannels();
rootCell.WireUpAllChannels();
// Give the cells an absolute position in space so that we can calculate CG, bounds, etc.
rootCell.Locate(Matrix.Translation(location)); // locate root cell temporarily at 0,0,0
RecursiveUpdateFrames(rootCell); // update the combined frames
// Find out which cell is to act as the centre of gravity for the system
CalculateCG();
// Register the creature with the map and position it properly in space
Map.Add(this);
MoveTo(location);
// Calculate the initial center and radius of the Creature's bounding sphere now it is located
ComputeBoundingSphere();
CheckMaps(); // And check maps again, because this requires sphere!
// Calculate any aggregate properties required for sensor requests etc.
SetAggregateProperties();
// Set the SlowUpdate() timer to a random value, so that organisms do their slow updates
// at different times
SlowUpdateTimer = Rnd.Float(SLOWUPDATERATE);
}
/// <summary>
/// Construct the underlying Organism
/// </summary>
/// <param name="genotype"></param>
/// <param name="location"></param>
/// <param name="orientation"></param>
public CameraShip(string genotype, Vector3 location, Orientation orientation)
: base(genotype, location, orientation)
{
}
/// <summary>
/// Extract the Euler angles from the rotation in a transformation matrix
/// </summary>
/// <param name="m">the transform matrix containing the rotations</param>
/// <returns>the oriention implied by the matrix</returns>
public static Orientation GetYPR(Matrix m)
{
Orientation or = new Orientation(0,0,0);
or.Yaw = (float)Math.Asin(m.M13); // get the yaw from the matrix
float c = (float)Math.Cos(or.Yaw);
if ((c<-0.005)||(c>0.005)) // if c is zero we're gimbal locked
{
or.Pitch = (float)Math.Atan2( -m.M23/c, m.M33/c);
or.Roll = (float)Math.Atan2(-m.M12/c, m.M11/c);
}
else
{
// gimbal lock has occurred - pitch and roll axes are aligned
or.Pitch = or.Roll = (float)Math.Atan2(m.M21, m.M22);
}
return or;
}
/// <summary>
/// Addition operator: add a ROTATION to an orientation
/// </summary>
/// <param name="op1">orientation</param>
/// <param name="op2">rotation</param>
/// <returns></returns>
public static Orientation operator +(Orientation op1,Rotation op2)
{
Orientation or = new Orientation (op1.Pitch+op2.Pitch,op1.Yaw+op2.Yaw,op1.Roll+op2.Roll);
or.Normalise();
return or;
}
/// <summary>
/// Move and orient this marker
/// </summary>
/// <param name="locn"></param>
/// <param name="orient"></param>
public void Goto(Vector3 locn, Orientation orient)
{
location = locn;
orientation = orient;
SetMatrix();
}
/// <summary>
/// Create a new SPHERE marker
/// </summary>
/// <param name="color">ARGB value (use A for transparency)</param>
/// <param name="posn">World coordinates of TIP</param>
/// <param name="size">Radius of base</param>
/// <returns></returns>
public static Marker CreateCone(Color color, Vector3 posn, Orientation orientation, float angle, float height)
{
Marker m = new Marker(color, posn, orientation, angle, height);
list.Add(m);
return m;
}
/// <summary>
/// TEMP: Create one or more creatures for testing
/// </summary>
private static void CreateSomeCreatures()
{
const int NUMCREATURES = 50;
Creature = new Organism[NUMCREATURES];
string[] genotype = {
"testTail",
"testJawRed",
};
// Creature 0 is guaranteed to be in front of the camera - use this alone when testing
Creature[0] = new Organism(genotype[0], new Vector3(512.0f, 25.0f, 475.0f), new Orientation(0, 0, 0));
Creature[1] = new Organism(genotype[1], new Vector3(512.0f, 25.0f, 480.0f), new Orientation(0, 0, 0));
for (int c = 2; c < NUMCREATURES; c++)
{
float x, z;
do
{
x = Rnd.Float(400,600);
z = Rnd.Float(400,600);
} while (Terrain.AltitudeAt(x, z) > Water.WATERLEVEL - 10);
Vector3 loc = new Vector3(
x,
Rnd.Float(Terrain.AltitudeAt(x, z) + 5, Water.WATERLEVEL - 5),
z
);
Orientation or = new Orientation(Rnd.Float(3.14f), Rnd.Float(3.14f), Rnd.Float(3.14f));
int genome = Rnd.Int(genotype.Length - 1);
Creature[c] = new Organism(genotype[genome], loc, or);
}
}
