public static float TestScalarInvert(int iterationCount)
{
bAffineTransform m = bAffineTransform.Identity;
float accumulator = 0;
for (int i = 0; i < iterationCount; ++i)
{
bAffineTransform r0, r1;
bAffineTransform.Invert(ref m, out r0);
bAffineTransform.Invert(ref r0, out r1);
bAffineTransform.Invert(ref r1, out r0);
bAffineTransform.Invert(ref r0, out r1);
bAffineTransform.Invert(ref r1, out r0);
bAffineTransform.Invert(ref r0, out r1);
bAffineTransform.Invert(ref r1, out r0);
bAffineTransform.Invert(ref r0, out r1);
bAffineTransform.Invert(ref r1, out r0);
bAffineTransform.Invert(ref r0, out r1);
accumulator += r1.Translation.X;
}
return(accumulator);
}
public static float TestScalarMultiply(int iterationCount)
{
bAffineTransform m1 = bAffineTransform.Identity;
bAffineTransform m2 = bAffineTransform.Identity;
float accumulator = 0;
for (int i = 0; i < iterationCount; ++i)
{
bAffineTransform r0, r1;
bAffineTransform.Multiply(ref m1, ref m2, out r0);
bAffineTransform.Multiply(ref r0, ref m2, out r1);
bAffineTransform.Multiply(ref r1, ref m2, out r0);
bAffineTransform.Multiply(ref r0, ref m2, out r1);
bAffineTransform.Multiply(ref r1, ref m2, out r0);
bAffineTransform.Multiply(ref r0, ref m2, out r1);
bAffineTransform.Multiply(ref r1, ref m2, out r0);
bAffineTransform.Multiply(ref r0, ref m2, out r1);
bAffineTransform.Multiply(ref r1, ref m2, out r0);
bAffineTransform.Multiply(ref r0, ref m2, out r1);
accumulator += 0.000001f * r1.Translation.X;
}
return(accumulator);
}
public static float TestTransformScalar(int iterationCount)
{
bVector3 v = new bVector3(1, 2, 3);
bAffineTransform m = bAffineTransform.Identity;
float accumulator = 0;
for (int i = 0; i < iterationCount; ++i)
{
bVector3 r0, r1;
bAffineTransform.Transform(ref v, ref m, out r0);
bAffineTransform.Transform(ref r0, ref m, out r1);
bAffineTransform.Transform(ref r1, ref m, out r0);
bAffineTransform.Transform(ref r0, ref m, out r1);
bAffineTransform.Transform(ref r1, ref m, out r0);
bAffineTransform.Transform(ref r0, ref m, out r1);
bAffineTransform.Transform(ref r1, ref m, out r0);
bAffineTransform.Transform(ref r0, ref m, out r1);
bAffineTransform.Transform(ref r1, ref m, out r0);
bAffineTransform.Transform(ref r0, ref m, out r1);
accumulator += 0.000001f * r1.X;
}
return(accumulator);
}
/// <summary>
/// Create new StaticCollider from existing collision data<para/>
/// Создание нового коллайдера из существующих данных
/// </summary>
/// <param name="colmesh">Collision data<para/>Данные о коллизиях</param>
public StaticCollider(CollisionFile.Group colmesh, Vector3 position, Quaternion angles, Vector3 scale)
{
// Create base transformation matrix
// Создание базовой матрицы трансформации
Matrix4 mat =
Matrix4.CreateScale(scale) *
Matrix4.CreateFromQuaternion(angles) *
Matrix4.CreateTranslation(position);
// Create bodies
// Создание тел
List <CollisionEntry> col = new List <CollisionEntry>();
// Spheres
// Сферы
if (colmesh.Spheres != null)
{
foreach (CollisionFile.Sphere s in colmesh.Spheres)
{
// Transforming positions to world coordinates
// Трансформация расположения в мировые координаты
Vector3 pos = Vector3.TransformPosition(s.Center, mat);
float radius = Vector3.TransformVector(Vector3.UnitX * s.Radius, mat).Length;
// Create primitive
// Создание примитива
EntityShape shape = new SphereShape(radius);
col.Add(new CollisionEntry()
{
Type = PrimitiveType.Sphere,
Position = pos,
Rotation = Quaternion.Identity,
Shape = shape,
Body = new Entity(shape)
});
}
}
// Cubes
// Кубы
if (colmesh.Boxes != null)
{
foreach (CollisionFile.Box b in colmesh.Boxes)
{
// Transforming positions to world coordinates
// Трансформация расположения в мировые координаты
Vector3 pos = Vector3.TransformPosition(
new Vector3(
(b.Min.X + b.Max.X) / 2f,
(b.Min.Y + b.Max.Y) / 2f,
(b.Min.Z + b.Max.Z) / 2f
)
, mat);
float factor = Vector3.TransformVector(Vector3.UnitX, mat).Length;
// Create primitive
// Создание примитива
EntityShape shape = new BoxShape(
(float)Math.Abs(b.Max.X - b.Min.X) * factor,
(float)Math.Abs(b.Max.Y - b.Min.Y) * factor,
(float)Math.Abs(b.Max.Z - b.Min.Z) * factor
);
col.Add(new CollisionEntry()
{
Type = PrimitiveType.Box,
Position = pos,
Rotation = angles,
Shape = shape,
Body = new Entity(shape)
});
}
}
// Trimeshes
// Тримеши
if (colmesh.Meshes != null)
{
// Creating vertices array
// Создание массива вершин
BEPUutilities.Vector3[] verts = new BEPUutilities.Vector3[colmesh.Vertices.Length];
for (int i = 0; i < colmesh.Vertices.Length; i++)
{
verts[i] = new BEPUutilities.Vector3(
colmesh.Vertices[i].X,
colmesh.Vertices[i].Y,
colmesh.Vertices[i].Z
);
}
foreach (CollisionFile.Trimesh m in colmesh.Meshes)
{
// Creating affine transformation
// Создание трансформации
BEPUutilities.AffineTransform transform = new BEPUutilities.AffineTransform(
new BEPUutilities.Vector3(scale.X, scale.Y, scale.Z),
new BEPUutilities.Quaternion(angles.X, angles.Y, angles.Z, angles.W),
new BEPUutilities.Vector3(position.X, position.Y, position.Z)
);
// Create primitive
// Создание примитива
col.Add(new CollisionEntry()
{
Type = PrimitiveType.Mesh,
Mesh = new StaticMesh(verts, m.Indices, transform)
});
}
}
subColliders = col.ToArray();
}
/// <summary>
/// Create new StaticCollider from existing collision data<para/>
/// Создание нового коллайдера из существующих данных
/// </summary>
/// <param name="colmesh">Collision data<para/>Данные о коллизиях</param>
public StaticCollider(CollisionFile.Group colmesh, Vector3 position, Quaternion angles, Vector3 scale) {
// Create base transformation matrix
// Создание базовой матрицы трансформации
Matrix4 mat =
Matrix4.CreateScale(scale) *
Matrix4.CreateFromQuaternion(angles) *
Matrix4.CreateTranslation(position);
// Create bodies
// Создание тел
List<CollisionEntry> col = new List<CollisionEntry>();
// Spheres
// Сферы
if (colmesh.Spheres!=null) {
foreach (CollisionFile.Sphere s in colmesh.Spheres) {
// Transforming positions to world coordinates
// Трансформация расположения в мировые координаты
Vector3 pos = Vector3.TransformPosition(s.Center, mat);
float radius = Vector3.TransformVector(Vector3.UnitX * s.Radius, mat).Length;
// Create primitive
// Создание примитива
EntityShape shape = new SphereShape(radius);
col.Add(new CollisionEntry() {
Type = PrimitiveType.Sphere,
Position = pos,
Rotation = Quaternion.Identity,
Shape = shape,
Body = new Entity(shape)
});
}
}
// Cubes
// Кубы
if (colmesh.Boxes!=null) {
foreach (CollisionFile.Box b in colmesh.Boxes) {
// Transforming positions to world coordinates
// Трансформация расположения в мировые координаты
Vector3 pos = Vector3.TransformPosition(
new Vector3(
(b.Min.X+b.Max.X)/2f,
(b.Min.Y+b.Max.Y)/2f,
(b.Min.Z+b.Max.Z)/2f
)
, mat);
float factor = Vector3.TransformVector(Vector3.UnitX, mat).Length;
// Create primitive
// Создание примитива
EntityShape shape = new BoxShape(
(float)Math.Abs(b.Max.X-b.Min.X) * factor,
(float)Math.Abs(b.Max.Y-b.Min.Y) * factor,
(float)Math.Abs(b.Max.Z-b.Min.Z) * factor
);
col.Add(new CollisionEntry() {
Type = PrimitiveType.Box,
Position = pos,
Rotation = angles,
Shape = shape,
Body = new Entity(shape)
});
}
}
// Trimeshes
// Тримеши
if (colmesh.Meshes!=null) {
// Creating vertices array
// Создание массива вершин
BEPUutilities.Vector3[] verts = new BEPUutilities.Vector3[colmesh.Vertices.Length];
for (int i = 0; i < colmesh.Vertices.Length; i++)
{
verts[i] = new BEPUutilities.Vector3(
colmesh.Vertices[i].X,
colmesh.Vertices[i].Y,
colmesh.Vertices[i].Z
);
}
foreach (CollisionFile.Trimesh m in colmesh.Meshes) {
// Creating affine transformation
// Создание трансформации
BEPUutilities.AffineTransform transform = new BEPUutilities.AffineTransform(
new BEPUutilities.Vector3(scale.X, scale.Y, scale.Z),
new BEPUutilities.Quaternion(angles.X, angles.Y, angles.Z, angles.W),
new BEPUutilities.Vector3(position.X, position.Y, position.Z)
);
// Create primitive
// Создание примитива
col.Add(new CollisionEntry() {
Type = PrimitiveType.Mesh,
Mesh = new StaticMesh(verts, m.Indices, transform)
});
}
}
subColliders = col.ToArray();
}