private static IRigidBody SetSnowman(ISimulator simulator, Matrix4x4 pose)
{
var rigidBody = simulator.ActorsFactory.CreateRigidBody(new RigidBodyDescriptor(MotionType.Dynamic, pose));
var fixtureDescriptor = new FixtureDescriptor(Matrices.I);
var compositeFixture = rigidBody.FixtureFactory.CreateCompositeFixture(fixtureDescriptor);
//head
var simpleFixture = compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(0, 4f, 0)));
simpleFixture.ShapeFactory.CreateSphere(new SphereShapeDescriptor(0.7f));
//body
simpleFixture = compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(0, 3, 0)));
simpleFixture.ShapeFactory.CreateSphere(new SphereShapeDescriptor(1));
//legs?
simpleFixture = compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(0, 1.5f, 0)));
simpleFixture.ShapeFactory.CreateSphere(new SphereShapeDescriptor(1.5f));
rigidBody.MassFrame.UpdateFromShape();
return(rigidBody);
}
/// <summary>
/// Formats a fixture with the specified descriptor of it.
/// </summary>
/// <param name="descriptor">The descriptor of the fixture.</param>
/// <returns>The formatted description.</returns>
protected virtual FormattedDescription FormatFixture(FixtureDescriptor descriptor)
{
PreviousStepType = null;
var fixtureName = FixtureNames.GetOrDefault(descriptor.FixtureAttributeType, () => ToDefaultFixtureName(descriptor)) ?? string.Empty;
var lines = descriptor.Description.Split(new[] { Environment.NewLine }, StringSplitOptions.None);
if (!string.IsNullOrEmpty(fixtureName))
{
lines[0] = FormatFixture(fixtureName, lines[0]);
}
var descriptionItems = new List <FormattedDescription>();
descriptionItems.AddRange(FormatNarrative(descriptor.Benefit, descriptor.Role, descriptor.Feature));
var backgroundDescription = FormatBackground(descriptor.Background);
if (backgroundDescription is not null)
{
descriptionItems.Add(backgroundDescription);
}
return(new FormattedDescription
{
Lines = lines,
FirstLineIndent = FixtureFirstLineIndent(fixtureName),
LineIndent = FixtureLineIndent(fixtureName),
Items = descriptionItems.AsReadOnly()
});
}
public static void SetFrictionScene(ISimulator simulator)
{
const int maxI = 8;
const float alphaGrad = 33;
for (int i = 0; i <= maxI; i++)
{
SetSimpleRigidBody <IBoxShape, BoxShapeDescriptor>(simulator,
new RigidBodyDescriptor(MotionType.Dynamic,
GMath.mul(
Matrices.Translate(
2 * i - maxI, 0.5f, 0),
Matrices.RotateZGrad(
alphaGrad))),
new BoxShapeDescriptor(1, 1, 1, _motionColor),
new MaterialDescriptor(friction: (maxI - i) * 1f / maxI,
restitution: 0.5f));
}
//create inclined ground
var groundRigidBody =
simulator.ActorsFactory.CreateRigidBody(new RigidBodyDescriptor(MotionType.Static, Matrices.I));
var fixtureDescriptor = new FixtureDescriptor(Matrices.RotateZGrad(alphaGrad));
var simpleFixture = groundRigidBody.FixtureFactory.CreateSimpleFixture(fixtureDescriptor);
simpleFixture.ShapeFactory.Create <IPlaneShape, PlaneShapeDescriptor>(new PlaneShapeDescriptor(
Vectors.YAxis, 0, _groundColor));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.0f, restitution: 0.5f));
groundRigidBody.MassFrame.UpdateFromShape();
}
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
}
internal CompositeFixture(RigidBody rigidBody, FixtureDescriptor descriptor, Matrix4x4 realParentPose)
{
_rigidBody = rigidBody;
_pose = descriptor.Pose;
_realParentPose = realParentPose;
_realPose = GMath.mul(_pose, _realParentPose);
FixtureFactory = new CompositeFixtureFixtureFactory(this);
UserData = descriptor.UserData;
}
void Ex02()
{
Given(
"FixtureDescriptor the full name of which is Carna.Runner.Fixture",
() => FixtureDescriptor = new FixtureDescriptor("Fixture", "Carna.Runner.Fixture", new AssemblyFixtureAttribute())
);
Given(@"a pattern of regular expression that is 'Runner\.F+'", () => Pattern = @"Runner\.F+");
Expect("the result of a filter should be true", () => FilterOf(Pattern).Accept(FixtureDescriptor));
}
internal SimpleFixture(RigidBody rigidBody, FixtureDescriptor descriptor, Matrix4x4 realParentPose)
{
_rigidBody = rigidBody;
_pose = descriptor.Pose;
_realParentPose = realParentPose;
_realPose = GMath.mul(_pose, _realParentPose);
ShapeFactory = new SimpleFixtureShapeFactory(this);
MaterialFactory = new SimpleFixtureMaterialFactory(this);
UserData = descriptor.UserData;
}
void Ex01()
{
Given(
"FixtureDescriptor the tag of which is Test",
() => FixtureDescriptor = new FixtureDescriptor("Fixture", new AssemblyFixtureAttribute {
Tag = "Test"
})
);
Given("a pattern of regular expression that is 'T+'", () => Pattern = "T+");
Expect("the result of a filter should be true", () => FilterOf(Pattern).Accept(FixtureDescriptor));
}
void Ex04()
{
Given(
"FixtureDescriptor the tag of which is Test and the full name of which is Carna.Runner.Fixture",
() => FixtureDescriptor = new FixtureDescriptor("Fixture", "Carna.Runner.Fixture", new AssemblyFixtureAttribute {
Tag = "Test"
})
);
Given("a pattern of regular expression that is null", () => Pattern = null);
Expect("the result of a filter should be true", () => FilterOf(Pattern).Accept(FixtureDescriptor));
}
public static void SetCompositeScene(ISimulator simulator)
{
for (int i = 0; i < 1; i++)
{
var rigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Dynamic,
GMath.mul(Matrices.RotateZGrad(-20),
Matrices.Translate(0, 20 * i + 7, 0)),
_motionColor);
var rigidBody = simulator.ActorsFactory.CreateRigidBody(rigidBodyDescriptor);
var fixtureDescriptor = new FixtureDescriptor(Matrices.I);
var compositeFixture = rigidBody.FixtureFactory.CreateCompositeFixture(fixtureDescriptor);
var simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(0, 2.5f, 0)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 0f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(0, 2.5f, 5)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 0f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(5, 2.5f, 0)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 1f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(5, 2.5f, 5)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 1f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(2.5f, 5.1f, 2.5f)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(6, 0.2f, 6));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(5.5f, 8f, 2.5f)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(0.2f, 6, 6));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 1f));
rigidBody.MassFrame.UpdateFromShape();
}
SetGround(simulator, new MaterialDescriptor(friction: 0.5f, restitution: 1f));
}
public CompositeFixture(DR.RigidBody wrappedRigidBody, FixtureDescriptor descriptor)
{
_root = true;
_pose = descriptor.Pose;
_realPose = _pose;
_wrappedCompositeMaterial = new CompositeMaterial();
wrappedRigidBody.Material = _wrappedCompositeMaterial;
_wrappedCompositeShape = new CompositeShape();
wrappedRigidBody.Shape = _wrappedCompositeShape;
UserData = descriptor.UserData;
FixtureFactory = new CompositeFixtureFixtureFactory(this);
}
/// <summary>
/// Determines whether to run a fixture of the specified descriptor.
/// </summary>
/// <param name="descriptor">The descriptor of the fixture.</param>
/// <returns>
/// <c>true</c> if a fixture is run; otherwise, <c>false</c>.
/// </returns>
protected virtual bool Accept(FixtureDescriptor descriptor)
{
if (string.IsNullOrEmpty(Pattern))
{
return(true);
}
var regex = new Regex(Pattern, RegexOptions.Compiled);
return((descriptor.Tag is not null && regex.IsMatch(descriptor.Tag)) ||
regex.IsMatch(descriptor.FullName));
}
SimpleFixture(DR.RigidBody wrappedRigidBody, FixtureDescriptor descriptor)
{
_wrappedRigidBody = wrappedRigidBody;
_wrappedGeometricObject = new GeometricObject(new EmptyShape(), descriptor.Pose.ToDigitalRune());
_wrappedRigidBody.Shape = new TransformedShape(_wrappedGeometricObject);
_wrappedRigidBody.Material = new UniformMaterial();
UserData = descriptor.UserData;
_pose = descriptor.Pose;
ShapeFactory = new SimpleFixtureShapeFactory(this);
_root = true;
MaterialFactory = new SimpleFixtureMaterialFactory(this);
}
ISimpleFixture IFactoryOf <ISimpleFixture, FixtureDescriptor> .Create(FixtureDescriptor descriptor)
{
var wrappedCompositeShape = _compositeFixture._wrappedCompositeShape;
var wrappedCompositeMaterial = _compositeFixture._wrappedCompositeMaterial;
var childPose = GMath.mul(descriptor.Pose, _compositeFixture._realPose);
var geometricObject = new GeometricObject(new EmptyShape(), childPose.ToDigitalRune());
var uniformMaterial = new UniformMaterial();
wrappedCompositeShape.Children.Add(geometricObject);
wrappedCompositeMaterial.Materials.Add(uniformMaterial);
return(new SimpleFixture(geometricObject, wrappedCompositeMaterial.Materials, uniformMaterial, descriptor, _compositeFixture._realPose));
}
private static IRigidBody SetSimpleRigidBody <TShape, TShapeDescriptor>(ISimulator simulator,
RigidBodyDescriptor rigidBodyDescriptor,
TShapeDescriptor descriptor,
MaterialDescriptor materialDescriptor)
where TShape : IShape, IDescriptible <TShapeDescriptor>
where TShapeDescriptor : struct, IDescriptor
{
var rigidBody = simulator.ActorsFactory.CreateRigidBody(rigidBodyDescriptor);
var fixtureDescriptor = new FixtureDescriptor(Matrices.I);
var simpleFixture = rigidBody.FixtureFactory.CreateSimpleFixture(fixtureDescriptor);
simpleFixture.ShapeFactory.Create <TShape, TShapeDescriptor>(descriptor);
simpleFixture.MaterialFactory.CreateMaterial(materialDescriptor);
rigidBody.MassFrame.UpdateFromShape();
return(rigidBody);
}
/// <summary> /// Creates a new instance of the <see cref="Builder"/> class /// with the specified descriptor of a fixture. /// </summary> /// <param name="descriptor">The descriptor of a fixture.</param> /// <returns> /// The new instance of the <see cref="Builder"/> class. /// </returns> public static Builder Of(FixtureDescriptor descriptor) => new(descriptor);
private CompositeFixture(CompositeShape wrappedCompositeShape, CompositeMaterial wrappedCompositeMaterial, Matrix4x4 realParentPose, FixtureDescriptor descriptor)
{
_root = false;
_realParentPose = realParentPose;
_pose = descriptor.Pose;
_realPose = GMath.mul(_pose, _realParentPose);
UserData = descriptor.UserData;
_wrappedCompositeMaterial = wrappedCompositeMaterial;
_wrappedCompositeShape = wrappedCompositeShape;
FixtureFactory = new CompositeFixtureFixtureFactory(this);
}
ISimpleFixture IFactoryOf <ISimpleFixture, FixtureDescriptor> .Create(FixtureDescriptor descriptor)
{
return(new SimpleFixture(_rigidBody.WrappedRigidBody, descriptor));
}
ICompositeFixture IFactoryOf <ICompositeFixture, FixtureDescriptor> .Create(FixtureDescriptor descriptor)
{
return(new CompositeFixture(_rigidBody.WrappedRigidBody, descriptor));
}
ICompositeFixture IFactoryOf <ICompositeFixture, FixtureDescriptor> .Create(FixtureDescriptor descriptor)
{
return(new CompositeFixture(_compositeFixture._rigidBody, descriptor, _compositeFixture._realPose));
}
public static void SetDominoScene(ISimulator simulator)
{
const int levelsCount = 5;
const int dominoesCount = 10;
const float alphaGrad = 30;
//ball
SetSimpleRigidBody <ISphereShape, SphereShapeDescriptor>(simulator,
new RigidBodyDescriptor(MotionType.Dynamic,
GMath.mul(
Matrices.Translate(-20,
1f, 0),
Matrices.RotateZGrad(
alphaGrad))),
new SphereShapeDescriptor(1f, _motionColor),
new MaterialDescriptor(friction: 0.9f,
restitution: 0.1f));
//dominoes
for (int i = 0; i < dominoesCount; i++)
{
SetSimpleRigidBody <IBoxShape, BoxShapeDescriptor>(simulator,
new RigidBodyDescriptor(MotionType.Dynamic,
Matrices.Translate(
1.7f * i + 3.6f, 1f, 0)),
new BoxShapeDescriptor(0.2f, 2, 1),
new MaterialDescriptor(friction: 0.9f,
restitution: 0.7f));
}
//castle
for (int i = 0; i < levelsCount; i++)
{
//wall left
SetSimpleRigidBody <IBoxShape, BoxShapeDescriptor>(simulator,
new RigidBodyDescriptor(MotionType.Dynamic,
Matrices.Translate(1,
i * 2.2f + 1f,
0)),
new BoxShapeDescriptor(0.2f, 2, 1),
new MaterialDescriptor(friction: 0.9f,
restitution: 0.7f));
//wall right
SetSimpleRigidBody <IBoxShape, BoxShapeDescriptor>(simulator,
new RigidBodyDescriptor(MotionType.Dynamic,
Matrices.Translate(2.3f,
i * 2.2f + 1f,
0)),
new BoxShapeDescriptor(0.2f, 2, 1),
new MaterialDescriptor(friction: 0.9f,
restitution: 0.7f));
//floor
SetSimpleRigidBody <IBoxShape, BoxShapeDescriptor>(simulator,
new RigidBodyDescriptor(MotionType.Dynamic,
Matrices.Translate(
2.3f / 2 + 0.5f,
i * 2.2f + 2.1f, 0)),
new BoxShapeDescriptor(2, 0.2f, 1),
new MaterialDescriptor(friction: 0.9f,
restitution: 0.7f));
}
//inclined ground
var groundRigidBody =
simulator.ActorsFactory.CreateRigidBody(new RigidBodyDescriptor(MotionType.Static, Matrices.I));
var fixtureDescriptor = new FixtureDescriptor(Matrices.RotateZGrad(alphaGrad));
var simpleFixture = groundRigidBody.FixtureFactory.CreateSimpleFixture(fixtureDescriptor);
simpleFixture.ShapeFactory.Create <IPlaneShape, PlaneShapeDescriptor>(new PlaneShapeDescriptor(
Vectors.YAxis, 0, _groundColor));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.05f, restitution: 0.5f));
groundRigidBody.MassFrame.UpdateFromShape();
//straight plane
SetSimpleRigidBody <IPlaneShape, PlaneShapeDescriptor>(simulator,
new RigidBodyDescriptor(MotionType.Static, Matrices.I),
new PlaneShapeDescriptor(Vectors.YAxis, 0,
_groundColor),
new MaterialDescriptor(friction: 0.9f,
restitution: 0.7f));
}
/// <summary> /// Gets a default fixture name of the specified descriptor of a fixture. /// </summary> /// <param name="descriptor">The descriptor of a fixture.</param> /// <returns>The default fixture name of the specified descriptor of a fixture.</returns> protected virtual string ToDefaultFixtureName(FixtureDescriptor descriptor) => string.Empty;
ICompositeFixture IFactoryOf <ICompositeFixture, FixtureDescriptor> .Create(FixtureDescriptor descriptor)
{
return(new CompositeFixture(_compositeFixture._wrappedCompositeShape, _compositeFixture._wrappedCompositeMaterial, _compositeFixture._realPose, descriptor));
}
ICompositeFixture IFactoryOf <ICompositeFixture, FixtureDescriptor> .Create(FixtureDescriptor descriptor)
{
return(new CompositeFixture(_rigidBody, descriptor, Matrices.I));
}
/// <summary>
/// Initializes a new instance of the <see cref="FixtureBase"/> class
/// with the specified type of an instance of a fixture and a descriptor of a fixture.
/// </summary>
/// <param name="fixtureInstanceType">The type of an instance of a fixture.</param>
/// <param name="fixtureDescriptor">The descriptor of a fixture.</param>
protected FixtureBase(Type fixtureInstanceType, FixtureDescriptor fixtureDescriptor)
{
FixtureInstanceType = fixtureInstanceType;
FixtureDescriptor = fixtureDescriptor;
}
/// <summary>
/// Initializes a new instance of the <see cref="Builder"/> class
/// with the specified descriptor of a fixture.
/// </summary>
/// <param name="descriptor">The descriptor of a fixture.</param>
public Builder(FixtureDescriptor descriptor)
{
FixtureDescriptor = descriptor;
}
/// <summary>
/// Initializes a new instance of the <see cref="FixtureBase"/> class
/// with the specified name and attribute that specifies a fixture.
/// </summary>
/// <param name="name">The name of a fixture.</param>
/// <param name="attribute">The attribute that specifies a fixture.</param>
protected FixtureBase(string name, FixtureAttribute attribute)
{
FixtureDescriptor = new FixtureDescriptor(name, attribute);
}
public static ISimpleFixture CreateSimpleFixture(this IFactory <IFixture> factory,
FixtureDescriptor descriptor)
{
return(factory.Create <ISimpleFixture, FixtureDescriptor>(descriptor));
}
public SimpleFixture(GeometricObject geometricObject, List <UniformMaterial> materialCollection, UniformMaterial material, FixtureDescriptor descriptor, Matrix4x4 realParentPose)
{
_wrappedGeometricObject = geometricObject;
_materialCollection = materialCollection;
_material = material;
UserData = descriptor.UserData;
ShapeFactory = new SimpleFixtureShapeFactory(this);
MaterialFactory = new SimpleFixtureMaterialFactory(this);
_pose = descriptor.Pose;
_root = false;
_realParentPose = realParentPose;
}
public static ICompositeFixture CreateCompositeFixture(this IFactory <IFixture> factory,
FixtureDescriptor descriptor)
{
return(factory.Create <ICompositeFixture, FixtureDescriptor>(descriptor));
}
