public void Clone()
{
Pose poseA = new Pose(new Vector3(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3(1, 2, 3));
PointShape pointB = new PointShape(3, 4, 5);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
MinkowskiSumShape minkowskiSumShape = new MinkowskiSumShape(geometryA, geometryB);
MinkowskiSumShape clone = minkowskiSumShape.Clone() as MinkowskiSumShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.ObjectA);
Assert.IsNotNull(clone.ObjectB);
Assert.AreNotSame(geometryA, clone.ObjectA);
Assert.AreNotSame(geometryB, clone.ObjectB);
Assert.IsTrue(clone.ObjectA is GeometricObject);
Assert.IsTrue(clone.ObjectB is GeometricObject);
Assert.AreEqual(poseA, clone.ObjectA.Pose);
Assert.AreEqual(poseB, clone.ObjectB.Pose);
Assert.IsNotNull(clone.ObjectA.Shape);
Assert.IsNotNull(clone.ObjectB.Shape);
Assert.AreNotSame(pointA, clone.ObjectA.Shape);
Assert.AreNotSame(pointB, clone.ObjectB.Shape);
Assert.IsTrue(clone.ObjectA.Shape is PointShape);
Assert.IsTrue(clone.ObjectB.Shape is PointShape);
Assert.AreEqual(pointA.Position, ((PointShape)clone.ObjectA.Shape).Position);
Assert.AreEqual(pointB.Position, ((PointShape)clone.ObjectB.Shape).Position);
Assert.AreEqual(minkowskiSumShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(minkowskiSumShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void SerializationBinary()
{
Pose poseA = new Pose(new Vector3(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3(11, 22, 33));
PointShape pointB = new PointShape(33, 44, 55);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
var a = new MinkowskiSumShape(geometryA, geometryB);
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (MinkowskiSumShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.ObjectA.Pose, b.ObjectA.Pose);
Assert.AreEqual(a.ObjectB.Pose, b.ObjectB.Pose);
Assert.AreEqual(((PointShape)a.ObjectA.Shape).Position, ((PointShape)b.ObjectA.Shape).Position);
Assert.AreEqual(((PointShape)a.ObjectB.Shape).Position, ((PointShape)b.ObjectB.Shape).Position);
}
public void GetShapeVolumeArgumentOutOfRangeException2()
{
var s = new SphereShape(1);
var c = new MinkowskiSumShape(new GeometricObject(s), new GeometricObject(new PointShape()));
c.GetVolume(0.01f, -1);
}
public void Clone()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(1, 2, 3));
PointShape pointB = new PointShape(3, 4, 5);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
MinkowskiSumShape minkowskiSumShape = new MinkowskiSumShape(geometryA, geometryB);
MinkowskiSumShape clone = minkowskiSumShape.Clone() as MinkowskiSumShape;
Assert.IsNotNull(clone);
Assert.IsNotNull(clone.ObjectA);
Assert.IsNotNull(clone.ObjectB);
Assert.AreNotSame(geometryA, clone.ObjectA);
Assert.AreNotSame(geometryB, clone.ObjectB);
Assert.IsTrue(clone.ObjectA is GeometricObject);
Assert.IsTrue(clone.ObjectB is GeometricObject);
Assert.AreEqual(poseA, clone.ObjectA.Pose);
Assert.AreEqual(poseB, clone.ObjectB.Pose);
Assert.IsNotNull(clone.ObjectA.Shape);
Assert.IsNotNull(clone.ObjectB.Shape);
Assert.AreNotSame(pointA, clone.ObjectA.Shape);
Assert.AreNotSame(pointB, clone.ObjectB.Shape);
Assert.IsTrue(clone.ObjectA.Shape is PointShape);
Assert.IsTrue(clone.ObjectB.Shape is PointShape);
Assert.AreEqual(pointA.Position, ((PointShape)clone.ObjectA.Shape).Position);
Assert.AreEqual(pointB.Position, ((PointShape)clone.ObjectB.Shape).Position);
Assert.AreEqual(minkowskiSumShape.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(minkowskiSumShape.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void ApproximateVolume()
{
var s = new SphereShape(1);
var c = new MinkowskiSumShape(new GeometricObject(s), new GeometricObject(new PointShape()));
var v = c.GetVolume(0.001f,
0); // !!!
// v is AABB volume.
Assert.AreEqual(2 * 2 * 2, v);
}
// OnLoad() is called when the GameObject is added to the IGameObjectService.
protected override void OnLoad()
{
var graphicsService = _services.GetInstance <IGraphicsService>();
var gameObjectService = _services.GetInstance <IGameObjectService>();
var content = _services.GetInstance <ContentManager>();
// Check if the game object manager has another ProceduralObject instance.
var otherProceduralObject = gameObjectService.Objects
.OfType <ProceduralObject>()
.FirstOrDefault(o => o != this);
Mesh mesh;
if (otherProceduralObject != null)
{
// This ProceduralObject is not the first. We re-use rigid body data and
// the mesh from the existing instance.
var otherBody = otherProceduralObject._rigidBody;
_rigidBody = new RigidBody(otherBody.Shape, otherBody.MassFrame, otherBody.Material);
mesh = otherProceduralObject._meshNode.Mesh;
}
else
{
// This is the first ProceduralObject instance.
// Create a a new rigid body.
var shape = new MinkowskiSumShape(new GeometricObject(new SphereShape(0.05f)), new GeometricObject(new BoxShape(0.5f, 0.5f, 0.5f)));
_rigidBody = new RigidBody(shape);
// Create a new mesh. See SampleHelper.CreateMesh for more details.
mesh = SampleHelper.CreateMesh(content, graphicsService, _rigidBody.Shape);
mesh.Name = "ProceduralObject";
}
// Create a scene graph node for the mesh.
_meshNode = new MeshNode(mesh);
// Set a random pose.
var randomPosition = new Vector3(
RandomHelper.Random.NextFloat(-10, 10),
RandomHelper.Random.NextFloat(2, 5),
RandomHelper.Random.NextFloat(-20, 0));
_rigidBody.Pose = new Pose(randomPosition, RandomHelper.Random.NextQuaternion());
_meshNode.PoseWorld = _rigidBody.Pose;
// Add mesh node to scene graph.
var scene = _services.GetInstance <IScene>();
scene.Children.Add(_meshNode);
// Add rigid body to the physics simulation.
var simulation = _services.GetInstance <Simulation>();
simulation.RigidBodies.Add(_rigidBody);
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3(), Quaternion.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new LineSegmentShape(new Vector3(0, 5, 0), new Vector3(0, -5, 0)), Pose.Identity);
cs = new MinkowskiSumShape
{
ObjectA = child0,
ObjectB = child1
};
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3(0, 0.5f, 0), Matrix.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3(0.5f, 0.7f, 0), Matrix.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Matrix.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Matrix.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3(0, 0.5f * ObjectSize, 0), Quaternion.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3(0.3f * ObjectSize, 0.7f * ObjectSize, 0), Quaternion.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3(0, 1.15f * ObjectSize, 0), Quaternion.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3(0, 2 * ObjectSize, 0), Matrix.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3(0.2f, 0, -0.12f), new Vector3(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3(0.2f, 0, -0.12f), new Vector3(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3(ObjectSize, 0, 0), new Vector3(0, ObjectSize, 0), new Vector3(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3(0, 0.5f, 0), Matrix.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3(0.5f, 0.7f, 0), Matrix.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Matrix.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Matrix.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3(0, 0.5f, 0), Quaternion.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3(0.5f, 0.7f, 0), Quaternion.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Quaternion.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Quaternion.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternion());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternion().Rotate(new Vector3(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternion().Rotate(Vector3.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3.Zero;
newObject.AngularVelocity = Vector3.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
public ShapesSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// Add a ground plane.
RigidBody groundPlane = new RigidBody(new PlaneShape(Vector3F.UnitY, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(groundPlane);
// ----- Add a sphere.
Shape sphere = new SphereShape(0.5f);
Simulation.RigidBodies.Add(new RigidBody(sphere));
// ----- Add a box.
BoxShape box = new BoxShape(0.5f, 0.9f, 0.7f);
Simulation.RigidBodies.Add(new RigidBody(box));
// ----- Add a capsule.
CapsuleShape capsule = new CapsuleShape(0.4f, 1.2f);
Simulation.RigidBodies.Add(new RigidBody(capsule));
// ----- Add a cone.
ConeShape cone = new ConeShape(0.5f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cone));
// ----- Add a cylinder.
CylinderShape cylinder = new CylinderShape(0.3f, 1f);
Simulation.RigidBodies.Add(new RigidBody(cylinder));
// ----- Add a convex hull of random points.
ConvexHullOfPoints convexHullOfPoints = new ConvexHullOfPoints();
for (int i = 0; i < 20; i++)
{
convexHullOfPoints.Points.Add(RandomHelper.Random.NextVector3F(-0.5f, 0.5f));
}
Simulation.RigidBodies.Add(new RigidBody(convexHullOfPoints));
// ----- Add a convex polyhedron.
// (A ConvexPolyhedron is similar to the ConvexHullOfPoints. The difference is that
// the points in a ConvexHullOfPoints can be changed at runtime. A ConvexPolyhedron
// cannot be changed at runtime, but it is faster.)
List <Vector3F> points = new List <Vector3F>();
for (int i = 0; i < 20; i++)
{
points.Add(RandomHelper.Random.NextVector3F(-0.7f, 0.7f));
}
ConvexPolyhedron convexPolyhedron = new ConvexPolyhedron(points);
Simulation.RigidBodies.Add(new RigidBody(convexPolyhedron));
// ----- Add a composite shape (a table that consists of 5 boxes).
CompositeShape composite = new CompositeShape();
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, -0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(-0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(0.1f, 0.8f, 0.1f), new Pose(new Vector3F(0.75f, 0.4f, 0.5f))));
composite.Children.Add(new GeometricObject(new BoxShape(1.8f, 0.1f, 1.1f), new Pose(new Vector3F(0, 0.8f, 0))));
Simulation.RigidBodies.Add(new RigidBody(composite));
// ----- Add a convex hull of multiple shapes.
ConvexHullOfShapes convexHullOfShapes = new ConvexHullOfShapes();
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(-0.4f, 0, 0))));
convexHullOfShapes.Children.Add(new GeometricObject(new CylinderShape(0.2f, 0.8f), new Pose(new Vector3F(+0.4f, 0, 0))));
Simulation.RigidBodies.Add(new RigidBody(convexHullOfShapes));
// ----- Add the Minkowski sum of two shapes.
// (The Minkowski sum is a mathematical operation that combines two shapes.
// Here a circle is combined with a sphere. The result is a wheel.)
MinkowskiSumShape minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.2f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new CircleShape(0.5f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// Create another Minkowski sum. (Here a small sphere is added to a box to create a
// box with rounded corners.)
minkowskiSum = new MinkowskiSumShape();
minkowskiSum.ObjectA = new GeometricObject(new SphereShape(0.1f), Pose.Identity);
minkowskiSum.ObjectB = new GeometricObject(new BoxShape(0.2f, 0.5f, 0.8f), Pose.Identity);
Simulation.RigidBodies.Add(new RigidBody(minkowskiSum));
// ----- Add a triangle mesh.
// A triangle mesh could be loaded from a file or built from an XNA model.
// Here we first create a composite shape and convert the shape into a triangle
// mesh. (Any Shape in DigitalRune.Geometry can be converted to a triangle mesh.)
CompositeShape dumbbell = new CompositeShape();
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new SphereShape(0.4f), new Pose(new Vector3F(-0.6f, 0.0f, 0.0f))));
dumbbell.Children.Add(new GeometricObject(new CylinderShape(0.1f, 0.6f), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
TriangleMeshShape triangleMeshShape = new TriangleMeshShape(dumbbell.GetMesh(0.01f, 2));
// Optional: We can enable "contact welding". When this flag is enabled, the triangle shape
// precomputes additional internal information for the mesh. The collision detection will
// be able to compute better contacts (e.g. better normal vectors at triangle edges).
// Pro: Collision detection can compute better contact information.
// Con: Contact welding information needs a bit of memory. And the collision detection is
// a bit slower.
triangleMeshShape.EnableContactWelding = true;
// Optional: Assign a spatial partitioning scheme to the triangle mesh. (A spatial partition
// adds an additional memory overhead, but it improves collision detection speed tremendously!)
triangleMeshShape.Partition = new AabbTree <int>();
Simulation.RigidBodies.Add(new RigidBody(triangleMeshShape));
// ----- Set random positions/orientations.
// (Start with the second object. The first object is the ground plane which should
// not be changed.)
for (int i = 1; i < Simulation.RigidBodies.Count; i++)
{
RigidBody body = Simulation.RigidBodies[i];
Vector3F position = RandomHelper.Random.NextVector3F(-3, 3);
position.Y = 3; // Position the objects 3m above ground.
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
body.Pose = new Pose(position, orientation);
}
}
public void SetUp()
{
child0 = new GeometricObject(new CircleShape(3), new Pose(new Vector3F(), QuaternionF.CreateRotationX(ConstantsF.PiOver2)));
child1 = new GeometricObject(new LineSegmentShape(new Vector3F(0, 5, 0), new Vector3F(0, -5, 0)), Pose.Identity);
cs = new MinkowskiSumShape
{
ObjectA = child0,
ObjectB = child1
};
}
public void SerializationBinary()
{
Pose poseA = new Pose(new Vector3F(1, 2, 3));
PointShape pointA = new PointShape(3, 4, 5);
GeometricObject geometryA = new GeometricObject(pointA, poseA);
Pose poseB = new Pose(new Vector3F(11, 22, 33));
PointShape pointB = new PointShape(33, 44, 55);
GeometricObject geometryB = new GeometricObject(pointB, poseB);
var a = new MinkowskiSumShape(geometryA, geometryB);
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (MinkowskiSumShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.ObjectA.Pose, b.ObjectA.Pose);
Assert.AreEqual(a.ObjectB.Pose, b.ObjectB.Pose);
Assert.AreEqual(((PointShape)a.ObjectA.Shape).Position, ((PointShape)b.ObjectA.Shape).Position);
Assert.AreEqual(((PointShape)a.ObjectB.Shape).Position, ((PointShape)b.ObjectB.Shape).Position);
}
// OnLoad() is called when the GameObject is added to the IGameObjectService.
protected override void OnLoad()
{
var graphicsService = _services.GetInstance <IGraphicsService>();
var gameObjectService = _services.GetInstance <IGameObjectService>();
// Check if the game object manager has another ProceduralObject instance.
var otherProceduralObject = gameObjectService.Objects
.OfType <ProceduralObject>()
.FirstOrDefault(o => o != this);
Mesh mesh;
if (otherProceduralObject != null)
{
// This ProceduralObject is not the first. We re-use rigid body data and
// the mesh from the existing instance.
var otherBody = otherProceduralObject._rigidBody;
_rigidBody = new RigidBody(otherBody.Shape, otherBody.MassFrame, otherBody.Material);
mesh = otherProceduralObject._meshNode.Mesh;
}
else
{
// This is the first ProceduralObject instance. We create a new rigid body
// and a new mesh.
var shape = new MinkowskiSumShape(new GeometricObject(new SphereShape(0.05f)), new GeometricObject(new BoxShape(0.5f, 0.5f, 0.5f)));
_rigidBody = new RigidBody(shape);
// Create a DigitalRune.Geometry.Meshes.TriangleMesh from the RigidBody's
// shape and convert this to a DigitalRune.Graphics.Mesh.
var triangleMesh = _rigidBody.Shape.GetMesh(0.01f, 4);
mesh = new Mesh {
Name = "ProceduralObject"
};
var submesh = CreateSubmeshWithTexCoords(graphicsService.GraphicsDevice, triangleMesh, MathHelper.ToRadians(70));
mesh.Submeshes.Add(submesh);
// Next, we need a material. We can load a predefined material (*.drmat file)
// with the content manager.
//var material = content.Load<Material>("Default");
// Alternatively, we can load some effects and build the material here:
Material material = new Material();
// We need an EffectBinding for each render pass.
// The "Default" pass uses a BasicEffectBinding (which is an EffectBinding
// for the XNA BasicEffect).
// Note: The "Default" pass is not used by the DeferredLightingScreen, so
// we could ignore this pass in this sample project.
BasicEffectBinding defaultEffectBinding = new BasicEffectBinding(graphicsService, null)
{
LightingEnabled = true,
TextureEnabled = true,
VertexColorEnabled = false
};
defaultEffectBinding.Set("Texture", graphicsService.GetDefaultTexture2DWhite());
defaultEffectBinding.Set("DiffuseColor", new Vector3(1, 1, 1));
defaultEffectBinding.Set("SpecularColor", new Vector3(1, 1, 1));
defaultEffectBinding.Set("SpecularPower", 100f);
material.Add("Default", defaultEffectBinding);
// EffectBinding for the "ShadowMap" pass.
// Note: EffectBindings which are used in a Material must be marked with
// the EffectParameterHint Material.
var content = _services.GetInstance <ContentManager>();
EffectBinding shadowMapEffectBinding = new EffectBinding(
graphicsService,
content.Load <Effect>("DigitalRune\\Materials\\ShadowMap"),
null,
EffectParameterHint.Material);
material.Add("ShadowMap", shadowMapEffectBinding);
// EffectBinding for the "GBuffer" pass.
EffectBinding gBufferEffectBinding = new EffectBinding(
graphicsService,
content.Load <Effect>("DigitalRune\\Materials\\GBuffer"),
null,
EffectParameterHint.Material);
gBufferEffectBinding.Set("SpecularPower", 100f);
material.Add("GBuffer", gBufferEffectBinding);
// EffectBinding for the "Material" pass.
EffectBinding materialEffectBinding = new EffectBinding(
graphicsService,
content.Load <Effect>("DigitalRune\\Materials\\Material"),
null,
EffectParameterHint.Material);
materialEffectBinding.Set("DiffuseTexture", graphicsService.GetDefaultTexture2DWhite());
materialEffectBinding.Set("DiffuseColor", new Vector3(1, 1, 1));
materialEffectBinding.Set("SpecularColor", new Vector3(1, 1, 1));
material.Add("Material", materialEffectBinding);
// Assign this material to the submesh.
submesh.SetMaterial(material);
}
// Create a scene graph node for the mesh.
_meshNode = new MeshNode(mesh);
// Set a random pose.
var randomPosition = new Vector3F(
RandomHelper.Random.NextFloat(-10, 10),
RandomHelper.Random.NextFloat(2, 5),
RandomHelper.Random.NextFloat(-20, 0));
_rigidBody.Pose = new Pose(randomPosition, RandomHelper.Random.NextQuaternionF());
_meshNode.PoseWorld = _rigidBody.Pose;
// Add mesh node to scene graph.
var scene = _services.GetInstance <IScene>();
scene.Children.Add(_meshNode);
// Add rigid body to the physics simulation.
var simulation = _services.GetInstance <Simulation>();
simulation.RigidBodies.Add(_rigidBody);
}
public virtual bool russianCalcTimeOfImpact(ref Matrix fromA, ref Matrix toA, ref Matrix fromB, ref Matrix toB, CastResult result)
{
MinkowskiSumShape convex = new MinkowskiSumShape(m_convexA, m_convexB);
Matrix rayFromLocalA;
Matrix rayToLocalA;
rayFromLocalA = Matrix.Invert(fromA) * fromB;
rayToLocalA = Matrix.Invert(toA) * toB;
m_simplexSolver.Reset();
//convex.TransformB = rayFromLocalA;
Matrix temp = Matrix.CreateFromQuaternion(Quaternion.CreateFromRotationMatrix(rayFromLocalA));
convex.SetTransformB(ref temp);
float lambda = 0;
//todo: need to verify this:
//because of minkowski difference, we need the inverse direction
Vector3 s = -rayFromLocalA.Translation;
Vector3 r = -(rayToLocalA.Translation - rayFromLocalA.Translation);
Vector3 x = s;
Vector3 v;
Vector3 arbitraryPoint = convex.LocalGetSupportingVertex(ref r);
v = x - arbitraryPoint;
int maxIter = MAX_ITERATIONS;
Vector3 n = new Vector3();
float lastLambda = lambda;
float dist2 = v.LengthSquared();
float epsilon = 0.0001f;
Vector3 w = Vector3.Zero, p = Vector3.Zero;
float VdotR;
while ((dist2 > epsilon) && (maxIter-- != 0))
{
p = convex.LocalGetSupportingVertex(ref v);
w = x - p;
float VdotW = Vector3.Dot(v, w);
if (VdotW > 0)
{
VdotR = Vector3.Dot(v, r);
if (VdotR >= -(MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON))
return false;
else
{
lambda = lambda - VdotW / VdotR;
x = s + lambda * r;
m_simplexSolver.Reset();
//check next line
w = x - p;
lastLambda = lambda;
n = v;
}
}
m_simplexSolver.AddVertex(ref w, ref x, ref p);
if (m_simplexSolver.Closest(ref v))
{
dist2 = v.LengthSquared();
}
else
{
dist2 = 0f;
}
}
result.m_fraction = lambda;
result.m_normal = n;
return true;
}
