private void AddArena()
{
BoxShapeProperties tBoxShape = null;
SingleShapeEntity tBoxEntity = null;
tBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(5f, 0.25f, 0.25f));
tBoxEntity = new SingleShapeEntity(new BoxShape(tBoxShape), new Vector3(0f, 0.5f, 2.63f));
tBoxEntity.State.Name = "arena top";
SimulationEngine.GlobalInstancePort.Insert(tBoxEntity);
BoxShapeProperties lBoxShape = null;
SingleShapeEntity lBoxEntity = null;
lBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(0.25f, 0.25f, 5f));
lBoxEntity = new SingleShapeEntity(new BoxShape(lBoxShape), new Vector3(-2.63f, 0.5f, 0f));
lBoxEntity.State.Name = "arena left";
SimulationEngine.GlobalInstancePort.Insert(lBoxEntity);
BoxShapeProperties rBoxShape = null;
SingleShapeEntity rBoxEntity = null;
rBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(0.25f, 0.25f, 5f));
rBoxEntity = new SingleShapeEntity(new BoxShape(rBoxShape), new Vector3(2.63f, 0.5f, 0f));
rBoxEntity.State.Name = "arena right";
SimulationEngine.GlobalInstancePort.Insert(rBoxEntity);
BoxShapeProperties bBoxShape = null;
SingleShapeEntity bBoxEntity = null;
bBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(5f, 0.25f, 0.25f));
bBoxEntity = new SingleShapeEntity(new BoxShape(bBoxShape), new Vector3(0f, 0.5f, -2.63f));
bBoxEntity.State.Name = "arena bottom";
SimulationEngine.GlobalInstancePort.Insert(bBoxEntity);
}
private void AddCube(Vector3 position)
{
BoxShapeProperties cBoxShape = null;
SingleShapeEntity cBoxEntity = null;
cBoxShape = new BoxShapeProperties(2.0f, new Pose(), new Vector3(0.5f, 0.5f, 0.5f));
cBoxEntity = new SingleShapeEntity(new BoxShape(cBoxShape), position);
cBoxEntity.State.Name = "cube:" + Guid.NewGuid().ToString();
SimulationEngine.GlobalInstancePort.Insert(cBoxEntity);
}
void insertrod()
{
Shape rod = new CapsuleShape(new CapsuleShapeProperties(1000, new Pose(), .008f, 3));
SingleShapeEntity hangrod = new SingleShapeEntity(rod, new Vector3(0, 1, .05f));
hangrod.State.Name = "hangrod";
hangrod.Rotation = new Microsoft.Xna.Framework.Vector3(0, 0, 90);
//hangrod.State.Pose.Orientation = new Quaternion(0, 0, 1, 1);
hangrod.State.Flags = EntitySimulationModifiers.Kinematic;
SimulationEngine.GlobalInstancePort.Insert(hangrod);
}
public void AddBoundaries(float dimX, float dimY)
{
//Right Wall
Vector3 dimensions = new Vector3(.5f, .5f, dimY);
Vector3 position = new Vector3(dimX, .5f, -(dimY / 2f));
BoxShapeProperties tBoxShape = new BoxShapeProperties(10000000f, new Pose(), dimensions);
tBoxShape.Material = new MaterialProperties("tbox", 0.4f, 0.4f, 0.6f);
tBoxShape.DiffuseColor = new Vector4(0.5f, 0.5f, 0.5f, 1.0f);
SingleShapeEntity tBoxEntity = new SingleShapeEntity(new BoxShape(tBoxShape), position); ;
tBoxEntity.State.Assets.DefaultTexture = "env2.bmp";
tBoxEntity.State.Name = "Wall";
//Top Wall
Vector3 dimensions2 = new Vector3(dimX - 1, .5f, .5f);
Vector3 position2 = new Vector3((dimX / 2f), .5f, 0);
BoxShapeProperties tBoxShape2 = new BoxShapeProperties(10000000f, new Pose(), dimensions2);
tBoxShape2.Material = new MaterialProperties("tbox", 0.4f, 0.4f, 0.6f);
tBoxShape2.DiffuseColor = new Vector4(0.5f, 0.5f, 0.5f, 1.0f);
SingleShapeEntity tBoxEntity2 = new SingleShapeEntity(new BoxShape(tBoxShape2), position2); ;
tBoxEntity2.State.Assets.DefaultTexture = "env2.bmp";
tBoxEntity2.State.Name = "Wall2";
//Bottom Wall
Vector3 dimensions3 = new Vector3(dimX - 1, .5f, .5f);
Vector3 position3 = new Vector3((dimX / 2f), .5f, -dimY);
BoxShapeProperties tBoxShape3 = new BoxShapeProperties(10000000f, new Pose(), dimensions3);
tBoxShape3.Material = new MaterialProperties("tbox", 0.4f, 0.4f, 0.6f);
tBoxShape3.DiffuseColor = new Vector4(0.5f, 0.5f, 0.5f, 1.0f);
SingleShapeEntity tBoxEntity3 = new SingleShapeEntity(new BoxShape(tBoxShape3), position3); ;
tBoxEntity3.State.Assets.DefaultTexture = "env2.bmp";
tBoxEntity3.State.Name = "Wall3";
//Left Wall
Vector3 dimensions4 = new Vector3(.5f, .5f, dimY);
Vector3 position4 = new Vector3(0, .5f, -(dimY / 2f));
BoxShapeProperties tBoxShape4 = new BoxShapeProperties(10000000f, new Pose(), dimensions4);
tBoxShape4.Material = new MaterialProperties("tbox", 0.4f, 0.4f, 0.6f);
tBoxShape4.DiffuseColor = new Vector4(0.5f, 0.5f, 0.5f, 1.0f);
SingleShapeEntity tBoxEntity4 = new SingleShapeEntity(new BoxShape(tBoxShape4), position4); ;
tBoxEntity4.State.Assets.DefaultTexture = "env2.bmp";
tBoxEntity4.State.Name = "Wall4";
SimulationEngine.GlobalInstancePort.Insert(tBoxEntity);
SimulationEngine.GlobalInstancePort.Insert(tBoxEntity2);
SimulationEngine.GlobalInstancePort.Insert(tBoxEntity3);
SimulationEngine.GlobalInstancePort.Insert(tBoxEntity4);
this.BoundaryList.Add(tBoxEntity);
this.BoundaryList.Add(tBoxEntity2);
this.BoundaryList.Add(tBoxEntity3);
this.BoundaryList.Add(tBoxEntity4);
}
void AddDomino(Vector3 startPosition, int pieces)
{
Vector3 dim = new Vector3(0.5f, 1.0f, 0.15f);
float spacing = 0.45f;
for (int i = 0; i < pieces; i++)
{
Vector3 pos = new Vector3(0,
0.02f, i * spacing) + startPosition;
BoxShapeProperties shape = null;
shape = new BoxShapeProperties(10f, new Pose(), dim);
shape.Material = new MaterialProperties("domino", 0.2f, 0.5f, 0.5f);
SingleShapeEntity entity = new SingleShapeEntity(new BoxShape(shape), pos);
entity.State.Name = "Domino Box:" + i.ToString();
SimulationEngine.GlobalInstancePort.Insert(entity);
}
}
// TT -- Changed to add a height and color
// void AddWall(int startRow, int startCol, int endRow, int endCol)
// {
// AddWall(startRow, startCol, endRow, endCol, DefaultHeight);
// }
// Adds a long wall in the maze grid
// Useful for reducing number of elements in simulation for better performance
// TT -- Note that the existing code used height to refer to the
// depth of the wall. Therefore the real height is called boxSize.
void AddWall(int startRow, int startCol, int endRow, int endCol, float boxSize, BasicColor color)
{
int width = Math.Abs(endCol - startCol) + 1;
int height = Math.Abs(endRow - startRow) + 1;
float realWidth = (width * _state.GridSpacing) - (_state.GridSpacing - _state.WallBoxSize*_state.GridSpacing);
float realHeight = (height * _state.GridSpacing) - (_state.GridSpacing - _state.WallBoxSize*_state.GridSpacing);
//because the box is placed relative to the center of mass
float widthOffset = (Math.Abs(endCol - startCol) * _state.GridSpacing) / 2;
float heightOffset = -(Math.Abs(endRow - startRow) * _state.GridSpacing) / 2;
if (_UseSphere[(byte)color])
{
// This object is a Sphere
SphereShapeProperties cSphereShape = null;
SingleShapeEntity sphere = null;
float radius;
radius = (float)(_state.SphereScale * Math.Sqrt(realWidth * realWidth + realHeight * realHeight) / 2.0f);
// create simple entity, with a single shape
cSphereShape = new SphereShapeProperties(
// TT -- Change to infinite mass so that the walls
// do not "blow apart" if you bump them!
// TT Oct 2006 -- Allow user to specify this
_WallMasses[(byte)color], // mass in kilograms.
new Pose(), // relative pose
radius); // radius
cSphereShape.Material = new MaterialProperties("gsphere", 0.9f, 0.05f, 0.1f);
cSphereShape.Material.Advanced = new MaterialAdvancedProperties();
cSphereShape.Material.Advanced.RestitutionCombineMode = CoefficientsCombineMode.Max;
cSphereShape.Material.Advanced.FrictionCombineMode = CoefficientsCombineMode.Min;
cSphereShape.Material.Advanced.Spring = new SpringProperties();
cSphereShape.Material.Advanced.Spring.SpringCoefficient = 0.9f;
cSphereShape.Material.Advanced.Spring.DamperCoefficient = 0.1f;
cSphereShape.Advanced = new ShapeAdvancedProperties();
cSphereShape.Advanced.PhysicsCalculationPasses = 20.0f;
//cSphereShape.Advanced.MassSpaceIntertiaTensor = new Vector3(1.0f, 0.0f, 1.0f);
// TT - These do not seem to have much effect
//cSphereShape.MassDensity.AngularDamping = 0.0f;
//cSphereShape.MassDensity.LinearDamping = 0.0f;
//cSphereShape.MassDensity.Mass = _WallMasses[(byte)color];
//cSphereShape.MassDensity.Density = 0.1f;
// Set the color of the sphere according to the bitmap image
// or the specified color if no bitmap
if (_WallTextures[(byte)color] == "")
{
// TT - Changed for October CTP because DiffuseColor
// is a Vector4, but my WallColors are Vector3
//cBoxShape.DiffuseColor = _WallColors[(byte)color];
cSphereShape.DiffuseColor.X = (float)(_WallColors[(byte)color].X / 255.0);
cSphereShape.DiffuseColor.Y = (float)(_WallColors[(byte)color].Y / 255.0);
cSphereShape.DiffuseColor.Z = (float)(_WallColors[(byte)color].Z / 255.0);
cSphereShape.DiffuseColor.W = 1.0f;
}
else
cSphereShape.TextureFileName = _WallTextures[(byte)color];
sphere = new SingleShapeEntity(new SphereShape(cSphereShape),
new Vector3((startCol * -_state.GridSpacing) - widthOffset,
radius*2,
-(startRow * _state.GridSpacing) + heightOffset)
);
// Name the entity. All entities must have unique names
sphere.State.Name = "ball_" + startRow + "_" + startCol;
// Insert entity in simulation.
_simEnginePort.Insert(sphere);
/*
SphereShapeProperties cSphereShape = null;
SingleShapeEntity sphere = null;
float radius;
radius = (float)(_state.SphereScale * Math.Sqrt(realWidth * realWidth + realHeight * realHeight) / 2.0f);
// create simple entity, with a single shape
cSphereShape = new SphereShapeProperties(
1.0f, // mass in kilograms.
new Pose(), // relative pose
radius); // radius
cSphereShape.Material = new MaterialProperties("gsphere", 1.0f, 0.01f, 0.01f);
sphere = new SingleShapeEntity(new SphereShape(cSphereShape),
new Vector3((startCol * -_state.GridSpacing) - widthOffset,
radius,
-(startRow * _state.GridSpacing) + heightOffset)
);
// Name the entity. All entities must have unique names
sphere.State.Name = "ball_" + startRow + "_" + startCol;
// Insert entity in simulation.
_simEnginePort.Insert(sphere);
*/
}
else
{
// This object is a wall (stretched cube)
Vector3 dimensions =
new Vector3(realWidth, boxSize * _state.HeightScale, realHeight);
// Dimensions are in meters
BoxShapeProperties cBoxShape = null;
SingleShapeEntity box = null;
cBoxShape = new BoxShapeProperties(
// TT -- Change to infinite mass so that the walls
// do not "blow apart" if you bump them!
// TT Oct 2006 -- Allow user to specify this
_WallMasses[(byte)color], // mass in kilograms.
new Pose(), // relative pose
dimensions); // dimensions
// cBoxShape = new BoxShapeProperties(0, new Pose(), dimensions);
// Walls have the same properties as the ground
cBoxShape.Material = new MaterialProperties("gbox", 0.8f, 0.5f, 0.8f);
// Set the color of the box according to the bitmap image
// or the specified color if no bitmap
if (_WallTextures[(byte)color] == "")
{
// TT - Changed for October CTP because DiffuseColor
// is a Vector4, but my WallColors are Vector3
//cBoxShape.DiffuseColor = _WallColors[(byte)color];
cBoxShape.DiffuseColor.X = (float)(_WallColors[(byte)color].X / 255.0);
cBoxShape.DiffuseColor.Y = (float)(_WallColors[(byte)color].Y / 255.0);
cBoxShape.DiffuseColor.Z = (float)(_WallColors[(byte)color].Z / 255.0);
cBoxShape.DiffuseColor.W = 0.5f;
}
else
cBoxShape.TextureFileName = _WallTextures[(byte)color];
// Raul
if (color == BasicColor.White)
{
cBoxShape.TextureFileName = "bricks_4.jpg";
}
if (color == BasicColor.Red)
{
cBoxShape.TextureFileName = "wood2.jpg";
}
box = new SingleShapeEntity(new BoxShape(cBoxShape),
new Vector3((startCol * -_state.GridSpacing) - widthOffset,
boxSize * _state.HeightScale / 2,
-(startRow * _state.GridSpacing) + heightOffset)
);
// Name the entity. All entities must have unique names
box.State.Name = "wall_" + startRow + "_" + startCol;
_simEnginePort.Insert(box);
}
BlockCounter++;
}
//TT -- Changed to include height and color
// void AddWall(int row, int col)
// {
// AddWall(row, col, DefaultHeight, BasicColor.White);
// }
// Adds a simple cube at a specified location in the maze grid
void AddWall(int row, int col, float height, BasicColor color)
{
// TT Oct-2006 - Add an option to use a sphere instead of a cube
if (_UseSphere[(byte)color])
{
SphereShapeProperties cSphereShape = null;
SingleShapeEntity sphere = null;
float radius;
radius = _state.SphereScale * height / 2.0f;
// create simple entity, with a single shape
cSphereShape = new SphereShapeProperties(
// TT -- Change to infinite mass so that the walls
// do not "blow apart" if you bump them!
// TT Oct 2006 -- Allow user to specify this
_WallMasses[(byte)color], // mass in kilograms.
new Pose(), // relative pose
radius); // radius
cSphereShape.Material = new MaterialProperties("gsphere", 1.0f, 0.01f, 0.01f);
// Set the color of the sphere according to the bitmap image
// or the specified color if no bitmap
if (_WallTextures[(byte)color] == "")
{
// TT - Changed for October CTP because DiffuseColor
// is a Vector4, but my WallColors are Vector3
//cBoxShape.DiffuseColor = _WallColors[(byte)color];
cSphereShape.DiffuseColor.X = (float)(_WallColors[(byte)color].X / 255.0);
cSphereShape.DiffuseColor.Y = (float)(_WallColors[(byte)color].Y / 255.0);
cSphereShape.DiffuseColor.Z = (float)(_WallColors[(byte)color].Z / 255.0);
cSphereShape.DiffuseColor.W = 1.0f;
}
else
cSphereShape.TextureFileName = _WallTextures[(byte)color];
sphere = new SingleShapeEntity(new SphereShape(cSphereShape),
new Vector3((col * -_state.GridSpacing),
radius,
-(row * _state.GridSpacing)));
// Name the entity. All entities must have unique names
sphere.State.Name = "ball_" + row + "_" + col;
// Insert entity in simulation.
_simEnginePort.Insert(sphere);
}
else
{
// Dimensions are in meters
Vector3 dimensions =
new Vector3(_state.WallBoxSize * _state.GridSpacing,
height * _state.HeightScale,
_state.WallBoxSize * _state.GridSpacing);
BoxShapeProperties cBoxShape = null;
SingleShapeEntity box = null;
// create simple immovable entity, with a single shape
cBoxShape = new BoxShapeProperties(
// TT -- Change to infinite mass so that the walls
// do not "blow apart" if you bump them!
// TT Oct 2006 -- Allow user to specify this
_WallMasses[(byte)color], // mass in kilograms.
new Pose(), // relative pose
dimensions); // dimensions
cBoxShape.Material = new MaterialProperties("gbox", 1.0f, 0.4f, 0.5f);
// Set the color of the box according to the bitmap image
// or the specified color if no bitmap
if (_WallTextures[(byte)color] == "")
{
// TT - Changed for October CTP because DiffuseColor
// is a Vector4, but my WallColors are Vector3
//cBoxShape.DiffuseColor = _WallColors[(byte)color];
cBoxShape.DiffuseColor.X = (float)(_WallColors[(byte)color].X / 255.0);
cBoxShape.DiffuseColor.Y = (float)(_WallColors[(byte)color].Y / 255.0);
cBoxShape.DiffuseColor.Z = (float)(_WallColors[(byte)color].Z / 255.0);
cBoxShape.DiffuseColor.W = 0.5f;
}
else
cBoxShape.TextureFileName = _WallTextures[(byte)color];
box = new SingleShapeEntity(new BoxShape(cBoxShape),
new Vector3(col * -_state.GridSpacing,
height * _state.HeightScale / 2,
-(row * _state.GridSpacing)));
// Name the entity. All entities must have unique names
box.State.Name = "wall_" + row + "_" + col;
// Insert entity in simulation.
_simEnginePort.Insert(box);
}
BlockCounter++;
}
private void AddArena()
{
BoxShapeProperties tBoxShape = null;
SingleShapeEntity tBoxEntity = null;
tBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(5f, 0.25f, 0.25f));
tBoxEntity = new SingleShapeEntity(new BoxShape(tBoxShape), new Vector3(0f, 0.5f, 2.63f));
tBoxEntity.State.Name = "arena top";
SimulationEngine.GlobalInstancePort.Insert(tBoxEntity);
BoxShapeProperties lBoxShape = null;
SingleShapeEntity lBoxEntity = null;
lBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(0.25f, 0.25f, 5f));
lBoxEntity = new SingleShapeEntity(new BoxShape(lBoxShape), new Vector3(-2.63f, 0.5f, 0f));
lBoxEntity.State.Name = "arena left";
SimulationEngine.GlobalInstancePort.Insert(lBoxEntity);
BoxShapeProperties rBoxShape = null;
SingleShapeEntity rBoxEntity = null;
rBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(0.25f, 0.25f, 5f));
rBoxEntity = new SingleShapeEntity(new BoxShape(rBoxShape), new Vector3(2.63f, 0.5f, 0f));
rBoxEntity.State.Name = "arena right";
SimulationEngine.GlobalInstancePort.Insert(rBoxEntity);
BoxShapeProperties bBoxShape = null;
SingleShapeEntity bBoxEntity = null;
bBoxShape = new BoxShapeProperties(500f, new Pose(), new Vector3(5f, 0.25f, 0.25f));
bBoxEntity = new SingleShapeEntity(new BoxShape(bBoxShape), new Vector3(0f, 0.5f, -2.63f));
bBoxEntity.State.Name = "arena bottom";
SimulationEngine.GlobalInstancePort.Insert(bBoxEntity);
}
private void AddCube(Vector3 position)
{
BoxShapeProperties cBoxShape = null;
SingleShapeEntity cBoxEntity = null;
cBoxShape = new BoxShapeProperties(2.0f, new Pose(), new Vector3(0.5f, 0.5f, 0.5f));
cBoxEntity = new SingleShapeEntity(new BoxShape(cBoxShape), position);
cBoxEntity.State.Name = "cube:" + Guid.NewGuid().ToString();
SimulationEngine.GlobalInstancePort.Insert(cBoxEntity);
}
HumanoidEntity CreateHumanoid(string name, Vector3 initialPosition)
{
Dictionary <string, VisualEntity> humanoidShapes = new Dictionary <string, VisualEntity>();
string prefix = name + "_";
foreach (HumanoidShapeDescriptor desc in ShapeDescriptors)
{
Shape newShape = null;
newShape = new BoxShape(new BoxShapeProperties(
desc.Name + " Shape", (float)desc.mass, new Pose(), new Vector3((float)desc.xSize, (float)desc.ySize, (float)desc.zSize)));
// newShape = new ConvexMeshShape(new ConvexMeshShapeProperties(desc.Name + "Shape", desc.mesh));
SingleShapeEntity shapeEntity = null;
/*
* SimplifiedConvexMeshEnvironmentEntity shapeEntity = null;
* if (desc.Name == _parentName)
* {
* shapeEntity = new HumanoidEntity(newShape, new Vector3(
* (float)desc.xPosition + initialPosition.X,
* (float)desc.yPosition + initialPosition.Y,
* (float)desc.zPosition + initialPosition.Z),desc.mesh);
* }
* else
* {
* shapeEntity = new SegmentEntity(newShape, new Vector3(
* (float)desc.xPosition + initialPosition.X,
* (float)desc.yPosition + initialPosition.Y,
* (float)desc.zPosition + initialPosition.Z),desc.mesh);
* }
*/
if (desc.Name == _parentName)
{
shapeEntity = new HumanoidEntity(newShape, new Vector3(
(float)desc.xPosition + initialPosition.X,
(float)desc.yPosition + initialPosition.Y,
(float)desc.zPosition + initialPosition.Z));
}
else
{
shapeEntity = new SegmentEntity(newShape, new Vector3(
(float)desc.xPosition + initialPosition.X,
(float)desc.yPosition + initialPosition.Y,
(float)desc.zPosition + initialPosition.Z));
}
shapeEntity.State.Name = prefix + desc.Name;
shapeEntity.State.Pose.Orientation = UIMath.EulerToQuaternion(new xna.Vector3((float)desc.xRotation, (float)desc.yRotation, (float)desc.zRotation));
if (!string.IsNullOrEmpty(desc.mesh))
{
shapeEntity.State.Assets.Mesh = desc.mesh;
}
shapeEntity.MeshScale = new Vector3(.001f, .001f, .001f);
shapeEntity.MeshRotation = new Vector3(desc.xRotation, desc.yRotation, desc.zRotation);
shapeEntity.Flags = VisualEntityProperties.DoCompletePhysicsShapeUpdate;
// shapeEntity.State.Flags |= EntitySimulationModifiers.Kinematic;
humanoidShapes.Add(shapeEntity.State.Name, shapeEntity);
}
// now set up the Parent/Child relationships
foreach (ParentChild rel in Relationships)
{
string Dof = rel.Dof;
JointAngularProperties angular = new JointAngularProperties();
if (Dof == "Twist")
{
angular.TwistMode = JointDOFMode.Free;
angular.TwistDrive = new JointDriveProperties(JointDriveMode.Position, new SpringProperties(500000, 1000, 0), 1000000);
// angular.TwistDrive.Mode = JointDriveMode.Velocity;
}
if (Dof == "Swing1")
{
angular.Swing1Mode = JointDOFMode.Free;
angular.SwingDrive = new JointDriveProperties(JointDriveMode.Position, new SpringProperties(500000, 1000, 0), 1000000);
//angular.SwingDrive.Mode = JointDriveMode.Velocity;
}
if (Dof == "Swing2")
{
angular.Swing2Mode = JointDOFMode.Free;
angular.SwingDrive = new JointDriveProperties(JointDriveMode.Position, new SpringProperties(500000, 1000, 0), 1000000);
// angular.SwingDrive.Mode = JointDriveMode.Velocity;
}
EntityJointConnector[] connectors = new EntityJointConnector[]
{
new EntityJointConnector(humanoidShapes[prefix + rel.Child], rel.ChildNormal, rel.ChildAxis, rel.ChildConnect),
new EntityJointConnector(humanoidShapes[prefix + rel.Parent], rel.ParentNormal, rel.ParentAxis, rel.ParentConnect)
};
SegmentEntity child = (SegmentEntity)humanoidShapes[prefix + rel.Child];
child.CustomJoint = new Joint();
child.CustomJoint.State = new JointProperties(angular, connectors);
child.CustomJoint.State.Name = rel.JointName;
child.Flags = VisualEntityProperties.DoCompletePhysicsShapeUpdate;
humanoidShapes[prefix + rel.Parent].InsertEntityGlobal(humanoidShapes[prefix + rel.Child]);
}
HumanoidEntity retValue = (HumanoidEntity)humanoidShapes[prefix + _parentName];
// retValue.State.MassDensity.CenterOfMass = new Pose(new Vector3(0.05f,1.05f,0), new Quaternion(0,0,0,1));
retValue.State.Flags = EntitySimulationModifiers.Kinematic;
retValue.State.Name = name;
return(retValue);
}
private void AddBase(ref Vector3 position)
{
var baseShape = new BoxShape(new BoxShapeProperties(
"base", // name
150, // mass kg
new Pose(new Vector3(0, BaseHeight/2, 0), new Quaternion(0, 0, 0, 1)),
new Vector3(BaseRadius*2, BaseHeight, BaseRadius*2)
));
_baseEntity = new SingleShapeEntity(baseShape, position);
_baseEntity.State.Name = State.Name + " Base";
_baseEntity.State.Flags |= EntitySimulationModifiers.Kinematic; // make the base immobile
_baseEntity.State.Assets.Mesh = @"RobotArm_Base.obj";
_baseEntity.Parent = this;
_baseEntity.MeshTranslation = new Vector3(0, 0.004f, 0); // move above ground
InsertEntity(_baseEntity);
}
private void PopulateWorld()
{
AddSky();
AddGround();
// AddBlocks();
// Add an overhead camera
// AddCamera();
// Create and place the dominos
// SpawnIterator(CreateDominos);
// Create a LynxL6Arm Entity positioned at the origin
var robotArm = new SimulatedRobotArmEntity(RobotArmEntityName, new Vector3(0, 0, 0));
SimulationEngine.GlobalInstancePort.Insert(robotArm);
var targetProps = new SphereShapeProperties(0, new Pose(), 0.0025f);
var shape = new SphereShape(targetProps);
shape.State.DiffuseColor = new Vector4(0.1f, 0f, 1f, 1f);
_moveTargetEntity = new SingleShapeEntity(shape, new Vector3(0f, 0.2f, 0.1f));
_moveTargetEntity.State.Name = "Move To Target";
SimulationEngine.GlobalInstancePort.Insert(_moveTargetEntity);
}
public void AddFood(Vector3 position_passed, string name)
{
Vector3 position = new Vector3(position_passed.X, position_passed.Z, -(position_passed.Y));
SingleShapeEntity food = new SingleShapeEntity(
new SphereShape(
new SphereShapeProperties(5, // mass in kg
new Pose(), // pose of shape within entity
.1f)), //default radius
position);
food.SphereShape.SphereState.Material =
new MaterialProperties("sphereMaterial", 0.5f, 0.4f, 0.5f);
// Name the entity
food.State.Name = name;
// Insert entity in simulation.
SimulationEngine.GlobalInstancePort.Insert(food);
this.FoodList.Add(food);
}
public void AddObstacle(Vector3 dimension_passed, Vector3 position_passed, string name)
{
Vector3 position = new Vector3(position_passed.X, position_passed.Z, -(position_passed.Y));
Vector3 dimension = new Vector3(dimension_passed.X, dimension_passed.Z, -(dimension_passed.Y));
BoxShapeProperties tBoxShape = new BoxShapeProperties(10000f, new Pose(), dimension);
tBoxShape.Material = new MaterialProperties("tbox", 0.4f, 0.4f, 0.6f);
tBoxShape.DiffuseColor = new Vector4(0.5f, 0.5f, 0.5f, 1.0f);
SingleShapeEntity Obstacle = new SingleShapeEntity(new BoxShape(tBoxShape), position); ;
Obstacle.State.Assets.DefaultTexture = "env2.bmp";
Obstacle.State.Name = name;
SimulationEngine.GlobalInstancePort.Insert(Obstacle);
this.BoundaryList.Add(Obstacle);
}
void AddBox(Vector3 position, string name)
{
Vector3 dimensions =
new Vector3(3.0f, 0.3f, 0.3f); // meters
// create simple movable entity, with a single shape
/*SingleShapeEntity box = new SingleShapeEntity(
new BoxShape(
new BoxShapeProperties(
10000000000, // mass in kilograms.
new Pose(), // relative pose
dimensions)), // dimensions
position);
box.State.MassDensity.Mass = 0;
box.State.MassDensity.Density = 0;
// Name the entity. All entities must have unique names
box.State.Name = name;
// Insert entity in simulation.
//SimulationEngine.GlobalInstancePort.Insert(box);
_simEnginePort.Insert(box); */
SingleShapeEntity box = new SingleShapeEntity(new BoxShape(
new BoxShapeProperties(
10000000000, // mass in kilograms.
new Pose(), // relative pose
dimensions)),
position);
// Name the entity. All entities must have unique names
box.State.Name = name;
// Insert entity in simulation.
_simEnginePort.Insert(box);
}
