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);
}
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);
}
public CompositeMaterial2Sample(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(new Vector3F(0, 1, 0.25f).Normalized, 0))
{
Name = "GroundPlane", // Names are not required but helpful for debugging.
MotionType = MotionType.Static,
};
// Adjust the coefficients of friction of the ground plane.
((UniformMaterial)groundPlane.Material).DynamicFriction = 0.5f;
((UniformMaterial)groundPlane.Material).StaticFriction = 0.5f;
Simulation.RigidBodies.Add(groundPlane);
// Prepare two materials: a slippery material and a rough material.
UniformMaterial slipperyMaterial = new UniformMaterial
{
DynamicFriction = 0.001f,
StaticFriction = 0.001f,
};
UniformMaterial roughMaterial = new UniformMaterial
{
DynamicFriction = 1,
StaticFriction = 1,
};
// Create a rigid body that consists of multiple shapes: Two boxes and a cylinder between them.
CompositeShape compositeShape = new CompositeShape();
compositeShape.Children.Add(new GeometricObject(new BoxShape(1f, 1f, 1f), new Pose(new Vector3F(1.5f, 0f, 0f))));
compositeShape.Children.Add(new GeometricObject(new BoxShape(1f, 1, 1f), new Pose(new Vector3F(-1.5f, 0f, 0f))));
compositeShape.Children.Add(new GeometricObject(new CylinderShape(0.1f, 2), new Pose(Matrix33F.CreateRotationZ(ConstantsF.PiOver2))));
// A CompositeMaterial is used to assign a different material to each shape.
CompositeMaterial compositeMaterial = new CompositeMaterial();
compositeMaterial.Materials.Add(roughMaterial); // Assign the rough material to the first box.
compositeMaterial.Materials.Add(slipperyMaterial); // Assign the slippery material to the second box.
compositeMaterial.Materials.Add(null); // Use whatever is default for the handle between the boxes.
RigidBody body = new RigidBody(compositeShape, null, compositeMaterial)
{
Pose = new Pose(new Vector3F(0, 2.2f, -5)),
};
Simulation.RigidBodies.Add(body);
}
public CompositeMaterialSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
// Add basic force effects.
Simulation.ForceEffects.Add(new Gravity());
Simulation.ForceEffects.Add(new Damping());
// ----- Create a simple height field.
// The height data consists of height samples with a resolution of 20 entries per dimension.
// (Height samples are stored in a 1-dimensional array.)
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
// Set the y values (height).
samples[z * numberOfSamplesX + x] = 20 - z;
}
}
// Set the size of the height field in world space. (WidthX/Z determine the extent
// of the height field but not the resolution of the height samples.)
float widthX = 40;
float widthZ = 40;
// The origin is at (-20, -20) to center the height field at the world space origin.
float originX = -20;
float originZ = -20;
// Create the height field shape.
HeightField heightField = new HeightField(
originX, originZ, widthX, widthZ, samples, numberOfSamplesX, numberOfSamplesZ);
RigidBody ground = new RigidBody(heightField)
{
Pose = new Pose(new Vector3F(0, -10, 0)),
MotionType = MotionType.Static,
};
Simulation.RigidBodies.Add(ground);
// Assign two different materials to the height field.
// A rough material (high friction) should be used for the left cells of the height field.
UniformMaterial roughMaterial = new UniformMaterial
{
DynamicFriction = 1,
StaticFriction = 1,
};
// A slippery material (low friction) should be used for the right cells of the height field.
UniformMaterial slipperyMaterial = new UniformMaterial
{
DynamicFriction = 0,
StaticFriction = 0,
};
// Use a CompositeMaterial two assign the materials to the features of the height field.
CompositeMaterial compositeMaterial = new CompositeMaterial();
// A "feature" of a height field is a triangle:
// The height field is triangulated. Each cell consists of two triangles. The triangles are
// numbered from left-to-right and top-to-bottom.
// (For more information: See the description of HeightField.)
// Loop over the cells.
// (If the resolution is 20, we have 20 height values in one row. Between these height
// values are 19 cells.)
for (int z = 0; z < numberOfSamplesZ - 1; z++)
{
for (int x = 0; x < numberOfSamplesX - 1; x++)
{
// Assign the rough material to the left cells and the slippery material to the
// right cells.
if (x < numberOfSamplesX / 2)
{
// Each cell contains 2 triangles, therefore we have to add 2 entries to the
// CompositeMaterial.
compositeMaterial.Materials.Add(roughMaterial);
compositeMaterial.Materials.Add(roughMaterial);
}
else
{
compositeMaterial.Materials.Add(slipperyMaterial);
compositeMaterial.Materials.Add(slipperyMaterial);
}
}
}
ground.Material = compositeMaterial;
// Create a few boxes on the height field.
// The left boxes will roll or stop on the height field because of the high friction.
// The right boxes will slide down because of the low friction.
BoxShape boxShape = new BoxShape(1, 1, 1);
for (int i = 0; i < 10; i++)
{
RigidBody body = new RigidBody(boxShape, null, roughMaterial)
{
Pose = new Pose(new Vector3F(-19 + i * 4, 10, -10)),
};
Simulation.RigidBodies.Add(body);
}
}
