/// <summary>
/// Initialization
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public override void Initialize(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
try
{
// GPS sensor dimensions and relative position
_shape = new BoxShape(new BoxShapeProperties(
"GPS Sensor",
0.01f,
new Pose(new Vector3(0,0.8f,0)),
new Vector3(0.01f, 0.01f, 0.01f)));
State.PhysicsPrimitives.Add(_shape);
base.Initialize(device, physicsEngine);
if (Parent == null)
{
throw new Exception("GPS Sensor entity must be a child of another entity.");
}
CreateAndInsertPhysicsEntity(physicsEngine);
Flags |= VisualEntityProperties.DisableRendering;
AddShapeToPhysicsEntity(_shape, new VisualEntityMesh(device, 0.01f, 0.01f));
}
catch (Exception ex)
{
HasBeenInitialized = false;
InitError = ex.ToString();
}
}
public XnaTextureManager( XFG.GraphicsDevice device )
: base()
{
this._device = device;
Is32Bit = true;
}
public XnaVertexDeclaration( XFG.GraphicsDevice device )
{
this._device = device;
}
///<summary>
/// Call this to associate a Xna Texture3D with this pixel buffer
///</summary>
public void Bind( XFG.GraphicsDevice device, XFG.Texture3D volume, bool update )
{
this.device = device;
this.volume = volume;
Width = volume.Width;
Height = volume.Height;
Depth = volume.Depth;
Format = XnaHelper.Convert( volume.Format );
// Default
RowPitch = Width;
SlicePitch = Height * Width;
sizeInBytes = PixelUtil.GetMemorySize( Width, Height, Depth, Format );
if ( ( (int)usage & (int)TextureUsage.RenderTarget ) != 0 )
CreateRenderTextures( update );
}
public void Bind( XFG.GraphicsDevice device, XFG.RenderTarget2D surface, bool update )
{
this.device = device;
this.renderTarget = (XFG.RenderTarget2D)surface;
Width = surface.Width / (int)Axiom.Math.Utility.Pow( 2, mipLevel );
Height = surface.Height / (int)Axiom.Math.Utility.Pow( 2, mipLevel );
Depth = 1;
Format = XnaHelper.Convert( surface.Format );
// Default
RowPitch = Width;
SlicePitch = Height * Width;
sizeInBytes = PixelUtil.GetMemorySize( Width, Height, Depth, Format );
if ( ( (int)usage & (int)TextureUsage.RenderTarget ) != 0 )
CreateRenderTextures( update );
}
public TTDifferentialDriveEntity() { } // TT - Notice the name change
/// <summary>
/// Initialization
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public override void Initialize(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
// TT May-2007
// Could be initialized in the declarations above,
// but here it is anyway
IsRotating = false;
IsTranslating = false;
TurnStartDegrees = 0;
TranslateStartX = 0;
TranslateStartZ = 0;
TranslateDistanceSquared = 0;
try
{
InitError = string.Empty;
ProgrammaticallyBuildModel(device, physicsEngine);
_leftWheel.Parent = this;
_rightWheel.Parent = this;
_leftWheel.Initialize(device, physicsEngine);
_rightWheel.Initialize(device, PhysicsEngine);
// TT May-2007
// Set the flag so that the pose is always updated
//this.Flags |= VisualEntityProperties.DoCompletePhysicsShapeUpdate;
base.Initialize(device, physicsEngine);
}
catch (Exception ex)
{
// clean up
if (PhysicsEntity != null)
PhysicsEngine.DeleteEntity(PhysicsEntity);
HasBeenInitialized = false;
InitError = ex.ToString();
}
}
/// <summary>
/// Initialization
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public override void Initialize(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
try
{
InitError = string.Empty;
// set flag so rendering engine renders us last
Flags |= VisualEntityProperties.UsesAlphaBlending;
// creates effect, loads meshes, etc
base.Initialize(device, physicsEngine);
HeightFieldShapeProperties hf = new HeightFieldShapeProperties("height field", 2, 0.02f, 2, 0.02f, 0, 0, 1, 1);
hf.HeightSamples = new HeightFieldSample[hf.RowCount * hf.ColumnCount];
for (int i = 0; i < hf.HeightSamples.Length; i++)
hf.HeightSamples[i] = new HeightFieldSample();
_particlePlane = new Shape(hf);
_particlePlane.State.Name = "sonar impact plane";
VisualEntityMesh sonarMesh = null;
// we render on our own only the laser impact points. The laser Box is rendered as part of the parent.
int index = Meshes.Count;
Meshes.Add(SimulationEngine.ResourceCache.CreateMesh(device, _particlePlane.State));
Meshes[0].Textures[0] = SimulationEngine.ResourceCache.CreateTextureFromFile(device, "particle.bmp");
// we have a custom effect, with an additional global parameter. Get handle to it here
if (Effect != null)
_timeAttenuationHandle = Effect.GetParameter("timeAttenuation");
World = xna.Matrix.Identity;
if (Meshes.Count > 1)
sonarMesh = Meshes[0];
if (Parent == null)
throw new Exception("This entity must be a child of another entity.");
Parent.AddShapeToPhysicsEntity(_sonarBox, sonarMesh);
}
catch (Exception ex)
{
HasBeenInitialized = false;
InitError = ex.ToString();
}
}
/// <summary>
///
/// </summary>
/// <param name="device"></param>
public XnaHardwareBufferManagerBase( XFG.GraphicsDevice device )
: base()
{
this._device = device;
}
public XnaGpuProgram( ResourceManager parent, string name, ResourceHandle handle, string group, bool isManual, IManualResourceLoader loader, XFG.GraphicsDevice device )
: base( parent, name, handle, group, isManual, loader )
{
this.device = device;
this.shaderCode = null;
}
void DrawBitmapStringInternal(BitmapSpriteFont spriteFont, string text, Vector2 position, G.Color color, float rotation, Vector2 origin, float scale, SpriteEffects effects, float layerDepth)
{
DrawBitmapStringInternal(spriteFont, text, position, color, rotation, origin, new Vector2(scale, scale), effects, layerDepth);
}
void DrawBitmapStringInternal(BitmapSpriteFont spriteFont, string text, Vector2 position, G.Color color, float rotation, Vector2 origin, Vector2 scale, SpriteEffects effects, float layerDepth)
{
BitmapSpriteText d = GetBitmapSpriteText(spriteFont);
if (d.ZIndex < zIndex)
{
d.ZIndex = zIndex;
}
else
{
zIndex = d.ZIndex;
}
zIndex++;
d.InUse = true;
d.Text = text;
d.Color = color;
d.PositionX = position.X;
d.PositionY = position.Y;
d.Scale = new Vector2((float)scale.X, (float)scale.Y);
d.Rotation = rotation;
d.Origin = origin;
d.Effects = effects;
}
public void DrawString(SpriteFont spriteFont, StringBuilder text, Vector2 position, G.Color color)
{
DrawString(spriteFont, text.ToString(), position, color);
}
public override Stream Open( XFG.CompilerIncludeHandlerType includeType, string filename )
{
return ResourceGroupManager.Instance.OpenResource( filename );
}
/// <summary>
/// Initialization
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public override void Initialize(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
try
{
InitError = string.Empty;
// Create simulated P3DX front and rear bumper arrays
_shapes = new BoxShape[_segments];
// Bumper panel dimensions
Vector3 segmentDimensions = new Vector3( 0.075f, 0.025f, 0.01f); // 10 cm width, 2.5 cm wide, 1.0 cm deep
// Bumper names
string[] bumperName = new string[] { "b9/rear", "b10/rear", "b11/rear", "b12/rear", "b13/rear",
"b1/front", "b2/front", "b3/front", "b4/front", "b5/front"
};
// Bumper panel angles
float[] bumperAngle = new float[] { (float)-(38.0f * Math.PI) / 180, // b1 is at -52 degrees.
(float)-(19.0f * Math.PI) / 180, // b2 is at -19 degrees.
(float)(0.0f * Math.PI) / 180, // b3 is centered front.
(float)(19.0f * Math.PI) / 180, // b4 is at 19 degrees.
(float)(38.0f * Math.PI) / 180, // b5 is at 52 degrees.
(float)(142.0f * Math.PI) / 180, // b9 is at 128 degrees.
(float)(161.0f * Math.PI) / 180, // b10 is at 161 degrees.
(float)(180.0f * Math.PI) / 180, // b11 is centered rear.
(float)-(161.0f * Math.PI) / 180, // b12 is at -162 degrees.
(float)-(142.0f * Math.PI) / 180 }; // b13 is at -128 degrees.
// P3DX Bumper segment poses
Vector3[] bumperPose = new Vector3[_segments];
// Add frontal and rear bumper shapes
for (int segment = 0; segment < _segments; segment++)
{
// P3DX Bumper segment pose
bumperPose[segment] = new Vector3((float)(-0.25f * Math.Sin(bumperAngle[segment])), // X
0.05f, // Y
(float)(0.25f * Math.Cos(bumperAngle[segment]))); // Z
// Create current segment:
BoxShape bumper = new BoxShape(
new BoxShapeProperties(
bumperName[segment], // segment name
0.001f, // segment mass
new Pose(bumperPose[segment], // segment position
Quaternion.FromAxisAngle(0, 1, 0, -bumperAngle[segment])), // segment orientation
segmentDimensions)); // segment dimensions
bumper.BoxState.Material = new MaterialProperties("P3DX chassis", 0.0f, 0.25f, 0.5f);
bumper.Parent = this;
bumper.BoxState.EnableContactNotifications = true;
bumper.State.DiffuseColor = new Vector4(0.1f, 0.1f, 0.1f, 0.1f);
_shapes[segment] = bumper;
}
foreach (BoxShape b in _shapes)
{
State.PhysicsPrimitives.Add(b);
}
base.Initialize(device, physicsEngine);
if (Parent == null)
throw new Exception("This entity must be a child of another entity.");
CreateAndInsertPhysicsEntity(physicsEngine);
Flags |= VisualEntityProperties.DisableRendering;
foreach (BoxShape shape in _shapes)
AddShapeToPhysicsEntity(shape, null);
}
catch (Exception ex)
{
HasBeenInitialized = false;
InitError = ex.ToString();
}
}
/// <summary>
/// Builds the simulated robotic entity using local fields for positionm size, orientation
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public void ProgrammaticallyBuildModel(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
if (_casterWheelShape == null)
{
// add caster wheel as a basic sphere shape
CasterWheelShape = new SphereShape(
new SphereShapeProperties("rear wheel", 0.001f,
new Pose(CASTER_WHEEL_POSITION), CASTER_WHEEL_RADIUS));
CasterWheelShape.State.Name = "Caster wheel";
// a fixed caster wheel has high friction when moving laterely, but low friction when it moves along the
// body axis its aligned with. We use anisotropic friction to model this
CasterWheelShape.State.Material = new MaterialProperties("small friction with anisotropy", 0.5f, 0.5f, 1);
CasterWheelShape.State.Material.Advanced = new MaterialAdvancedProperties();
CasterWheelShape.State.Material.Advanced.AnisotropicDynamicFriction = 0.3f;
CasterWheelShape.State.Material.Advanced.AnisotropicStaticFriction = 0.4f;
CasterWheelShape.State.Material.Advanced.AnisotropyDirection = new Vector3(0, 0, 1);
}
base.State.PhysicsPrimitives.Add(_casterWheelShape);
if (_chassisShape != null)
base.State.PhysicsPrimitives.Add(_chassisShape);
base.CreateAndInsertPhysicsEntity(physicsEngine);
// increase physics fidelity
base.PhysicsEntity.SolverIterationCount = 64;
// if we were created from xml the wheel entities would already be instantiated
if (_leftWheel != null && _rightWheel != null)
return;
// front left wheel
WheelShapeProperties w = new WheelShapeProperties("front left wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
// Set this flag on both wheels if you want to use axle speed instead of torque
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LEFT_FRONT_WHEEL_POSITION);
_leftWheel = new WheelEntity(w);
_leftWheel.State.Name = State.Name + ":" + "Left wheel";
_leftWheel.State.Assets.Mesh = _wheelMesh;
_leftWheel.Parent = this;
//_leftWheel.WheelShape.WheelState.Material = new MaterialProperties("wheel", 0.5f, 0f, 1f);
// wheels must have zero friction material.The wheel model will do friction differently
// front right wheel
w = new WheelShapeProperties("front right wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RIGHT_FRONT_WHEEL_POSITION);
_rightWheel = new WheelEntity(w);
_rightWheel.State.Name = State.Name + ":" + "Right wheel";
_rightWheel.State.Assets.Mesh = _wheelMesh;
_rightWheel.Parent = this;
//_rightWheel.WheelShape.WheelState.Material = _leftWheel.WheelShape.WheelState.Material;
}
/// <summary>
///
/// </summary>
/// <param name="driver">The root driver</param>
/// <param name="deviceIfSwapChain"></param>
public XnaRenderWindow( Driver driver, XFG.GraphicsDevice deviceIfSwapChain )
: this( driver )
{
_isSwapChain = ( deviceIfSwapChain != null );
}
internal XnaFragmentProgram( ResourceManager parent, string name, ResourceHandle handle, string group, bool isManual, IManualResourceLoader loader, XFG.GraphicsDevice device )
: base( parent, name, handle, group, isManual, loader, device )
{
}
public void DrawString(SpriteFont spriteFont, string text, Vector2 position, G.Color color, float rotation, Vector2 origin, float scale, SpriteEffects effects, float layerDepth)
{
if (text == null) return;
if (spriteFont is BitmapSpriteFont)
{
DrawBitmapStringInternal((BitmapSpriteFont)spriteFont, text, position, color, rotation, origin, scale, effects, layerDepth);
return;
}
SpriteList l;
long key = spriteFont.AssetId;
if (texts.ContainsKey(key))
{
l = texts[key];
}
else
{
l = new SpriteList(this, SpriteList.SpriteType.SpriteText);
l.SpriteFont = spriteFont;
l.ParentCanvas = Canvas;
texts.Add(key, l);
}
SpriteText t = l.GetSprite() as SpriteText;
if (t.ZIndex < zIndex)
{
t.ZIndex = zIndex;
}
else
{
zIndex = t.ZIndex;
}
Vector2 vscale = new Vector2(scale, scale);
zIndex++;
t.InUse = true;
t.PositionX = position.X;
t.PositionY = position.Y;
t.Color = color;
t.Text = text;
t.Scale = vscale;
t.Rotation = rotation;
t.Origin = origin;
t.Effects = effects;
}
public XnaHardwareBufferManager( XFG.GraphicsDevice device )
: base( new XnaHardwareBufferManagerBase( device ) )
{
}
public void DrawString(SpriteFont font, string text, Vector2 position, G.Color color)
{
DrawString(font, text, position, color, 0, Vector2.Zero, 1, SpriteEffects.None, 0);
}
public void Draw(Texture2D texture, Vector2 position, DoubleRectangle? sourceRectangle, G.Color color, float rotation, Vector2 origin, Vector2 scale, SpriteEffects effects, float layerDepth)
{
if (sourceRectangle == null || sourceRectangle.Value.IsEmpty)
{
SpriteImage d = GetSprite(texture);
if (d.ZIndex < zIndex)
{
d.ZIndex = zIndex;
}
else
{
zIndex = d.ZIndex;
}
zIndex++;
d.InUse = true;
if (color != d.color) d.Color = color;
d.PositionX = position.X;
d.PositionY = position.Y;
d.Scale = new Vector2((float)scale.X, (float)scale.Y);
d.Rotation = rotation;
d.SetOriginAndEffects(origin, effects);
d.CustomEffect = null; // this needs to get reset in case it's left-over from another call
}
else
{
ClippedSpriteImage d = GetClippedSprite(texture);
if (d.ZIndex < zIndex)
{
d.ZIndex = zIndex;
}
else
{
zIndex = d.ZIndex;
}
zIndex++;
d.InUse = true;
if (color != d.color) d.Color = color;
d.SourceRectangle = sourceRectangle.Value;
d.PositionX = position.X;
d.PositionY = position.Y;
d.Scale = new Vector2((float)scale.X, (float)scale.Y);
d.Rotation = rotation;
d.SetOriginAndEffects(origin, effects);
d.CustomEffect = null; // this needs to get reset in case it's left-over from another call
}
}
public override void Initialize(xnagrfx.GraphicsDevice
device, PhysicsEngine physicsEngine)
{
base.ServiceContract = drive.Contract.Identifier;
base.Initialize(device, physicsEngine);
}
public override void Clear(G.Color color)
{
if (color != backgroundColor)
{
Canvas.Background = new SolidColorBrush(color.ToSilverlightColor());
backgroundColor = color;
}
}
/// <summary>
/// Accepts a existing Direct3D.DisplayMode object.
/// </summary>
public VideoMode( XFG.DisplayMode videoMode )
{
modeNum = ++modeCount;
displayMode = videoMode;
}