/// <summary>
/// Zjistí, zda objekt koliduje s jiným - daným objektem
/// </summary>
/// <param name="ObjectA">Účastník kolize</param>
/// <param name="ObjectB">Účastník kolize</param>
/// <returns>Hlášení o kolizi nebo null</returns>
public static CollisionReport ObjectsCollide(SimObject ObjectA,SimObject ObjectB)
{
PointF[] geomA = ObjectA.Model.BoundingBox,geomB = ObjectB.Model.BoundingBox;
Vector mtd = null;
int Count = geomA.Length + geomB.Length;
for (int i = 0, j; i < Count; i++)
{
Vector Axis = null;
if (i < geomA.Length)
{
j = (i == geomA.Length - 1) ? 0 : i + 1;
Vector v1 = (Vector)geomA[i];
Vector v2 = (Vector)geomA[j];
Axis = (v1 - v2).Perp();
}
else
{
j = (i == Count - 1) ? geomA.Length : i + 1;
Vector v1 = (Vector)geomB[i - geomA.Length];
Vector v2 = (Vector)geomB[j - geomA.Length];
Axis = (v1 - v2).Perp();
}
if (SeparatedByAxis(Axis,ObjectA.Model, ObjectB.Model, ref mtd))
return null;
}
return new CollisionReport(ObjectA, ObjectB, mtd);
}
/// <summary>
/// Výchozí konstruktor
/// </summary>
/// <param name="ObjA">První účastník kolize</param>
/// <param name="ObjB">Druhý účastník kolize</param>
/// <param name="MinimumTranslation">Vektor minimálního posunutí</param>
public CollisionReport(SimObject ObjA, SimObject ObjB,Vector MinimumTranslation)
{
A = ObjA;
B = ObjB;
MTD = MinimumTranslation;
N = Vector.Unit(MTD);
Prepare();
NAP = ((Vector)Pairs[0].A - A.COG).Perp();
NBP = ((Vector)Pairs[0].B - B.COG).Perp();
RelativeVelocity = (A.LinearVelocity + Vector.Cross(NAP.Perp(), A.AngularVelocity)) - (B.LinearVelocity + Vector.Cross(NBP.Perp(), B.AngularVelocity));
}
private void newObj_Insert_Click(object sender, EventArgs e)
{
if (newObj_Mass.Text.Length == 0 && !newObj_Static.Checked)
{
MessageBox.Show("Zadejte hmotnost tělesa","Chyba",MessageBoxButtons.OK,MessageBoxIcon.Exclamation);
return;
}
if (newObj_Geometry.SelectedIndex < 0)
{
MessageBox.Show("Vyberte geometrii pro těleso", "Chyba", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
if (newObj_Material.SelectedIndex < 0)
{
MessageBox.Show("Vyberte materiál pro těleso", "Chyba", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
GraphicObject Placing = GraphicObject.LoadFromFile(@"objects\" + newObj_Geometry.SelectedItem.ToString() + ".xml");
if (newObj_AutoName.Checked)
Placing.Name = String.Format("object_#{0}", MyOwner.MyWorld.CountObjects);
else Placing.Name = newObj_Name.Text;
Material MyMat = Material.Concrete;
switch (newObj_Material.SelectedIndex)
{
case 1: MyMat = Material.Wood; break;
case 2: MyMat = Material.Concrete; break;
case 3: MyMat = Material.Steel; break;
case 4: MyMat = Material.Rubber; break;
default: MyMat = Material.Concrete; break;
}
double MyMass = 0;
if (!Double.TryParse(newObj_Mass.Text, out MyMass))
MyMass = 1000;
SimObject MyNewObject = new SimObject(Placing, MyMass/1000, MyMat);
MyNewObject.Enabled = newObj_Enabled.Checked;
MyNewObject.Static = newObj_Static.Checked;
MyOwner.Focus();
MyOwner.AddObject(MyNewObject);
tab_Toolbox.Enabled = false;
}
/// <summary>
/// Spočítá všechny typy energií pro dané těleso
/// </summary>
/// <param name="Object">Těleso</param>
/// <param name="Units">Jednotky</param>
/// <returns>Energie</returns>
public ObjectEnergy GetObjectEnergy(SimObject Object,ConversionType Units = ConversionType.MetersToPixels)
{
if (Object == null) throw new ArgumentNullException();
ObjectEnergy Ret = new ObjectEnergy();
if (Units == ConversionType.MetersToPixels)
{
Ret.Kinetic = 0.5 * Object.Mass * Vector.Pow(Object.LinearVelocity, 2);
Ret.Potential = Object.Mass * Vector.PointDistance(new Vector(Object.COG[0], Level[1], 0), Object.COG) * Gravity.Magnitude;
}
else
{
Ret.Kinetic = 0.5 * Object.Mass * Vector.Pow(Convert(Object.LinearVelocity,ConversionType.PixelsToMeters), 2);
Ret.Potential = Object.Mass * Convert(Vector.PointDistance(new Vector(Object.COG[0], Level[1], 0), Object.COG),ConversionType.PixelsToMeters) * Convert(Gravity,ConversionType.PixelsToMeters).Magnitude;
}
Ret.Rotational = 0.5 * Object.Mass * Object.MomentOfInertia * Vector.Pow(Object.AngularVelocity, 2);
return Ret;
}
/// <summary>
/// Přidá těleso do světa
/// </summary>
/// <param name="O">Těleso</param>
/// <returns>Index tělesa</returns>
public int AddObject(SimObject O)
{
lock (SimLock)
{
O.InitialEnergy = O.Mass * Gravity.Magnitude * Vector.PointDistance(new Vector(O.COG[0], Level[1], 0), O.COG);
Objs.Add(O);
}
return Objs.Count - 1;
}
