private void heightmapDemo(object sender, RoutedEventArgs e)
{
enable3dOutput();
var toolDiameter = 5.0;
var margin = toolDiameter;
var radius = 50.0;
var mapResolution = 0.2;
var center = new Point(margin + radius, margin + radius);
var modelShape = new ConeShape(center, radius);
var mapStart = new Point(0, 0);
var mapEnd = new Point(mapStart.X + 2 * margin + 2 * radius, mapStart.Y + 2 * margin + 2 * radius);
var model = HeightMap.From(modelShape, mapStart, mapEnd, mapResolution);
//simulate parallel machining
var blockHeight = radius + margin;
var stock = HeightMap.Flat(blockHeight, mapStart, mapEnd, mapResolution);
var machiningStep = 1.0;
var tool = new BallnoseEndMill(toolDiameter);
simulateLinearMachining(stock, tool, model, toolDiameter, machiningStep, true);
simulateLinearMachining(stock, tool, model, toolDiameter, machiningStep, false);
output3D(stock);
}
public IEnumerator MaterialTransitionWithParametrizableMeshes()
{
yield return(InitScene(reloadUnityScene: false));
DCL.Configuration.EnvironmentSettings.DEBUG = true;
sceneController.SetDebug();
var entity1 = TestHelpers.CreateSceneEntity(scene);
ParcelSettings.VISUAL_LOADING_ENABLED = true;
DecentralandEntity entity = null;
ConeShape shape = TestHelpers.InstantiateEntityWithShape <ConeShape, ConeShape.Model>
(
scene,
DCL.Models.CLASS_ID.CONE_SHAPE,
new Vector3(2, 1, 3),
out entity,
new ConeShape.Model());
yield return(null);
float timeout = 0f;
float maxTime = 20f;
while (timeout < maxTime)
{
timeout += Time.deltaTime;
if (timeout > maxTime)
{
timeout = maxTime;
}
if (entity.meshRootGameObject != null)
{
var c = entity.meshRootGameObject.GetComponentInChildren <MaterialTransitionController>();
if (c != null) // NOTE(Brian): Wait for it
{
Assert.IsTrue(!c.useHologram, "useHologram must be false");
Assert.IsTrue(entity.meshRootGameObject != null, "meshGameObject is null");
Assert.IsTrue(c.placeholder == null,
"placeholder must be null because we're not using holograms with parametric shapes.");
yield return(new WaitForSeconds(2f));
Assert.IsTrue(c == null, "MaterialTransitionController should be destroyed by now!");
break;
}
}
yield return(null);
}
Assert.Less(timeout, maxTime + 0.1f, "Timeout! MaterialTransitionController never appeared?");
yield return(null);
}
/// <summary>
/// Adds the child shape.
/// </summary>
/// <param name="localTransform">The local transform.</param>
/// <param name="shape">The shape.</param>
public void AddChildShape(float4x4 localTransform, IConeShapeImp shape)
{
var btChildShape = new ConeShape(shape.Radius, shape.Height);
var btLocalTransform = Translator.Float4X4ToBtMatrix(localTransform);
BtCompoundShape.AddChildShape(btLocalTransform, btChildShape);
}
public override CollisionShape CopyCollisionShape()
{
ConeShape cs = new ConeShape(radius, height);
cs.LocalScaling = m_localScaling.ToBullet();
return(cs);
}
public void GetSupportPoint()
{
Assert.AreEqual(new Vector3(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3(1, 0, 0)));
Assert.AreEqual(new Vector3(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3(0, 1, 0)));
Assert.AreEqual(new Vector3(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3(0, 0, 1)));
Assert.AreEqual(new Vector3(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3(1, 1, 1)));
Assert.AreEqual(new Vector3(10, 0, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3(1, 0, 0)));
Assert.AreEqual(new Vector3(0, 30, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3(0, 1, 0)));
Assert.AreEqual(new Vector3(0, 0, 10), new ConeShape(10, 30).GetSupportPoint(new Vector3(0, 0, 1)));
Assert.AreEqual(new Vector3(-10, 0, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3(-1, 0, 0)));
Assert.AreEqual(new Vector3(10, 0, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3(0, -1, 0)));
Assert.AreEqual(new Vector3(0, 0, -10), new ConeShape(10, 30).GetSupportPoint(new Vector3(0, 0, -1)));
Assert.AreEqual(new Vector3(0, 30, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3(1, 1, 1)));
Assert.AreEqual(10 * new Vector3(-1, 0, -1).Normalized, new ConeShape(10, 30).GetSupportPoint(new Vector3(-1, -1, -1)));
ConeShape c = new ConeShape(10, 30);
c.Radius = 0;
Assert.AreEqual(new Vector3(0, 0, 0), c.GetSupportPoint(new Vector3(1, 0, 0)));
c.Height = 0;
Assert.AreEqual(new Vector3(0, 0, 0), c.GetSupportPoint(new Vector3(0, 1, 0)));
c.Radius = 0;
Assert.AreEqual(new Vector3(0, 0, 0), c.GetSupportPoint(new Vector3(0, 1, 0)));
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public GeneralConvexPairStressDemo(DemosGame game)
: base(game)
{
Space.Remove(vehicle.Vehicle);
//Enable simplex caching.
ConfigurationHelper.ApplySuperSpeedySettings(Space);
for (int i = 0; i < 2000; i++)
{
EntityShape shape;
switch (i % 3)
{
case 0:
shape = new CylinderShape(0.5m + (Fix64)random.NextDouble() * 1.5m, 0.5m + (Fix64)random.NextDouble() * 1.5m);
break;
case 1:
shape = new ConeShape(0.5m + (Fix64)random.NextDouble() * 1.5m, 0.5m + (Fix64)random.NextDouble() * 1.5m);
break;
default:
shape = new CapsuleShape(0.5m + (Fix64)random.NextDouble() * 1.5m, 0.5m + (Fix64)random.NextDouble() * 1.5m);
break;
}
var toAdd = new Entity(shape, 2);
//toAdd.LocalInertiaTensorInverse = new BEPUutilities.Matrix3x3();
RandomizeEntityState(toAdd);
Space.Add(toAdd);
}
Space.ForceUpdater.Gravity = new Vector3();
game.Camera.Position = new Vector3(0, 6, 15);
}
Mesh CreateConeShape(ConeShape shape)
{
Mesh mesh = Mesh.CreateCylinder(device, 0, shape.Radius, shape.Height, 16, 1);
shapes.Add(shape, mesh);
return(mesh);
}
public ConeCollider()
{
NotifyColliderChanged(
new Entity <ConvexCollidable <ConeShape> >(
new ConvexCollidable <ConeShape>(
shape = new ConeShape(1, 1))));
}
private CollisionShape MakeCollisionShape()
{
CollisionShape shape;
switch (Shape)
{
case Shape.Cube:
shape = new BoxShape(1, 1, 1);
break;
case Shape.Sphere:
shape = new SphereShape(1);
break;
case Shape.Cylinder:
shape = new ConeShape(1, 1);
break;
case Shape.Wedge:
var wedgeGeo = Primitives.WedgeGeometry;
shape = new ConvexTriangleMeshShape(new TriangleIndexVertexArray(wedgeGeo.Indices, wedgeGeo.Vertices.Select(v => (BulletVector3)v.Position).ToList()));
break;
default:
throw new ArgumentOutOfRangeException();
}
shape.Margin *= PhysicsSimulation.Scale;
shape.Margin = 0;
shape.LocalScaling = new BulletVector3(_size.x / 2, _size.y / 2, _size.z / 2);
return(shape);
}
public override void Init()
{
base.Init();
Vector3 worldScale = WorldScale;
m_scaledShape = new ConeShape(worldScale.Y * Length, Math.Abs(Math.Max(worldScale.X, worldScale.Z)) * Radius);
m_scaledStaticCollidable = m_scaledShape.GetCollidableInstance();
}
public void GetMesh()
{
var s = new ConeShape(3, 10);
var mesh = s.GetMesh(0.05f, 3);
Assert.Greater(mesh.NumberOfTriangles, 1);
// No more tests necessary because we see the result in the samples.
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null)
{
collisionShapePtr = new ConeShape(radius, height);
}
return(collisionShapePtr);
}
public override CollisionShape GetCollisionShape()
{
if (collisionShapePtr == null)
{
collisionShapePtr = new ConeShape(radius, height);
((ConeShape)collisionShapePtr).LocalScaling = m_localScaling.ToBullet();
}
return(collisionShapePtr);
}
public void GetMesh()
{
var s = new ConeShape(3, 10);
var mesh = s.GetMesh(0.05f, 3);
Assert.Greater(mesh.NumberOfTriangles, 1);
// No more tests necessary because we see the result in the samples.
}
public TreeTemplate(
int sliceCount,
int stackDivision,
int coneCount,
float height,
float radius,
float radAdd
)
{
var attributePosition = new Attribute(VertexUsage.Position, VertexAttribPointerType.Float, 0, 3);
var attributeNormal = new Attribute(VertexUsage.Normal, VertexAttribPointerType.Float, 0, 3); /* content normals */
VertexFormat vertexFormat = new VertexFormat();
vertexFormat.Add(attributePosition);
vertexFormat.Add(attributeNormal);
this.sliceCount = sliceCount;
this.stackDivision = stackDivision;
this.coneCount = coneCount;
this.height = height;
this.radius = radius;
this.radAdd = radAdd;
float coneHeight = height / (float)coneCount;
Matrix4 rotZ = Matrix4.CreateRotation(
RenderStack.Math.Conversions.DegreesToRadians(90.0f),
Vector3.UnitZ
);
float cylHeight = coneHeight;
float cylRadius = height / 20.0f;
Geometry cylinderGeometry = new RenderStack.Geometry.Shapes.Cylinder(-cylHeight, cylHeight, cylRadius, sliceCount);
cylinderGeometry.Transform(rotZ);
GeometryMesh cylinderMesh = new GeometryMesh(cylinderGeometry, NormalStyle.CornerNormals, vertexFormat);
Shape cylinderShape = new CylinderShape(cylHeight, cylRadius);
cylinderMesh.GetMesh.Name = "cylinder";
meshes.Add(cylinderMesh);
shapes.Add(cylinderShape);
for (int c = 0; c < coneCount; c++)
{
float topRadius = (coneCount - 1 - c) * radius / (float)coneCount;
float bottomRadius = topRadius + radAdd;
float R = bottomRadius;
float r = topRadius;
float fullConeHeight = (R * coneHeight) / (R - r);
float minX = -fullConeHeight / 3.0f;
float maxX = 2.0f * fullConeHeight / 3.0f;
float offset = -minX;
Geometry coneGeometry = new RenderStack.Geometry.Shapes.Cone(minX, maxX, bottomRadius, 0.0f, true, true, sliceCount, stackDivision);
coneGeometry.Transform(rotZ);
GeometryMesh coneMesh = new GeometryMesh(coneGeometry, NormalStyle.CornerNormals, vertexFormat);
Shape coneShape = new ConeShape(fullConeHeight, R);
coneMesh.GetMesh.Name = "cone" + c.ToString();
meshes.Add(coneMesh);
shapes.Add(coneShape);
}
}
public void Clone()
{
ConeShape cone = new ConeShape(1.23f, 45.6f);
ConeShape clone = cone.Clone() as ConeShape;
Assert.IsNotNull(clone);
Assert.AreEqual(cone.Radius, clone.Radius);
Assert.AreEqual(cone.Height, clone.Height);
Assert.AreEqual(cone.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(cone.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void ConeTest()
{
var s = new ConeShape(1, 2);
var v0 = s.GetVolume(0.001f, 10);
var m = s.GetMesh(0.001f, 10);
var v1 = m.GetVolume();
Assert.IsTrue(Numeric.AreEqual(v0, v1, 0.01f * (1 + v0))); // 1% error is allowed.
}
public void Clone()
{
ConeShape cone = new ConeShape(1.23f, 45.6f);
ConeShape clone = cone.Clone() as ConeShape;
Assert.IsNotNull(clone);
Assert.AreEqual(cone.Radius, clone.Radius);
Assert.AreEqual(cone.Height, clone.Height);
Assert.AreEqual(cone.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(cone.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
//ConeShape
public IConeShapeImp AddConeShape(float radius, float height)
{
var btConeShape = new ConeShape(radius, height);
BtCollisionShapes.Add(btConeShape);
var retval = new ConeShapeImp();
retval.BtConeShape = btConeShape;
btConeShape.UserObject = retval;
return(retval);
}
//Get Collision shape
public override CollisionShape GetCollisionShape()
{
if (Shape != null)
{
return(Shape);
}
Shape = new ConeShape(_radius, _height)
{
LocalScaling = transform.localScale.ToBullet()
};
return(Shape);
}
public static void GetShapeMeshData(EntityCollidable collidable, List <VertexPositionNormalTexture> vertices, List <ushort> indices)
{
ConeShape coneShape = collidable.Shape as ConeShape;
if (coneShape == null)
{
throw new ArgumentException("Wrong shape type.");
}
float verticalOffset = -coneShape.Height / 4;
float angleBetweenFacets = MathHelper.TwoPi / NumSides;
float radius = coneShape.Radius;
//Create the vertex list
var topVertexPosition = new Vector3(0, coneShape.Height + verticalOffset, 0);
for (int i = 0; i < NumSides; i++)
{
float theta = i * angleBetweenFacets;
var position = new Vector3((float)Math.Cos(theta) * radius, verticalOffset, (float)Math.Sin(theta) * radius);
Vector3 offset = topVertexPosition - position;
Vector3 normal = Vector3.Normalize(Vector3.Cross(Vector3.Cross(offset, Vector3.Up), offset));
//Top vertex
vertices.Add(new VertexPositionNormalTexture(topVertexPosition, normal, Vector2.Zero));
//Sloped vertices
vertices.Add(new VertexPositionNormalTexture(position, normal, Vector2.Zero));
//Bottom vertices
vertices.Add(new VertexPositionNormalTexture(position, Vector3.Down, Vector2.Zero));
}
//Create the index list
for (ushort i = 0; i < vertices.Count; i += 3)
{
//Each iteration, the loop advances to the next vertex 'column.'
//Four triangles per column (except for the four degenerate cap triangles).
//Sloped Triangles
indices.Add(i);
indices.Add((ushort)(i + 1));
indices.Add((ushort)((i + 4) % vertices.Count));
//Bottom cap triangles.
var nextIndex = (ushort)((i + 5) % vertices.Count);
if (nextIndex != 2) //Don't add cap indices if it's going to be a degenerate triangle.
{
indices.Add((ushort)(i + 2));
indices.Add(2);
indices.Add(nextIndex);
}
}
}
private void DrawShape(Shape shape, JMatrix ori, JVector pos)
{
Model model = null;
Matrix scaleMatrix = Matrix.Identity;
if (shape is TriangleMeshShape)
{
model = models[(int)Models.triangle];
}
else if (shape is BoxShape)
{
model = models[(int)Models.box];
scaleMatrix = Matrix.CreateScale(Conversion.ToXNAVector((shape as BoxShape).Size));
}
else if (shape is SphereShape)
{
model = models[(int)Models.sphere];
scaleMatrix = Matrix.CreateScale((shape as SphereShape).Radius);
}
else if (shape is CylinderShape)
{
model = models[(int)Models.cylinder];
CylinderShape cs = shape as CylinderShape;
scaleMatrix = Matrix.CreateScale(cs.Radius, cs.Height, cs.Radius);
}
else if (shape is CapsuleShape)
{
model = models[(int)Models.capsule];
}
else if (shape is ConeShape)
{
ConeShape cs = shape as ConeShape;
scaleMatrix = Matrix.CreateScale(cs.Radius * 2.0f, cs.Height, cs.Radius * 2.0f);
model = models[(int)Models.cone];
}
Matrix[] transforms = new Matrix[model.Bones.Count];
model.CopyAbsoluteBoneTransformsTo(transforms);
foreach (ModelMesh mesh in model.Meshes)
{
foreach (BasicEffect effect in mesh.Effects)
{
effect.World = transforms[mesh.ParentBone.Index] * scaleMatrix *Conversion.ToXNAMatrix(ori) *
Matrix.CreateTranslation(Conversion.ToXNAVector(pos));
}
mesh.Draw();
}
}
private void AddShapeToDrawList(Shape shape, JMatrix ori, JVector pos)
{
Primitives3D.GeometricPrimitive primitive = null;
Matrix scaleMatrix = Matrix.Identity;
if (shape is BoxShape)
{
primitive = primitives[(int)Primitives.box];
scaleMatrix = Matrix.CreateScale(Conversion.ToXNAVector((shape as BoxShape).Size));
}
else if (shape is SphereShape)
{
primitive = primitives[(int)Primitives.sphere];
scaleMatrix = Matrix.CreateScale((shape as SphereShape).Radius);
}
else if (shape is CylinderShape)
{
primitive = primitives[(int)Primitives.cylinder];
CylinderShape cs = shape as CylinderShape;
scaleMatrix = Matrix.CreateScale(cs.Radius, cs.Height, cs.Radius);
}
else if (shape is CapsuleShape)
{
primitive = primitives[(int)Primitives.capsule];
CapsuleShape cs = shape as CapsuleShape;
scaleMatrix = Matrix.CreateScale(cs.Radius * 2, cs.Length, cs.Radius * 2);
}
else if (shape is ConeShape)
{
ConeShape cs = shape as ConeShape;
scaleMatrix = Matrix.CreateScale(cs.Radius, cs.Height, cs.Radius);
primitive = primitives[(int)Primitives.cone];
}
/*else if (shape is ConvexHullShape)
* {
* Console.WriteLine("convex");
* ConvexHullShape cs = shape as ConvexHullShape;
* //scaleMatrix = Matrix.CreateScale(cs.Radius, cs.Height, cs.Radius);
* //scaleMatrix = Matrix.CreateScale(Conversion.ToXNAVector((shape as BoxShape).Size));
* primitive = primitives[(int)Primitives.convexHull];
*
* }*/
if (primitive != null)
{
primitive.AddWorldMatrix(scaleMatrix * Conversion.ToXNAMatrix(ori) * Matrix.CreateTranslation(Conversion.ToXNAVector(pos)));
}
}
private static void GetMass(ConeShape cone, Vector3 scale, float densityOrMass, bool isDensity, out float mass, out Vector3 centerOfMass, out Matrix inertia)
{
float radiusX = cone.Radius * Math.Abs(scale.X);
float radiusZ = cone.Radius * Math.Abs(scale.Z);
float height = cone.Height * Math.Abs(scale.Y);
mass = (isDensity) ? 1.0f / 3.0f * ConstantsF.Pi * radiusX * radiusZ * height * densityOrMass : densityOrMass;
centerOfMass = new Vector3(0, height / 4, 0) * Math.Sign(scale.Y);
inertia = Matrix.Zero;
inertia.M00 = 3.0f / 20.0f * mass * (radiusZ * radiusZ + 1.0f / 4.0f * height * height);
inertia.M11 = 3.0f / 20.0f * mass * (radiusX * radiusX + radiusZ * radiusZ);
inertia.M22 = 3.0f / 20.0f * mass * (radiusX * radiusX + 1.0f / 4.0f * height * height);
}
public void TestProperties()
{
ConeShape b = new ConeShape();
Assert.AreEqual(0, b.Radius);
Assert.AreEqual(0, b.Height);
b.Height = 10;
Assert.AreEqual(10, b.Height);
Assert.AreEqual(0, b.Radius);
b.Radius = 4;
Assert.AreEqual(10, b.Height);
Assert.AreEqual(4, b.Radius);
}
/// <summary>
/// Add shape for debug-information on the screen
/// </summary>
/// <param name="shape">Shape of the object</param>
/// <param name="ori">Orientation</param>
/// <param name="pos">Position</param>
private void AddShapeToDrawList(Shape shape, JMatrix ori, JVector pos)
{
GeometricPrimitive primitive = null;
Matrix scaleMatrix = Matrix.Identity;
if (shape is BoxShape)
{
primitive = _primitives[(int)PrimitiveTypes.Box];
scaleMatrix = Matrix.CreateScale(Conversion.ToXnaVector((shape as BoxShape).Size));
}
else if (shape is SphereShape)
{
primitive = _primitives[(int)PrimitiveTypes.Sphere];
scaleMatrix = Matrix.CreateScale((shape as SphereShape).Radius);
}
else if (shape is CylinderShape)
{
primitive = _primitives[(int)PrimitiveTypes.Cylinder];
CylinderShape cs = shape as CylinderShape;
scaleMatrix = Matrix.CreateScale(cs.Radius, cs.Height, cs.Radius);
}
else if (shape is CapsuleShape)
{
primitive = _primitives[(int)PrimitiveTypes.Capsule];
CapsuleShape cs = shape as CapsuleShape;
scaleMatrix = Matrix.CreateScale(cs.Radius * 2, cs.Length, cs.Radius * 2);
}
else if (shape is ConeShape)
{
ConeShape cs = shape as ConeShape;
scaleMatrix = Matrix.CreateScale(cs.Radius, cs.Height, cs.Radius);
primitive = _primitives[(int)PrimitiveTypes.Cone];
}
else if (shape is ConvexHullShape)
{
ConvexHullShape cs = shape as ConvexHullShape;
primitive = _primitives[(int)PrimitiveTypes.Box];
scaleMatrix = Matrix.CreateScale(Conversion.ToXnaVector(cs.BoundingBox.Max - cs.BoundingBox.Min));
}
if (primitive != null)
{
primitive.AddWorldMatrix(scaleMatrix * Conversion.ToXnaMatrix(ori) *
Matrix.CreateTranslation(Conversion.ToXnaVector(pos)));
}
}
public void MakeNoiseScene()
{
Reset();
float scale = 1.0f;
AddFloor(30.0f * scale, 5, -0.5f);
int subdiv = 3;
Geometry coneGeometry = new RenderStack.Geometry.Shapes.Cone(
-1.0f / 3.0f, 2.0f / 3.0f, 0.75f, 0.0f, true, false, 24 * subdiv, 10 * subdiv
);
coneGeometry.Transform(
Matrix4.CreateRotation(
RenderStack.Math.Conversions.DegreesToRadians(90.0f),
Vector3.UnitZ
)
);
//coneGeometry = Mush(0.08f, coneGeometry);
var coneMesh = new GeometryMesh(coneGeometry, NormalStyle.CornerNormals);
var coneShape = new ConeShape(1.0f, 0.75f);
var gold = materialManager["noisy"];
var magenta = materialManager["magenta"];
userInterfaceManager.CurrentMaterial = "noisy";
Geometry ellipsoidGeometry = new RenderStack.Geometry.Shapes.Ellipsoid(
new Vector3(0.5f, 1.0f, 1.5f), 20, 12
);
var ellipsoidMesh = new GeometryMesh(ellipsoidGeometry, NormalStyle.PointNormals);
var ellipsoidShape = new EllipsoidShape(0.5f, 1.0f, 1.5f);
for (float x = -4.0f; x <= 4.0f; x += 8.0f)
{
for (float z = -4.0f; z <= 4.0f; z += 8.0f)
{
AddModel(new Model("cone", coneMesh, gold, x, 1.0f / 3.0f, z), coneShape).RigidBody.IsActive = false;
AddModel(new Model("ellipsoid", ellipsoidMesh, magenta, x, 2.0f, z), ellipsoidShape).RigidBody.IsActive = false;
}
}
AddCameras();
AddCameraUserControls();
}
public void SerializationBinary()
{
var a = new ConeShape(11, 22);
// 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 = (ConeShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Radius, b.Radius);
Assert.AreEqual(a.Height, b.Height);
}
public void ConeMass()
{
var s = new ConeShape(1, 2);
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 10);
m.Transform(Matrix44F.CreateScale(1, -2, -3));
float m1;
Vector3F com1;
Matrix33F i1;
MassHelper.GetMass(m, out m1, out com1, out i1);
const float e = 0.01f;
Assert.IsTrue(Numeric.AreEqual(m0, m1, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
// Try other density.
float m2;
Vector3F com2;
Matrix33F i2;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 0.7f, true, 0.001f, 10, out m2, out com2, out i2);
Assert.IsTrue(Numeric.AreEqual(m0 * 0.7f, m2, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com2, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 0.7f, i2, e * (1 + i0.Trace)));
// Try with target mass.
float m3;
Vector3F com3;
Matrix33F i3;
MassHelper.GetMass(s, new Vector3F(1, -2, -3), 23, false, 0.001f, 10, out m3, out com3, out i3);
Assert.IsTrue(Numeric.AreEqual(23, m3, e * (1 + m0)));
Assert.IsTrue(Vector3F.AreNumericallyEqual(com0, com3, e * (1 + com0.Length)));
Assert.IsTrue(Matrix33F.AreNumericallyEqual(i0 * 23 / m0, i3, e * (1 + i0.Trace)));
}
private void RenderEntity(EntityCollidable entity)
{
if (entity is CompoundCollidable)
{
CompoundCollidable compound = entity as CompoundCollidable;
for (int i = 0; i < compound.Children.Count; i++)
{
CompoundChild child = compound.Children[i];
Matrix4 lt = child.Entry.LocalTransform.Matrix;
GL.MultMatrix(ref lt);
RenderEntity(child.CollisionInformation);
}
}
else
{
EntityShape shape = entity.Shape;
if (shape is BoxShape)
{
BoxShape box = shape as BoxShape;
RenderCube(box.Width, box.Height, box.Length);
}
else if (shape is CylinderShape)
{
CylinderShape cylinder = shape as CylinderShape;
RenderCylinder(cylinder.Radius, cylinder.Height);
}
else if (shape is ConeShape)
{
ConeShape cone = shape as ConeShape;
RenderCone(cone.Radius, cone.Height);
}
else if (shape is SphereShape)
{
SphereShape sphere = shape as SphereShape;
RenderSphere(sphere.Radius);
}
}
}
public void SerializationXml()
{
var a = new ConeShape(11, 22);
// Serialize object.
var stream = new MemoryStream();
var serializer = new XmlSerializer(typeof(Shape));
serializer.Serialize(stream, a);
// Output generated xml. Can be manually checked in output window.
stream.Position = 0;
var xml = new StreamReader(stream).ReadToEnd();
Trace.WriteLine("Serialized Object:\n" + xml);
// Deserialize object.
stream.Position = 0;
var deserializer = new XmlSerializer(typeof(Shape));
var b = (ConeShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Radius, b.Radius);
Assert.AreEqual(a.Height, b.Height);
}
/*private void MyTickCallBack(ManifoldPoint cp, CollisionObjectWrapper colobj0wrap, int partid0, int index0, CollisionObjectWrapper colobj1wrap, int partid1, int index1)
{
Debug.WriteLine("MyTickCallBack");
int numManifolds = BtWorld.Dispatcher.NumManifolds;
RigidBodyImp myRb;
//Debug.WriteLine("numManifolds: " + numManifolds);
for (int i = 0; i < numManifolds; i++)
{
PersistentManifold contactManifold = BtWorld.Dispatcher.GetManifoldByIndexInternal(i);
int numContacts = contactManifold.NumContacts;
if (numContacts > 0)
{
CollisionObject obA = (CollisionObject) contactManifold.Body0;
CollisionObject obB = (CollisionObject) contactManifold.Body1;
// Debug.WriteLine(numContacts);
var pnA = obA.UserObject;
for (int j = 0; j < numContacts; j++)
{
ManifoldPoint pt = contactManifold.GetContactPoint(j);
}
}
}
}*/
public IRigidBodyImp AddRigidBody(float mass, float3 worldTransform, float3 orientation, ICollisionShapeImp colShape/*, float3 intertia*/)
{
// Use bullet to do what needs to be done:
var btMatrix = Matrix.RotationX(orientation.x)
* Matrix.RotationY(orientation.y)
* Matrix.RotationZ(orientation.z)
* Matrix.Translation(worldTransform.x, worldTransform.y, worldTransform.z);
var btMotionState = new DefaultMotionState(btMatrix);
var shapeType = colShape.GetType().ToString();
CollisionShape btColShape;
var isStatic = false;
switch (shapeType)
{
//Primitives
case "Fusee.Engine.BoxShapeImp":
var box = (BoxShapeImp) colShape;
var btBoxHalfExtents = Translater.Float3ToBtVector3(box.HalfExtents);
btColShape = new BoxShape(btBoxHalfExtents);
break;
case "Fusee.Engine.CapsuleShapeImp":
var capsule = (CapsuleShapeImp) colShape;
btColShape = new CapsuleShape(capsule.Radius, capsule.HalfHeight);
break;
case "Fusee.Engine.ConeShapeImp":
var cone = (ConeShapeImp) colShape;
btColShape = new ConeShape(cone.Radius, cone.Height);
break;
case "Fusee.Engine.CylinderShapeImp":
var cylinider = (CylinderShapeImp) colShape;
var btCylinderHalfExtents = Translater.Float3ToBtVector3(cylinider.HalfExtents);
btColShape = new CylinderShape(btCylinderHalfExtents);
break;
case "Fusee.Engine.MultiSphereShapeImp":
var multiSphere = (MultiSphereShapeImp) colShape;
var btPositions = new Vector3[multiSphere.SphereCount];
var btRadi = new float[multiSphere.SphereCount];
for (int i = 0; i < multiSphere.SphereCount; i++)
{
var pos = Translater.Float3ToBtVector3(multiSphere.GetSpherePosition(i));
btPositions[i] = pos;
btRadi[i] = multiSphere.GetSphereRadius(i);
}
btColShape = new MultiSphereShape(btPositions, btRadi);
break;
case "Fusee.Engine.SphereShapeImp":
var sphere = (SphereShapeImp) colShape;
var btRadius = sphere.Radius;
btColShape = new SphereShape(btRadius);
break;
//Misc
case "Fusee.Engine.CompoundShapeImp":
var compShape = (CompoundShapeImp) colShape;
btColShape = new CompoundShape(true);
btColShape = compShape.BtCompoundShape;
break;
case "Fusee.Engine.EmptyShapeImp":
btColShape = new EmptyShape();
break;
//Meshes
case "Fusee.Engine.ConvexHullShapeImp":
var convHull = (ConvexHullShapeImp) colShape;
var btPoints= new Vector3[convHull.GetNumPoints()];
for (int i = 0; i < convHull.GetNumPoints(); i++)
{
var point = convHull.GetScaledPoint(i);
btPoints[i] = Translater.Float3ToBtVector3(point);
}
btColShape = new ConvexHullShape(btPoints);
//btColShape.LocalScaling = new Vector3(3,3,3);
break;
case "Fusee.Engine.StaticPlaneShapeImp":
var staticPlane = (StaticPlaneShapeImp) colShape;
Debug.WriteLine("staticplane: " + staticPlane.Margin);
var btNormal = Translater.Float3ToBtVector3(staticPlane.PlaneNormal);
btColShape = new StaticPlaneShape(btNormal, staticPlane.PlaneConstant);
isStatic = true;
//btColShape.Margin = 0.04f;
//Debug.WriteLine("btColshape" + btColShape.Margin);
break;
case "Fusee.Engine.GImpactMeshShapeImp":
var gImpMesh = (GImpactMeshShapeImp)colShape;
gImpMesh.BtGImpactMeshShape.UpdateBound();
var btGimp = new GImpactMeshShape(gImpMesh.BtGImpactMeshShape.MeshInterface);
btGimp.UpdateBound();
btColShape = btGimp;
break;
//Default
default:
Debug.WriteLine("defaultImp");
btColShape = new EmptyShape();
break;
}
var btLocalInertia = btColShape.CalculateLocalInertia(mass);
// btLocalInertia *= (10.0f*10);
RigidBodyConstructionInfo btRbcInfo = new RigidBodyConstructionInfo(mass, btMotionState, btColShape,
btLocalInertia);
var btRigidBody = new RigidBody(btRbcInfo);
btRigidBody.Restitution = 0.2f;
btRigidBody.Friction = 0.2f;
btRigidBody.CollisionFlags = CollisionFlags.CustomMaterialCallback;
BtWorld.AddRigidBody(btRigidBody);
btRbcInfo.Dispose();
var retval = new RigidBodyImp();
retval._rbi = btRigidBody;
btRigidBody.UserObject = retval;
return retval;
}
public void AddChildShape(float4x4 localTransform, IConeShapeImp shape)
{
var btChildShape = new ConeShape(shape.Radius, shape.Height);
var btLocalTransform = Translater.Float4X4ToBtMatrix(localTransform);
BtCompoundShape.AddChildShape(btLocalTransform, btChildShape);
}
public static void CreateConeShape(ConeShape shape, Mesh mesh)
{
ProceduralPrimitives.CreateMeshCone(mesh, shape.Height, shape.Radius, 0f, 10);
}
public void RadiusException()
{
ConeShape b = new ConeShape();
b.Radius = -1;
}
public void GetSupportPoint()
{
Assert.AreEqual(new Vector3F(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3F(1, 0, 0)));
Assert.AreEqual(new Vector3F(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3F(0, 1, 0)));
Assert.AreEqual(new Vector3F(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3F(0, 0, 1)));
Assert.AreEqual(new Vector3F(0, 0, 0), new ConeShape().GetSupportPoint(new Vector3F(1, 1, 1)));
Assert.AreEqual(new Vector3F(10, 0, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3F(1, 0, 0)));
Assert.AreEqual(new Vector3F(0, 30, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3F(0, 1, 0)));
Assert.AreEqual(new Vector3F(0, 0, 10), new ConeShape(10, 30).GetSupportPoint(new Vector3F(0, 0, 1)));
Assert.AreEqual(new Vector3F(-10, 0, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3F(-1, 0, 0)));
Assert.AreEqual(new Vector3F(10, 0, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3F(0, -1, 0)));
Assert.AreEqual(new Vector3F(0, 0, -10), new ConeShape(10, 30).GetSupportPoint(new Vector3F(0, 0, -1)));
Assert.AreEqual(new Vector3F(0, 30, 0), new ConeShape(10, 30).GetSupportPoint(new Vector3F(1, 1, 1)));
Assert.AreEqual(10 * new Vector3F(-1, 0, -1).Normalized, new ConeShape(10, 30).GetSupportPoint(new Vector3F(-1, -1, -1)));
ConeShape c= new ConeShape(10, 30);
c.Radius = 0;
Assert.AreEqual(new Vector3F(0, 0, 0), c.GetSupportPoint(new Vector3F(1, 0, 0)));
c.Height = 0;
Assert.AreEqual(new Vector3F(0, 0, 0), c.GetSupportPoint(new Vector3F(0, 1, 0)));
c.Radius = 0;
Assert.AreEqual(new Vector3F(0, 0, 0), c.GetSupportPoint(new Vector3F(0, 1, 0)));
}
public void SerializationBinary()
{
var a = new ConeShape(11, 22);
// 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 = (ConeShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Radius, b.Radius);
Assert.AreEqual(a.Height, b.Height);
}
public void SerializationXml()
{
var a = new ConeShape(11, 22);
// Serialize object.
var stream = new MemoryStream();
var serializer = new XmlSerializer(typeof(Shape));
serializer.Serialize(stream, a);
// Output generated xml. Can be manually checked in output window.
stream.Position = 0;
var xml = new StreamReader(stream).ReadToEnd();
Trace.WriteLine("Serialized Object:\n" + xml);
// Deserialize object.
stream.Position = 0;
var deserializer = new XmlSerializer(typeof(Shape));
var b = (ConeShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Radius, b.Radius);
Assert.AreEqual(a.Height, b.Height);
}
public void HeightException()
{
ConeShape b = new ConeShape(3, 7);
b.Height = -4;
}
public void TestProperties()
{
ConeShape b = new ConeShape();
Assert.AreEqual(0, b.Radius);
Assert.AreEqual(0, b.Height);
b.Height = 10;
Assert.AreEqual(10, b.Height);
Assert.AreEqual(0, b.Radius);
b.Radius = 4;
Assert.AreEqual(10, b.Height);
Assert.AreEqual(4, b.Radius);
}
//ConeShape
public IConeShapeImp AddConeShape(float radius, float height)
{
var btConeShape = new ConeShape(radius, height);
BtCollisionShapes.Add(btConeShape);
var retval = new ConeShapeImp();
retval.BtConeShape = btConeShape;
btConeShape.UserObject = retval;
return retval;
}
