public void calculateObjectCenterOfMass(ref PhysicsMesh physMesh)
{
Vector3 COM = new Vector3();
for (int i = 0; i < physMesh.polygonArray.Length; i++)
{
COM += physMesh.polygonArray[i].centerOfMass*physMesh.polygonArray[i].mass;
}
COM = COM / physMesh.totalMass;
physMesh.centerOfMass = COM;
Console.WriteLine("COM " + COM);
//COM i origo
for (int i = 0; i < physMesh.polygonArray.Length; i++)
{
physMesh.polygonArray[i].vertices[0] = physMesh.polygonArray[i].vertices[0] - COM;
physMesh.polygonArray[i].vertices[1] = physMesh.polygonArray[i].vertices[1] - COM;
physMesh.polygonArray[i].vertices[2] = physMesh.polygonArray[i].vertices[2] - COM;
}
for (int i = 0; i < physMesh.numberOfPolygons; i++)
{
calculateCentroid(ref physMesh.polygonArray[i]);
}
}
public void calculateObjectMass(ref PhysicsMesh physMesh)
{
float totalMass = 0.0f;
for (int i = 0; i < physMesh.polygonArray.Length; i++)
{
totalMass += physMesh.polygonArray[i].mass;
}
physMesh.totalMass = totalMass;
Console.WriteLine("total mass: " + totalMass);
}
public void SetPhysicsMesh(PhysicsMesh mesh)
{
if (mesh == _physicsMesh)
{
return;
}
_physicsMesh = mesh;
if (_physicsMesh == null)
{
return;
}
CreateBuffers();
}
/// <summary>
/// Creates GUI elements for fields specific to the mesh collider.
/// </summary>
protected void BuildGUI(MeshCollider collider)
{
meshField.OnChanged += x =>
{
PhysicsMesh mesh = Resources.Load <PhysicsMesh>(x.UUID);
collider.Mesh = mesh;
MarkAsModified();
ConfirmModify();
};
Layout.AddElement(meshField);
base.BuildGUI(collider);
}
private static void DrawMeshCollider(MeshCollider collider)
{
PhysicsMesh mesh = collider.Mesh.Value;
if (mesh == null)
{
return;
}
SceneObject so = collider.SceneObject;
Gizmos.Color = Color.Green;
Gizmos.Transform = so.WorldTransform;
MeshData meshData = mesh.MeshData;
Gizmos.DrawWireMesh(meshData);
}
public void calculateInertiaTensorInverse(ref PhysicsMesh physMesh)
{
Matrix Ibody = new Matrix();
for (int i = 0; i < physMesh.polygonArray.Length; i++)
{
//Console.WriteLine("i: " + physMesh.polygonArray[i].mass);
Ibody.M11 += physMesh.polygonArray[i].mass * ((float)Math.Pow(physMesh.polygonArray[i].centerOfMass.Y, 2.0) + (float)Math.Pow(physMesh.polygonArray[i].centerOfMass.Z, 2.0));
Ibody.M12 += physMesh.polygonArray[i].mass * -1 * ((physMesh.polygonArray[i].centerOfMass.X) * (physMesh.polygonArray[i].centerOfMass.Y));
Ibody.M13 += physMesh.polygonArray[i].mass * -1 * ((physMesh.polygonArray[i].centerOfMass.X) * (physMesh.polygonArray[i].centerOfMass.Z));
Ibody.M21 += physMesh.polygonArray[i].mass * -1 * ((physMesh.polygonArray[i].centerOfMass.X) * (physMesh.polygonArray[i].centerOfMass.Y));
Ibody.M22 += physMesh.polygonArray[i].mass * ((float)Math.Pow(physMesh.polygonArray[i].centerOfMass.X, 2.0) + (float)Math.Pow(physMesh.polygonArray[i].centerOfMass.Z, 2.0));
Ibody.M23 += physMesh.polygonArray[i].mass * -1 * ((physMesh.polygonArray[i].centerOfMass.Y) * (physMesh.polygonArray[i].centerOfMass.Z));
Ibody.M31 += physMesh.polygonArray[i].mass * -1 * ((physMesh.polygonArray[i].centerOfMass.X) * (physMesh.polygonArray[i].centerOfMass.Z));
Ibody.M32 += physMesh.polygonArray[i].mass * -1 * ((physMesh.polygonArray[i].centerOfMass.Y) * (physMesh.polygonArray[i].centerOfMass.Y));
Ibody.M33 += physMesh.polygonArray[i].mass * ((float)Math.Pow(physMesh.polygonArray[i].centerOfMass.X, 2.0) + (float)Math.Pow(physMesh.polygonArray[i].centerOfMass.Y, 2.0));
}
physMesh.inertiaTensorInverse = Matrix.Invert(Ibody);
}
protected override void LoadContent()
{
spriteBatch = new SpriteBatch(GraphicsDevice);
device = graphics.GraphicsDevice;
effect = Content.Load<Effect>("effects");
triangle = new Polygon();
physMesh = new PhysicsMesh();
physMesh.polygonArray = new Polygon[1];
triangle.vertices[0] = new Vector3(0f, 1f, 0f);
triangle.vertices[1] = new Vector3(1f, 1f, 0f);
triangle.vertices[2] = new Vector3(1f, 0f, 0f);
physMesh.polygonArray[0] = triangle;
physMesh.numberOfPolygons = 1;
physicsEngine = new Physics();
//physicsEngine.initPhysics(ref physMesh);
}
private static extern void Internal_create(PhysicsMesh managedInstance, MeshData meshData, PhysicsMeshType type);
public BoxMesher()
{
m_cubeMesh = CreateCubeMesh();
m_cubeRenderingMesh = CreateCubeRenderingMesh();
}
/// <summary>
/// Generate a simple cube mesh
/// </summary>
/// <returns>A BasicMesh object containing vertices and indices for a
/// cube</returns>
private static PhysicsMesh CreateCubeMesh()
{
// Set up the 8 corners of the cube
PhysicsMesh cube = new PhysicsMesh();
cube.Vertices = new Vector3[]
{
new Vector3(left, bottom, front), // 0
new Vector3(right, bottom, front), // 1
new Vector3(left, top, front), // 2
new Vector3(right, top, front), // 3
new Vector3(left, bottom, back), // 4
new Vector3(right, bottom, back), // 5
new Vector3(left, top, back), // 6
new Vector3(right, top, back), // 7
};
// Set up the index information for the 12 faces
cube.Indices = new ushort[]
{
// Left faces
lefttopfront, lefttopback, leftbottomback, // 0
leftbottomback, leftbottomfront, lefttopfront, // 1
// Front faces
lefttopfront, leftbottomfront, rightbottomfront, // 2
rightbottomfront, righttopfront, lefttopfront, // 3
// Right faces
righttopback, righttopfront, rightbottomfront, // 4
rightbottomfront, rightbottomback, righttopback, // 5
// Back faces
leftbottomback, lefttopback, righttopback, // 6
righttopback, rightbottomback, leftbottomback, // 7
// Top faces
righttopfront, righttopback, lefttopback, // 8
lefttopback, lefttopfront, righttopfront, // 9
// Bottom faces
leftbottomfront, leftbottomback, rightbottomback, // 10
rightbottomback, rightbottomfront, leftbottomfront // 11
};
return cube;
}
public void initPhysics(ref PhysicsMesh physMesh)
{
// Ett pappers densitet i kg/m^3
physMesh.density = 1000;
for (int i = 0; i < physMesh.numberOfPolygons; i++)
{
calculateCentroid(ref physMesh.polygonArray[i]);
calculatePolygonMass(ref physMesh.polygonArray[i], physMesh.density);
}
calculateObjectMass(ref physMesh);
//calculateObjectCenterOfMass(ref physMesh);
//calculateInertiaTensorInverse(ref physMesh);
}
