protected Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(PrimitiveProperties.MassDistributionEnum.Solid, PrimitiveProperties.MassTypeEnum.Density, mass);
collision.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
body.BodyInertia = itCoM;
body.Mass = junk;
return(com);
}
public Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties =
new PrimitiveProperties(PrimitiveProperties.MassDistributionEnum.Solid, PrimitiveProperties.MassTypeEnum.Density, mass);
float junk; Vector3 com; Matrix it, itCoM;
collision.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
body.BodyInertia = itCoM;
body.Mass = junk;
centerOfMass = com;
return(com);
}
public void PrimitivePropertiesClassTest()
{
PrimitiveProperties obj1 = new PrimitiveProperties();
obj1.Setup();
byte[] bytes = _serializer.Serialize(obj1);
obj1.ClearStatic();
PrimitiveProperties obj2 = _serializer.Deserialize <PrimitiveProperties>(bytes);
if (!_compare.Compare(obj1, obj2))
{
throw new Exception(_compare.DifferencesString);
}
}
internal Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Mass,
mass);
float oMass;
Vector3 com = new Vector3();
Matrix it, itCom;
Skin.GetMassProperties(primitiveProperties, out oMass, out com, out it, out itCom);
body.BodyInertia = itCom;
body.Mass = oMass;
return(com);
}
private Vector3 ApplyMass(float mass)
{
float junk;
Vector3 com;
Microsoft.Xna.Framework.Matrix it;
Microsoft.Xna.Framework.Matrix itCoM;
var primitiveProperties = new PrimitiveProperties(PrimitiveProperties.MassDistributionEnum.Solid, PrimitiveProperties.MassTypeEnum.Mass, mass);
collisionSkin.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
PhysicsBody.BodyInertia = itCoM;
PhysicsBody.Mass = junk;
return(com);
}
public void PrimitivePropertiesListTest()
{
List <PrimitiveProperties> list1 = new List <PrimitiveProperties>();
PrimitiveProperties obj1 = new PrimitiveProperties();
obj1.Setup();
list1.Add(obj1);
byte[] bytes = _serializer.Serialize(list1);
obj1.ClearStatic();
List <PrimitiveProperties> list2 = _serializer.Deserialize <List <PrimitiveProperties> >(bytes);
if (!_compare.Compare(list1, list2))
{
throw new Exception(_compare.DifferencesString);
}
}
private Vector3 SetMass(float mass)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Mass, mass);
float junk;
Vector3 com;
Matrix it;
Matrix itCoM;
Skin.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
Body.BodyInertia = itCoM;
Body.Mass = junk;
return(com);
}
private static Vector3 SetMass(float mass, CollisionSkin skin, Body body)
{
PrimitiveProperties primitiveProperties = new PrimitiveProperties(
PrimitiveProperties.MassDistributionEnum.Solid,
PrimitiveProperties.MassTypeEnum.Mass, mass);
float junk;
Vector3 com;
Matrix4 it;
Matrix4 itCoM;
skin.GetMassProperties(primitiveProperties, out junk, out com, out it, out itCoM);
body.BodyInertia = itCoM;
body.Mass = junk;
return(com);
}
/// <summary>
/// Helper to calculate the combined mass, centre of mass, and
/// inertia tensor about the origin and the CoM (for the local
/// primitives) primitiveProperties indicates the properties used
/// for all primitives - so the mass is the total mass
/// </summary>
/// <param name="primitiveProperties"></param>
/// <param name="mass"></param>
/// <param name="centerOfMass"></param>
/// <param name="inertiaTensor"></param>
/// <param name="inertiaTensorCoM"></param>
public void GetMassProperties(PrimitiveProperties primitiveProperties,
out float mass, out Vector3 centerOfMass, out Matrix4 inertiaTensor, out Matrix4 inertiaTensorCoM)
{
mass = 0.0f;
centerOfMass = Vector3.Zero;
inertiaTensor = new Matrix4();
float totalWeighting = 0.0f;
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
for (int prim = primitivesLocal.Count; prim-- != 0;)
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
totalWeighting += primitivesLocal[prim].GetVolume();
}
else
{
totalWeighting += primitivesLocal[prim].GetSurfaceArea();
}
}
}
for (int prim = primitivesLocal.Count; prim-- != 0;)
{
float m; Vector3 com; Matrix4 it;
PrimitiveProperties primProperties = primitiveProperties;
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
float weighting = 0.0f;
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
weighting = primitivesLocal[prim].GetVolume();
}
else
{
weighting = primitivesLocal[prim].GetSurfaceArea();
}
primProperties.MassOrDensity *= weighting / totalWeighting;
}
primitivesLocal[prim].GetMassProperties(primProperties, out m, out com, out it);
mass += m;
centerOfMass += m * com;
inertiaTensor = Matrix4Extensions.Add(inertiaTensor, it);
}
inertiaTensorCoM = Matrix4.Identity;
if (mass > 0.0f)
{
centerOfMass /= mass;
// Transfer of axe theorem
inertiaTensorCoM.M11 = inertiaTensor.M11 - mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensorCoM.M22 = inertiaTensor.M22 - mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensorCoM.M33 = inertiaTensor.M33 - mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
// CHECK THIS. seems strange for me
inertiaTensorCoM.M12 = inertiaTensorCoM.M21 = inertiaTensor.M12 + mass * centerOfMass.X * centerOfMass.Y;
inertiaTensorCoM.M23 = inertiaTensorCoM.M32 = inertiaTensor.M23 + mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensorCoM.M31 = inertiaTensorCoM.M13 = inertiaTensor.M31 + mass * centerOfMass.Z * centerOfMass.X;
}
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
}
/// <summary>
/// ﾌﾟﾛﾊﾟﾃｨ初期化
/// </summary>
protected override void InitProperties()
{
prop = new PrimitiveProperties();
base.InitProperties();
}
public void GetMassProperties(PrimitiveProperties primitiveProperties, out float mass, out Vector3 centerOfMass, out Matrix inertiaTensor, out Matrix inertiaTensorCoM)
{
mass = 0.0f;
centerOfMass = Vector3.Zero;
inertiaTensor = new Matrix();
var totalWeighting = 0.0f;
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
for (var prim = primitivesLocal.Count; prim-- != 0;)
{
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
totalWeighting += primitivesLocal[prim].GetVolume();
}
else
{
totalWeighting += primitivesLocal[prim].GetSurfaceArea();
}
}
}
for (var prim = primitivesLocal.Count; prim-- != 0;)
{
var primProperties = primitiveProperties;
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
var weighting = 0.0f;
if (primitiveProperties.MassDistribution == PrimitiveProperties.MassDistributionEnum.Solid)
{
weighting = primitivesLocal[prim].GetVolume();
}
else
{
weighting = primitivesLocal[prim].GetSurfaceArea();
}
primProperties.MassOrDensity *= weighting / totalWeighting;
}
primitivesLocal[prim].GetMassProperties(primProperties, out var m, out var com, out var it);
mass += m;
centerOfMass += m * com;
inertiaTensor += it;
}
inertiaTensorCoM = Matrix.Identity;
if (mass > 0.0f)
{
centerOfMass /= mass;
inertiaTensorCoM.M11 = inertiaTensor.M11 - mass * (centerOfMass.Y * centerOfMass.Y + centerOfMass.Z * centerOfMass.Z);
inertiaTensorCoM.M22 = inertiaTensor.M22 - mass * (centerOfMass.Z * centerOfMass.Z + centerOfMass.X * centerOfMass.X);
inertiaTensorCoM.M33 = inertiaTensor.M33 - mass * (centerOfMass.X * centerOfMass.X + centerOfMass.Y * centerOfMass.Y);
inertiaTensorCoM.M12 = inertiaTensorCoM.M21 = inertiaTensor.M12 + mass * centerOfMass.X * centerOfMass.Y;
inertiaTensorCoM.M23 = inertiaTensorCoM.M32 = inertiaTensor.M23 + mass * centerOfMass.Y * centerOfMass.Z;
inertiaTensorCoM.M31 = inertiaTensorCoM.M13 = inertiaTensor.M31 + mass * centerOfMass.Z * centerOfMass.X;
}
if (primitiveProperties.MassType == PrimitiveProperties.MassTypeEnum.Mass)
{
mass = primitiveProperties.MassOrDensity;
}
}
