private SimulationObject[] getSimulationObjects()
{
SimulationObject[] objects = new SimulationObject[1];
#region Terrain Base
objects[0] = new SimulationObject(
ObjectType.StaticRigidBody,
geometry: GetObjectGeometry("cube.obj", 25),
mass: 1000.0,
position: new Vector3(0.0, -4.0, 0.0),
rotationStatus: new Quaternion(new Vector3(0.0, 0.0, 0.0), 0.0));
objects[0].SetLinearVelocity(new Vector3(0.0, 0.0, 0.0));
objects[0].SetAngularVelocity(new Vector3(0.0, 0.0, 0.0));
objects[0].SetRestitutionCoeff(0.1);
objects[0].SetDynamicFrictionCoeff(1.0);
objects[0].SetStaticFrictionCoeff(1.0);
objects[0].SetExcludeFromCollisionDetection(false);
Vector3[] vertexPosition = Array.ConvertAll(objects[0].ObjectGeometry[0].VertexPosition,
item => item.Vertex);
var inertiaTensor = new InertiaTensor(
vertexPosition,
objects[0].ObjectGeometry[0].Triangle,
objects[0].Mass);
//Traslo per normalizzare l'oggetto rispetto al suo centro di massa
for (int j = 0; j < objects[0].ObjectGeometry[0].VertexPosition.Length; j++)
{
objects[0].ObjectGeometry[0].SetVertexPosition(
vertexPosition[j] - inertiaTensor.GetMassCenter(),
j);
}
var inertiaTensor1 = new InertiaTensor(
vertexPosition,
objects[0].ObjectGeometry[0].Triangle,
objects[0].Mass);
objects[0].SetStartPosition(inertiaTensor1.GetMassCenter());
objects[0].SetBaseInertiaTensor(inertiaTensor1.GetInertiaTensor());
objects[0].SetRotationMatrix(Quaternion.ConvertToMatrix(Quaternion.Normalize(objects[0].RotationStatus)));
objects[0].SetInertiaTensor((objects[0].RotationMatrix * objects[0].BaseInertiaTensor) *
Matrix3x3.Transpose(objects[0].RotationMatrix));
for (int j = 0; j < objects[0].ObjectGeometry[0].VertexPosition.Length; j++)
{
Vector3 relPositionRotate = objects[0].RotationMatrix * objects[0].RelativePositions[j];
objects[0].ObjectGeometry[0].SetVertexPosition(objects[0].Position + relPositionRotate, j);
}
#endregion
return objects;
}
private void SetObjectProperties()
{
Vector3 startPosition = new Vector3();
Matrix3x3 baseTensors = new Matrix3x3();
int totalVertex = 0;
for (int i = 0; i < ObjectGeometry.Length; i++)
{
Vector3[] vertexPosition = Array.ConvertAll(
ObjectGeometry[i].VertexPosition,
item => item.Vertex + StartCompositePositionObjects[i]);
//TODO da rivedere
var inertiaTensor = new InertiaTensor(
vertexPosition,
ObjectGeometry[i].Triangle,
PartialMass[i]);
var normalizedInertiaTensor = inertiaTensor;
//Traslo per normalizzare l'oggetto rispetto al suo centro di massa
if (inertiaTensor.GetMassCenter() != new Vector3())
{
for (int j = 0; j < ObjectGeometry[i].VertexPosition.Length; j++)
{
ObjectGeometry[i].SetVertexPosition(
ObjectGeometry[i].VertexPosition[j].Vertex + inertiaTensor.GetMassCenter(),
j);
}
normalizedInertiaTensor = new InertiaTensor(
vertexPosition,
ObjectGeometry[i].Triangle,
PartialMass[i]);
}
startPosition += normalizedInertiaTensor.GetMassCenter() * PartialMass[i];
totalVertex += ObjectGeometry[i].VertexPosition.Length;
baseTensors += inertiaTensor.GetInertiaTensor();
}
RotationMatrix = Quaternion.ConvertToMatrix(Quaternion.Normalize(RotationStatus));
if (Mass > 0)
StartPosition = startPosition / Mass;
SetRelativePosition(totalVertex);
BaseInertiaTensor = Matrix3x3.Invert(baseTensors);
InertiaTensor = (RotationMatrix * BaseInertiaTensor) *
Matrix3x3.Transpose(RotationMatrix);
}