public void TransformedShapeMassWithScaling()
{
var s = new TransformedShape(new GeometricObject(new BoxShape(3, 2, 1), new Vector3(0.7f), new Pose(new Vector3(-1, 7, 4), RandomHelper.Random.NextQuaternion())));
float m0;
Vector3 com0;
Matrix i0;
MassHelper.GetMass(s, new Vector3(2), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix.CreateScale(2));
float m1;
Vector3 com1;
Matrix 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(Vector3.AreNumericallyEqual(com0, com1, e * (1 + com0.Length)));
Assert.IsTrue(Matrix.AreNumericallyEqual(i0, i1, e * (1 + i0.Trace)));
}
public void TransformedShapeMassWithNonuniformScaling()
{
var s = new TransformedShape(new GeometricObject(new BoxShape(3, 2, 1), new Vector3F(0.7f, 0.8f, 0.9f), new Pose(new Vector3F(-1, 7, 4))));
float m0;
Vector3F com0;
Matrix33F i0;
MassHelper.GetMass(s, new Vector3F(2, 2.1f, 2.8f), 1, true, 0.001f, 10, out m0, out com0, out i0);
var m = s.GetMesh(0.001f, 6);
m.Transform(Matrix44F.CreateScale(2, 2.1f, 2.8f));
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)));
}
public IntersectionSample(Microsoft.Xna.Framework.Game game)
: base(game)
{
SampleFramework.IsMouseVisible = false;
var delegateGraphicsScreen = new DelegateGraphicsScreen(GraphicsService)
{
RenderCallback = Render,
};
GraphicsService.Screens.Insert(0, delegateGraphicsScreen);
// Add a custom game object which controls the camera.
_cameraObject = new CameraObject(Services, 10);
_cameraObject.ResetPose(new Vector3(0, 0, -4), ConstantsF.Pi, 0);
GameObjectService.Objects.Add(_cameraObject);
// Create a new scene with some lights.
_scene = new Scene();
SceneSample.InitializeDefaultXnaLights(_scene);
_meshRenderer = new MeshRenderer();
_debugRenderer = new DebugRenderer(GraphicsService, null);
_intersectionRenderer = new IntersectionRenderer(GraphicsService, ContentManager)
{
DownsampleFactor = 1,
};
//_submeshA = MeshHelper.CreateSubmesh(GraphicsService.GraphicsDevice, new SphereShape(0.5f).GetMesh(0.001f, 5), MathHelper.ToRadians(70));
//_submeshB = MeshHelper.CreateSubmesh(GraphicsService.GraphicsDevice, new BoxShape(1, 1, 2).GetMesh(0.001f, 5), MathHelper.ToRadians(70));
var meshNodeA = CreateMeshNode(new[]
{
MeshHelper.CreateTorus(GraphicsService.GraphicsDevice, 1, 0.3f, 30),
MeshHelper.CreateSubmesh(GraphicsService.GraphicsDevice, new BoxShape(1, 1, 2).GetMesh(0.001f, 5), MathHelper.ToRadians(70)),
},
Color.DarkBlue);
meshNodeA.PoseWorld = new Pose(RandomHelper.Random.NextVector3(-0.5f, 0.5f),
RandomHelper.Random.NextQuaternion());
_scene.Children.Add(meshNodeA);
_debugRenderer.DrawObject(meshNodeA, Color.Green, true, false);
var shape = new TransformedShape(
new GeometricObject(new SphereShape(0.5f), new Pose(new Vector3(1, 0, 0))));
var meshNodeB = CreateMeshNode(new[]
{
MeshHelper.CreateTorus(GraphicsService.GraphicsDevice, 1, 0.3f, 30),
MeshHelper.CreateSubmesh(GraphicsService.GraphicsDevice, shape.GetMesh(0.001f, 4), MathHelper.ToRadians(90)),
},
Color.Gray);
meshNodeB.PoseWorld = new Pose(RandomHelper.Random.NextVector3(-1f, 1f),
RandomHelper.Random.NextQuaternion());
_scene.Children.Add(meshNodeB);
_debugRenderer.DrawObject(meshNodeB, Color.Green, true, false);
var meshNodeC = CreateMeshNode(new[]
{
MeshHelper.CreateBox(GraphicsService.GraphicsDevice),
MeshHelper.CreateSubmesh(GraphicsService.GraphicsDevice, new BoxShape(1, 1, 2).GetMesh(0.001f, 5), MathHelper.ToRadians(70))
},
Color.DarkGreen);
meshNodeC.PoseWorld = new Pose(RandomHelper.Random.NextVector3(-1f, 1f),
RandomHelper.Random.NextQuaternion());
meshNodeC.ScaleLocal = new Vector3(0.1f, 1f, 0.5f);
_scene.Children.Add(meshNodeC);
_debugRenderer.DrawObject(meshNodeC, Color.Green, true, false);
_meshNodePairs.Add(new Pair <MeshNode>(meshNodeA, meshNodeB));
_meshNodePairs.Add(new Pair <MeshNode>(meshNodeA, meshNodeC));
_meshNodePairs.Add(new Pair <MeshNode>(meshNodeB, meshNodeC));
CreateGuiControls();
}
