// Creates a test scene with a lot of randomly placed objects.
internal static void CreateScene(ServiceContainer services, ContentManager content, DeferredGraphicsScreen graphicsScreen)
{
var gameObjectService = services.GetInstance<IGameObjectService>();
var graphicsService = services.GetInstance<IGraphicsService>();
gameObjectService.Objects.Add(new DynamicSkyObject(services, true, false, true)
{
EnableAmbientLight = false, // Disable ambient light of sky to make shadows more visible.
EnableCloudShadows = false
});
gameObjectService.Objects.Add(new GroundObject(services));
gameObjectService.Objects.Add(new DynamicObject(services, 1));
gameObjectService.Objects.Add(new DynamicObject(services, 2));
gameObjectService.Objects.Add(new DynamicObject(services, 3));
gameObjectService.Objects.Add(new DynamicObject(services, 5));
gameObjectService.Objects.Add(new DynamicObject(services, 6));
gameObjectService.Objects.Add(new DynamicObject(services, 7));
gameObjectService.Objects.Add(new ObjectCreatorObject(services));
gameObjectService.Objects.Add(new LavaBallsObject(services));
var random = new Random();
// Spheres
var sphereMesh = SampleHelper.CreateMesh(content, graphicsService, new SphereShape(1));
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-100, 100), random.NextFloat(0, 3), random.NextFloat(-100, 100));
float scale = random.NextFloat(0.5f, 3f);
var meshNode = new MeshNode(sphereMesh)
{
PoseLocal = new Pose(position),
ScaleLocal = new Vector3F(scale),
IsStatic = true,
};
graphicsScreen.Scene.Children.Add(meshNode);
}
// Boxes
var boxMesh = SampleHelper.CreateMesh(content, graphicsService, new BoxShape(1, 1, 1));
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-100, 100), random.NextFloat(0, 3), random.NextFloat(-100, 100));
QuaternionF orientation = random.NextQuaternionF();
Vector3F scale = random.NextVector3F(0.1f, 4f);
var meshNode = new MeshNode(boxMesh)
{
PoseLocal = new Pose(position, orientation),
ScaleLocal = scale,
IsStatic = true,
};
graphicsScreen.Scene.Children.Add(meshNode);
}
// Height field with smooth hills.
var numberOfSamplesX = 20;
var numberOfSamplesZ = 20;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
{
for (int x = 0; x < numberOfSamplesX; x++)
{
if (x == 0 || z == 0 || x == 19 || z == 19)
{
// Set this boundary elements to a low height, so that the height field is connected
// to the ground.
samples[z * numberOfSamplesX + x] = -1;
}
else
{
// A sine/cosine function that creates some interesting waves.
samples[z * numberOfSamplesX + x] = 1 + (float)(Math.Cos(z / 2f) * Math.Sin(x / 2f) * 1);
}
}
}
var heightField = new HeightField(0, 0, 20, 20, samples, numberOfSamplesX, numberOfSamplesZ);
var heightFieldMesh = SampleHelper.CreateMesh(content, graphicsService, heightField);
var heightFieldMeshNode = new MeshNode(heightFieldMesh)
{
PoseLocal = new Pose(new Vector3F(20, 0, -20)),
ScaleLocal = new Vector3F(1, 2, 1),
IsStatic = true,
};
graphicsScreen.Scene.Children.Add(heightFieldMeshNode);
// Dudes.
for (int i = 0; i < 10; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-20, 20), 0, random.NextFloat(-20, 20));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
gameObjectService.Objects.Add(new DudeObject(services) { Pose = new Pose(position, orientation) });
}
// Palm trees.
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-80, 80), 0, random.NextFloat(-100, 100));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "PalmTree/palm_tree", scale, new Pose(position, orientation)));
}
// Rocks
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-80, 80), 1, random.NextFloat(-100, 100));
QuaternionF orientation = RandomHelper.Random.NextQuaternionF();
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "Rock/rock_05", scale, new Pose(position, orientation)));
}
// Grass
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-20, 20), 0, random.NextFloat(-20, 20));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "Grass/Grass", scale, new Pose(position, orientation)));
}
// More plants
for (int i = 0; i < 100; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-20, 20), 0, random.NextFloat(-20, 20));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
float scale = random.NextFloat(0.5f, 1.2f);
gameObjectService.Objects.Add(new StaticObject(services, "Parviflora/Parviflora", scale, new Pose(position, orientation)));
}
// "Skyscrapers"
for (int i = 0; i < 20; i++)
{
Vector3F position = new Vector3F(random.NextFloat(90, 100), 0, random.NextFloat(-100, 100));
Matrix33F orientation = Matrix33F.CreateRotationY(random.NextFloat(0, ConstantsF.TwoPi));
Vector3F scale = new Vector3F(random.NextFloat(6, 20), random.NextFloat(10, 100), random.NextFloat(6, 20));
var meshNode = new MeshNode(boxMesh)
{
PoseLocal = new Pose(position, orientation),
ScaleLocal = scale,
IsStatic = true,
UserFlags = 1, // Mark the distant huge objects. Used in render callbacks in the CompositeShadowSample.
};
graphicsScreen.Scene.Children.Add(meshNode);
}
// "Hills"
for (int i = 0; i < 20; i++)
{
Vector3F position = new Vector3F(random.NextFloat(-90, -100), 0, random.NextFloat(-100, 100));
Vector3F scale = new Vector3F(random.NextFloat(10, 20), random.NextFloat(10, 30), random.NextFloat(10, 20));
var meshNode = new MeshNode(sphereMesh)
{
PoseLocal = new Pose(position),
ScaleLocal = scale,
IsStatic = true,
UserFlags = 1, // Mark the distant huge objects. Used in render callbacks in the CompositeShadowSample.
};
graphicsScreen.Scene.Children.Add(meshNode);
}
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random();
var isFirstHeightField = true;
int currentShape = 0;
int numberOfObjects = 0;
while (true)
{
numberOfObjects++;
if (numberOfObjects > ObjectsPerType)
{
currentShape++;
numberOfObjects = 0;
}
Shape shape;
switch (currentShape)
{
case 0:
// Box
shape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
shape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
shape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
shape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
shape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
shape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
shape = composite;
break;
case 7:
shape = new CircleShape(ObjectSize);
break;
case 8:
{
var compBvh = new CompositeShape();
compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
compBvh.Partition = new AabbTree<int>();
shape = compBvh;
break;
}
case 9:
CompositeShape comp = new CompositeShape();
comp.Children.Add(new GeometricObject(new BoxShape(0.5f * ObjectSize, 1 * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0, 0.5f * ObjectSize, 0), QuaternionF.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3F(0.3f * ObjectSize, 0.7f * ObjectSize, 0), QuaternionF.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 1.15f * ObjectSize, 0), QuaternionF.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 11:
ConvexHullOfShapes shapeHull = new ConvexHullOfShapes();
shapeHull.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3F(0, 2 * ObjectSize, 0), Matrix33F.Identity)));
shapeHull.Children.Add(new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize), Pose.Identity));
shape = shapeHull;
break;
case 12:
shape = Shape.Empty;
break;
case 13:
var numberOfSamplesX = 10;
var numberOfSamplesZ = 10;
var samples = new float[numberOfSamplesX * numberOfSamplesZ];
for (int z = 0; z < numberOfSamplesZ; z++)
for (int x = 0; x < numberOfSamplesX; x++)
samples[z * numberOfSamplesX + x] = (float)(Math.Cos(z / 3f) * Math.Sin(x / 2f) * BoxSize / 6);
HeightField heightField = new HeightField(0, 0, 2 * BoxSize, 2 * BoxSize, samples, numberOfSamplesX, numberOfSamplesZ);
shape = heightField;
break;
//case 14:
//shape = new LineShape(new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3F(0.1f, 0.2f, 0.3f), new Vector3F(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3F(0.1f, 0.2f, -0.3f));
break;
case 16:
shape = new MinkowskiDifferenceShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize))
};
break;
case 17:
shape = new MinkowskiSumShape
{
ObjectA = new GeometricObject(new SphereShape(0.1f * ObjectSize)),
ObjectB = new GeometricObject(new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize)),
};
break;
case 18:
shape = new OrthographicViewVolume(0, ObjectSize, 0, ObjectSize, ObjectSize / 2, ObjectSize * 2);
break;
case 19:
shape = new PerspectiveViewVolume(MathHelper.ToRadians(60f), 16f / 10, ObjectSize / 2, ObjectSize * 3);
break;
case 20:
shape = new PointShape(0.1f, 0.3f, 0.2f);
break;
case 21:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3F(0.2f, 0, -0.12f), new Vector3F(1, 2, 3).Normalized, ObjectSize * 2)
{
StopsAtFirstHit = true
};
break;
case 23:
shape = new RectangleShape(ObjectSize, ObjectSize * 2);
break;
case 24:
shape = new TransformedShape(
new GeometricObject(
new BoxShape(1 * ObjectSize, 2 * ObjectSize, 3 * ObjectSize),
new Pose(new Vector3F(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3F(ObjectSize, 0, 0), new Vector3F(0, ObjectSize, 0), new Vector3F(ObjectSize, ObjectSize, ObjectSize));
break;
//case 26:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), Matrix33F.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), Matrix33F.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), Matrix33F.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
//case 27:
// {
// // Create a composite object from which we get the mesh.
// CompositeShape compBvh = new CompositeShape();
// compBvh.Children.Add(new GeometricObject(new BoxShape(0.5f, 1, 0.5f), new Pose(new Vector3F(0, 0.5f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3F(0.5f, 0.7f, 0), QuaternionF.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3F(0, 1.15f, 0), QuaternionF.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3F(0.6f, 1.15f, 0), QuaternionF.CreateRotationX(0.3f))));
// TriangleMeshShape meshBvhShape = new TriangleMeshShape { Mesh = compBvh.GetMesh(0.01f, 3) };
// meshBvhShape.Partition = new AabbTree<int>();
// shape = meshBvhShape;
// break;
// }
case 28:
shape = new ConvexPolyhedron(new[]
{
new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize)
});
break;
case 29:
return;
default:
currentShape++;
continue;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3F.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3F.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3F.Zero;
newObject.AngularVelocity = Vector3F.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3F(-BoxSize, -BoxSize, -BoxSize));
}
else
{
currentShape++;
numberOfObjects = 0;
continue;
}
}
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
//co.Type = CollisionObjectType.Trigger;
//co.Name = "Object" + shape.GetType().Name + "_" + i;
}
}
public override void Update(GameTime gameTime)
{
Random random = new Random(1234567);
// The debug renderer stores all draw commands. In this sample we recreate
// the draw jobs each frame. --> Clear draw jobs of last frame.
_debugRenderer.Clear();
// The DebugRenderer can draw stuff "in" the scene (enabled z test) or "over"
// the scene (disabled z test).
// Draw some points and line "in" and "over" the scene.
for (int i = 0; i < 10; i++)
{
var position = new Vector3F(-6, 0, -3) + random.NextVector3F(-0.5f, 0.5f);
_debugRenderer.DrawPoint(position, Color.Green, false);
}
for (int i = 0; i < 10; i++)
{
var position = new Vector3F(-4, 0, -3) + random.NextVector3F(-0.5f, 0.5f);
_debugRenderer.DrawPoint(position, Color.Yellow, true);
}
for (int i = 0; i < 10; i++)
{
var start = new Vector3F(-2, 0, -3) + random.NextVector3F(-0.5f, 0.5f);
var end = new Vector3F(-2, 0, -3) + random.NextVector3F(-0.5f, 0.5f);
_debugRenderer.DrawLine(start, end, Color.Green, false);
}
for (int i = 0; i < 10; i++)
{
var start = new Vector3F(0, 0, -3) + random.NextVector3F(-0.5f, 0.5f);
var end = new Vector3F(0, 0, -3) + random.NextVector3F(-0.5f, 0.5f);
_debugRenderer.DrawLine(start, end, Color.Yellow, true);
}
// Text without a specified position is drawn at a default position.
_debugRenderer.DefaultTextPosition = new Vector2F(10, 100);
_debugRenderer.DrawText("White objects are positioned in screen space.");
_debugRenderer.DrawText("Yellow objects are positioned in world space. Depth test disabled.");
_debugRenderer.DrawText("Other objects are positioned in world space. Depth test enabled.");
// Text can also be drawn in world space coordinates or in screen space coordinates.
_debugRenderer.DrawText("WorldSpacePosition (0, 0, 0)", new Vector3F(0, 0, 0), Color.Green, false);
_debugRenderer.DrawText("WorldSpacePosition (0, 0, -1)", new Vector3F(0, 0, -1), Color.Yellow, true);
_debugRenderer.DrawText("ScreenPosition (600, 40)", new Vector2F(600, 40), Color.White);
_debugRenderer.DrawText("ScreenPosition (640, 360)", new Vector2F(640, 360), Color.White);
// It is often useful to copy textures to the screen for debugging.
_debugRenderer.DrawTexture(NoiseHelper.GetGrainTexture(GraphicsService, 128), new Rectangle(1000, 10, 128, 128));
// Axes can be drawn to display poses (positions and orientations).
_debugRenderer.DrawAxes(new Pose(new Vector3F(0, 0, 0)), 1, true);
// Axis-aligned bounding boxes (AABB)
_debugRenderer.DrawAabb(new Aabb(new Vector3F(-0.5f), new Vector3F(0.5f)), new Pose(new Vector3F(2, 0, -3)), Color.Green, false);
_debugRenderer.DrawAabb(new Aabb(new Vector3F(-0.5f), new Vector3F(0.5f)), new Pose(new Vector3F(4, 0, -3)), Color.Yellow, true);
// Box shapes
var orientation = random.NextQuaternionF();
_debugRenderer.DrawBox(1, 1, 1, new Pose(new Vector3F(-6, 0, -5), orientation), new Color(255, 0, 0, 100), false, false);
_debugRenderer.DrawBox(1, 1, 1, new Pose(new Vector3F(-6, 0, -5), orientation), Color.Green, true, false);
_debugRenderer.DrawBox(1, 1, 1, new Pose(new Vector3F(-4, 0, -5), orientation), Color.Yellow, true, true);
// View volumes (frustums)
var viewVolume = new PerspectiveViewVolume(1, 2, 0.1f, 1f);
_debugRenderer.DrawViewVolume(viewVolume, new Pose(new Vector3F(-2, 0, -5), orientation), new Color(0, 255, 0, 100), false, false);
_debugRenderer.DrawViewVolume(viewVolume, new Pose(new Vector3F(-2, 0, -5), orientation), Color.Green, true, false);
_debugRenderer.DrawViewVolume(viewVolume, new Pose(new Vector3F(0, 0, -5), orientation), Color.Yellow, true, true);
// Spheres
_debugRenderer.DrawSphere(0.5f, new Pose(new Vector3F(2, 0, -5), orientation), new Color(0, 0, 255, 100), false, false);
_debugRenderer.DrawSphere(0.5f, new Pose(new Vector3F(2, 0, -5), orientation), Color.Green, true, false);
_debugRenderer.DrawSphere(0.5f, new Pose(new Vector3F(4, 0, -5), orientation), Color.Yellow, true, true);
// Capsules
_debugRenderer.DrawCapsule(0.3f, 1, new Pose(new Vector3F(-6, 0, -7), orientation), new Color(255, 255, 0, 100), false, false);
_debugRenderer.DrawCapsule(0.3f, 1, new Pose(new Vector3F(-6, 0, -7), orientation), Color.Green, true, false);
_debugRenderer.DrawCapsule(0.3f, 1, new Pose(new Vector3F(-4, 0, -7), orientation), Color.Yellow, true, true);
// Cylinders
_debugRenderer.DrawCylinder(0.3f, 1, new Pose(new Vector3F(-2, 0, -7), orientation), new Color(255, 0, 255, 100), false, false);
_debugRenderer.DrawCylinder(0.3f, 1, new Pose(new Vector3F(-2, 0, -7), orientation), Color.Green, true, false);
_debugRenderer.DrawCylinder(0.3f, 1, new Pose(new Vector3F(0, 0, -7), orientation), Color.Yellow, true, true);
// Cones
_debugRenderer.DrawCone(0.3f, 1, new Pose(new Vector3F(2, 0, -7), orientation), new Color(0, 255, 255, 100), false, false);
_debugRenderer.DrawCone(0.3f, 1, new Pose(new Vector3F(2, 0, -7), orientation), Color.Green, true, false);
_debugRenderer.DrawCone(0.3f, 1, new Pose(new Vector3F(4, 0, -7), orientation), Color.Yellow, true, true);
// The debug renderer can draw any IGeometricObjects, like SceneNodes, RigidBodies, etc.
_debugRenderer.DrawObject(_geometricObject, Color.Brown, false, false);
_debugRenderer.DrawObject(_geometricObject, Color.Yellow, true, true);
// The debug renderer can also an XNA model (without materials).
_debugRenderer.DrawModel(_xnaModel, new Pose(new Vector3F(0, 2, -2), orientation), new Vector3F(1, 2, 1), new Color(128, 255, 64, 100), false, false);
_debugRenderer.DrawModel(_xnaModel, new Pose(new Vector3F(0, 2, -2), orientation), new Vector3F(1, 2, 1), Color.LightCyan, true, false);
// Draw a DigitalRune model.
_debugRenderer.DrawModel(_modelNode, Color.Peru, true, false);
// Draw the bounding shapes of the meshes in this model.
foreach (var node in _modelNode.GetSubtree())
_debugRenderer.DrawObject(node, Color.PeachPuff, true, false);
}
// Creates a lot of random objects.
private void CreateRandomObjects()
{
var random = new Random(12345);
for (int i = 0; i < NumberOfObjects; i++)
{
// Randomly choose a shape.
Shape randomShape;
switch (random.Next(0, 7))
{
case 0:
// Box
randomShape = new BoxShape(ObjectSize, ObjectSize * 2, ObjectSize * 3);
break;
case 1:
// Capsule
randomShape = new CapsuleShape(0.3f * ObjectSize, 2 * ObjectSize);
break;
case 2:
// Cone
randomShape = new ConeShape(1 * ObjectSize, 2 * ObjectSize);
break;
case 3:
// Cylinder
randomShape = new CylinderShape(0.4f * ObjectSize, 2 * ObjectSize);
break;
case 4:
// Sphere
randomShape = new SphereShape(ObjectSize);
break;
case 5:
// Convex hull of several points.
ConvexHullOfPoints hull = new ConvexHullOfPoints();
hull.Points.Add(new Vector3F(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3F(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3F(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3F(-1 * ObjectSize, 0.7f * ObjectSize, -0.6f * ObjectSize));
randomShape = hull;
break;
case 6:
// A composite shape: two boxes that form a "T" shape.
var composite = new CompositeShape();
composite.Children.Add(
new GeometricObject(
new BoxShape(ObjectSize, 3 * ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3F(0, 2 * ObjectSize, 0))));
randomShape = composite;
break;
default:
#if WINDOWS
Trace.Fail("Ups, we shouldn't land here :-(");
#endif
randomShape = new SphereShape();
break;
}
// Create an object with the random shape, pose, color and velocity.
Pose randomPose = new Pose(
random.NextVector3F(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternionF());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = randomShape,
LinearVelocity = random.NextQuaternionF().Rotate(new Vector3F(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternionF().Rotate(Vector3F.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
// Add collision object to collision domain.
_domain.CollisionObjects.Add(new CollisionObject(newObject));
// We will collect a few statistics for debugging.
Profiler.SetFormat("NumObjects", 1, "The total number of objects.");
Profiler.SetFormat("NumObjectPairs", 1, "The number of objects pairs, which have to be checked.");
Profiler.SetFormat("BroadPhasePairs", 1, "The number of overlaps reported by the broad phase.");
Profiler.SetFormat("ContactSetCount", 1, "The number of actual collisions.");
}
}
public void RandomizedMassSceneUpdate()
{
const int NumberOfSceneNodes = 6;
const int NumberOfSteps = 10000;
const float Saturation = 0.7f; // Percent of scene nodes which should be in the scene.
var random = new Random(1234567);
var scene = new Scene();
int numberOfNodesInScene = 0;
var nodes = new TestSceneNode[NumberOfSceneNodes];
// Create random nodes.
for (int i = 0; i < NumberOfSceneNodes; i++)
{
var node = new TestSceneNode();
nodes[i] = node;
var position = random.NextVector3F(-1000, 1000);
var orientation = random.NextQuaternionF();
node.PoseLocal = new Pose(position, orientation);
float p = random.NextFloat(0, 1);
if (p < 0.1f)
node.Shape = Shape.Empty;
else if (p < 0.2f)
node.Shape = Shape.Infinite;
//else if (p < 0.21f)
//{
// node.Shape = new BoxShape(float.PositiveInfinity, 1, 1);
// // Remove orientation - otherwise we get infinite AABB.
// node.PoseLocal = new Pose(node.PoseLocal.Position);
// var aabb = node.Aabb;
// var isValid = node.Aabb.Extent.IsNaN;
//}
else
node.Shape = new SphereShape(random.NextFloat(0, 10));
}
for (int updateIndex = 0; updateIndex < NumberOfSteps; updateIndex++)
{
for (int i = 0; i < NumberOfSceneNodes; i++)
{
var node = nodes[i];
// Add
if (node.Parent == null)
{
if (random.NextFloat(0, 1) < 0.1f) // 10 percent change to add.
{
numberOfNodesInScene++;
scene.Children.Add(node);
}
}
// Remove
if (node.Parent != null && ((float)numberOfNodesInScene) / (float)NumberOfSceneNodes > Saturation)
{
if (random.NextFloat(0, 1) < 0.1f) // 10 percent change to remove.
{
numberOfNodesInScene--;
node.Parent.Children.Remove(node);
}
}
// Move
//if (node.IsInScene)
{
if (random.NextFloat(0, 1) < 0.5f) // 50% change to move
{
var pose = node.PoseWorld;
pose.Position += random.NextVector3F(0, 10);
node.PoseWorld = pose;
}
if (random.NextFloat(0, 1) < 0.1f) // 50% change to scale
{
node.ScaleLocal = random.NextVector3F(0.5f, 1.5f);
}
}
}
scene.Update(TimeSpan.FromSeconds(0.016666666f));
}
}
public void RandomizedMassSceneUpdate2()
{
const int NumberOfSceneNodes = 10;
const int NumberOfSteps = 10000;
const float WorldSize = 1000;
var random = new Random(123457);
var scene = new Scene();
scene.EnableMultithreading = false;
var nodes = new TestSceneNode[NumberOfSceneNodes];
// Create random nodes.
for (int i = 0; i < NumberOfSceneNodes; i++)
{
var node = new TestSceneNode();
nodes[i] = node;
var position = random.NextVector3F(0, WorldSize);
var orientation = random.NextQuaternionF();
node.PoseLocal = new Pose(position, orientation);
float p = random.NextFloat(0, 100);
if (p < 0.1f)
node.Shape = Shape.Empty;
else if (p < 0.2f)
node.Shape = Shape.Infinite;
else if (p < 0.6f)
node.Shape = new BoxShape(random.NextVector3F(0, WorldSize));
else
node.Shape = new SphereShape(random.NextFloat(0, WorldSize));
}
var projection = new PerspectiveProjection();
projection.SetFieldOfView(0.8f, 1, WorldSize / 10000, WorldSize);
var camera = new Camera(projection);
var cameraNode = new CameraNode(camera);
for (int updateIndex = 0; updateIndex < NumberOfSteps; updateIndex++)
{
int actionsPerFrame = random.NextInteger(0, 100);
for (int i = 0; i < actionsPerFrame; i++)
{
var node = nodes[random.Next(0, NumberOfSceneNodes)];
const int numberOfActions = 100;
int action = random.Next(0, numberOfActions);
//scene.Validate();
if (action == 0)
{
// Add
if (node.Parent == null)
{
scene.Children.Add(node);
//scene.Validate();
}
}
else if (action == 1)
{
// Remove
if (node.Parent != null)
{
node.Parent.Children.Remove(node);
//scene.Validate();
}
}
else if (action == 2)
{
// Move
var pose = node.PoseWorld;
pose.Position = random.NextVector3F(0, WorldSize);
node.PoseWorld = pose;
//scene.Validate();
}
else if (action == 3)
{
// Very small Move
var pose = node.PoseWorld;
const float maxDistance = WorldSize / 10000;
pose.Position += random.NextVector3F(-maxDistance, maxDistance);
node.PoseWorld = pose;
//scene.Validate();
}
else if (action == 4)
{
// Small Move
var pose = node.PoseWorld;
const float maxDistance = WorldSize / 100;
pose.Position += random.NextVector3F(-maxDistance, maxDistance);
node.PoseWorld = pose;
//scene.Validate();
}
else if (action == 5)
{
// Scale
node.ScaleLocal = random.NextVector3F(0.0f, 10f);
//scene.Validate();
}
else if (action == 6)
{
// Rotate
node.PoseWorld = new Pose(node.PoseWorld.Position, random.NextQuaternionF());
//scene.Validate();
}
else if (action == 7)
{
// Query
var query = scene.Query<CameraFrustumQuery>(cameraNode, null);
//Debug.WriteLine("Camera queried nodes: " + query.SceneNodes.Count);
//scene.Validate();
}
else if (action == 8)
{
// Move camera.
cameraNode.PoseWorld = new Pose(random.NextVector3F(0, WorldSize), random.NextQuaternionF());
//scene.Validate();
}
else if (action == 9)
{
// Change shape.
int type = random.NextInteger(0, 5);
if (type == 0)
node.Shape = new BoxShape(random.NextVector3F(0, WorldSize));
else if (type == 1)
node.Shape = new SphereShape(random.NextFloat(0, WorldSize));
else if (type == 2)
node.Shape = new BoxShape(new Vector3F(Single.MaxValue));
else if (type == 3)
node.Shape = new BoxShape(new Vector3F(0));
else if (type == 4)
node.Shape = Shape.Empty;
//scene.Validate();
}
else if (action == 10)
{
// Add to random parent.
if (node.Parent == null)
{
var randomParent = nodes[random.NextInteger(0, NumberOfSceneNodes - 1)];
// Avoid loops:
bool isLoop = node.GetSubtree().Contains(randomParent);
if (!isLoop)
{
if (randomParent.Children == null)
randomParent.Children = new SceneNodeCollection();
randomParent.Children.Add(node);
}
}
}
else if (action == 11)
{
if (node.Parent != null && node.Parent != scene)
node.Parent.Children.Remove(node);
}
else if (action == 13)
{
if (random.NextInteger(0, 100) < 5)
scene.Children.Clear();
}
else if (action == 14)
{
if (random.NextInteger(0, 100) < 5)
scene.Children = new SceneNodeCollection();
}
}
//Debug.WriteLine("Number of nodes in scene: " + scene.GetDescendants().Count());
//scene.Validate();
scene.Update(TimeSpan.FromSeconds(0.016666666f));
//scene.Validate();
}
}
public void CompressEmptySrtKeyFrameAnimation2()
{
var random = new Random(12345);
// Animation with 1 keyframe, which is not Identity.
var srtKeyFrameAnimation = new SrtKeyFrameAnimation();
var time = TimeSpan.FromTicks(100000);
var value = new SrtTransform(random.NextVector3F(-2, 2), random.NextQuaternionF(), random.NextVector3F(-10, 10));
srtKeyFrameAnimation.KeyFrames.Add(new KeyFrame<SrtTransform>(time, value));
var srtAnimation = AnimationHelper.Compress(srtKeyFrameAnimation, 2, 360, 10);
Assert.IsNotNull(srtAnimation);
Assert.AreEqual(srtKeyFrameAnimation.GetTotalDuration(), srtAnimation.GetTotalDuration());
var defaultSource = SrtTransform.Identity;
var defaultTarget = SrtTransform.Identity;
var result = new SrtTransform();
srtAnimation.GetValue(time, ref defaultSource, ref defaultTarget, ref result);
Assert.AreEqual(srtKeyFrameAnimation.KeyFrames[0].Value, result);
}