private void LineShapeCombo_SelectedIndexChanged(object sender, System.EventArgs e)
{
LineSegmentShape style = (LineSegmentShape)LineShapeCombo.SelectedIndex;
m_Line1.LineSegmentShape = style;
m_Line2.LineSegmentShape = style;
m_Line3.LineSegmentShape = style;
switch (style)
{
case LineSegmentShape.Tape:
m_Line1.DepthPercent = 50;
m_Line2.DepthPercent = 50;
m_Line3.DepthPercent = 50;
break;
case LineSegmentShape.Tube:
case LineSegmentShape.Ellipsoid:
m_Line1.DepthPercent = 10;
m_Line2.DepthPercent = 10;
m_Line3.DepthPercent = 10;
break;
}
nChartControl1.Refresh();
}
public void GetMesh()
{
var l = new LineSegmentShape(new Vector3F(1, 2, 3), new Vector3F(4, 5, 6));
var m = l.GetMesh(0, 1);
Assert.AreEqual(1, m.NumberOfTriangles);
Triangle t = m.GetTriangle(0);
Assert.IsTrue(l.Start == t.Vertex0);
Assert.IsTrue(l.Start == t.Vertex1 || l.End == t.Vertex1);
Assert.IsTrue(l.End == t.Vertex2);
}
public void Clone()
{
LineSegmentShape lineSegment = new LineSegmentShape(new Vector3F(1, 2, 3), new Vector3F(2, 3, 4));
LineSegmentShape clone = lineSegment.Clone() as LineSegmentShape;
Assert.IsNotNull(clone);
Assert.AreEqual(lineSegment.Start, clone.Start);
Assert.AreEqual(lineSegment.End, clone.End);
Assert.AreEqual(lineSegment.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(lineSegment.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void Clone()
{
LineSegmentShape lineSegment = new LineSegmentShape(new Vector3(1, 2, 3), new Vector3(2, 3, 4));
LineSegmentShape clone = lineSegment.Clone() as LineSegmentShape;
Assert.IsNotNull(clone);
Assert.AreEqual(lineSegment.Start, clone.Start);
Assert.AreEqual(lineSegment.End, clone.End);
Assert.AreEqual(lineSegment.GetAabb(Pose.Identity).Minimum, clone.GetAabb(Pose.Identity).Minimum);
Assert.AreEqual(lineSegment.GetAabb(Pose.Identity).Maximum, clone.GetAabb(Pose.Identity).Maximum);
}
public void GetMesh()
{
var l = new LineSegmentShape(new Vector3(1, 2, 3), new Vector3(4, 5, 6));
var m = l.GetMesh(0, 1);
Assert.AreEqual(1, m.NumberOfTriangles);
Triangle t = m.GetTriangle(0);
Assert.IsTrue(l.Start == t.Vertex0);
Assert.IsTrue(l.Start == t.Vertex1 || l.End == t.Vertex1);
Assert.IsTrue(l.End == t.Vertex2);
}
public void SerializationBinary()
{
var a = new LineSegmentShape(new Vector3(1, 2, 3), new Vector3(2, 3, 4));
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (LineSegmentShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Start, b.Start);
Assert.AreEqual(a.End, b.End);
}
public void TestProperties()
{
LineSegmentShape ls = new LineSegmentShape();
Assert.AreEqual(new Vector3(), ls.Start);
Assert.AreEqual(new Vector3(), ls.End);
Assert.AreEqual(0, ls.Length);
Assert.AreEqual(0, ls.LengthSquared());
ls.Start = new Vector3(1, 2, 3);
Assert.AreEqual(new Vector3(1, 2, 3), ls.Start);
Assert.AreEqual(new Vector3(), ls.End);
Assert.AreEqual(new Vector3(1, 2, 3).Length, ls.Length);
Assert.AreEqual(new Vector3(1, 2, 3).LengthSquared(), ls.LengthSquared());
ls.End = new Vector3(4, 5, 6);
Assert.AreEqual(new Vector3(1, 2, 3), ls.Start);
Assert.AreEqual(new Vector3(4, 5, 6), ls.End);
Assert.AreEqual(new Vector3(3, 3, 3).Length, ls.Length);
Assert.AreEqual(new Vector3(3, 3, 3).LengthSquared(), ls.LengthSquared());
}
private void LineStyleCombo_SelectedIndexChanged(object sender, System.EventArgs e)
{
LineSegmentShape style = (LineSegmentShape)LineStyleCombo.SelectedIndex;
m_Line1.LineSegmentShape = style;
m_Line2.LineSegmentShape = style;
switch (style)
{
case LineSegmentShape.Line:
case LineSegmentShape.Tape:
m_Line1.MarkerStyle.PointShape = PointShape.Cylinder;
m_Line2.MarkerStyle.PointShape = PointShape.Cylinder;
m_Line1.MarkerStyle.Visible = true;
m_Line2.MarkerStyle.Visible = true;
m_Line1.MarkerStyle.Width = new NLength(1.5f, NRelativeUnit.ParentPercentage);
m_Line2.MarkerStyle.Width = new NLength(1.5f, NRelativeUnit.ParentPercentage);
m_Line1.MarkerStyle.Height = new NLength(1.5f, NRelativeUnit.ParentPercentage);
m_Line2.MarkerStyle.Height = new NLength(1.5f, NRelativeUnit.ParentPercentage);
m_Line1.DepthPercent = 50;
m_Line2.DepthPercent = 50;
break;
case LineSegmentShape.Tube:
case LineSegmentShape.Ellipsoid:
m_Line1.MarkerStyle.PointShape = PointShape.Sphere;
m_Line2.MarkerStyle.PointShape = PointShape.Sphere;
m_Line1.MarkerStyle.Visible = true;
m_Line2.MarkerStyle.Visible = true;
m_Line1.MarkerStyle.Width = new NLength(2.5f, NRelativeUnit.ParentPercentage);
m_Line2.MarkerStyle.Width = new NLength(2.5f, NRelativeUnit.ParentPercentage);
m_Line1.MarkerStyle.Height = new NLength(2.5f, NRelativeUnit.ParentPercentage);
m_Line2.MarkerStyle.Height = new NLength(2.5f, NRelativeUnit.ParentPercentage);
m_Line1.DepthPercent = 10;
m_Line2.DepthPercent = 10;
break;
}
nChartControl1.Refresh();
}
public void SerializationXml()
{
var a = new LineSegmentShape(new Vector3(1, 2, 3), new Vector3(2, 3, 4));
// Serialize object.
var stream = new MemoryStream();
var serializer = new XmlSerializer(typeof(Shape));
serializer.Serialize(stream, a);
// Output generated xml. Can be manually checked in output window.
stream.Position = 0;
var xml = new StreamReader(stream).ReadToEnd();
Trace.WriteLine("Serialized Object:\n" + xml);
// Deserialize object.
stream.Position = 0;
var deserializer = new XmlSerializer(typeof(Shape));
var b = (LineSegmentShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Start, b.Start);
Assert.AreEqual(a.End, b.End);
}
// 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 Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize));
hull.Points.Add(new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize));
hull.Points.Add(new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize));
hull.Points.Add(new Vector3(-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 Vector3(0, 0, 0))));
composite.Children.Add(
new GeometricObject(
new BoxShape(2 * ObjectSize, ObjectSize, ObjectSize),
new Pose(new Vector3(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 Vector3(0, 0.5f, 0), Matrix.Identity)));
compBvh.Children.Add(new GeometricObject(new BoxShape(0.8f, 0.5f, 0.5f), new Pose(new Vector3(0.5f, 0.7f, 0), Matrix.CreateRotationZ(-MathHelper.ToRadians(15)))));
compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Matrix.Identity)));
compBvh.Children.Add(new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Matrix.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 Vector3(0, 0.5f * ObjectSize, 0), Quaternion.Identity)));
comp.Children.Add(new GeometricObject(new BoxShape(0.8f * ObjectSize, 0.5f * ObjectSize, 0.5f * ObjectSize), new Pose(new Vector3(0.3f * ObjectSize, 0.7f * ObjectSize, 0), Quaternion.CreateRotationZ(-MathHelper.ToRadians(45)))));
comp.Children.Add(new GeometricObject(new SphereShape(0.3f * ObjectSize), new Pose(new Vector3(0, 1.15f * ObjectSize, 0), Quaternion.Identity)));
shape = comp;
break;
case 10:
shape = new ConvexHullOfPoints(new[]
{
new Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-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 Vector3(0, 2 * ObjectSize, 0), Matrix.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 Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.1f, 0.2f, -0.3f).Normalized);
//break;
case 15:
shape = new LineSegmentShape(
new Vector3(0.1f, 0.2f, 0.3f), new Vector3(0.1f, 0.2f, 0.3f) + 3 * ObjectSize * new Vector3(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 Vector3(0.2f, 0, -0.12f), new Vector3(1, 2, 3).Normalized, ObjectSize * 2);
break;
case 22:
shape = new RayShape(new Vector3(0.2f, 0, -0.12f), new Vector3(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 Vector3(0.1f, 1, -0.2f))));
break;
case 25:
shape = new TriangleShape(
new Vector3(ObjectSize, 0, 0), new Vector3(0, ObjectSize, 0), new Vector3(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 Vector3(0, 0.5f, 0), Matrix.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3(0.5f, 0.7f, 0), Matrix.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Matrix.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Matrix.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 Vector3(0, 0.5f, 0), Quaternion.Identity)));
// compBvh.Children.Add(
// new GeometricObject(
// new BoxShape(0.8f, 0.5f, 0.5f),
// new Pose(new Vector3(0.5f, 0.7f, 0), Quaternion.CreateRotationZ(-(float)MathHelper.ToRadians(15)))));
// compBvh.Children.Add(new GeometricObject(new SphereShape(0.3f), new Pose(new Vector3(0, 1.15f, 0), Quaternion.Identity)));
// compBvh.Children.Add(
// new GeometricObject(new CapsuleShape(0.2f, 1), new Pose(new Vector3(0.6f, 1.15f, 0), Quaternion.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 Vector3(-1 * ObjectSize, -2 * ObjectSize, -1 * ObjectSize),
new Vector3(2 * ObjectSize, -1 * ObjectSize, -0.5f * ObjectSize),
new Vector3(1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-1 * ObjectSize, 2 * ObjectSize, 1 * ObjectSize),
new Vector3(-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.NextVector3(-BoxSize + ObjectSize * 2, BoxSize - ObjectSize * 2),
random.NextQuaternion());
var newObject = new MovingGeometricObject
{
Pose = randomPose,
Shape = shape,
LinearVelocity = random.NextQuaternion().Rotate(new Vector3(MaxLinearVelocity, 0, 0)),
AngularVelocity = random.NextQuaternion().Rotate(Vector3.Forward)
* RandomHelper.Random.NextFloat(0, MaxAngularVelocity),
};
if (RandomHelper.Random.NextBool())
newObject.LinearVelocity = Vector3.Zero;
if (RandomHelper.Random.NextBool())
newObject.AngularVelocity = Vector3.Zero;
if (shape is LineShape || shape is HeightField)
{
// Do not move lines or the height field.
newObject.LinearVelocity = Vector3.Zero;
newObject.AngularVelocity = Vector3.Zero;
}
// Create only 1 heightField!
if (shape is HeightField)
{
if (isFirstHeightField)
{
isFirstHeightField = true;
newObject.Pose = new Pose(new Vector3(-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 void SerializationBinary()
{
var a = new LineSegmentShape(new Vector3F(1, 2, 3), new Vector3F(2, 3, 4));
// Serialize object.
var stream = new MemoryStream();
var formatter = new BinaryFormatter();
formatter.Serialize(stream, a);
// Deserialize object.
stream.Position = 0;
var deserializer = new BinaryFormatter();
var b = (LineSegmentShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Start, b.Start);
Assert.AreEqual(a.End, b.End);
}
public void TestProperties()
{
LineSegmentShape ls = new LineSegmentShape();
Assert.AreEqual(new Vector3F(), ls.Start);
Assert.AreEqual(new Vector3F(), ls.End);
Assert.AreEqual(0, ls.Length);
Assert.AreEqual(0, ls.LengthSquared);
ls.Start = new Vector3F(1, 2, 3);
Assert.AreEqual(new Vector3F(1, 2, 3), ls.Start);
Assert.AreEqual(new Vector3F(), ls.End);
Assert.AreEqual(new Vector3F(1, 2, 3).Length, ls.Length);
Assert.AreEqual(new Vector3F(1, 2, 3).LengthSquared, ls.LengthSquared);
ls.End = new Vector3F(4, 5, 6);
Assert.AreEqual(new Vector3F(1, 2, 3), ls.Start);
Assert.AreEqual(new Vector3F(4, 5, 6), ls.End);
Assert.AreEqual(new Vector3F(3, 3, 3).Length, ls.Length);
Assert.AreEqual(new Vector3F(3, 3, 3).LengthSquared, ls.LengthSquared);
}
public void SerializationXml()
{
var a = new LineSegmentShape(new Vector3F(1, 2, 3), new Vector3F(2, 3, 4));
// Serialize object.
var stream = new MemoryStream();
var serializer = new XmlSerializer(typeof(Shape));
serializer.Serialize(stream, a);
// Output generated xml. Can be manually checked in output window.
stream.Position = 0;
var xml = new StreamReader(stream).ReadToEnd();
Trace.WriteLine("Serialized Object:\n" + xml);
// Deserialize object.
stream.Position = 0;
var deserializer = new XmlSerializer(typeof(Shape));
var b = (LineSegmentShape)deserializer.Deserialize(stream);
Assert.AreEqual(a.Start, b.Start);
Assert.AreEqual(a.End, b.End);
}
public LineSegmentShapeRemoteData(LineSegmentShape shape) : base(shape)
{
this.Point1 = shape.Point1;
this.Point2 = shape.Point2;
}
