private ShipSelectorWindow(NewtonDynamics.World world)
{
InitializeComponent();
this.Background = SystemColors.ControlBrush;
_world = world;
}
public ShipSelectorWindow(string foldername, NewtonDynamics.World world)
: this(world)
{
grdFolder.Visibility = Visibility.Visible;
lblStatus.Visibility = Visibility.Visible;
// Let the textchange event load the listbox
txtFoldername.Text = foldername;
}
public ShipSelectorWindow(ShipDNA[] dna, NewtonDynamics.World world)
: this(world)
{
grdFolder.Visibility = Visibility.Collapsed;
lblStatus.Visibility = Visibility.Collapsed;
foreach (ShipDNA item in dna)
{
AddItem(item, null);
}
}
public Icon3D(string name, ShipDNA dna, NewtonDynamics.World world)
{
InitializeComponent();
this.ItemName = name;
this.ShipDNA = dna;
lblName.Text = name;
lblName.Visibility = _showName ? Visibility.Visible : Visibility.Collapsed;
InitializeTrackball();
// Load the ship asyncronously
FinishLoadingShipAsync(world);
}
//TODO: Make a static method off of Ship, and don't rely on world: public static Visual3D CreateVisual(ShipDNA dna, bool isDesign)
private async Task RenderShipAsync(NewtonDynamics.World world)
{
ShipExtraArgs args = new ShipExtraArgs()
{
RunNeural = false,
RepairPartPositions = false,
};
//using (Ship ship = await Ship.GetNewShipAsync(this.ShipDNA, world, 0, null, args))
using (Bot bot = new Bot(BotConstructor.ConstructBot(this.ShipDNA, new ShipCoreArgs() { World = world }, args)))
{
if (bot.PhysicsBody.Visuals != null) // this will never be null
{
// The model coords may not be centered, so move the ship so that it's centered on the origin
Point3D minPoint, maxPoint;
bot.PhysicsBody.GetAABB(out minPoint, out maxPoint);
Vector3D offset = (minPoint + ((maxPoint - minPoint) / 2d)).ToVector();
bot.PhysicsBody.Position = (-offset).ToPoint();
// Add the visuals
foreach (Visual3D visual in bot.PhysicsBody.Visuals)
{
_viewport.Children.Add(visual);
}
// Pull the camera back to a good distance
_camera.Position = (_camera.Position.ToVector().ToUnit() * (bot.Radius * 2.1d)).ToPoint();
}
}
}
private async Task FinishLoadingShipAsync(NewtonDynamics.World world)
{
// Show the ship
await RenderShipAsync(world);
// Lights
InitializeLight();
}
public override CollisionHull CreateCollisionHull(NewtonDynamics.WorldBase world)
{
// Get points
if (this.Vertices == null)
{
CreateGeometry(this.IsFinalModel);
}
Vector3D scale = this.Scale;
double halfThick = THICKNESS * .5d * scale.Z;
List<Point3D> points = new List<Point3D>();
points.AddRange(this.Vertices.Select(o => new Point3D(o.X * scale.X, o.Y * scale.Y, -halfThick)));
points.AddRange(this.Vertices.Select(o => new Point3D(o.X * scale.X, o.Y * scale.Y, halfThick)));
// Transform
Transform3DGroup transform = new Transform3DGroup();
//transform.Children.Add(new ScaleTransform3D(this.Scale)); // it ignores scale
transform.Children.Add(new RotateTransform3D(new QuaternionRotation3D(this.Orientation)));
transform.Children.Add(new TranslateTransform3D(this.Position.ToVector()));
// Exit Function
return CollisionHull.CreateConvexHull(world, 0, points, transform.Value);
}
private void PhysicsBody_ApplyForceAndTorque(object sender, NewtonDynamics.BodyApplyForceAndTorqueArgs e)
{
// Clear visual
if (_springVisual != null)
{
_springVisual.Points.Clear();
}
// See if there is anything to do
if (_desiredPoint == null)
{
return;
}
Point3D current = e.Body.PositionToWorld(this.Offset.ToPoint());
Point3D desired = _desiredPoint.Value;
// I decided to add x^2, because a linear spring is too weak
// f = k x^2
Vector3D spring = desired - current;
double length = spring.Length;
spring = spring.ToUnit() * (_springConstant * this.SpringForceMultiplier * length * length);
// Apply the force
if (_shouldSpringCauseTorque)
{
e.Body.AddForceAtPoint(spring, current);
}
else
{
e.Body.AddForce(spring);
}
if (_isDamped) // this.ShouldDampenWhenSpring is taken into account before setting _isDamped to true
{
// Body.LinearDamping isn't strong enough, so do some more
//Vector3D drag = e.Body.Velocity * (-_springConstant * this.SpringForceMultiplier * .33d);
Vector3D drag = e.Body.Velocity * (-_springConstant * .33d);
e.Body.AddForce(drag);
}
// Update visual
if (_springVisual != null)
{
_springVisual.AddLine(current, desired);
}
}