private void CreateComposite()
{
var compositeRigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Dynamic, Matrices.Translate(0f, 10, 0), true);
IRigidBody composite = _simulator.ActorsFactory.CreateRigidBody(compositeRigidBodyDescriptor);
var sphereFixture =
composite.FixtureFactory.CreateSimpleFixture(new FixtureDescriptor(Matrices.I));
sphereFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(0.01f, 1.01f));
var compositeShape =
sphereFixture.ShapeFactory.CreateComposite(new CompositeShapeDescriptor());
var shapePositionerCenter =
compositeShape.ShapePositionerFactory.CreateShapePositioner(
new ShapePositionerDescriptor(Matrices.I));
shapePositionerCenter.ShapeFactory.CreateSphere(new SphereShapeDescriptor(1.5f));
var shapePositionerLeft =
compositeShape.ShapePositionerFactory.CreateShapePositioner(
new ShapePositionerDescriptor(Matrices.Translate(-2.5f, 0, 0)));
shapePositionerLeft.ShapeFactory.CreateSphere(new SphereShapeDescriptor(0.5f));
var shapePositionerRight =
compositeShape.ShapePositionerFactory.CreateShapePositioner(
new ShapePositionerDescriptor(Matrices.Translate(2.5f, 0, 0)));
shapePositionerRight.ShapeFactory.CreateSphere(new SphereShapeDescriptor(0.5f));
}
IRigidBody IFactoryOf <IRigidBody, RigidBodyDescriptor> .Create(RigidBodyDescriptor descriptor)
{
var rigidBody = new RigidBodies.RigidBody(descriptor);
_simulator._wrappedSimulation.RigidBodies.Add(rigidBody.WrappedRigidBody);
return(rigidBody);
}
private void CreateChain <TShape, TShapeDescriptor>(MaterialDescriptor materialDescriptor,
TShapeDescriptor shapeDescriptor,
DistanceRangeJointDescriptor constraintDescriptor,
int count, float space, int staticBall, float xOffset, float yOffset, float zOffset)
where TShapeDescriptor : struct, IDescriptor
where TShape : IShape, IDescriptible <TShapeDescriptor>
{
var bodies = new IRigidBody[count];
var rigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Static, Matrices.I, true);
for (int i = 0; i < count; i++)
{
rigidBodyDescriptor.Pose = Matrices.Translate(xOffset + (space + i * space - ((count - 1) * space / 2)), yOffset, zOffset);
bodies[i] = _simulator.ActorsFactory.Create <IRigidBody, RigidBodyDescriptor>(rigidBodyDescriptor);
bodies[i].UserData = String.Format("chain {0}", i);
var fixture = bodies[i].FixtureFactory.Create <ISimpleFixture, FixtureDescriptor>(new FixtureDescriptor(Matrices.I));
fixture.ShapeFactory.Create <TShape, TShapeDescriptor>(shapeDescriptor);
fixture.MaterialFactory.Create <IMaterial, MaterialDescriptor>(materialDescriptor);
if (i > 0)
{
constraintDescriptor.RigidBodyA = bodies[i - 1];
constraintDescriptor.RigidBodyB = bodies[i];
_simulator.ConstraintsFactory.Create <IDistanceRangeJoint, DistanceRangeJointDescriptor>(
constraintDescriptor);
}
else
{
rigidBodyDescriptor.MotionType = MotionType.Static;
}
}
}
public static void SetSimpleScene(ISimulator simulator)
{
#region Create a box
//create a rigidBody
var boxRigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Dynamic, Matrices.Translate(0, 10, 0));
var boxRigidBody = simulator.ActorsFactory.CreateRigidBody(boxRigidBodyDescriptor);
//create a simple fixture for the rigidBody
var fixtureDescriptor = new FixtureDescriptor(Matrices.I);
var simpleFixture = boxRigidBody.FixtureFactory.CreateSimpleFixture(fixtureDescriptor);
//define the shape for the simple fixture
var boxShapeDescriptor = new BoxShapeDescriptor(3, 3, 3, _motionColor);
simpleFixture.ShapeFactory.CreateBox(boxShapeDescriptor);
//define the material for the simple fixture
var materialDescriptor = new MaterialDescriptor(friction: 0.5f, restitution: 0.6f);
simpleFixture.MaterialFactory.CreateMaterial(materialDescriptor);
boxRigidBody.MassFrame.UpdateFromShape();
#endregion
#region Create a plane for the ground
var groundRigidBody =
simulator.ActorsFactory.CreateRigidBody(new RigidBodyDescriptor(MotionType.Static, Matrices.I));
var groundSimpleFixture =
groundRigidBody.FixtureFactory.CreateSimpleFixture(new FixtureDescriptor(Matrices.I));
groundSimpleFixture.ShapeFactory.CreatePlane(new PlaneShapeDescriptor(Vectors.YAxis, 0, _groundColor));
groundSimpleFixture.MaterialFactory.CreateMaterial(materialDescriptor);
#endregion
}
private void CreateGroud(MaterialDescriptor materialDescriptor)
{
var groundRigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Static, Matrices.I, true);
var ground = _simulator.ActorsFactory.CreateRigidBody(groundRigidBodyDescriptor);
var groundFixture = ground.FixtureFactory.CreateSimpleFixture(new FixtureDescriptor(Matrices.I));
groundFixture.ShapeFactory.CreatePlane(new PlaneShapeDescriptor(new Vector3(0, 1, 0), 0));
groundFixture.MaterialFactory.CreateMaterial(materialDescriptor);
}
private void CreateMassTesting(float xPosition, float side, float mass)
{
var rigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Dynamic, Matrices.Translate(xPosition, 10, 0), true);
IRigidBody rigidBody = _simulator.ActorsFactory.Create <IRigidBody, RigidBodyDescriptor>(rigidBodyDescriptor);
var fixture = rigidBody.FixtureFactory.Create <ISimpleFixture, FixtureDescriptor>(new FixtureDescriptor(Matrices.I));
fixture.MaterialFactory.Create <IMaterial, MaterialDescriptor>(new MaterialDescriptor(0.01f, 1.01f));
fixture.ShapeFactory.Create <IBoxShape, BoxShapeDescriptor>(new BoxShapeDescriptor(side, side, side));
rigidBody.MassFrame.Mass = mass;
}
internal RigidBody(RigidBodyDescriptor descriptor, Scene scene)
{
WrappedActor = CreateActor(descriptor, scene);
Configurator = new RigidBodyConfigurator(this);
FixtureFactory = new RigidBodyFixtureFactory(this);
Forces = new RigidBodyForces(this);
Velocity = new RigidBodyVelocity(this);
MassFrame = new RigidBodyMassFrame(this);
UserData = descriptor.UserData;
}
public static void SetCompositeScene(ISimulator simulator)
{
for (int i = 0; i < 1; i++)
{
var rigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Dynamic,
GMath.mul(Matrices.RotateZGrad(-20),
Matrices.Translate(0, 20 * i + 7, 0)),
_motionColor);
var rigidBody = simulator.ActorsFactory.CreateRigidBody(rigidBodyDescriptor);
var fixtureDescriptor = new FixtureDescriptor(Matrices.I);
var compositeFixture = rigidBody.FixtureFactory.CreateCompositeFixture(fixtureDescriptor);
var simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(0, 2.5f, 0)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 0f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(0, 2.5f, 5)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 0f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(5, 2.5f, 0)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 1f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(5, 2.5f, 5)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(1, 5, 1));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 1f));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(2.5f, 5.1f, 2.5f)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(6, 0.2f, 6));
simpleFixture =
compositeFixture.FixtureFactory.CreateSimpleFixture(
new FixtureDescriptor(Matrices.Translate(5.5f, 8f, 2.5f)));
simpleFixture.ShapeFactory.CreateBox(new BoxShapeDescriptor(0.2f, 6, 6));
simpleFixture.MaterialFactory.CreateMaterial(new MaterialDescriptor(friction: 0.5f, restitution: 1f));
rigidBody.MassFrame.UpdateFromShape();
}
SetGround(simulator, new MaterialDescriptor(friction: 0.5f, restitution: 1f));
}
internal RigidBody(RigidBodyDescriptor descriptor)
{
WrappedRigidBody = new DR.RigidBody {
AutoUpdateMass = true, MotionType = descriptor.MotionType.ToDigitalRune()
};
Configurator = new RigidBodyConfigurator(this);
FixtureFactory = new RigidBodyFixtureFactory(this);
Forces = new RigidBodyForces(this);
Velocity = new RigidBodyVelocity(this);
MassFrame = new RigidBodyMassFrame(this);
Descriptor = descriptor;
}
private static IRigidBody SetSimpleRigidBody <TShape, TShapeDescriptor>(ISimulator simulator,
RigidBodyDescriptor rigidBodyDescriptor,
TShapeDescriptor descriptor,
MaterialDescriptor materialDescriptor)
where TShape : IShape, IDescriptible <TShapeDescriptor>
where TShapeDescriptor : struct, IDescriptor
{
var rigidBody = simulator.ActorsFactory.CreateRigidBody(rigidBodyDescriptor);
var fixtureDescriptor = new FixtureDescriptor(Matrices.I);
var simpleFixture = rigidBody.FixtureFactory.CreateSimpleFixture(fixtureDescriptor);
simpleFixture.ShapeFactory.Create <TShape, TShapeDescriptor>(descriptor);
simpleFixture.MaterialFactory.CreateMaterial(materialDescriptor);
rigidBody.MassFrame.UpdateFromShape();
return(rigidBody);
}
private Actor CreateActor(RigidBodyDescriptor descriptor, Scene scene)
{
var materialDesc = new MaterialDescription
{
DynamicFriction = 0.5f,
StaticFriction = 0.5f,
Restitution = 0.7f,
FrictionCombineMode = CombineMode.Average,
RestitutionCombineMode = CombineMode.Average
};
DefaultMaterial = scene.CreateMaterial(materialDesc);
var boxDesc = new BoxShapeDescription
{
Material = DefaultMaterial,
Dimensions = new Vector3(1, 1, 1)
};
///////////////////////////////////////////////
//resolve the motion type
var rigidBodyDesc = descriptor.MotionType == MotionType.Static
? null
: new BodyDescription();
if (descriptor.MotionType == MotionType.Kinematic)
{
rigidBodyDesc.BodyFlags = BodyFlag.Kinematic;
}
HasDefaultShape = true;
var actorDesc = new ActorDescription(boxDesc)
{
BodyDescription = rigidBodyDesc,
Density = 10.0f,
GlobalPose = descriptor.Pose.ToPhysX(),
UserData = descriptor.UserData
};
return(scene.CreateActor(actorDesc));
}
private void CreateTower <TShape, TShapeDescriptor>(MaterialDescriptor materialDescriptor, TShapeDescriptor descriptor, int xCount, int yCount, int zCount, float xSpace, float ySpace, float zSpace, float xOffset, float yOffset, float zOffset)
where TShapeDescriptor : struct, IDescriptor
where TShape : IShape, IDescriptible <TShapeDescriptor>
{
var rigidBodyDescriptor = new RigidBodyDescriptor(MotionType.Dynamic, Matrices.I, true);
for (int x = 0; x < xCount; x++)
{
for (int y = 0; y < yCount; y++)
{
for (int z = 0; z < zCount; z++)
{
rigidBodyDescriptor.Pose = Matrices.Translate(xOffset + x * xSpace - ((xCount - 1) * xSpace / 2),
yOffset + y * ySpace - ((yCount - 1) * ySpace / 2),
zOffset + z * zSpace - ((zCount - 1) * zSpace / 2));
var rigidBody = _simulator.ActorsFactory.Create <IRigidBody, RigidBodyDescriptor>(rigidBodyDescriptor);
var fixture =
rigidBody.FixtureFactory.Create <ISimpleFixture, FixtureDescriptor>(new FixtureDescriptor(Matrices.I));
fixture.ShapeFactory.Create <TShape, TShapeDescriptor>(descriptor);
fixture.MaterialFactory.Create <IMaterial, MaterialDescriptor>(materialDescriptor);
}
}
}
}
CreateRigidBody(this IFactory <IActor> factory,
RigidBodyDescriptor descriptor)
{
return(factory.Create <IRigidBody, RigidBodyDescriptor>(descriptor));
}
IRigidBody IFactoryOf <IRigidBody, RigidBodyDescriptor> .Create(RigidBodyDescriptor descriptor)
{
return(new RigidBody(descriptor, _simulator._wrappedScene));
}
