void InitClusterCombine()
{
Vector3 sz = new Vector3(2, 4, 2);
SoftBody psb0 = CreateClusterTorus(new Vector3(0, 8, 0), new Vector3((float)Math.PI / 2, 0, (float)Math.PI / 2), sz);
SoftBody psb1 = CreateClusterTorus(new Vector3(0, 8, 10), new Vector3((float)Math.PI / 2, 0, (float)Math.PI / 2), sz);
foreach (var psb in new[] { psb0, psb1 })
{
psb.Cfg.DF = 1;
psb.Cfg.DP = 0;
psb.Cfg.PIterations = 1;
psb.Clusters[0].Matching = 0.05f;
psb.Clusters[0].NodeDamping = 0.05f;
}
using (var aj = new AJoint.Specs())
{
aj.Axis = new Vector3(0, 0, 1);
aj.Control = motorControl;
psb0.AppendAngularJoint(aj, psb1);
}
using (var lj = new LJoint.Specs())
{
lj.Position = new Vector3(0, 8, 5);
psb0.AppendLinearJoint(lj, psb1);
}
}
void Init_ClusterSocket()
{
SoftBody psb = Create_ClusterTorus(Vector3.Zero, new Vector3((float)Math.PI / 2, 0, (float)Math.PI / 2));
RigidBody prb = Create_BigPlate(50, 8);
psb.Cfg.DF = 1;
LJoint.Specs lj = new LJoint.Specs();
lj.Position = new Vector3(0, 5, 0);
psb.AppendLinearJoint(lj, new Body(prb));
}
void Init_ClusterRobot()
{
Vector3 basePos = new Vector3(0, 25, 8);
SoftBody psb0 = Init_ClusterRobot_CreateBall(basePos + new Vector3(-8, 0, 0));
SoftBody psb1 = Init_ClusterRobot_CreateBall(basePos + new Vector3(+8, 0, 0));
SoftBody psb2 = Init_ClusterRobot_CreateBall(basePos + new Vector3(0, 0, +8 * (float)Math.Sqrt(2)));
Vector3 ctr = (psb0.ClusterCom(0) + psb1.ClusterCom(0) + psb2.ClusterCom(0)) / 3;
CylinderShape pshp = new CylinderShape(new Vector3(8, 1, 8));
RigidBody prb = LocalCreateRigidBody(50, Matrix.Translation(ctr + new Vector3(0, 5, 0)), pshp);
LJoint.Specs ls = new LJoint.Specs();
ls.Erp = 0.5f;
Body prbBody = new Body(prb);
ls.Position = psb0.ClusterCom(0); psb0.AppendLinearJoint(ls, prbBody);
ls.Position = psb1.ClusterCom(0); psb1.AppendLinearJoint(ls, prbBody);
ls.Position = psb2.ClusterCom(0); psb2.AppendLinearJoint(ls, prbBody);
BoxShape pbox = new BoxShape(20, 1, 40);
RigidBody pgrn = LocalCreateRigidBody(0, Matrix.RotationZ(-(float)Math.PI / 4), pbox);
}
void Init_ClusterCombine()
{
Vector3 sz = new Vector3(2, 4, 2);
SoftBody psb0 = Create_ClusterTorus(new Vector3(0, 8, 0), new Vector3((float)Math.PI / 2, 0, (float)Math.PI / 2), sz);
SoftBody psb1 = Create_ClusterTorus(new Vector3(0, 8, 10), new Vector3((float)Math.PI / 2, 0, (float)Math.PI / 2), sz);
SoftBody[] psbs = new SoftBody[] { psb0, psb1 };
for (int j = 0; j < 2; ++j)
{
psbs[j].Cfg.DF = 1;
psbs[j].Cfg.DP = 0;
psbs[j].Cfg.PIterations = 1;
psbs[j].Clusters[0].Matching = 0.05f;
psbs[j].Clusters[0].NodeDamping = 0.05f;
}
AJoint.Specs aj = new AJoint.Specs();
aj.Axis = new Vector3(0, 0, 1);
aj.Control = motorControl;
psb0.AppendAngularJoint(aj, psb1);
LJoint.Specs lj = new LJoint.Specs();
lj.Position = new Vector3(0, 8, 5);
psb0.AppendLinearJoint(lj, psb1);
}
void InitClusterCar()
{
//SetAzi(180);
Vector3 origin = new Vector3(100, 80, 0);
Quaternion orientation = Quaternion.RotationYawPitchRoll(-(float)Math.PI / 2, 0, 0);
const float widthf = 8;
const float widthr = 9;
const float length = 8;
const float height = 4;
Vector3[] wheels =
{
new Vector3(+widthf, -height, +length), // Front left
new Vector3(-widthf, -height, +length), // Front right
new Vector3(+widthr, -height, -length), // Rear left
new Vector3(-widthr, -height, -length), // Rear right
};
SoftBody pa = CreateClusterBunny(Vector3.Zero, Vector3.Zero);
SoftBody pfl = CreateClusterTorus(wheels[0], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 4, 2));
SoftBody pfr = CreateClusterTorus(wheels[1], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 4, 2));
SoftBody prl = CreateClusterTorus(wheels[2], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 5, 2));
SoftBody prr = CreateClusterTorus(wheels[3], new Vector3(0, 0, (float)Math.PI / 2), new Vector3(2, 5, 2));
pfl.Cfg.DF =
pfr.Cfg.DF =
prl.Cfg.DF =
prr.Cfg.DF = 1;
using (var lspecs = new LJoint.Specs())
{
lspecs.Cfm = 1;
lspecs.Erp = 1;
lspecs.Position = wheels[0]; pa.AppendLinearJoint(lspecs, pfl);
lspecs.Position = wheels[1]; pa.AppendLinearJoint(lspecs, pfr);
lspecs.Position = wheels[2]; pa.AppendLinearJoint(lspecs, prl);
lspecs.Position = wheels[3]; pa.AppendLinearJoint(lspecs, prr);
}
using (var aspecs = new AJoint.Specs())
{
aspecs.Cfm = 1;
aspecs.Erp = 1;
aspecs.Axis = new Vector3(1, 0, 0);
aspecs.Control = steerControlF;
pa.AppendAngularJoint(aspecs, pfl);
pa.AppendAngularJoint(aspecs, pfr);
aspecs.Control = motorControl;
pa.AppendAngularJoint(aspecs, prl);
pa.AppendAngularJoint(aspecs, prr);
}
pa.Rotate(orientation);
pfl.Rotate(orientation);
pfr.Rotate(orientation);
prl.Rotate(orientation);
prr.Rotate(orientation);
pa.Translate(origin);
pfl.Translate(origin);
pfr.Translate(origin);
prl.Translate(origin);
prr.Translate(origin);
pfl.Cfg.PIterations =
pfr.Cfg.PIterations =
prl.Cfg.PIterations =
prr.Cfg.PIterations = 1;
pfl.Clusters[0].Matching =
pfr.Clusters[0].Matching =
prl.Clusters[0].Matching =
prr.Clusters[0].Matching = 0.05f;
pfl.Clusters[0].NodeDamping =
pfr.Clusters[0].NodeDamping =
prl.Clusters[0].NodeDamping =
prr.Clusters[0].NodeDamping = 0.05f;
CreateStairs(20, new Vector3(0, -8, 0), new Vector3(3, 2, 40));
CreateRigidBodyStack(50);
}