public bool Remove(Shape shape) { if (shapes.Count == 1) throw new Exception("There must be at least one shape."); bool result = shapes.Remove(shape); UpdateShape(); return result; }
public void AddShape(Shape shape) { if (shape is Multishape) throw new Exception("Multishapes not supported by MinkowskiSumShape."); shapes.Add(shape); this.UpdateShape(); }
/// <summary> /// Creates a new instance of the TransformedShape struct. /// </summary> /// <param name="shape">The shape.</param> /// <param name="orientation">The orientation this shape should have.</param> /// <param name="position">The position this shape should have.</param> public TransformedShape(Shape shape, JMatrix orientation, JVector position) { this.position = position; this.orientation = orientation; JMatrix.Transpose(ref orientation, out invOrientation); this.shape = shape; this.boundingBox = new JBBox(); UpdateBoundingBox(); }
public MassPoint(Shape shape, SoftBody owner, Material material) : base(shape, material, true) { this.SoftBody = owner; }
public static float CalculateMassInertia(Shape shape, out JVector centerOfMass, out JMatrix inertia) { float mass = 0.0f; centerOfMass = JVector.Zero; inertia = JMatrix.Zero; if (shape is Multishape) throw new ArgumentException("Can't calculate inertia of multishapes.", "shape"); // build a triangle hull around the shape List<JVector> hullTriangles = new List<JVector>(); shape.MakeHull(ref hullTriangles, 3); // create inertia of tetrahedron with vertices at // (0,0,0) (1,0,0) (0,1,0) (0,0,1) float a = 1.0f / 60.0f, b = 1.0f / 120.0f; JMatrix C = new JMatrix(a, b, b, b, a, b, b, b, a); for (int i = 0; i < hullTriangles.Count; i += 3) { JVector column0 = hullTriangles[i + 0]; JVector column1 = hullTriangles[i + 1]; JVector column2 = hullTriangles[i + 2]; JMatrix A = new JMatrix(column0.X, column1.X, column2.X, column0.Y, column1.Y, column2.Y, column0.Z, column1.Z, column2.Z); float detA = A.Determinant(); // now transform this canonical tetrahedron to the target tetrahedron // inertia by a linear transformation A JMatrix tetrahedronInertia = JMatrix.Multiply(A * C * JMatrix.Transpose(A), detA); JVector tetrahedronCOM = (1.0f / 4.0f) * (hullTriangles[i + 0] + hullTriangles[i + 1] + hullTriangles[i + 2]); float tetrahedronMass = (1.0f / 6.0f) * detA; inertia += tetrahedronInertia; centerOfMass += tetrahedronMass * tetrahedronCOM; mass += tetrahedronMass; } inertia = JMatrix.Multiply(JMatrix.Identity, inertia.Trace()) - inertia; centerOfMass = centerOfMass * (1.0f / mass); float x = centerOfMass.X; float y = centerOfMass.Y; float z = centerOfMass.Z; // now translate the inertia by the center of mass JMatrix t = new JMatrix( -mass * (y * y + z * z), mass * x * y, mass * x * z, mass * y * x, -mass * (z * z + x * x), mass * y * z, mass * z * x, mass * z * y, -mass * (x * x + y * y)); JMatrix.Add(ref inertia, ref t, out inertia); return mass; }