// -- SpringheadのShapeオブジェクトを構築する
public override CDShapeIf CreateShape(GameObject shapeObject)
{
BoxCollider bc = shapeObject.GetComponent <BoxCollider>();
if (bc == null)
{
throw new ObjectNotFoundException("CDBoxBehaviour requires BoxCollider", shapeObject);
}
Vector3 size = bc.size;
Vector3 scale = shapeObject.transform.lossyScale;
desc.boxsize = new Vec3f((float)(size.x * scale.x), (float)(size.y * scale.y), (float)(size.z * scale.z));
return(phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), (CDBoxDesc)desc));
}
static void test_simulation()
{
test_name("physical simulation");
PHSceneDesc descScene = new PHSceneDesc();
PHSolidDesc descSolid = new PHSolidDesc();
CDBoxDesc descBox = new CDBoxDesc();
PHSdkIf phSdk = PHSdkIf.CreateSdk();
PHSceneIf phScene = phSdk.CreateScene(descScene);
PHSolidIf phSolid = phScene.CreateSolid(descSolid);
phSolid.AddShape(phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), descBox));
phSolid.SetPose(new Posed(1, 0, 0, 0, 0, 2, 0));
PHSolidIf phFloor = phScene.CreateSolid(descSolid);
phFloor.SetDynamical(false);
descBox.boxsize = new Vec3f(10, 10, 10);
phFloor.AddShape(phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), descBox));
phFloor.SetPose(new Posed(1, 0, 0, 0, 0, -5, 0));
PHBallJointDesc descJoint = new PHBallJointDesc();
PHBallJointIf j = phScene.CreateJoint(phFloor, phSolid, PHBallJointIf.GetIfInfoStatic(), descJoint).Cast();
System.Console.WriteLine(j.GetName());
PHIKBallActuatorDescStruct s = new PHIKBallActuatorDesc();
put("bias", "something", s.bias);
/**/
for (int i = 0; i < 200; i++)
{
phScene.Step();
//System.Console.WriteLine(i.ToString() + " : " + phSolid.GetPose());
System.Console.WriteLine(String.Format("{0, 3}", i) + " : " + phSolid.GetPose());
}
/**/
}
static void test_type_conv()
{
test_name("type conversion");
string msg_f3 = "f2d: (1, 2, 3)";
string msg_d3 = "d2f: (4, 5, 6)";
Vec3f f3 = new Vec3f(1, 2, 3);
Vec3d d3 = new Vec3d(4, 5, 6);
put("type_conv", msg_f3, f3);
// print_vec3f(d3, msg_f3); // This cause CS1502 and CS1503 compile error. <- OK
put("type_conv", msg_d3, (Vec3f)d3);
Vec3fStruct f3s = f3;
Vec3dStruct d3s = d3;
put("type_conv", msg_f3, "(" + f3s.x + ", " + f3s.y + ", " + f3s.z + ")");
// print_vec3fs(d3s, msg_d3); // This cause CS1502 and CS1503 compile error. <- OK
put("type_conv", msg_d3,
"(" + ((Vec3fStruct)d3s).x + ", " + ((Vec3fStruct)d3s).y + ", " + ((Vec3fStruct)d3s).z + ")");
// -----
// 戻り値の自動型変換のテスト
PHSdkIf phSdk = PHSdkIf.CreateSdk();
CDBoxDesc descBox = new CDBoxDesc();
descBox.boxsize = new Vec3f(1, 4, 9);
CDShapeIf shape = phSdk.CreateShape(CDBoxIf.GetIfInfoStatic(), descBox);
// ↑ CreateShapeはCDBoxIfオブジェクトを返す。それをCDShapeIfで受ける。
// CDShapeIf型の変数に格納されているが中身はCDBoxIfなので型変換可能。
CDBoxIf box = shape as CDBoxIf;
put("type_conv", "(1, 4, 9)", box.GetBoxSize().ToString());
// CDBoxIf is not a CDSphereIf なので nullになることが期待される。
CDSphereIf sphere = shape as CDSphereIf;
if (sphere == null)
{
put("type_conv", "null", "null");
}
else
{
put("type_conv", "null", sphere.ToString());
}
// CDBoxIf is a CDConvexIf なのでnullにはならず型変換される。
CDConvexIf convex = shape as CDConvexIf;
if (convex == null)
{
put("type_conv", "not null", "null");
}
else
{
put("type_conv", "not null", convex.ToString());
}
// -----
PHSceneDesc descScn = new PHSceneDesc();
PHSceneIf scene = phSdk.CreateObject(PHSceneIf.GetIfInfoStatic(), descScn) as PHSceneIf;
System.Console.WriteLine((scene == null) ? "null" : scene.ToString());
// constructor による初期値設定のテスト
// ---- State を継承 ----
// 暗黙の型変換による
PHSceneDescStruct structScene1 = new PHSceneDesc();
Vec3d v3d1 = new Vec3d(0.0, -9.8, 0.0);
Vec3d v3d2 = new Vec3d(1.0, -8.8, 1.0);
put("by typeconv: gravity ", edit_vector(v3d1), edit_vector(structScene1.gravity));
put("by typeconv: timeStep", "0.005", structScene1.timeStep);
// constructor による
PHSceneDescStruct structScene2 = new PHSceneDescStruct();
put("by constructor: gravity ", edit_vector(v3d1), edit_vector(structScene2.gravity));
put("by constructor: timeStep", "0.005", structScene2.timeStep);
// ApplyFrom による
PHSceneDescStruct structScene3 = new PHSceneDescStruct();
structScene3.gravity = v3d2;
structScene3.timeStep = 1.001;
put("by Apply(): fm: gravity ", edit_vector(v3d2), edit_vector(structScene3.gravity));
put("by Apply(): fm: timeStep", "1.001", structScene3.timeStep);
structScene2.ApplyFrom((PHSceneDesc)structScene3);
put("by Apply(): to: gravity ", edit_vector(v3d2), edit_vector(structScene2.gravity));
put("by Apply(): to: timeStep", "0.005", structScene2.timeStep);
//
// ---- Desc を継承 ----
CDSphereDescStruct structSphere1 = new CDSphereDescStruct();
CDSphereDesc descSphere1 = structSphere1;
CDSphereDescStruct structSphere2 = new CDSphereDescStruct();
CDSphereDesc descSphere2 = structSphere2;
descSphere2.radius = 2;
descSphere2.material.density = 2;
//
put("DescStruct: radius ", "1", structSphere1.radius);
put("DescStruct: base.density", "1", structSphere1.material.density);
structSphere1.ApplyFrom(descSphere2);
put("ApplyFrom:");
put("DescStruct: radius ", "2", structSphere1.radius);
put("DescStruct: base.density", "1", structSphere1.material.density);
structSphere1 = descSphere2;
put("assignment:");
put("DescStruct: radius ", "2", structSphere1.radius);
put("DescStruct: base.density", "2", structSphere1.material.density);
//
descSphere2.radius = 3;
descSphere2.material.density = 3;
structSphere1.ApplyFrom(descSphere2);
put("ApplyTo:");
put("DescStruct: radius ", "3", structSphere1.radius);
put("DescStruct: base.density", "2", structSphere1.material.density);
structSphere1.material.density = 3;
descSphere1 = structSphere2;
put("assignment:");
put("DescStruct: radius ", "3", structSphere1.radius);
put("DescStruct: base.density", "3", structSphere1.material.density);
//
// ---- 比較 ----
Vec3d v3d_c11 = new Vec3d(1, 2, 3);
Vec3d v3d_c12 = new Vec3d(1, 2, 3);
Vec3d v3d_c21 = new Vec3d(4, 5, 6);
put("compare: ==, same", "True ", v3d_c11 == v3d_c12);
put("compare: ==, diff", "False", v3d_c11 == v3d_c21);
put("compare: ==, null", "False", v3d_c11 == null);
put("compare: ==, null", "False", null == v3d_c11);
put("compare: !=, same", "False", v3d_c11 != v3d_c12);
put("compare: !=, diff", "True ", v3d_c11 != v3d_c21);
put("compare: !=, null", "True ", v3d_c11 != null);
put("compare: !=, null", "True ", null != v3d_c11);
vectorwrapper_int vw11 = new vectorwrapper_int((IntPtr)0);
vectorwrapper_int vw12 = new vectorwrapper_int((IntPtr)0);
vectorwrapper_int vw21 = new vectorwrapper_int((IntPtr)1);
put("compare: ==, wrap", "True ", vw11 == vw12);
put("compare: ==, wrap", "False", vw11 == vw21);
put("compare: ==, null", "False", vw11 == null);
put("compare: ==, null", "False", null == vw21);
put("compare: !=, wrap", "False", vw11 != vw12);
put("compare: !=, wrap", "True ", vw11 != vw21);
put("compare: !=, null", "True ", vw11 != null);
put("compare: !=, null", "True ", null != vw21);
}