void BuildDominos(ref List <RigidBody_c> rigidBodies)
{
rigidBodies.Clear();
// Add ground rectangle
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(100, 5, 100)), Quaternion.Identity, new Vector3(0, -10, 0), 0.0f));
int num = 20;
float r = 50.0f;
for (int i = 0; i < num; i++)
{
float inc = i / (float)(num); // 0 to 1.0f
float x = r * (float)Math.Sin(inc * Math.PI * 2.0f);
float z = r * (float)Math.Cos(inc * Math.PI * 2.0f);
Quaternion yQRot = Quaternion.CreateFromAxisAngle(new Vector3(0, 1, 0), inc * (float)Math.PI * 2.0f);
Vector3 cubeSize = new Vector3(1, 10, 5);
Vector3 cubePos = new Vector3(x, 5.0f, z);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), yQRot, cubePos, 1.0f));
}
// Trigger the domino effect
{
Vector3 cubeSize = new Vector3(5, 5, 5);
Vector3 cubePos = new Vector3(5, 45.0f, r);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, cubePos, 1.0f));
}
}
void BuildSeeSaw(ref List <RigidBody_c> rigidBodies)
{
rigidBodies.Clear();
// Add ground rectangle
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(100, 5, 100)), Quaternion.Identity, new Vector3(0, -10, 0), 0.0f));
Vector3 cubeSize = new Vector3(5, 5, 5);
Vector3 cubePos = new Vector3(0, 0, 0);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, cubePos, 1.0f));
cubeSize = new Vector3(30, 2, 5);
cubePos = new Vector3(0, 7.0f, 0);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, cubePos, 1.0f));
for (int i = 0; i < 5; i++)
{
cubeSize = new Vector3(5, 5, 5);
cubePos = new Vector3(25, 50.0f + i * 20, 0);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, cubePos, 1.0f));
}
cubeSize = new Vector3(5, 5, 5);
cubePos = new Vector3(-25.0f, 15.0f, 0);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, cubePos, 1.0f));
}
private void buttonShootBall_Click(object sender, EventArgs e)
{
Shape shape = new ShapeSphere(5);
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(shape, Quaternion.Identity, new Vector3(0, 30, -100), 1.0f));
m_rigidBodies[m_rigidBodies.Count - 1].body.v += new Vector3(0, 0, 200);
}
public void ModifyRigidBody(Shape shape)
{
ArbiterContainer_c.Clear();
if (m_addRigidBodies)
{
//for (int i=1; i<10; i++)
int i = 1;
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(shape, Quaternion.Identity, new Vector3(20, 30 * i, 10), 1.0f));
}
else
{
m_rigidBodies[m_rigidBodies.Count - 1] = HelperRigidBody_c.CreateRigidBody(shape, Quaternion.Identity, new Vector3(0, 10, 0), 1.0f);
}
}
void BuildMarbles(ref List <RigidBody_c> rigidBodies)
{
rigidBodies.Clear();
// Add ground rectangle
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(100, 5, 100)), Quaternion.Identity, new Vector3(0, -10, 0), 0.0f));
for (int i = 0; i < 4; i++)
{
float side = 1.0f;
if (i % 2 == 0)
{
side = -1.0f;
}
Vector3 cubeSize = new Vector3(30, 2, 5);
Vector3 cubePos = new Vector3(side * 5.0f, 7.0f + i * 25.0f, 0);
Quaternion cubeRot = Quaternion.CreateFromAxisAngle(new Vector3(0, 0, 1), side * 0.2f);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), cubeRot, cubePos, 0.0f));
}
for (int i = 0; i < 2; i++)
{
float side = 1.0f;
if (i == 0)
{
side = -1.0f;
}
Vector3 cubeSize = new Vector3(2, 50, 5);
Vector3 cubePos = new Vector3(35 * side, 50, 0);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, cubePos, 0.0f));
}
// Add some falling marbles
for (int i = 0; i < 1; i++)
{
Vector3 spherePos = new Vector3(25 - 7 * i, 95 + i * 0.0f, 0);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeSphere(3.0f), Quaternion.Identity, spherePos, 1.0f));
}
}
private void buttonStack_Click(object sender, EventArgs e)
{
int num = 5;
if (int.TryParse(textBoxStack.Text, out num) == false)
{
return;
}
ArbiterContainer_c.Clear();
m_rigidBodies.Clear();
// Add ground rectangle
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(100, 5, 100)), Quaternion.Identity, new Vector3(0, -10, 0), 0.0f));
// Stack cubes
for (int i = 0; i < num; i++)
{
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(5, 5, 5)), Quaternion.Identity, new Vector3(0, 10 * i, 0), 1.0f));
}
}
void BuildBowling(ref List <RigidBody_c> rigidBodies)
{
rigidBodies.Clear();
// Add ground rectangle
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(100, 5, 100)), Quaternion.Identity, new Vector3(0, -10, 0), 0.0f));
Vector3 firstPinPos = new Vector3(0, 5, 30);
Vector3 cubeSize = new Vector3(2, 10, 2);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, firstPinPos, 1.0f));
for (int i = 0; i < 4; i++)
{
for (int k = 0; k < 2; k++)
{
float side = 1.0f;
if (k == 1)
{
side = -1.0f;
}
float gap = 5.0f;
Vector3 pinPos = firstPinPos;
pinPos.Z = firstPinPos.Z + (i + 1) * gap;
pinPos.X = (i + 1) * side * gap;
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, pinPos, 1.0f));
}
}
// Fire bowling ball
{
Vector3 spherePos = new Vector3(0, 3, -70);
rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeSphere(5.0f), Quaternion.Identity, spherePos, 1.0f));
rigidBodies[rigidBodies.Count() - 1].body.v.Z = 400.0f;
}
}
private void buttonWall_Click(object sender, EventArgs e)
{
int numX = 5;
int numY = 5;
if (!int.TryParse(textBoxWallX.Text, out numX))
{
return;
}
if (!int.TryParse(textBoxWallY.Text, out numY))
{
return;
}
ArbiterContainer_c.Clear();
m_rigidBodies.Clear();
// Add ground rectangle
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(100, 5, 100)), Quaternion.Identity, new Vector3(0, -10, 0), 0.0f));
// Wall cubes
for (int y = 0; y < numY; y++)
{
for (int x = 0; x < numX; x++)
{
float xx = 0;
if (y % 2 == 0)
{
xx = 5.0f;
}
Vector3 cubeSize = new Vector3(4.5f, 5, 5);
Vector3 cubePos = new Vector3(x * 10 + xx, 10 * y, 0);
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(cubeSize), Quaternion.Identity, cubePos, 1.0f));
}
}
}
protected override void OnLoad(EventArgs e)
{
base.OnLoad(e);
PresentationParameters pp = new PresentationParameters();
pp.BackBufferCount = 1;
pp.IsFullScreen = false;
pp.SwapEffect = SwapEffect.Discard;
pp.BackBufferWidth = pictureBox.Width;
pp.BackBufferHeight = pictureBox.Height;
pp.AutoDepthStencilFormat = DepthFormat.Depth24Stencil8;
pp.EnableAutoDepthStencil = true;
pp.PresentationInterval = PresentInterval.Default;
pp.BackBufferFormat = SurfaceFormat.Unknown;
pp.MultiSampleType = MultiSampleType.None;
m_device = new GraphicsDevice(GraphicsAdapter.DefaultAdapter,
DeviceType.Hardware,
this.pictureBox.Handle,
pp);
m_device.PresentationParameters.BackBufferWidth = pictureBox.Width;
m_device.PresentationParameters.BackBufferHeight = pictureBox.Height;
m_device.Reset();
m_device.RenderState.AlphaBlendEnable = true;
m_device.RenderState.DestinationBlend = Blend.InverseSourceAlpha;
m_device.RenderState.SourceBlend = Blend.SourceAlpha;
//float aspectRatio = (float)m_device.Viewport.Width / m_device.Viewport.Height;
//Camera_c.s_view = Matrix.CreateLookAt( new Vector3(0,0,20.0f),
// Vector3.Zero,
// Vector3.Up);
//Camera_c.s_projection = Matrix.CreatePerspectiveFieldOfView(MathHelper.ToRadians(45.0f),
// aspectRatio,
// 1.0f,
// 1000.0f);
m_timer = new Timer();
m_timer.Interval = 1;
m_timer.Tick += new EventHandler(Draw);
m_timer.Start();
// Add ground rectangle
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(100, 5, 100)), Quaternion.Identity, new Vector3(0, -10, 0), 0.0f));
/*
* m_rigidBodies.Add( HelperRigidBody_c.CreateRigidBody( new ShapeCube( new Vector3(100, 100, 5)), Quaternion.Identity, new Vector3(0,70, 100), 0.0f) );
* m_rigidBodies.Add( HelperRigidBody_c.CreateRigidBody( new ShapeCube( new Vector3(100, 100, 5)), Quaternion.Identity, new Vector3(0,70,-100), 0.0f) );
* m_rigidBodies.Add( HelperRigidBody_c.CreateRigidBody( new ShapeCube( new Vector3(5, 100, 100)), Quaternion.Identity, new Vector3(-100, 70,0), 0.0f) );
* m_rigidBodies.Add( HelperRigidBody_c.CreateRigidBody( new ShapeCube( new Vector3(5, 100, 100)), Quaternion.Identity, new Vector3( 100, 70,0), 0.0f) );
*
*
*
* m_rigidBodies.Add( HelperRigidBody_c.CreateRigidBody( new ShapeSphere( 5.0f ), Quaternion.Identity, Vector3.Zero, 1.0f) );
*
* m_rigidBodies.Add( HelperRigidBody_c.CreateRigidBody( new ShapeCube(new Vector3(5, 10, 15) ), Quaternion.Identity, new Vector3(-20,0,0), 1.0f) );
*/
//m_rigidBodies.Add( HelperRigidBody_c.CreateRigidBody( new ShapeSphere( 5.0f ), Quaternion.Identity, new Vector3(0,3,0), 1.0f) );
m_rigidBodies.Add(HelperRigidBody_c.CreateRigidBody(new ShapeCube(new Vector3(10, 5, 5)), Quaternion.Normalize(new Quaternion(1, 0, 1, 1)), new Vector3(0, 7, 0), 1.0f));
// So we can step back and check previous values
m_curStep = 0;
for (int i = 0; i < m_prevSteps.Count(); i++)
{
m_prevSteps[i] = new List <Body_c>();
}
//m_model[0] = new Model_c();
//m_model[1] = new Model_c();
//m_model[0].m_shape = new ShapeSphere( 5.0f );
//m_model[0].m_hullMaker = new HullMaker(m_model[0].m_shape, -1);
//m_model[0].m_position = new Vector3(8,8,0);
//m_model[1].m_shape = new ShapeCube( new Vector3(5, 10, 15) );
//m_model[1].m_hullMaker = new HullMaker(m_model[1].m_shape, -1);
//m_model[1].m_position = new Vector3(-8,8,0);
}
RigidBody_c CreateRigidBody(Shape collideModel, Quaternion q, Vector3 x, float inv_m)
{
//RenderPolytope renderModel = rb.renderModel;
HullMaker renderModel = new HullMaker(collideModel, -1);
//if (!renderModel)
//{
// renderModel = CreateRenderModel(collideModel);
//}
Body_c body = new Body_c();
body.q = q;
body.x = x;
body.inv_I = Matrix.Identity;
body.inv_I *= inv_m / 25.0f;
//body.inv_I.M33 = 1;
body.inv_I.M44 = 1;
body.inv_m = inv_m;
if (inv_m == 0.0f)
{
body.m = 0.0f;
}
if (inv_m > 0.0f)
{
HelperRigidBody_c.ComputeMassProperties(body, renderModel, 1.0f);
}
float radiusNegX = Math.Abs(collideModel.GetSupportPoint(new Vector3(-1, 0, 0)).X);
float radiusPosX = Math.Abs(collideModel.GetSupportPoint(new Vector3(1, 0, 0)).X);
float radiusNegY = Math.Abs(collideModel.GetSupportPoint(new Vector3(0, -1, 0)).Y);
float radiusPosY = Math.Abs(collideModel.GetSupportPoint(new Vector3(0, 1, 0)).Y);
float radiusNegZ = Math.Abs(collideModel.GetSupportPoint(new Vector3(0, 0, -1)).Z);
float radiusPosZ = Math.Abs(collideModel.GetSupportPoint(new Vector3(0, 0, 1)).Z);
Vector3 maxRadiusVector = new Vector3
(
Math.Max(radiusNegX, radiusPosX),
Math.Max(radiusNegY, radiusPosY),
Math.Max(radiusNegZ, radiusPosZ)
);
float maxRadius = maxRadiusVector.Length();
Microsoft.Xna.Framework.Graphics.Color[] randColour = { Microsoft.Xna.Framework.Graphics.Color.Red,
Microsoft.Xna.Framework.Graphics.Color.Green,
Microsoft.Xna.Framework.Graphics.Color.PaleGoldenrod,
Microsoft.Xna.Framework.Graphics.Color.OliveDrab,
Microsoft.Xna.Framework.Graphics.Color.OrangeRed,
Microsoft.Xna.Framework.Graphics.Color.Wheat,
Microsoft.Xna.Framework.Graphics.Color.YellowGreen };
randColourIndx++;
if (randColourIndx > (randColour.Count() - 1))
{
randColourIndx = 0;
}
body.inv_m_back = body.inv_m;
return(new RigidBody_c(body, collideModel, renderModel, maxRadius, randColour[randColourIndx]));
}
