private void AddVertexGraph(VertexGraph graph)
{
Individual = graph.Vertices.Select(vertex =>
{
var mass = 10000;
var motionState = new DefaultMotionState();
var collisionShape = new BoxShape(1);
var info = new RigidBodyConstructionInfo(mass, motionState, collisionShape);
var rigidBody = new VertexBoundRigidBody(vertex, info);
return rigidBody;
}).ToList();
foreach (var body in Individual)
{
// Select the 3 nearest vertices, excluding this one
var nearest = Individual.OrderBy(a => a.Binding.DistanceTo(body.Binding))
.Where(a => a != body)
.Take(3);
foreach (var other in nearest)
{
// TODO: What are these matrices supposed to be?
var frameInA = body.MotionState.WorldTransform;
var frameInB = other.MotionState.WorldTransform;
// TODO: How do you specify the spring's springiness?
var constraint = new Generic6DofSpringConstraint(body, other, frameInA, frameInB, true);
// TODO: Now how do I apply this to the bodies?
body.AddConstraintRef(constraint);
other.AddConstraintRef(constraint);
}
}
}
public override Individual FromBinary(Stream stream)
{
var graph = new VertexGraph();
using (stream)
{
var reader = new BinaryReader(stream);
for (int i = 0; i < VertexCount; i++)
{
var vertex = new Vertex(ReadNormalLong(reader), ReadNormalLong(reader), ReadNormalLong(reader), Max);
graph.Vertices.Add(vertex);
}
var individual = new SkyscraperIndividual(graph);
return individual;
}
}
/// <summary>
/// Creates a random individual to be used in the initial population.
/// </summary>
public Individual()
{
Graph = new VertexGraph();
}
public SkyscraperIndividual(VertexGraph graph)
{
Graph = graph;
}
public VertexGraph Copy()
{
VertexGraph graph = new VertexGraph();
foreach (var vertex in Vertices)
{
graph.Vertices.Add(vertex.Copy());
}
return graph;
}
public DefaultRigidBodyWorld(VertexGraph initialState)
{
AddVertexGraph(initialState);
}