public SimulationObject(
ObjectType type,
ObjectGeometry[] geometry,
double[] mass,
Vector3[] startCompositePosition,
Vector3 position,
Quaternion rotationStatus)
{
ObjectType = type;
ObjectGeometry = geometry;
PartialMass = new double[geometry.Length];
Array.Copy(mass, PartialMass, geometry.Length);
for (int i = 0; i < geometry.Length; i++)
Mass += mass[i];
if (ObjectType == ObjectType.StaticRigidBody)
{
Mass = 0.0;
InverseMass = 0.0;
}
else if (Mass > 0.0)
InverseMass = 1.0 / Mass;
RotationStatus = rotationStatus;
StartCompositePositionObjects = startCompositePosition;
SetObjectProperties();
Position = position;
SetAABB();
SleepingFrameCount = 0;
}
public SimulationObject[] LoadSimulationObjects()
{
var xmlDoc = new XmlDocument();
xmlDoc.Load(FileNameObjectProperties);
XmlNodeList xmlList = xmlDoc.SelectNodes(nodePathObjects);
SimulationObject[] objects = new SimulationObject[xmlList.Count];
for (int i = 0; i < xmlList.Count; i++)
{
//Rotation Status
var versor = new Vector3(
Convert.ToDouble(xmlList[i][rotationStatusAttribute].Attributes["x"].Value),
Convert.ToDouble(xmlList[i][rotationStatusAttribute].Attributes["y"].Value),
Convert.ToDouble(xmlList[i][rotationStatusAttribute].Attributes["z"].Value));
double angle = Convert.ToDouble(xmlList[i][rotationStatusAttribute].Attributes["angle"].Value);
//Position
var position = new Vector3(
Convert.ToDouble(xmlList[i][positionAttribute].Attributes["x"].Value),
Convert.ToDouble(xmlList[i][positionAttribute].Attributes["y"].Value),
Convert.ToDouble(xmlList[i][positionAttribute].Attributes["z"].Value));
XmlNodeList xmlGeometryList = xmlList[i].SelectNodes(nodePathGeometry);
ObjectGeometry[] objGeometry = new ObjectGeometry[xmlGeometryList.Count];
double[] mass = new double[xmlGeometryList.Count];
Vector3[] startCompositePosition = new Vector3[xmlGeometryList.Count];
for (int j = 0; j < xmlGeometryList.Count; j++)
{
//Scale
float scale = Convert.ToSingle(xmlGeometryList[j][scaleAttribute].InnerText);
//Object geometry file name
string geometryFileName = xmlGeometryList[j][objectGeometryAttribute].InnerText;
//Object mass
mass[j] = Convert.ToDouble(xmlGeometryList[j][massAttribute].InnerText);
objGeometry[j] = GetObjectGeometry(geometryFileName, scale);
startCompositePosition[j] = new Vector3(
Convert.ToDouble(xmlGeometryList[j][compositePosition].Attributes["x"].Value),
Convert.ToDouble(xmlGeometryList[j][compositePosition].Attributes["y"].Value),
Convert.ToDouble(xmlGeometryList[j][compositePosition].Attributes["z"].Value));
}
if (xmlGeometryList.Count > 1)
{
objects[i] = new SimulationObject(
(ObjectType)Convert.ToInt32(xmlList[i][objectType].InnerText),
objGeometry,
mass,
startCompositePosition,
position,
new Quaternion(versor, angle));
}
else
{
objects[i] = new SimulationObject(
(ObjectType)Convert.ToInt32(xmlList[i][objectType].InnerText),
objGeometry[0],
mass[0],
position,
new Quaternion(versor, angle));
}
//Linear Velocity
objects [i].SetLinearVelocity (new Vector3 (
Convert.ToDouble (xmlList [i] [linearVelAttribute].Attributes ["x"].Value),
Convert.ToDouble (xmlList [i] [linearVelAttribute].Attributes ["y"].Value),
Convert.ToDouble (xmlList [i] [linearVelAttribute].Attributes ["z"].Value)));
//Angular Velocity
objects [i].SetAngularVelocity (new Vector3 (
Convert.ToDouble (xmlList [i] [angularVelAttribute].Attributes ["x"].Value),
Convert.ToDouble (xmlList [i] [angularVelAttribute].Attributes ["y"].Value),
Convert.ToDouble (xmlList [i] [angularVelAttribute].Attributes ["z"].Value)));
//Restitution Coefficient
objects [i].SetRestitutionCoeff (Convert.ToDouble (xmlList [i] [restitutionCoeffAttribute].InnerText));
//Dynamic friction
objects[i].SetDynamicFrictionCoeff (Convert.ToDouble(xmlList [i][dynamicFrictionAttribute].InnerText));
//Static friction
objects [i].SetStaticFrictionCoeff (Convert.ToDouble (xmlList [i] [staticFrictionAttribute].InnerText));
//Collision detection
objects[i].SetExcludeFromCollisionDetection (Convert.ToBoolean(xmlList [i] [excludeFromCollisionDetection].InnerText));
//Baumgarte Stabilization value
objects[i].SetBaumgarteStabilizationCoeff(30.0);
}
return objects;
}
//TODO Refactoring costruttori(inserire possibilità di creeare oggetti con centro di massa e inertia tensor prestabiliti)
public SimulationObject(
ObjectType type,
ObjectGeometry geometry,
double mass,
Vector3 position,
Quaternion rotationStatus)
{
ObjectType = type;
ObjectGeometry = new ObjectGeometry[1] { geometry };
PartialMass = new double[1] { mass };
Mass = mass;
if (ObjectType == ObjectType.StaticRigidBody)
{
Mass = 0.0;
InverseMass = 0.0;
}
else if (Mass > 0.0)
InverseMass = 1.0 / Mass;
StartCompositePositionObjects = new Vector3[1];
RotationStatus = rotationStatus;
Position = position;
SetObjectProperties();
SetAABB();
SleepingFrameCount = 0;
}
