static void test_tostring()
{
test_name("ToString");
Vec3d v3d = new Vec3d(0.1, 0.2, 0.3);
//string s = v3d.ToString();
/**/ put("ToString", "(0.1, 0.2, 0.3)", v3d.ToString());
/**/ System.Console.WriteLine("ToString: implicit ToString call : " + v3d);
PHSceneDesc descScene = new PHSceneDesc();
PHSolidDesc descSolid = new PHSolidDesc();
PHSdkIf phSdk = PHSdkIf.CreateSdk();
PHSceneIf phScene = phSdk.CreateScene(descScene);
PHSolidIf phSolid = phScene.CreateSolid(descSolid);
phSolid.SetPose(new Posed(1, 0, 0, 0, 0, 2, 0));
put_title("ToString: phSolid");
put_indent(2, phSolid.ToString());
FWWinBaseDesc descWinBase = new FWWinBaseDesc();
FWSdkIf fwSdk = FWSdkIf.CreateSdk();
put_title("ToString: fwSdk.ToString");
put_indent(2, fwSdk.ToString());
}
// Springhead剛体とGameObjectの間での位置姿勢の同期： 更新順を制御するためPHSceneからまとめて呼び出す
public void UpdatePose()
{
if (sprObject != null)
{
PHSolidIf so = sprObject as PHSolidIf;
if (fixedSolid)
{
// Fixedな剛体はHandleの位置をSpringheadに反映
so.SetPose(new Posed(fixedSolidPosition.ToVec3d(), fixedSolidRotation.ToQuaterniond()));
gameObject.transform.position = fixedSolidPosition;
gameObject.transform.rotation = fixedSolidRotation;
}
else
{
// Fixedでない剛体の場合
if (!so.IsDynamical())
{
// Dynamicalでない剛体はUnityの位置をSpringheadに反映（操作可能）
so.SetPose(gameObject.transform.ToPosed());
}
else
{
// Dynamicalな剛体はSpringheadのシミュレーション結果をUnityに反映
gameObject.transform.FromPosed(so.GetPose());
}
fixedSolidPosition = gameObject.transform.position;
fixedSolidRotation = gameObject.transform.rotation;
}
}
}
// -- 全てのBuildが完了した後に行う処理を書く。オブジェクト同士をリンクするなど
public override void Link()
{
if (disableCollision)
{
PHSolidIf soSock = socket.GetComponent <PHSolidBehaviour>().sprObject as PHSolidIf;
PHSolidIf soPlug = plug.GetComponent <PHSolidBehaviour>().sprObject as PHSolidIf;
phScene.SetContactMode(soSock, soPlug, PHSceneDesc.ContactMode.MODE_NONE);
}
}
// ----- ----- ----- ----- ----- ----- ----- ----- ----- -----
// SprBehaviourの派生クラスで実装するメソッド
// -- Sprオブジェクトの構築を行う
public override ObjectIf Build()
{
if (!socket)
{
socket = gameObject.transform.parent.GetComponentInParent <PHSolidBehaviour>().gameObject;
}
if (!plug)
{
plug = gameObject.GetComponentInParent <PHSolidBehaviour>().gameObject;
}
if (socket == null)
{
throw new ObjectNotFoundException("Socket object did not found for Joint", gameObject);
}
if (plug == null)
{
throw new ObjectNotFoundException("Plug object did not found for Joint", gameObject);
}
PHSolidIf soSock = socket.GetComponent <PHSolidBehaviour>().sprObject as PHSolidIf;
PHSolidIf soPlug = plug.GetComponent <PHSolidBehaviour>().sprObject as PHSolidIf;
PHJointIf jo = CreateJoint(soSock, soPlug);
jo.SetName("jo:" + gameObject.name);
if (autoSetSockPlugPose)
{
// priority jointObject > jointPosition/Orientation > gameObject
Posed jointPose = new Posed();
if (jointObject == null)
{
jointObject = gameObject;
jointPose = jointObject.transform.ToPosed() * new Posed(jointPosition.ToVec3d(), jointOrientation.ToQuaterniond());
}
else
{
jointPose = jointObject.transform.ToPosed();
}
jo.SetSocketPose(soSock.GetPose().Inv() * jointPose);
jo.SetPlugPose(soPlug.GetPose().Inv() * jointPose);
}
return(jo);
}
// Springhead剛体とGameObjectの間での位置姿勢の同期： 更新順を制御するためPHSceneからまとめて呼び出す
public void UpdatePose()
{
if (sprObject != null)
{
PHSolidIf so = sprObject as PHSolidIf;
if (!so.IsDynamical() && !fixedSolid)
{
// Dynamicalでない（かつ、fixedでもない）剛体はUnityの位置をSpringheadに反映（操作可能）
so.SetPose(gameObject.transform.ToPosed());
}
else
{
// Dynamicalな（もしくはfixedな）剛体はSpringheadのシミュレーション結果をUnityに反映
gameObject.transform.FromPosed(so.GetPose());
}
}
}
// -- Sprオブジェクトの構築を行う
public override ObjectIf Build()
{
PHSolidIf so = phScene.CreateSolid(desc);
so.SetName("so:" + gameObject.name);
so.SetPose(gameObject.transform.ToPosed());
// Scene Hierarchyでの深さを取得した上でPHSceneBehaviourに登録
var t = transform;
while (t.parent != null)
{
treeDepth++; t = t.parent;
}
phSceneBehaviour.RegisterPHSolidBehaviour(this);
UpdateCenterOfMass();
return(so);
}
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());
}
/**/
}
// ----- ----- ----- ----- ----- ----- ----- ----- ----- -----
// PHJointBehaviourの派生クラスで実装するメソッド
// -- 関節を作成する
public override PHJointIf CreateJoint(PHSolidIf soSock, PHSolidIf soPlug)
{
return(phScene.CreateJoint(soSock, soPlug, PHSliderJointIf.GetIfInfoStatic(), (PHSliderJointDesc)desc));
}
static void test_func_return()
{
test_name("function return");
int memoryLeakTest = 0;
PHSceneDesc descScene = new PHSceneDesc();
PHSolidDesc descSolid = new PHSolidDesc();
if (memoryLeakTest == 1)
{
return;
}
PHSdkIf phSdk = PHSdkIf.CreateSdk(); // ここでメモリリークする
if (memoryLeakTest == 2)
{
return;
}
PHSceneIf phScene = phSdk.CreateScene(descScene);
descSolid.mass = 2.0;
descSolid.inertia = new Matrix3d(2.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 2.0);
PHSolidIf phSolid = phScene.CreateSolid(descSolid);
descSolid.mass = 1e20f;
descSolid.inertia = new Matrix3d(1e20f, 0.0, 0.0, 0.0, 1e20f, 0.0, 0.0, 0.0, 1e20f);
PHSolidIf solid1 = phScene.CreateSolid(descSolid);
PHHapticPointerDesc descHaptic = new PHHapticPointerDesc();
PHHapticPointerIf phHaptic = phScene.CreateHapticPointer();
//HISdkDesc descHi = new HISdkDesc();
//HISdkIf hiSdk = HISdkIf.CreateSdk();
put("ret int ", "3 ", phScene.NSolids());
for (int i = 0; i < 20; i++)
{
phScene.Step();
}
put("ret Uint ", "20 ", phScene.GetCount());
phHaptic.SetLocalRange(2.345f);
put("ret float ", "2.345", phHaptic.GetLocalRange());
put("ret double", "0.005", phScene.GetTimeStep());
phScene.SetMaxVelocity(1.23);
put("ret double", "0.123", phScene.GetMaxVelocity());
phScene.EnableContactDetection(false);
put("ret bool ", "False", phScene.IsContactDetectionEnabled());
phScene.EnableContactDetection(true);
put("ret bool ", "True ", phScene.IsContactDetectionEnabled());
put("ret size_t", "152? ", phScene.GetDescSize());
put("ret Vec3d ", "(0.0, -9.8, 0.0)", phScene.GetGravity());
phScene.SetGravity(new Vec3d(0.1, -9.9, 0.2));
put("ret Vec3d ", "(0.1, -9.9, 0.2)", phScene.GetGravity());
// function returns array by using pointer
CDConvexMeshDesc descMesh = new CDConvexMeshDesc();
for (int x = 0; x < 10; x++)
{
for (int y = 0; y < 10; y++)
{
for (int z = 0; z < 10; z++)
{
Vec3f v3f = new Vec3f(x, y, z);
descMesh.vertices.push_back(new Vec3f(x, y, z));
}
}
}
//PHSdkIf phSdk = PHSdkIf.CreateSdk();
CDConvexMeshIf mesh = phSdk.CreateShape(CDConvexMeshIf.GetIfInfoStatic(), descMesh) as CDConvexMeshIf;
mesh.GetVertices();
arraywrapper_Vec3f vertices = mesh.GetVertices();
Vec3f[] v3fr = new Vec3f[8];
v3fr[0] = new Vec3f(0, 0, 0); v3fr[1] = new Vec3f(0, 0, 9);
v3fr[2] = new Vec3f(0, 9, 0); v3fr[3] = new Vec3f(0, 9, 9);
v3fr[4] = new Vec3f(9, 0, 0); v3fr[5] = new Vec3f(9, 0, 9);
v3fr[6] = new Vec3f(9, 9, 0); v3fr[7] = new Vec3f(9, 9, 9);
for (int i = 0; i < 8; i++)
{
put("ret_array", edit_vector(v3fr[i]), vertices[i]);
}
}
// ----- ----- ----- ----- ----- ----- ----- ----- ----- -----
// 派生クラスで実装するメソッド
// -- 関節を作成する
public abstract PHJointIf CreateJoint(PHSolidIf soSock, PHSolidIf soPlug);
