// 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;
}
}
}
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 (!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());
}
/**/
}
